updated documentation konsole_ssh_2x3.sh

README.md

@@ -36,6 +36,8 @@ Out of scope now:
 - `docker/` container build/runtime files.
 - `scripts/` helper scripts.
 - `docs/` migration notes and plans.
+  - `docs/operation-manual.md` working LWIR-16 operation manual draft
+  - `docs/imu-cltool-notes.md` IMU `cltool` source/debug notes
 
 ## Quick start
 

docs/imu-cltool-notes.md

+# IMU `cltool` Source Notes (Yocto Warrior Build)
+
+This note captures where `cltool` comes from in the current `elphel393` Yocto build and what it supports for INS datasets and persistence.
+
+## Where `cltool` is built from
+
+Yocto recipe:
+- `meta/meta-elphel393/recipes-core/cltool/cltool_1.0.bb`
+
+Key details:
+- Source repo: `git://github.com/inertialsense/inertial-sense-sdk.git;protocol=https`
+- Fixed `SRCREV`: `0757da6f2e0fb3c430f6e6f5af0d5f3411fdb1b1`
+- Installed binary: `${bindir}/cltool`
+
+## Local source tree used during build
+
+Built source location in current workspace:
+- `poky/build/tmp/work/cortexa9t2hf-neon-poky-linux-gnueabi/cltool/1.0-r0/git`
+
+## DID support relevant to current issue
+
+`DID_INS_2` is defined and handled in this SDK:
+- `src/data_sets.h` defines:
+  - `DID_INS_1 = 4`
+  - `DID_INS_2 = 5`
+- `src/ISDataMappings.cpp` includes names for both `DID_INS_1` and `DID_INS_2`.
+- `src/cltool.cpp` help text lists `DID_INS_2` as common.
+
+`-did` parsing supports either numeric DID (`5`) or name (`DID_INS_2`):
+- `src/cltool.cpp`, function `read_did_argument(...)`.
+
+## Persistence and startup streaming behavior
+
+`cltool` options related to persistent behavior:
+- `-persistent`: saves currently configured streams to flash
+  - Implemented by sending `SYS_CMD_SAVE_PERSISTENT_MESSAGES`
+  - See `src/cltool_main.cpp`
+- `-flashCfg` and `-flashCfg=key=value|...`
+  - Reads/updates flash config keys
+  - See `src/cltool.cpp`, `cltool_updateFlashCfg(...)`
+
+Relevant preset:
+- `-presetPPD` maps to `RMC_PRESET_PPD_GROUND_VEHICLE`
+- `RMC_PRESET_PPD_BITS` includes `RMC_BITS_INS2` (i.e., INS2 is part of preset stream mask)
+- See `src/data_sets.h` (`RMC_PRESET_*` and `RMC_BITS_*` definitions).
+
+## Practical implication for current debugging
+
+The SDK used by Yocto build does support `DID_INS_2` in `cltool`.
+If only `DID_INS_1` appears in runtime behavior, the root cause is likely one of:
+- device-side stream config not enabling INS2,
+- persistent stream config overwritten or not saved,
+- transport/logging path selecting a subset of DIDs.
+
+## Suggested command probes on target (`.46`)
+
+List available DIDs and verify parser names:
+
+```bash
+cltool -c /dev/ttyUSB0 -baud=921600 -dids
+```
+
+Force stream INS2 explicitly:
+
+```bash
+cltool -c /dev/ttyUSB0 -baud=921600 -did DID_INS_2 DID_INS_1 DID_GPS1_POS
+```
+
+Try saving current stream setup:
+
+```bash
+cltool -c /dev/ttyUSB0 -baud=921600 -did DID_INS_2 DID_GPS1_POS -persistent
+```
+
+Inspect flash config keys:
+
+```bash
+cltool -c /dev/ttyUSB0 -baud=921600 -flashCfg
+```
+
+## Notes imported from legacy host `.107`
+
+Reference file:
+- `/home/elphel/git/imagej-elphel/attic/InertialSense/cltool_references.txt`
+
+Observed/confirmed there:
+- `cltool -c ttyACM0 -dids` lists both:
+  - `DID_INS_1` (4)
+  - `DID_INS_2` (5)
+- `-flashCfg` is the valid option name.
+- `-flashConfig` is not recognized by this `cltool` build (important typo trap).
+- `cltool -c /dev/ttyACM0 -flashCfg` prints flash config including startup periods and IO config fields.
+
+Example from notes (works):
+
+```bash
+cltool -c ttyACM0 -dids
+cltool -c /dev/ttyACM0 -flashCfg
+```
+
+Known-bad example from notes (do not use):
+
+```bash
+cltool -c ttyACM0 -flashConfig=ser1BaudRate=115200
+```
+
+Expected error:
+
+```text
+Unrecognized command line option: -flashConfig=...
+```
+
+Hardware timing note captured in references:
+- STROBE output uses `DID_FLASH_CONFIG.ioConfig` bit `IO_CONFIG_G9_STROBE_OUTPUT_NAV` (`0x00000020`) to indicate IMU preintegration/nav update timing on G9.

docs/operation-manual.md

+# LWIR-16 Operation Manual (Working Draft)
+
+Converted from:
+- `/home/elphel/git/imagej-elphel/attic/InertialSense/operation_manual.txt`
+
+Companion reference:
+- `/home/elphel/git/imagej-elphel/attic/InertialSense/InertialSenseDocs_large_datasheet.pdf`
+
+Status:
+- This is a migrated working draft (not yet fully cleaned).
+- Keep command examples practical and update in place as procedures are verified.
+
+## System Topology
+
+Camera system modules (16 LWIR + 4 EO sensors, plus IMU/GNSS logger):
+
+- `192.168.0.41` - LWIR sensors `0..3` (channel 0 at 12 o'clock, then clockwise)
+- `192.168.0.42` - LWIR sensors `4..7`
+- `192.168.0.43` - LWIR sensors `8..11`
+- `192.168.0.44` - LWIR sensors `12..15`
+- `192.168.0.45` - EO channels `16..19` (clockwise from top-right)
+- `192.168.0.46` - IMU/GNSS logger and multicam control host
+
+Notes:
+- `.41` is sync master (white audio connector); others are sync slaves (black cables).
+- One camera core on `.42` may show corrected corruption; this is expected in existing setup.
+
+## A) SSH To Cameras
+
+### 1) Legacy SSH compatibility (host side)
+
+If needed on Linux host, add to `~/.ssh/config`:
+
+```sshconfig
+# Legacy changes
+KexAlgorithms +diffie-hellman-group1-sha1
+Ciphers +aes128-cbc
+```
+
+### 2) Passwordless access
+
+```bash
+ssh-copy-id root@192.168.0.41
+ssh-copy-id root@192.168.0.42
+ssh-copy-id root@192.168.0.43
+ssh-copy-id root@192.168.0.44
+ssh-copy-id root@192.168.0.45
+ssh-copy-id root@192.168.0.46
+```
+
+### 3) Open 2x3 SSH console layout
+
+From this migration repo:
+
+```bash
+/home/elphel/git/imagej-elphel/attic/elphel393-docker/scripts/konsole_ssh_2x3.sh
+```
+
+Or with immediate remote `dmesg`:
+
+```bash
+/home/elphel/git/imagej-elphel/attic/elphel393-docker/scripts/konsole_ssh_2x3.sh --dmesg
+```
+
+## B) Running Cameras In Recording Mode
+
+1. Power cameras and wait about 1 minute before opening UI pages.
+2. Open multicam page:
+
+```text
+http://192.168.0.46/multicam/index3.html
+```
+
+3. Optional tuning in logger host:
+
+```bash
+nano /etc/elphel393/lwir16.ini
+```
+
+Suggested values from legacy notes:
+
+```ini
+lwir_fps  = 55.0
+pre_delay = 1.0
+ffc_period = 300.0
+```
+
+4. Open sequencer UI:
+
+```text
+http://192.168.0.46/lwir16/
+```
+
+5. Start/stop recording with the large round button in Eyesis controls.
+
+## C) IMU/GNSS Quick `cltool` Commands
+
+These are the two command lines currently used for quick IMU stream checks:
+
+```bash
+cltool -c /dev/ttyUSB0 -baud=921600 -stats -did DID_INS_1 DID_GPS1_POS DID_GPS2_POS  DID_GPS1_UBX_POS DID_STROBE_IN_TIME DID_PIMU
+cltool -c /dev/ttyUSB0 -baud=921600  -did DID_INS_1 DID_GPS1_POS DID_GPS2_POS  DID_GPS1_UBX_POS DID_STROBE_IN_TIME DID_PIMU
+```
+
+Operational notes:
+- `cltool` updates output in place in terminal; behavior is not line-buffered like standard logs.
+- Normal stop is `Ctrl-C`.
+- For persistent stream setup across reboot, check `cltool` options `-persistent` and `-flashCfg` (see investigation notes in this repo).
+
+## D) Erasing SSD Data On Camera Hosts
+
+LWIR/EO hosts (`.41`..`.45`) local command:
+
+```bash
+rm /mnt/sda1/*.disk
+```
+
+From host for all LWIR/EO cameras:
+
+```bash
+ssh root@192.168.0.41 "rm /mnt/sda1/*.disk"; \
+ssh root@192.168.0.42 "rm /mnt/sda1/*.disk"; \
+ssh root@192.168.0.43 "rm /mnt/sda1/*.disk"; \
+ssh root@192.168.0.44 "rm /mnt/sda1/*.disk"; \
+ssh root@192.168.0.45 "rm /mnt/sda1/*.disk"
+```
+
+Logger host `.46` usually uses much less space; erase selectively if needed.
+
+## E) Example Download / Extraction Commands (Legacy Notes)
+
+```bash
+time /home/elphel/git/elphel-tools-x393/int_ssd_download.py -c root@192.168.0.41 -fs kyiv02_0000.disk -fe camogm.disk /home/elphel/lwir16-proc/kyiv02/footage/41
+time /home/elphel/git/elphel-tools-x393/int_ssd_download.py -c root@192.168.0.42 -fs kyiv02_0000.disk -fe camogm.disk /home/elphel/lwir16-proc/kyiv02/footage/42
+time /home/elphel/git/elphel-tools-x393/int_ssd_download.py -c root@192.168.0.43 -fs kyiv02_0000.disk -fe camogm.disk /home/elphel/lwir16-proc/kyiv02/footage/43
+time /home/elphel/git/elphel-tools-x393/int_ssd_download.py -c root@192.168.0.44 -fs kyiv02_0000.disk -fe camogm.disk /home/elphel/lwir16-proc/kyiv02/footage/44
+time /home/elphel/git/elphel-tools-x393/int_ssd_download.py -c root@192.168.0.45 -fs kyiv02_0000.disk -fe camogm.disk /home/elphel/lwir16-proc/kyiv02/footage/45
+```
+
+```bash
+time /home/elphel/git/elphel-tools-x393/extract_images_tiff.php path=//home/elphel/lwir16-proc/kyiv02/footage/41 dest_path=results chn_offs=0
+time /home/elphel/git/elphel-tools-x393/extract_images_tiff.php path=//home/elphel/lwir16-proc/kyiv02/footage/42 dest_path=results chn_offs=4
+time /home/elphel/git/elphel-tools-x393/extract_images_tiff.php path=//home/elphel/lwir16-proc/kyiv02/footage/43 dest_path=results chn_offs=8
+time /home/elphel/git/elphel-tools-x393/extract_images_tiff.php path=//home/elphel/lwir16-proc/kyiv02/footage/44 dest_path=results chn_offs=12
+time /home/elphel/git/elphel-tools-x393/extract_images_tiff.php path=//home/elphel/lwir16-proc/kyiv02/footage/45 dest_path=results chn_offs=16
+```
+
+## TODO (Next Pass)
+
+- Add exact `cltool` persistent-configuration workflow that survives reboot.
+- Add IMU logger (`/dev/imu_ctl`, `/etc/elphel393/imu_logger.xml`) relationship to `cltool`.
+- Cross-reference FPGA logger `dmesg` messages from host `.46`.
+- Move cleaned procedure to project wiki once stable.

scripts/konsole_ssh_2x3.sh

@@ -9,16 +9,18 @@ usage() {
   cat <<'EOF'
 Usage:
   konsole_ssh_2x3.sh [user@host ...]
-  konsole_ssh_2x3.sh [--user USER] [--prefix A.B.C] [--from N]
+  konsole_ssh_2x3.sh [--user USER] [--prefix A.B.C] [--from N] [--dmesg]
 
 Options:
   --user USER      SSH user for generated host list (default: root)
   --prefix A.B.C   First 3 octets for generated host list (default: 192.168.0)
   --from N         Starting host number, creates 6 hosts N..N+5 (default: 41)
+  --dmesg          Run 'dmesg' on remote after SSH login, then keep interactive shell
   -h, --help       Show this help
 
 Examples:
   konsole_ssh_2x3.sh
+  konsole_ssh_2x3.sh --dmesg
   konsole_ssh_2x3.sh --user root --prefix 192.168.0 --from 41
   konsole_ssh_2x3.sh root@192.168.0.41 root@192.168.0.42 root@192.168.0.43 \
                      root@192.168.0.44 root@192.168.0.45 root@192.168.0.46
@@ -43,6 +45,7 @@ need_cmd rg
 ssh_user="root"
 host_prefix="192.168.0"
 start_octet=41
+run_dmesg=0
 declare -a targets=()
 
 while [[ $# -gt 0 ]]; do
@@ -59,6 +62,10 @@ while [[ $# -gt 0 ]]; do
       start_octet="$2"
       shift 2
       ;;
+    --dmesg)
+      run_dmesg=1
+      shift
+      ;;
     -h|--help)
       usage
       exit 0
@@ -179,7 +186,11 @@ fi
 for i in 0 1 2 3 4 5; do
   session_path="${sessions[$i]}"
   [[ "$session_path" == /Sessions/* ]] || session_path="/Sessions/$session_path"
-  cmd="ssh -o ConnectTimeout=5 ${targets[$i]}"
+  if [[ "$run_dmesg" -eq 1 ]]; then
+    cmd="ssh -t -o ConnectTimeout=5 ${targets[$i]} 'dmesg; exec \${SHELL:-/bin/sh} -i'"
+  else
+    cmd="ssh -o ConnectTimeout=5 ${targets[$i]}"
+  fi
   log "Session $((i + 1)): $cmd"
   qdbus "$service" "$session_path" org.kde.konsole.Session.runCommand "$cmd" >/dev/null
 done