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BeagleBone AI support #203

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BeagleBone AI support #203

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6bd8293
add version and model changes, TODO: real model name in future
Jan 9, 2019
83a7a3b
Break before fixing
Jul 25, 2019
144daed
Add BeagleBone AI model
Jul 26, 2019
77b2b8d
Note ADC updated needed
Jul 26, 2019
c5609f2
Fix (simplify) LED path
Jul 26, 2019
97d99f3
BeagleBone AI: add PRU firmware
Jul 26, 2019
1357752
Do not track firmware in git
Jul 26, 2019
a33843f
Remove redundant C files
Jul 26, 2019
d3df93e
Do not track firmware in git
Jul 26, 2019
a0e3c38
First pass at AM57XX PRU support
Jul 27, 2019
8317319
WIP: adc working
Jul 31, 2019
15a17a4
servos: bus error
Jul 31, 2019
8ac3520
servos almost working
Jul 31, 2019
89d227c
Got servos working
Aug 1, 2019
84918a0
Merge branch 'v1.1' into bbai
jadonk Jun 3, 2020
a7d69c9
Merge branch 'master' of https://github.com/beagleboard/librobotcontr…
Jun 3, 2020
a077740
Merge branch 'v1.1' into bbai
jadonk Jun 3, 2020
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18 changes: 8 additions & 10 deletions library/include/rc/adc.h
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Original file line number Diff line number Diff line change
Expand Up @@ -29,14 +29,14 @@
* all swiveled around. The ADC2AI() macro will swivel using this table:
*
* AM3358 - AI
* 0 - 4
* 1 - 6
* 2 - 7
* 3 - 5
* 4 - 3
* 5 - 2
* 6 - 0
* 7 - -1 (not available on BeagleBone AI)
* 0 - 0 (X+)
* 1 - 1 (X-)
* 2 - 3 (Y-)
* 3 - 2 (Y+)
* 4 - 7 (IN3)
* 5 - 6 (IN2)
* 6 - 4 (IN0)
* 7 - 5 (IN1 - grounded on BeagleBone AI)
*
* See the rc_test_adc example for sample use case.
*
Expand All @@ -48,8 +48,6 @@
#ifndef RC_ADC_H
#define RC_ADC_H

#define ADC2AI(x) (x==0?4:(x==1?6:(x==2?7:(x==3?5:(x==4?3:(x==5?2:(x==6?0:-1)))))))

#ifdef __cplusplus
extern "C" {
#endif
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12 changes: 10 additions & 2 deletions library/src/io/adc.c
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
#include <fcntl.h> // for open
#include <unistd.h> // for close
#include <rc/adc.h>
#include <rc/model.h>

// preposessor macros
#define unlikely(x) __builtin_expect (!!(x), 0)
Expand All @@ -24,6 +25,7 @@
#define V_DIV_RATIO 11.0
#define BATT_DEADZONE 1.0

#define ADC2AI(x) (x==0?0:(x==1?1:(x==2?3:(x==3?2:(x==4?7:(x==5?6:(x==6?4:(x==7?5:-1))))))))
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This is an ugly hack. Not the desired approach. I need to figure out how to do a better job remapping the channels in a more portable way.

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Can we add a series of symlink entries into the device tree to create something like /dev/bone/adc/Px_y? I'd think that would be a better way to handle GPIOs than with the LED drivers like Deepak Khatri did for now.

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This is an ugly hack. Not the desired approach. I need to figure out how to do a better job remapping the channels in a more portable way.

can we make ADC2AI(x) an inline function


#define CHANNELS 8
#define IIO_DIR "/sys/bus/iio/devices/iio:device0"
Expand All @@ -42,7 +44,10 @@ int rc_adc_init(void)
if(init_flag) return 0;

for(i=0;i<CHANNELS;i++){
snprintf(buf, sizeof(buf), IIO_DIR "/in_voltage%d_raw", i);
if(rc_model()==MODEL_BB_AI || rc_model()==MODEL_BB_AI_RC)
snprintf(buf, sizeof(buf), IIO_DIR "/in_voltage%d_raw", ADC2AI(i));
else
snprintf(buf, sizeof(buf), IIO_DIR "/in_voltage%d_raw", i);
temp_fd = open(buf, O_RDONLY);
if(temp_fd<0){
perror("ERROR in rc_adc_init, failed to open iio adc interface\n");
Expand Down Expand Up @@ -100,7 +105,10 @@ double rc_adc_read_volt(int ch)
{
int raw = rc_adc_read_raw(ch);
if(raw<0) return -1;
return raw * 1.8 / 4095.0;
if(rc_model()==MODEL_BB_AI || rc_model()==MODEL_BB_AI_RC)
return raw * 0.805664062 / 1000.0; // * in_voltage_scale = mV
else
return raw * 1.8 / 4095.0;
}


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2 changes: 1 addition & 1 deletion library/src/io/gpio.c
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@
#define likely(x) __builtin_expect (!!(x), 1)

#define DEVICE_BASE "/dev/gpiochip"
#define CHIPS_MAX 6 // up to 6 chip chips, make larger if you want
#define CHIPS_MAX 10 // up to 10 chip chips, make larger if you want
#define MAX_BUF 64


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1 change: 0 additions & 1 deletion library/src/pru/pru.c
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Expand Up @@ -52,7 +52,6 @@ static volatile unsigned int* shared_mem_32bit_ptr = NULL;

int rc_pru_start(int ch, const char* fw_name)
{
return 0; // until we fix for AM5
int fd, ret;
char buf[64];

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3 changes: 1 addition & 2 deletions library/src/pru/servo.c
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@
#define AM335X_GPIO_POWER_PIN 2,16 //gpio2.16 P8.36
#define AM335X_SERVO_PRU_CH 1 // PRU1
#define AM335X_SERVO_PRU_FW "am335x-pru1-rc-servo-fw"
#define AM57XX_GPIO_POWER_PIN 8,10 //gpio8.10 P8.36
#define AM57XX_GPIO_POWER_PIN 7,10 //gpio8.10 P8.36
#define AM57XX_SERVO_PRU_CH 4 // PRU2_0
#define AM57XX_SERVO_PRU_FW "am57xx-pru2_0-rc-servo-fw"
#define PRU_SERVO_LOOP_INSTRUCTIONS 48 // instructions per PRU servo timer loop
Expand All @@ -33,7 +33,6 @@ static int esc_min_us = RC_ESC_DEFAULT_MIN_US;

int rc_servo_init(void)
{
return 0; // until we update for AM5
int i;
// start gpio power rail pin
if(rc_model()==MODEL_BB_AI || rc_model()==MODEL_BB_AI_RC){
Expand Down
2 changes: 2 additions & 0 deletions pru_firmware/Makefile
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Expand Up @@ -116,6 +116,8 @@ install:
@$(INSTALLDIR) $(DESTDIR)/lib/firmware
@$(INSTALLNONEXEC) $(TARGET0) $(DESTDIR)/lib/firmware/
@$(INSTALLNONEXEC) $(TARGET1) $(DESTDIR)/lib/firmware/
@$(INSTALLNONEXEC) $(TARGET2) $(DESTDIR)/lib/firmware/
@$(INSTALLNONEXEC) $(TARGET3) $(DESTDIR)/lib/firmware/
@echo 'PRU Firmware Install Complete'


Expand Down