Arducopter on Beagle Bone Black Robotics Cape

Hunter_Wang · September 7, 2018, 10:55am

Hi Guys,

Just checking what’s the differences (in term of running Arducopter) between the Beagle Bone Blue and Beagle Bone Black with Robotics Cape?

I have 2 beaglebone black with the robotics capes, can I use the binaries for the beagle blue directly on it? Guess the uEnv.txt will be different?

Thanks!

Hunter

ppoirier · September 7, 2018, 12:41pm

Hello,

I should work using the ArduCopter with the BeagleBone Blue build as per @mirkix instructions :

As for the DTB file, most of the CAPE IO are the same except for LEDs (some are missing on the Robotic Cape), so it should not be a big problem if you are using RT Kernel 4.9 or 4.14 and map the IO using the config.pin on Universal cape the uEnv.txt.

Feel free to join us here: https://gitter.im/mirkix/BBBMINI for Questions/Answers

Hunter_Wang · September 8, 2018, 6:06am

Thanks for the reply!

I have manage to get most parts working except the RX, I am using FrSKY X6R and I got nothing under Radio Calibration section of the Misson Planner.

I have tried both pin 4 of E4 and DSM sockets, both S.BUS or PPM receivers, none of them works

The Arducopter binary was native built on the bone itself.

Here is my ./version.sh output:

root@beaglebone:/opt/scripts/tools# ./version.sh
git:/opt/scripts/:[73593ebe3b7d3cc381eeb502d45ccb33a6ec5e78]
eeprom:[A335BNLT00C01716BBBK0E73]
model:[TI_AM335x_BeagleBone_Blue]
dogtag:[BeagleBoard.org Debian Image 2018-08-15]
bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot 2018.03-00002-gac9cce7c6a]:[l ocation: dd MBR]
kernel:[4.14.67-ti-rt-r73]
nodejs:[v6.14.4]
device-tree-override:[dtb=am335x-boneblue.dtb]
uboot_overlay_options:[enable_uboot_overlays=1]
uboot_overlay_options:[enable_uboot_cape_universal=1]
uboot_overlay_options:[uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-14-TI- 00A0.dtbo]
pkg check: to individually upgrade run: [sudo apt install --only-upgrade ]
pkg:[bb-cape-overlays]:[4.4.20180803.0-0rcnee0~stretch+20180804]
pkg:[bb-wl18xx-firmware]:[1.20180517-0rcnee0~stretch+20180517]
pkg:[kmod]:[23-2rcnee1~stretch+20171005]
pkg:[librobotcontrol]:[1.0.2-git20180829.0-0rcnee0~stretch+20180830]
pkg:[firmware-ti-connectivity]:[20170823-1rcnee1~stretch+20180328]
groups:[debian : debian adm kmem dialout cdrom floppy audio dip video plugdev users systemd-journal i2c bluetooth netdev cloud9ide gpio pwm eqep admin spi tisdk weston-launch xenomai]
cmdline:[console=ttyO0,115200n8 bone_capemgr.uboot_capemgr_enabled=1 root=/dev/mmcblk1p1 ro rootfstype=ext4 rootwait coherent_pool=1M]
dmesg | grep pinctrl-single
[ 1.503375] pinctrl-single 44e10800.pinmux: 142 pins at pa f9e10800 size 568
[ 2.760104] pinctrl-single 44e10800.pinmux: pin PIN39 already requested by ocp:P8_09_pinmux; cannot claim for ocp:helper
[ 2.771080] pinctrl-single 44e10800.pinmux: pin-39 (ocp:helper) status -22
[ 2.777999] pinctrl-single 44e10800.pinmux: could not request pin 39 (PIN39) from group pins on device pinctrl-single
[ 2.814584] pinctrl-single 44e10800.pinmux: pin PIN106 already requested by ocp:P9_91_pinmux; cannot claim for ocp:D13_pinmux
[ 2.826000] pinctrl-single 44e10800.pinmux: pin-106 (ocp:D13_pinmux) status -22
[ 2.833353] pinctrl-single 44e10800.pinmux: could not request pin 106 (PIN106) from group pinmux_D13_default_pin on device pinctrl-single
[ 2.864467] pinctrl-single 44e10800.pinmux: pin PIN89 already requested by ocp:P9_42_pinmux; cannot claim for ocp:C18_pinmux
[ 2.875773] pinctrl-single 44e10800.pinmux: pin-89 (ocp:C18_pinmux) status -22
[ 2.883040] pinctrl-single 44e10800.pinmux: could not request pin 89 (PIN89) from group pinmux_C18_default_pin on device pinctrl-single
[ 3.420561] pinctrl-single 44e10800.pinmux: pin PIN36 already requested by ocp:P8_07_pinmux; cannot claim for leds
[ 3.432211] pinctrl-single 44e10800.pinmux: pin-36 (leds) status -22
[ 3.438608] pinctrl-single 44e10800.pinmux: could not request pin 36 (PIN36) from group user_leds_s0 on device pinctrl-single
[ 3.652102] pinctrl-single 44e10800.pinmux: pin PIN48 already requested by 481aa000.serial; cannot claim for 0-0070
[ 3.662691] pinctrl-single 44e10800.pinmux: pin-48 (0-0070) status -22
[ 3.669443] pinctrl-single 44e10800.pinmux: could not request pin 48 (PIN48) from group nxp_hdmi_bonelt_pins on device pinctrl-single
dmesg | grep gpio-of-helper
[ 1.514935] gpio-of-helper ocp:cape-universal: ready
END
root@beaglebone:/opt/scripts/tools#

Here is uEnv.txt:

root@beaglebone:/boot# cat uEnv.txt

this uEnv.txt created by configure_robotics_dt

uname_r=4.14.67-ti-rt-r73
enable_uboot_overlays=1
enable_uboot_cape_universal=1
dtb=am335x-boneblue.dtb
cmdline=coherent_pool=1M
uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-14-TI-00A0.dtbo
root@beaglebone:/boot#

What did I miss?

Thanks again!

Hunter

ppoirier · September 8, 2018, 9:14am

The link above makes reference to this wiki

github.com

imfatant/test/blob/master/README.md

# ArduPilot Blue - A beginner's guide
This is my regularly updated (as of 31/08/2018, DD/MM/20YY) beginner's guide to setting up the BeagleBone Blue with Mirko Denecke's port of ArduPilot (https://github.com/mirkix/ardupilotblue). It is based in great part upon similar documents at Patrick Poirier's PocketPilot project (https://github.com/PocketPilot/PocketPilot). Many thanks to both these fine individuals, and others too @https://gitter.im/mirkix/BBBMINI, for their superb work!

Only necessary steps are shown, excepting that I install Git for the sake of convenience. Information found elsewhere may indicate steps that are no longer necessary due to software updates, or steps that only apply to other platforms (BBBMINI or PocketPilot, etc).

## Part 1 - Preparation
0) Before I begin, I want to stress that supplying the BeagleBone Blue with adequate power is a must. Typically, we'll be attaching quite a few navigation-related peripherals to it, and they'll not behave correctly without enough juice.

1) Go to https://rcn-ee.net/rootfs/bb.org/testing/ and select the directory named with the latest date. Then click on the stretch-console subdirectory. You'll see a number of files here. Download the file named something like 'bone-debian-V.V-console-armhf-20YY-MM-DD-1gb.img.xz'. This is what's known as the 'console' image. It's a very minimal distribution of Debian with only the bare essentials. An alternative is the 'IoT' image (IoT = Internet of Things) which comes with additional software and can make for a more comfortable experience if you are very new to Linux. It's available from the same site.

    Don't assume that the latest image is the best, or even that it works. Afterall, this is the 'testing' repository, so be warned. However, I will endeavour to keep abreast of what seems to be the latest functional image and mention it here.

    I'm currently using: https://rcn-ee.net/rootfs/bb.org/testing/2018-07-15/stretch-console/bone-debian-9.5-console-armhf-2018-07-15-1gb.img.xz.
    
    ---+++ Please try using this precise image first before raising issues! +++---
    
    And quickly on the subject of editing text files in Linux: naturally, you can use your favourite text editor. Personally, I like nano, which, owing to the way these Debian images have been configured, is invoked by default if you use the `sudoedit` command.
    
2) Next you'll need to flash the image to a microSD card. Whether you are using Linux or Windows, I highly recommend a program called Etcher for this task (https://etcher.io/).

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It shows how to enable the PRU like this
/bin/echo pruecapin_pu >/sys/devices/platform/ocp/ocp:P8_15_pinmux/state