Timeout while waiting for ack

[dvogureckiy99]

When I run example sudo PYTHONPATH=. python3 example/example.pyc -i eth0, I have got this:

-- Start of example script --
if_name: eth0
Using Ethernet (eth0)
last = 5403.956032924
Shutting down connection (eth0)
Timeout while waiting for ack.
Shutting down connection (eth0)
Masterboard timeout detected.
Either the masterboard has been shut down or there has been a connection issue with the cable/wifi.
-- End of example script --

[dvogureckiy99]

solved

[omertarbanus]

Hi, how did you solve this? I am having the same issue

[MaximilienNaveau]

@dvogureckiy99 Thanks for you contribution in the Python scripts, I am sorry it took so long to merge you PR...
I would be interested in your solution as well.

[dvogureckiy99]

Last time I had it I have encountering with this type of problems:

• one of the reason that can occur there is you should power master-board from separate DC source from udriver.
• or your don't have power on master-board or voltage low.
• or ethernet name is wrong

[tbanus]

Hi, in my case the masterboard came with an old driver installed from pal robotics. when i tried to run it with the latest code, pc and board did not understand each other.

rolling back to an older commit from april (when pal robotics assumably produced the robot) fixed the problem.

havent tried updating the masterboard since esp packages are not very current and it is too much trouble to find old versions

[dvogureckiy99]

Honestly I again encountered with this problem and can't solve this. None of my own suggestions work.

Another reason maybe in this popping up window:
activation of network connection failed for the ethernet.

To see params: sudo lshw -c network

I download driver for my ethernet interface RTL8111/8168/8411 PCI Express Gigabit Ethernet Controller cause my previous driver was wrong r8169. Be carefully, install with file autorun.sh.
https://www.realtek.com/en/component/zoo/category/network-interface-controllers-10-100-1000m-gigabit-ethernet-pci-express-software

activation of network connection failed solved, BUT

It doesn't help.

[dvogureckiy99]

Trying change name of ethernet, cause my previous logical name was enp1s0.

I changed to eth0 name with this instructions, but be carefully: go first to /etc/netplan dir, then change file ##-network-manager-all.yaml cause ## may be diff for your system.

This doesn't help.

[dvogureckiy99]

Hi, in my case the masterboard came with an old driver installed from pal robotics. when i tried to run it with the latest code, pc and board did not understand each other.

rolling back to an older commit from april (when pal robotics assumably produced the robot) fixed the problem.

havent tried updating the masterboard since esp packages are not very current and it is too much trouble to find old versions

please, tell me exactly what commit SHA you use ?

[MaximilienNaveau]

Basically you need to always have the version of the drivers and the firmware which are compatible.
I suggest you spend some time reading on how to flash the master board.
It's a little annoying at the beginning but then it will well when updates will come.

If I recall the documentation of how to are in the readme of the repository in the firmware folder:
https://github.com/open-dynamic-robot-initiative/master-board/blob/master/firmware/README.md

[dvogureckiy99]

Thanks, but it will be better if you somehow specify the version of firmware and driver. Cause always flash master-board before using new driver is little annoying. Last time I am trying flash master-board take me so much time.

[MaximilienNaveau]

Well either you flash your own or you ask you supplier which version was flashed.
I strongly suggest to setup a computer with the software to flash the board and keep it next to the robot. It's a time well spent trust me😉
Plus when you flash a board write down either the tag or the commit number.

When you download this repo each tag correspond to a compatible firmware vs Driver Software.

[dvogureckiy99]

Thank you very much, I found version with which I flash master-board: commit d712d55 or (v1.0.5) thanks to the fact that I have documented all my work, I advise you the same.
It is solved my problem.

[scakki]

Hello,

I am facing the same issue with running the example.py file as shown below. I believe I have flashed the master board using the 8d1a9c0 commit as suggested in the GitHub README. Are there any other possible issues that I need to look into?
Thank you.

make flash output-

Generating esp32.project.ld
LD build/masterboard.elf
esptool.py v2.7-dev
Flashing binaries to serial port /dev/ttyUSB0 (app at offset 0x10000)...
esptool.py v2.7-dev
Serial port /dev/ttyUSB0
Connecting....
Chip is ESP32D0WDQ5 (revision 1)
Features: WiFi, BT, Dual Core, 240MHz, VRef calibration in efuse, Coding Scheme None
MAC: 0c:8b:95:c6:97:3c
Uploading stub...
Running stub...
Stub running...
Changing baud rate to 2000000
Changed.
Configuring flash size...
Auto-detected Flash size: 4MB
Flash params set to 0x0220
Compressed 24736 bytes to 14815...

Writing at 0x00001000... (100 %)
Wrote 24736 bytes (14815 compressed) at 0x00001000 in 0.1 seconds (effective 1874.2 kbit/s)...
Hash of data verified.
Compressed 649760 bytes to 400323...

Writing at 0x00010000... (4 %)
Writing at 0x00014000... (8 %)
Writing at 0x00018000... (12 %)
Writing at 0x0001c000... (16 %)
Writing at 0x00020000... (20 %)
Writing at 0x00024000... (24 %)
Writing at 0x00028000... (28 %)
Writing at 0x0002c000... (32 %)
Writing at 0x00030000... (36 %)
Writing at 0x00034000... (40 %)
Writing at 0x00038000... (44 %)
Writing at 0x0003c000... (48 %)
Writing at 0x00040000... (52 %)
Writing at 0x00044000... (56 %)
Writing at 0x00048000... (60 %)
Writing at 0x0004c000... (64 %)
Writing at 0x00050000... (68 %)
Writing at 0x00054000... (72 %)
Writing at 0x00058000... (76 %)
Writing at 0x0005c000... (80 %)
Writing at 0x00060000... (84 %)
Writing at 0x00064000... (88 %)
Writing at 0x00068000... (92 %)
Writing at 0x0006c000... (96 %)
Writing at 0x00070000... (100 %)
Wrote 649760 bytes (400323 compressed) at 0x00010000 in 6.1 seconds (effective 857.9 kbit/s)...
Hash of data verified.
Compressed 3072 bytes to 103...

Writing at 0x00008000... (100 %)
Wrote 3072 bytes (103 compressed) at 0x00008000 in 0.0 seconds (effective 6836.9 kbit/s)...
Hash of data verified.

Leaving...
Hard resetting via RTS pin...

make menuconfig output-

Toolchain path: /home/sakki/.espressif/tools/xtensa-esp32-elf/esp-2019r2-8.2.0/xtensa-esp32-elf/bin/xtensa-esp32-elf-gcc
WARNING: Toolchain version is not supported: esp-2019r2
Expected to see version: crosstool-ng-1.22.0-80-g6c4433a
Please check ESP-IDF setup instructions and update the toolchain, or proceed at your own risk.
WARNING: Compiler version is not supported: 8.2.0
Expected to see version(s): 5.2.0
Please check ESP-IDF setup instructions and update the toolchain, or proceed at your own risk.
Python requirements from /home/sakki/esp/esp-idf/requirements.txt are satisfied.
make[1]: Entering directory '/home/sakki/esp/esp-idf/tools/kconfig'
cc -c -D_DEFAULT_SOURCE -D_XOPEN_SOURCE=600 -DCURSES_LOC="<ncurses.h>" -DNCURSES_WIDECHAR=1 -DLOCALE -MMD /home/sakki/esp/esp-idf/tools/kconfig/mconf.c -o mconf.o
make[1]: Leaving directory '/home/sakki/esp/esp-idf/tools/kconfig'

make monitor output-

Toolchain path: /home/sakki/.espressif/tools/xtensa-esp32-elf/esp-2019r2-8.2.0/xtensa-esp32-elf/bin/xtensa-esp32-elf-gcc
WARNING: Toolchain version is not supported: esp-2019r2
Expected to see version: crosstool-ng-1.22.0-80-g6c4433a
Please check ESP-IDF setup instructions and update the toolchain, or proceed at your own risk.
WARNING: Compiler version is not supported: 8.2.0
Expected to see version(s): 5.2.0
Please check ESP-IDF setup instructions and update the toolchain, or proceed at your own risk.
Python requirements from /home/sakki/esp/esp-idf/requirements.txt are satisfied.
MONITOR
Starting scheduler on PRO CPU.�[0m
�[0;32mI (0) cpu_start: Starting scheduler on APP CPU.�[0m
ETH/WIFI init size 4
ETH/WIFI command size 172
ETH/WIFI ack size 5
ETH/WIFI sensor size 208
SPI size 34
�[0;32mI (34) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 �[0m
�[0;32mI (34) gpio: GPIO[5]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 �[0m
�[0;32mI (34) gpio: GPIO[15]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 �[0m
�[0;32mI (34) gpio: GPIO[16]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 �[0m
�[0;32mI (34) system_api: Base MAC address is not set, read default base MAC address from BLK0 of EFUSE�[0m
�[0;31mE (1034) emac: Timed out waiting for PHY register 0x2 to have value 0x0007(mask 0xffff). Current value 0xffff�[0m
�[0;31mE (2034) emac: Timed out waiting for PHY register 0x3 to have value 0xc0f0(mask 0xfff0). Current value 0xffff�[0m
�[0;31mE (2034) emac: Initialise PHY device Timeout�[0m
ESP_ERROR_CHECK failed: esp_err_t 0xffffffff (ESP_FAIL) at 0x400878b8
file: "/home/sakki/devel/master-board/firmware/components/direct_ethernet/direct_ethernet.c" line 197
func: eth_init
expression: esp_eth_enable()

ELF file SHA256: 6c74a5518366d2146adc49368c4101bbcc123c0ad4f3fe46c029a64ea7e429c1

Bactrace: 0x40087444:0x3ffbb530 0x400878bb:0x3ffbb550 0x400e75450x3ffbb570 0x400d3a8d:0x3ffbb5e0 0x400d136e:0x3ffbb620 0x4008c701:0x3ffbb640

Rebooting...
Starting scheduler on PRO CPU.�[0m
�[0;32mI (0) cpu_start: Starting scheduler on APP CPU.�[0m
ETH/WIFI init size 4
ETH/WIFI command size 172
ETH/WIFI ack size 5
ETH/WIFI sensor size 208
SPI size 34
�[0;32mI (35) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 �[0m
�[0;32mI (35) gpio: GPIO[5]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 �[0m
�[0;32mI (35) gpio: GPIO[15]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 �[0m
�[0;32mI (35) gpio: GPIO[16]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 �[0m
�[0;32mI (35) system_api: Base MAC address is not set, read default base MAC address from BLK0 of EFUSE�[0m
�[0;31mE (1035) emac: Timed out waiting for PHY register 0x2 to have value 0x0007(mask 0xffff). Current value 0xffff�[0m
�[0;31mE (2035) emac: Timed out waiting for PHY register 0x3 to have value 0xc0f0(mask 0xfff0). Current value 0xffff�[0m
�[0;31mE (2035) emac: Initialise PHY device Timeout�[0m
ESP_ERROR_CHECK failed: esp_err_t 0xffffffff (ESP_FAIL) at 0x400878b8
file: "/home/sakki/devel/master-board/firmware/components/direct_ethernet/direct_ethernet.c" line 197
func: eth_init
expression: esp_eth_enable()

ELF file SHA256: 6c74a5518366d2146adc49368c4101bbcc123c0ad4f3fe46c029a64ea7e429c1

Backtrace: 0x40087444:0x3ffbb530 0x400878bb:0x3ffbb550 0x400e7545:0x3ffbb570 0x400d3a8d:0x3ffbb5e0 0x400d136e:0x3ffbb620 0x4008c701:0x3ffbb640

Rebooting...

[thomasfla]

Hi, did you run this command successfully? espefuse.py set_flash_voltage 3.3V (from https://github.com/open-dynamic-robot-initiative/master-board/blob/master/firmware/README.md )

[scakki]

Yes. I was able to run it successfully.

[thomasfla]

For some reason, it seems that you are not able to enable the Ethernet on your masterboard. This is a hardware issue, I think.
You can take a look at the soldering around the Ethernet PHY (LAN8720, U$2).

[scakki]

Thank you for your response.
I am currently looking into the Ethernet port and trying to verify with a different Master Board. Additionally, while running make menuconfig we get the following error. Does that indicate that the flashing is not yet completed? The master board still has the solid white light on, which indicates setup mode as per the GitHub documentation.

Toolchain path: /home/sakki/.espressif/tools/xtensa-esp32-elf/esp-2019r2-8.2.0/xtensa-esp32-elf/bin/xtensa-esp32-elf-gcc
WARNING: Toolchain version is not supported: esp-2019r2
Expected to see version: crosstool-ng-1.22.0-80-g6c4433a
Please check ESP-IDF setup instructions and update the toolchain, or proceed at your own risk.
WARNING: Compiler version is not supported: 8.2.0
Expected to see version(s): 5.2.0
Please check ESP-IDF setup instructions and update the toolchain, or proceed at your own risk.
/home/sakki/esp/esp-idf/tools/check_python_dependencies.py:22: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
import pkg_resources
Python requirements from /home/sakki/esp/esp-idf/requirements.txt are satisfied.
make[1]: Entering directory '/home/sakki/esp/esp-idf/tools/kconfig'
cc -c -D_DEFAULT_SOURCE -D_XOPEN_SOURCE=600 -DCURSES_LOC="<ncurses.h>" -DNCURSES_WIDECHAR=1 -DLOCALE -MMD /home/sakki/esp/esp-idf/tools/kconfig/mconf.c -o mconf.o
as: unrecognized option '--64'
make[1]: *** [Makefile:171: mconf.o] Error 1
make[1]: Leaving directory '/home/sakki/esp/esp-idf/tools/kconfig'
make: *** No rule to make target '/home/sakki/esp/esp-idf/tools/kconfig/conf-idf', needed by '/home/sakki/esp/esp-idf/tools/kconfig/mconf-idf'. Stop.

[RainJCloude]

Hello, I have the same problem. I have followed entirely the documentation on the git hub page. The master board is able to receive the init package but doesn't send the ack. I also tryed to run the ethernet package in the example directory of esp-idf but the same error occurs.
There is some kind of configuration to do to allow ethernet communication?