Dear Ralph,
Today I tried your 'exp' program with my setup. How come it's so well-written in that it prints debug for EVERY termios option under the sun?? ;-)) (I mean, I had to comment half of them out to get it to compile on darwin ;)
Appended is its output; from what I can tell it should be SENDING_ESCS, then get an ack, then send packets for opcodes 0 and 2 - these are "get version" or something? (I don't have your list to hand, in a rush unfort.)
Anyway, having sorted out my serial woes (minicom) I've sent it a bunch of escs and seen the expected 006 006 006 006 006 006 006 006 006 006 006 006 006 006 006 response. Then I thought I'd try 'exp' and see what happens; it moves to this CS_HAVE_ACK state a bunch of times - I'm guessing because it gets 006 16 times as the wakeup code print_strings a line of them. Then it just sits there doing nowt. I'll take a closer look later on but just thought I'd let you know. :)
(Other observation re WDT: Quite a long timeout, you said 4-5 secs but I observed about 15secs after having got the acks before the reboot. Also, I see the WDT being initialised at 0x280. WDTCTRL gets set to 0x67; this is WDT on, resetting, 2^29 clock ticks. (This is about 1s at 50MHz - my 15sec timeout must be a different timeout?) Also I haven't seen the FRZ (WDT freeze, lock-on) bit being set ever... is it set somewhere else?)
Cheers,
Matt
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... 1110730112.095576 o 1b 1110730112.100625 o 1b 1110730112.105674 o 1b 1110730112.108426 i 061110730112.108435 e transitioning to state 2, CS_HAVE_ACK
1110730112.109517 i 061110730112.109527 e transitioning to state 2, CS_HAVE_ACK
1110730112.110540 i 061110730112.110550 e transitioning to state 2, CS_HAVE_ACK
1110730112.111704 i 061110730112.111713 e transitioning to state 2, CS_HAVE_ACK
1110730112.112724 i 061110730112.112734 e transitioning to state 2, CS_HAVE_ACK
1110730112.113691 i 061110730112.113700 e transitioning to state 2, CS_HAVE_ACK
1110730112.114644 i 061110730112.114653 e transitioning to state 2, CS_HAVE_ACK
1110730112.115585 i 061110730112.115594 e transitioning to state 2, CS_HAVE_ACK
1110730112.116845 i 061110730112.116856 e transitioning to state 2, CS_HAVE_ACK
1110730112.117928 i 061110730112.117938 e transitioning to state 2, CS_HAVE_ACK
1110730112.119018 i 061110730112.119029 e transitioning to state 2, CS_HAVE_ACK
1110730112.120016 i 061110730112.120025 e transitioning to state 2, CS_HAVE_ACK
1110730112.121014 i 061110730112.121024 e transitioning to state 2, CS_HAVE_ACK
1110730112.122019 i 061110730112.122028 e transitioning to state 2, CS_HAVE_ACK
[sits doing nothing]