Ok, I found the logs in /proc/kmsg, which helped a lot in finding the cause, but unfortunatelly not the solution.
I noticed that some USB storage devices are not recognized because zaurus cannot read the partition table. Repartitioning with fdisk on Linux and then mkfs.vfat has solved all those problems. I did this for an usb stick and a memory stick I used in the camera. Now I can remove the memory stick from the camera, plug it into a card reader, plug the card reader to Zaurus and read images. But this is not exactly what I originally wanted to achieve.
My camera (Sony DSC S75) can act as a storage device and is properly recognized as such under Linux 2.6.12. But when I plug it to the zaurus, I get:
<6>hub.c: new USB device -2, assigned address 5
<7>WARNING: USB Mass Storage data integrity not assured
<7>USB Mass Storage device found at 5
<4>SCSI device (ioctl) reports ILLEGAL REQUEST.
<4>SCSI device sda: 126848 512-byte hdwr sectors (65 MB)
<4>sda: Write Protect is off
<6> sda: I/O error: dev 08:00, sector 0
<4> I/O error: dev 08:00, sector 0
<2>ldm_validate_partition_table(): Disk read failed.
<4> I/O error: dev 08:00, sector 0
<4> unable to read partition table
<4>SCSI device (ioctl) reports ILLEGAL REQUEST.
<4>SCSI device sda: 126848 512-byte hdwr sectors (65 MB)
<4>sda: Write Protect is off
<6> sda: I/O error: dev 08:00, sector 0
<4> I/O error: dev 08:00, sector 0
<2>ldm_validate_partition_table(): Disk read failed.
<4> I/O error: dev 08:00, sector 0
<4> unable to read partition table
<4>SCSI device (ioctl) reports ILLEGAL REQUEST.
<4>SCSI device sda: 126848 512-byte hdwr sectors (65 MB)
<4>sda: Write Protect is off
<6> sda: I/O error: dev 08:00, sector 0
<4> I/O error: dev 08:00, sector 0
<2>ldm_validate_partition_table(): Disk read failed.
<4> I/O error: dev 08:00, sector 0
<4> unable to read partition table
<4>SCSI device (ioctl) reports ILLEGAL REQUEST.
<4>SCSI device sda: 126848 512-byte hdwr sectors (65 MB)
<4>sda: Write Protect is off
<6> sda: I/O error: dev 08:00, sector 0
<4> I/O error: dev 08:00, sector 0
<2>ldm_validate_partition_table(): Disk read failed.
<4> I/O error: dev 08:00, sector 0
<4> unable to read partition table
<4>SCSI device (ioctl) reports ILLEGAL REQUEST.
<4>SCSI device sda: 126848 512-byte hdwr sectors (65 MB)
<4>sda: Write Protect is off
<6> sda: I/O error: dev 08:00, sector 0
<4> I/O error: dev 08:00, sector 0
<2>ldm_validate_partition_table(): Disk read failed.
<4> I/O error: dev 08:00, sector 0
<4> unable to read partition table
<4>SCSI device (ioctl) reports ILLEGAL REQUEST.
<4>SCSI device sda: 126848 512-byte hdwr sectors (65 MB)
<4>sda: Write Protect is off
<6> sda: I/O error: dev 08:00, sector 0
<4> I/O error: dev 08:00, sector 0
<2>ldm_validate_partition_table(): Disk read failed.
<4> I/O error: dev 08:00, sector 0
<4> unable to read partition table
<4>SCSI device (ioctl) reports ILLEGAL REQUEST.
<4>SCSI device sda: 126848 512-byte hdwr sectors (65 MB)
<4>sda: Write Protect is off
<6> sda: I/O error: dev 08:00, sector 0
<4> I/O error: dev 08:00, sector 0
<2>ldm_validate_partition_table(): Disk read failed.
<4> I/O error: dev 08:00, sector 0
<4> unable to read partition table
<6>usb.c: USB disconnect on device -2 address 5
Probably the newer drivers in the 2.6.12 kernel can handle my camera better. Does anyone has a suggestion what can be done next? Recompilng and replacing the kernel seems to be too much effort.
Check this.
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Thanks for the hint. I will try gphoto and then report what I have managed to achieve.