Probelm setting up DJI_USE_UART_AND_USB_BULK_DEVICE in Jetson Orin Nano

[kkishore9891]

Hello, I am working on the latest Matrice M3TD drone with dock2 right now and we are trying to establish PSDK connection with the M3TD using Jetson Orin Nano. We are using the PSDK version 3.8. Initially I tried to use DJI_USE_UART_AND_NETWORK_DEVICE and I got an error suggesting that I should use DJI_USE_UART_AND_USB_BULK_DEVICE as DJI_USE_UART_AND_NETWORK_DEVICE is not supported in M3TD. I tried to follow this guide for Jetson Nano. But while doing so I am facing some issues as I couldn't see the devices /dev/usb-ffs/bulk1 and /dev/usb-ffs/bulk2. I searched the internet and found another person facing the same issue. That person tried connecting the E-port's USB-C output to the USB A port instead of the USB-C port and he overcame that issue. But I tried the same and it doesn't work.

here is my nv-l4t-usb-device-mode-start.sh code:

#!/bin/bash

# Copyright (c) 2017-2020, NVIDIA CORPORATION.  All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#  * Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
#  * Redistributions in binary form must reproduce the above copyright
#    notice, this list of conditions and the following disclaimer in the
#    documentation and/or other materials provided with the distribution.
#  * Neither the name of NVIDIA CORPORATION nor the names of its
#    contributors may be used to endorse or promote products derived
#    from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
# PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
# OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

set -e

script_dir="$(cd "$(dirname "$0")" && pwd)"
. "${script_dir}/nv-l4t-usb-device-mode-config.sh"

# Wait for any modules to load and initialize
for attempt in $(seq 60); do
    udc_dev_t210=700d0000.xudc
    if [ -e "/sys/class/udc/${udc_dev_t210}" ]; then
        udc_dev="${udc_dev_t210}"
        break
    fi
    udc_dev_t186=3550000.usb
    if [ -e "/sys/class/udc/${udc_dev_t186}" ]; then
        udc_dev="${udc_dev_t186}"
        break
    fi
    sleep 1
done
if [ "${udc_dev}" == "" ]; then
    echo No known UDC device found
    exit 1
fi

macs_file="${script_dir}/mac-addresses"
if [ -f "${macs_file}" ]; then
    . "${macs_file}"
else
    # Generate unique data
    if [ -f /proc/device-tree/serial-number ]; then
        random="$(md5sum /proc/device-tree/serial-number|cut -c1-12)"
    else
        random="$(echo "no-serial"|md5sum|cut -c1-12)"
    fi
    # Extract 6 bytes
    b1="$(echo "${random}"|cut -c1-2)"
    b2="$(echo "${random}"|cut -c3-4)"
    b3="$(echo "${random}"|cut -c5-6)"
    b4="$(echo "${random}"|cut -c7-8)"
    b5="$(echo "${random}"|cut -c9-10)"
    b6="$(echo "${random}"|cut -c11-12)"
    # Clear broadcast/multicast, set locally administered bits
    b1="$(printf "%02x" "$(("0x${b1}" & 0xfe | 0x02))")"
    # Set 4 LSBs to unique value per interface
    b6_rndis_h="$(printf "%02x" "$(("0x${b6}" & 0xfc | 0x00))")"
    b6_rndis_d="$(printf "%02x" "$(("0x${b6}" & 0xfc | 0x01))")"
    b6_ecm_h="$(printf "%02x" "$(("0x${b6}" & 0xfc | 0x02))")"
    b6_ecm_d="$(printf "%02x" "$(("0x${b6}" & 0xfc | 0x03))")"
    # Construct complete MAC per interface
    mac_rndis_h="${b1}:${b2}:${b3}:${b4}:${b5}:${b6_rndis_h}"
    mac_rndis_d="${b1}:${b2}:${b3}:${b4}:${b5}:${b6_rndis_d}"
    mac_ecm_h="${b1}:${b2}:${b3}:${b4}:${b5}:${b6_ecm_h}"
    mac_ecm_d="${b1}:${b2}:${b3}:${b4}:${b5}:${b6_ecm_d}"
    # Save values for next boot
    echo "mac_rndis_h=${mac_rndis_h}" > "${macs_file}"
    echo "mac_rndis_d=${mac_rndis_d}" >> "${macs_file}"
    echo "mac_ecm_h=${mac_ecm_h}" >> "${macs_file}"
    echo "mac_ecm_d=${mac_ecm_d}" >> "${macs_file}"
fi

mkdir -p /sys/kernel/config/usb_gadget/l4t
cd /sys/kernel/config/usb_gadget/l4t

# If this script is modified outside NVIDIA, the idVendor and idProduct values
# MUST be replaced with appropriate vendor-specific values.
echo 0x0955 > idVendor
echo 0x7020 > idProduct
# BCD value. Each nibble should be 0..9. 0x1234 represents version 12.3.4.
echo 0x0002 > bcdDevice

# Informs Windows that this device is a composite device, i.e. it implements
# multiple separate protocols/devices.
echo 0xEF > bDeviceClass
echo 0x02 > bDeviceSubClass
echo 0x01 > bDeviceProtocol

mkdir -p strings/0x409
if [ -f /proc/device-tree/serial-number ]; then
    serialnumber="$(cat /proc/device-tree/serial-number|tr -d '\000')"
else
    serialnumber=no-serial
fi
echo "${serialnumber}" > strings/0x409/serialnumber
# If this script is modified outside NVIDIA, the manufacturer and product values
# MUST be replaced with appropriate vendor-specific values.
echo "NVIDIA" > strings/0x409/manufacturer
echo "Linux for Tegra" > strings/0x409/product

cfg=configs/c.1
mkdir -p "${cfg}"
cfg_str=""

# Note: RNDIS must be the first function in the configuration, or Windows'
# RNDIS support will not operate correctly.
if [ ${enable_rndis} -eq 1 ]; then
    cfg_str="${cfg_str}+RNDIS"
    func=functions/rndis.usb0
    mkdir -p "${func}"
    echo "${mac_rndis_h}" > "${func}/host_addr"
    echo "${mac_rndis_d}" > "${func}/dev_addr"
    ln -sf "${func}" "${cfg}"

    # Informs Windows that this device is compatible with the built-in RNDIS
    # driver. This allows automatic driver installation without any need for
    # a .inf file or manual driver selection.
    echo 1 > os_desc/use
    echo 0xcd > os_desc/b_vendor_code
    echo MSFT100 > os_desc/qw_sign
    echo RNDIS > "${func}/os_desc/interface.rndis/compatible_id"
    echo 5162001 > "${func}/os_desc/interface.rndis/sub_compatible_id"
    ln -sf "${cfg}" os_desc
fi

# If two USB configs are created, and the second contains RNDIS and ACM, then
# Windows will ignore at the ACM function in that config. Consequently, this
# script creates only a single USB config.
if [ ${enable_acm} -eq 1 ]; then
    cfg_str="${cfg_str}+ACM"
    func=functions/acm.GS0
    mkdir -p "${func}"
    ln -sf "${func}" "${cfg}"
fi

# Copy system version information into the exposed filesystem image,
# so that any system that's attached to the USB port can identify this device.
# Do this even if $enable_ums!=1, since $fs_img is locally mounted too.
mntpoint="/mnt/l4t-devmode-$$"
rm -rf "${mntpoint}"
mkdir -p "${mntpoint}"
mount -o loop "${fs_img}" "${mntpoint}"
rm -rf "${mntpoint}/version"
mkdir -p "${mntpoint}/version"
if [ -f /etc/nv_tegra_release ]; then
    cp /etc/nv_tegra_release "${mntpoint}/version"
fi
if dpkg -s nvidia-l4t-core > /dev/null 2>&1; then
    dpkg -s nvidia-l4t-core > "${mntpoint}/version/nvidia-l4t-core.dpkg-s.txt"
fi
cp -r /proc/device-tree/chosen/plugin-manager "${mntpoint}/version/plugin-manager"
umount "${mntpoint}"
rm -rf "${mntpoint}"

if [ ${enable_ums} -eq 1 ]; then
    cfg_str="${cfg_str}+UMS"
    func=functions/mass_storage.0
    mkdir -p "${func}"
    ln -sf "${func}" "${cfg}"
    # Prevent users from corrupting the disk image; make it read-only
    echo 1 > "${func}/lun.0/ro"
    echo "${fs_img}" > "${func}/lun.0/file"
fi

if [ ${enable_ecm} -eq 1 ]; then
    cfg_str="${cfg_str}+${ecm_ncm_name}"
    func=functions/${ecm_ncm}.usb0
    mkdir -p "${func}"
    echo "${mac_ecm_h}" > "${func}/host_addr"
    echo "${mac_ecm_d}" > "${func}/dev_addr"
    ln -sf "${func}" "${cfg}"
fi

enable_bulk=1
if [ ${enable_bulk} -eq 1 ]; then
    mkdir -p /dev/usb-ffs
    
    cfg_str="${cfg_str}+BULK1" 
    mkdir -p /dev/usb-ffs/bulk1
    func=functions/ffs.bulk1
    mkdir -p "${func}"
    ln -sf "${func}" "${cfg}"
    mount -o mode=0777 -o uid=2000 -o gid=2000 -t functionfs bulk1 /dev/usb-ffs/bulk1
    /home/nvidia/Desktop/nano-usb-config/startup_bulk /dev/usb-ffs/bulk1 &
    sleep 3


    cfg_str="${cfg_str}+BULK2" 
    mkdir -p /dev/usb-ffs/bulk2
    func=functions/ffs.bulk2
    mkdir -p "${func}"
    ln -sf "${func}" "${cfg}"
    mount -o mode=0777 -o uid=2000 -o gid=2000 -t functionfs bulk2 /dev/usb-ffs/bulk2
    /home/nvidia/Desktop/nano-usb-config/startup_bulk /dev/usb-ffs/bulk2 &
    sleep 3
fi


mkdir -p "${cfg}/strings/0x409"
# :1 in the variable expansion strips the first character from the value. This
# removes the unwanted leading + sign. This simplifies the logic to construct
# $cfg_str above; it can always add a leading delimiter rather than only doing
# so unless the string is previously empty.
echo "${cfg_str:1}" > "${cfg}/strings/0x409/configuration"

# Create and configure the network bridge before setting the UDC device. This
# ensures that no matter how quickly udev events (which run -runtime-start.sh)
# are triggered after setting the UDC device below, the bridge device is
# guaranteed to exist, so -runtime-start.sh is guaranteed to be able to
# configure it.
#
# Set the device to "down" initially; if/when -runtime-start.sh runs in response
# to cable presence, the interface will be set to "up".
/sbin/brctl addbr l4tbr0
/sbin/ifconfig l4tbr0 down

echo "${udc_dev}" > UDC

# Ethernet devices require additional configuration. This must happen after the
# UDC device is assigned, since that triggers the creation of the Tegra-side
# Ethernet interfaces.
#
# This script always assigns any-and-all Ethernet devices to an Ethernet
# bridge, and assigns the static IP to that bridge. This allows the script to
# more easily handle the potentially variable set of Ethernet devices.
#
# If your custom use-case requires separate IP addresses per interface, or
# only ever has one interface active, you may modify this script to skip
# bridge creation, and assign IP address(es) directly to the interface(s).

if [ ${enable_rndis} -eq 1 ]; then
    /sbin/brctl addif l4tbr0 "$(cat functions/rndis.usb0/ifname)"
    /sbin/ifconfig "$(cat functions/rndis.usb0/ifname)" up
fi

if [ ${enable_ecm} -eq 1 ]; then
    /sbin/brctl addif l4tbr0 "$(cat functions/${ecm_ncm}.usb0/ifname)"
    /sbin/ifconfig "$(cat functions/${ecm_ncm}.usb0/ifname)" up
fi

cd - # Out of /sys/kernel/config/usb_gadget

# Create a local disk device that exposes the same filesystem image that's
# exported over USB. This will allow local users to see the files too.
/sbin/losetup -f -r "${fs_img}"

exit 0

I have modified the path of startup_bulk and I have modified the line with udc_dev_t186=3550000.usb in line 41 since that threw an error.

But this still doesn't work. I need some support to fix this.