From a26886e139ccb1b70b709e4c4e02b920d57fdff2 Mon Sep 17 00:00:00 2001
From: Jason Kridner <jdk@ti.com>
Date: Thu, 18 Jun 2020 00:44:00 -0400
Subject: [PATCH 01/13] Use latest aliases for pru remoteproc interface
Depends on https://github.com/beagleboard/customizations/commit/d9659ecd38f87feafb40e735c883fa33278e4dcd
Fixes https://github.com/beagleboard/librobotcontrol/issues/180
This first seen as https://github.com/beagleboard/Latest-Images/issues/23
This is understood to have been caused by setting remoteproc to be a
module:
https://github.com/beagleboard/linux/commit/905625c9cf2b7b1b4666c9d539f7e9b631fcc6e1#diff-33a10e3332c04ed8bae3a266caa5c723R2027
Whereas it use to be a built-in:
https://github.com/beagleboard/linux/commit/2a8a6a110c8348dcf4e67ce358044ce62bfe175d#diff-33a10e3332c04ed8bae3a266caa5c723R2040
Although, mainline has disabled module based remoteproc builds for now,
so indexes will likely change again:
https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/commit/?id=6334150e9a36467e253371c923a23955c831a295
Fortunately, with the new udev rule, we should be immune unless we
actually decide to change the name ourselves.
---
debian/changelog | 5 +++++
debian/control | 8 ++++----
examples/src/rc_test_drivers.c | 2 +-
library/src/pru/pru.c | 8 ++++----
services/robotcontrol/src/rc_startup_routine.c | 2 +-
5 files changed, 15 insertions(+), 10 deletions(-)
diff --git a/debian/changelog b/debian/changelog
index 24b41de..384ad25 100644
--- a/debian/changelog
+++ b/debian/changelog
@@ -1,3 +1,8 @@
+librobotcontrol (1.0.5) stable; urgency=high
+ * use latest aliases for PRU indexes
+ -- Jason Kridner <jkridner@beagleboard.org> Thu, 18 Jun 2020 00:17:41 -0400
+
+
librobotcontrol (1.0.4) stable; urgency=low
* fix missing stddef.h include in i2c.h
* add kmartin36's PRU encoder robustness improvement
diff --git a/debian/control b/debian/control
index e401677..d7ac3e8 100644
--- a/debian/control
+++ b/debian/control
@@ -3,14 +3,14 @@ Section: utils
Priority: optional
Build-Depends: debhelper (>= 9), devscripts, debconf (>= 0.2.26)
Standards-Version: 3.9.8
-Maintainer: James Strawson <james@strawsondesign.com>
-Homepage: http://www.strawsondesign.com/
+Maintainer: Jason Kridner <jkridner@beagleboard.org>
+Homepage: http://beagleboard.org/librobotcontrol
Package: librobotcontrol
Architecture: any
-Depends: debconf, ${shlibs:Depends}, ${misc:Depends}
+Depends: debconf, bb-customizations (>= 1.20200522.1-0), ${shlibs:Depends}, ${misc:Depends}
Replaces: roboticscape
Conflicts: roboticscape
Provides: roboticscape
Description: Robot Control Library and Examples
- Hardware support for the Robotics Cape and BeagleBone Blue.
+ Hardware support for BeagleBoard.org Robotics Cape and BeagleBoard.org BeagleBone Blue.
diff --git a/examples/src/rc_test_drivers.c b/examples/src/rc_test_drivers.c
index 22592c8..eabb3ff 100644
--- a/examples/src/rc_test_drivers.c
+++ b/examples/src/rc_test_drivers.c
@@ -65,7 +65,7 @@ int main()
} else printf("PASSED: eqep2\n");
// rproc
- if(access("/sys/class/remoteproc/remoteproc1/state", F_OK ) != 0){
+ if(access("/dev/remoteproc/pruss-core0/state", F_OK ) != 0){
printf("ERROR: pru-rproc driver not loaded\n");
} else printf("PASSED: pru-rproc\n");
diff --git a/library/src/pru/pru.c b/library/src/pru/pru.c
index b7ec26f..c7f41b9 100644
--- a/library/src/pru/pru.c
+++ b/library/src/pru/pru.c
@@ -22,10 +22,10 @@
#include <rc/pru.h>
// remoteproc driver
-#define PRU0_STATE "/sys/class/remoteproc/remoteproc1/state"
-#define PRU1_STATE "/sys/class/remoteproc/remoteproc2/state"
-#define PRU0_FW "/sys/class/remoteproc/remoteproc1/firmware"
-#define PRU1_FW "/sys/class/remoteproc/remoteproc2/firmware"
+#define PRU0_STATE "/dev/remoteproc/pruss-core0/state"
+#define PRU1_STATE "/dev/remoteproc/pruss-core1/state"
+#define PRU0_FW "/dev/remoteproc/pruss-core0/firmware"
+#define PRU1_FW "/dev/remoteproc/pruss-core1/firmware"
// share memory pointer location
#define PRU_ADDR 0x4A300000 // Start of PRU memory Page 184 am335x TRM
diff --git a/services/robotcontrol/src/rc_startup_routine.c b/services/robotcontrol/src/rc_startup_routine.c
index 8bd9a81..4d04d6e 100644
--- a/services/robotcontrol/src/rc_startup_routine.c
+++ b/services/robotcontrol/src/rc_startup_routine.c
@@ -224,7 +224,7 @@ int check_eqep()
*/
int check_pru()
{
- if(access("/sys/class/remoteproc/remoteproc1/state", F_OK)){
+ if(access("/dev/remoteproc/pruss-core0", F_OK)){
return -1;
}
return 0;
--
GitLab
From d7e49b903cb312553b0bb6af4b5b5790c5fc82cb Mon Sep 17 00:00:00 2001
From: Jason Kridner <jdk@ti.com>
Date: Thu, 18 Jun 2020 19:52:08 +0000
Subject: [PATCH 02/13] bump version to 1.0.4
---
CHANGELOG | 5 ++++-
debian/changelog | 2 +-
library/Makefile | 2 +-
library/include/rc/version.h | 4 ++--
4 files changed, 8 insertions(+), 5 deletions(-)
diff --git a/CHANGELOG b/CHANGELOG
index 2ee23a6..9397829 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -1,3 +1,6 @@
+1.0.5
+ * use latest aliases for PRU indexes
+
1.0.4
* fix missing stddef.h include in i2c.h
* add kmartin36's PRU encoder robustness improvement
@@ -187,4 +190,4 @@
0.1.0
* installs on Blue as well and Black
-// indentation is with spaces to allow copy/paste into debian/changelog
\ No newline at end of file
+// indentation is with spaces to allow copy/paste into debian/changelog
diff --git a/debian/changelog b/debian/changelog
index 384ad25..8a34bf5 100644
--- a/debian/changelog
+++ b/debian/changelog
@@ -1,4 +1,4 @@
-librobotcontrol (1.0.5) stable; urgency=high
+librobotcontrol (1.0.5) stable; urgency=low
* use latest aliases for PRU indexes
-- Jason Kridner <jkridner@beagleboard.org> Thu, 18 Jun 2020 00:17:41 -0400
diff --git a/library/Makefile b/library/Makefile
index 1a4fa71..7393b3c 100644
--- a/library/Makefile
+++ b/library/Makefile
@@ -5,7 +5,7 @@ BUILDDIR := build
INCLUDEDIR := include
SHORTNAME := librobotcontrol.so
SONAME := librobotcontrol.so.1
-FULLNAME := librobotcontrol.so.1.0.4
+FULLNAME := librobotcontrol.so.1.0.5
TARGET := $(LIBDIR)/$(FULLNAME)
RC_VAR_DIR := var/lib/robotcontrol
diff --git a/library/include/rc/version.h b/library/include/rc/version.h
index 020a798..fc29a1b 100644
--- a/library/include/rc/version.h
+++ b/library/include/rc/version.h
@@ -20,7 +20,7 @@ extern "C" {
#define RC_LIB_VERSION_MAJOR 1
#define RC_LIB_VERSION_MINOR 0
-#define RC_LIB_VERSION_PATCH 4
+#define RC_LIB_VERSION_PATCH 5
#define RC_LIB_VERSION_HEX ((RC_LIB_VERSION_MAJOR << 16) | \
(RC_LIB_VERSION_MINOR << 8) | \
(RC_LIB_VERSION_PATCH))
@@ -58,4 +58,4 @@ void rc_version_print(void);
#endif //RC_VERSION_H
-/** @} end group version*/
\ No newline at end of file
+/** @} end group version*/
--
GitLab
From 2c6c17e44194b2c12e0099a8887bef680f346451 Mon Sep 17 00:00:00 2001
From: "Mark A. Yoder" <Mark.A.Yoder@Rose-Hulman.edu>
Date: Wed, 17 Jun 2020 15:30:42 -0400
Subject: [PATCH 03/13] On pocket, motor 1 uses PWM 1A and motor 2 uses PWM 0A
---
library/src/motor.c | 20 ++++++++++++++++++--
1 file changed, 18 insertions(+), 2 deletions(-)
diff --git a/library/src/motor.c b/library/src/motor.c
index cf30b0d..1170268 100644
--- a/library/src/motor.c
+++ b/library/src/motor.c
@@ -14,6 +14,9 @@
#define unlikely(x) __builtin_expect (!!(x), 0)
// motor pin definitions
+#define MDIR0A_CHIP 0 //gpio0.26 P1.34
+#define MDIR0A_PIN 26 //gpio0.26 P1.34
+
#define MDIR1A_CHIP 1 //gpio1.28 P9.12
#define MDIR1A_PIN 28 //gpio1.28 P9.12
#define MDIR1A_CHIP_BLUE 2 //gpio2.0 pin T13
@@ -94,8 +97,16 @@ int rc_motor_init_freq(int pwm_frequency_hz)
dirB_chip[1] = MDIR2B_CHIP;
dirB_pin[1] = MDIR2B_PIN;
}
- pwmss[1]=1;
- pwmch[1]='B';
+ if(rc_model()==MODEL_BB_POCKET) {
+ printf("Found Pocket\n");
+ dirA_chip[1]=MDIR0A_CHIP;
+ dirA_pin[1]=MDIR0A_PIN;
+ pwmss[1]=0;
+ pwmch[1]='A';
+ } else {
+ pwmss[1]=1;
+ pwmch[1]='B';
+ }
// motor 3
dirA_chip[2]=MDIR3A_CHIP;
@@ -114,6 +125,10 @@ int rc_motor_init_freq(int pwm_frequency_hz)
pwmch[3]='B';
// set up pwm channels
+ if(unlikely(rc_pwm_init(0,pwm_frequency_hz))){
+ fprintf(stderr,"ERROR in rc_motor_init, failed to initialize pwm subsystem 1\n");
+ return -1;
+ }
if(unlikely(rc_pwm_init(1,pwm_frequency_hz))){
fprintf(stderr,"ERROR in rc_motor_init, failed to initialize pwm subsystem 1\n");
return -1;
@@ -165,6 +180,7 @@ int rc_motor_cleanup(void)
int i;
if(!init_flag) return 0;
rc_motor_free_spin(0);
+ rc_pwm_cleanup(0);
rc_pwm_cleanup(1);
rc_pwm_cleanup(2);
rc_gpio_cleanup(MOT_STBY);
--
GitLab
From 4fefe0c946bb17e91fdaa43fa4c1c498a1136282 Mon Sep 17 00:00:00 2001
From: "Mark A. Yoder" <Mark.A.Yoder@Rose-Hulman.edu>
Date: Thu, 18 Jun 2020 15:06:47 -0400
Subject: [PATCH 04/13] Dropped eQEP1 on Pocket
---
library/src/io/encoder_eqep.c | 43 +++++++++++++++++++----------------
1 file changed, 23 insertions(+), 20 deletions(-)
diff --git a/library/src/io/encoder_eqep.c b/library/src/io/encoder_eqep.c
index 52894a6..b2724ee 100644
--- a/library/src/io/encoder_eqep.c
+++ b/library/src/io/encoder_eqep.c
@@ -12,6 +12,7 @@
#include <fcntl.h> // for open
#include <unistd.h> // for close
+#include <rc/model.h>
#include <rc/encoder_eqep.h>
// preposessor macros
@@ -60,26 +61,28 @@ int rc_encoder_eqep_init(void)
fd[0]=temp_fd;
// subsystem 1
- temp_fd = open(EQEP_BASE1 "/enabled", O_WRONLY);
- if(temp_fd<0){
- perror("ERROR in rc_encoder_eqep_init, failed to open device driver");
- fprintf(stderr,"Perhaps kernel or device tree is too old\n");
- return -1;
- }
- if(write(temp_fd,"1",2)==-1){
- perror("ERROR in rc_encoder_eqep_init, failed to enable device driver");
- return -1;
- }
- close(temp_fd);
- temp_fd = open(EQEP_BASE1 "/position", O_RDWR);
- if(temp_fd<0){
- perror("ERROR in rc_encoder_eqep_init, failed to open device driver");
- fprintf(stderr,"Perhaps kernel or device tree is too old\n");
- return -1;
- }
- if(write(temp_fd,"0",2)==-1){
- perror("ERROR in rc_encoder_eqep_init, failed to zero out position");
- return -1;
+ if(rc_model()!=MODEL_BB_POCKET) { // Skip since not enabled on Pocket
+ temp_fd = open(EQEP_BASE1 "/enabled", O_WRONLY);
+ if(temp_fd<0){
+ perror("ERROR in rc_encoder_eqep_init, failed to open device driver");
+ fprintf(stderr,"Perhaps kernel or device tree is too old\n");
+ return -1;
+ }
+ if(write(temp_fd,"1",2)==-1){
+ perror("ERROR in rc_encoder_eqep_init, failed to enable device driver");
+ return -1;
+ }
+ close(temp_fd);
+ temp_fd = open(EQEP_BASE1 "/position", O_RDWR);
+ if(temp_fd<0){
+ perror("ERROR in rc_encoder_eqep_init, failed to open device driver");
+ fprintf(stderr,"Perhaps kernel or device tree is too old\n");
+ return -1;
+ }
+ if(write(temp_fd,"0",2)==-1){
+ perror("ERROR in rc_encoder_eqep_init, failed to zero out position");
+ return -1;
+ }
}
fd[1]=temp_fd;
--
GitLab
From bcef727f1bb29fb38b52c97cee53bd7eff35a890 Mon Sep 17 00:00:00 2001
From: Jason Kridner <jdk@ti.com>
Date: Thu, 18 Jun 2020 20:33:34 +0000
Subject: [PATCH 05/13] motors.c: fix for PocketBeagle
Pin assignments for motors loaded to
https://docs.google.com/spreadsheets/d/1fE-AsDZvJ-bBwzNBj1_sPDrutvEvsmARqFwvbw_HkrE/edit?usp=sharing
---
library/src/motor.c | 69 +++++++++++++++++++++++++++------------------
1 file changed, 42 insertions(+), 27 deletions(-)
diff --git a/library/src/motor.c b/library/src/motor.c
index 1170268..b2585ab 100644
--- a/library/src/motor.c
+++ b/library/src/motor.c
@@ -14,22 +14,23 @@
#define unlikely(x) __builtin_expect (!!(x), 0)
// motor pin definitions
-#define MDIR0A_CHIP 0 //gpio0.26 P1.34
-#define MDIR0A_PIN 26 //gpio0.26 P1.34
-
-#define MDIR1A_CHIP 1 //gpio1.28 P9.12
-#define MDIR1A_PIN 28 //gpio1.28 P9.12
+#define MDIR1A_CHIP 1 //gpio1.28 P9.12/P2.08
+#define MDIR1A_PIN 28 //gpio1.28 P9.12/P2.08
#define MDIR1A_CHIP_BLUE 2 //gpio2.0 pin T13
#define MDIR1A_PIN_BLUE 0 //gpio2.0 pin T13
-#define MDIR1B_CHIP 0 //gpio0.31 P9.13
-#define MDIR1B_PIN 31 //gpio0.31 P9.13
+#define MDIR1B_CHIP 0 //gpio0.31 P9.13/P2.07
+#define MDIR1B_PIN 31 //gpio0.31 P9.13/P2.07
#define MDIR2A_CHIP 1 //gpio1.16 P9.15
#define MDIR2A_PIN 16 //gpio1.16 P9.15
+#define MDIR2A_CHIP_POCKET 0 //gpio0.26 P1.34
+#define MDIR2A_PIN_POCKET 26 //gpio0.26 P1.34
#define MDIR2B_CHIP 2 //gpio2.17 P8.34
#define MDIR2B_PIN 17 //gpio2.17 P8.34
#define MDIR2B_CHIP_BLUE 0 //gpio0.10 P8_31
#define MDIR2B_PIN_BLUE 10 //gpio0.10 P8_31
+#define MDIR2B_CHIP_POCKET 1 //gpio1.27 P2.02
+#define MDIR2B_PIN_POCKET 27 //gpio1.27 P2.02
#define MDIR3B_CHIP 2 //gpio2.8 P8.43
#define MDIR3B_PIN 8 //gpio2.8 P8.43
@@ -41,9 +42,10 @@
#define MDIR4B_CHIP 2 //gpio2.7 P8.46
#define MDIR4B_PIN 7 //gpio2.7 P8.46
-#define MOT_STBY 0,20 //gpio0.20 P9.41
+#define MOT_STBY 0,20 //gpio0.20 P9.41/P1.20
#define CHANNELS 4
+#define CHANNELS_POCKET 2
// polarity of the motor connections
@@ -57,7 +59,7 @@ static int dirB_chip[CHANNELS];
static int dirB_pin[CHANNELS];
static int pwmss[CHANNELS];
static int pwmch[CHANNELS];
-
+static int channels = 0;
@@ -71,8 +73,15 @@ int rc_motor_init_freq(int pwm_frequency_hz)
{
int i;
+ if(rc_model()==MODEL_BB_POCKET){
+ channels = CHANNELS_POCKET;
+ }
+ else{
+ channels = CHANNELS;
+ }
+
// set pins for motor 1
- // assign gpio pins for blue/black
+ // assign gpio pins for blue/black/pocket
if(rc_model()==MODEL_BB_BLUE){
dirA_chip[0]=MDIR1A_CHIP_BLUE;
dirA_pin[0]=MDIR1A_PIN_BLUE;
@@ -87,20 +96,26 @@ int rc_motor_init_freq(int pwm_frequency_hz)
pwmch[0]='A';
// motor 2
- dirA_chip[1]=MDIR2A_CHIP;
- dirA_pin[1]=MDIR2A_PIN;
+ if(rc_model()==MODEL_BB_POCKET) {
+ dirA_chip[1]=MDIR2A_CHIP_POCKET;
+ dirA_pin[1]=MDIR2A_PIN_POCKET;
+ }
+ else{
+ dirA_chip[1]=MDIR2A_CHIP;
+ dirA_pin[1]=MDIR2A_PIN;
+ }
if(rc_model()==MODEL_BB_BLUE){
dirB_chip[1]=MDIR2B_CHIP_BLUE;
dirB_pin[1]=MDIR2B_PIN_BLUE;
}
+ else if(rc_model()==MODEL_BB_POCKET) {
+ dirB_chip[1]=MDIR2B_CHIP_POCKET;
+ dirB_pin[1]=MDIR2B_PIN_POCKET;
else{
dirB_chip[1] = MDIR2B_CHIP;
dirB_pin[1] = MDIR2B_PIN;
}
if(rc_model()==MODEL_BB_POCKET) {
- printf("Found Pocket\n");
- dirA_chip[1]=MDIR0A_CHIP;
- dirA_pin[1]=MDIR0A_PIN;
pwmss[1]=0;
pwmch[1]='A';
} else {
@@ -143,7 +158,7 @@ int rc_motor_init_freq(int pwm_frequency_hz)
fprintf(stderr,"ERROR in rc_motor_init, failed to set up gpio %d,%d\n", MOT_STBY);
return -1;
}
- for(i=0;i<CHANNELS;i++){
+ for(i=0;i<channels;i++){
if(unlikely(rc_gpio_init(dirA_chip[i],dirA_pin[i], GPIOHANDLE_REQUEST_OUTPUT))){
fprintf(stderr,"ERROR in rc_motor_init, failed to set up gpio %d,%d\n", dirA_chip[i],dirA_pin[i]);
return -1;
@@ -184,7 +199,7 @@ int rc_motor_cleanup(void)
rc_pwm_cleanup(1);
rc_pwm_cleanup(2);
rc_gpio_cleanup(MOT_STBY);
- for(i=0;i<CHANNELS;i++){
+ for(i=0;i<channels;i++){
rc_gpio_cleanup(dirA_chip[i],dirA_pin[i]);
rc_gpio_cleanup(dirB_chip[i],dirB_pin[i]);
}
@@ -224,8 +239,8 @@ int rc_motor_set(int motor, double duty)
int a,b,i;
// sanity checks
- if(unlikely(motor<0 || motor>CHANNELS)){
- fprintf(stderr,"ERROR in rc_motor_set, motor argument must be between 0 & %d\n", CHANNELS);
+ if(unlikely(motor<0 || motor>channels)){
+ fprintf(stderr,"ERROR in rc_motor_set, motor argument must be between 0 & %d\n", channels);
return -1;
}
if(unlikely(init_flag==0)){
@@ -238,7 +253,7 @@ int rc_motor_set(int motor, double duty)
else if (duty <-1.0) duty =-1.0;
if(motor==0){
- for(i=1;i<CHANNELS;i++){
+ for(i=1;i<channels;i++){
if(rc_motor_set(i,duty)==-1) return -1;
}
return 0;
@@ -271,8 +286,8 @@ int rc_motor_free_spin(int motor)
int i;
// sanity checks
- if(unlikely(motor<0 || motor>CHANNELS)){
- fprintf(stderr,"ERROR in rc_motor_free_spin, motor argument must be between 0 & %d\n", CHANNELS);
+ if(unlikely(motor<0 || motor>channels)){
+ fprintf(stderr,"ERROR in rc_motor_free_spin, motor argument must be between 0 & %d\n", channels);
return -1;
}
if(unlikely(init_flag==0)){
@@ -282,7 +297,7 @@ int rc_motor_free_spin(int motor)
// case for all channels
if(motor==0){
- for(i=1;i<CHANNELS;i++){
+ for(i=1;i<channels;i++){
if(rc_motor_free_spin(i)==-1) return -1;
}
return 0;
@@ -310,8 +325,8 @@ int rc_motor_brake(int motor)
int i;
// sanity checks
- if(unlikely(motor<0 || motor>CHANNELS)){
- fprintf(stderr,"ERROR in rc_motor_brake, motor argument must be between 0 & %d\n", CHANNELS);
+ if(unlikely(motor<0 || motor>channels)){
+ fprintf(stderr,"ERROR in rc_motor_brake, motor argument must be between 0 & %d\n", channels);
return -1;
}
if(unlikely(init_flag==0)){
@@ -321,7 +336,7 @@ int rc_motor_brake(int motor)
// case for all channels
if(motor==0){
- for(i=1;i<CHANNELS;i++){
+ for(i=1;i<channels;i++){
if(rc_motor_brake(i)==-1) return -1;
}
return 0;
@@ -341,4 +356,4 @@ int rc_motor_brake(int motor)
return -1;
}
return 0;
-}
\ No newline at end of file
+}
--
GitLab
From c123a2f55022a0b2651244e7dd13675203e2a348 Mon Sep 17 00:00:00 2001
From: Jason Kridner <jdk@ti.com>
Date: Thu, 18 Jun 2020 20:48:49 +0000
Subject: [PATCH 06/13] Update CHANGELOG
---
CHANGELOG | 7 +++++++
debian/changelog | 7 +++++++
2 files changed, 14 insertions(+)
diff --git a/CHANGELOG b/CHANGELOG
index 9397829..489106b 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -1,5 +1,12 @@
1.0.5
* use latest aliases for PRU indexes
+ * add support for PocketBeagle
+ * integrate PX4 build handling
+ * clean-up some messages from rc_balance
+ * fix rc_startup_routine start delay
+ * fix rc_filter_duplicate initialization check
+ * fix stdin control mode for rc_balance
+ * add PRU to startup routine checks and required kernel modules
1.0.4
* fix missing stddef.h include in i2c.h
diff --git a/debian/changelog b/debian/changelog
index 8a34bf5..7d9c089 100644
--- a/debian/changelog
+++ b/debian/changelog
@@ -1,5 +1,12 @@
librobotcontrol (1.0.5) stable; urgency=low
* use latest aliases for PRU indexes
+ * add support for PocketBeagle
+ * integrate PX4 build handling
+ * clean-up some messages from rc_balance
+ * fix rc_startup_routine start delay
+ * fix rc_filter_duplicate initialization check
+ * fix stdin control mode for rc_balance
+ * add PRU to startup routine checks and required kernel modules
-- Jason Kridner <jkridner@beagleboard.org> Thu, 18 Jun 2020 00:17:41 -0400
--
GitLab
From 27d29077e41318a515162828d08d8ed28c1f6afd Mon Sep 17 00:00:00 2001
From: Jason Kridner <jdk@ti.com>
Date: Thu, 18 Jun 2020 20:50:06 +0000
Subject: [PATCH 07/13] motor.c: fix error in if statement
---
library/src/motor.c | 1 +
1 file changed, 1 insertion(+)
diff --git a/library/src/motor.c b/library/src/motor.c
index b2585ab..d95202c 100644
--- a/library/src/motor.c
+++ b/library/src/motor.c
@@ -111,6 +111,7 @@ int rc_motor_init_freq(int pwm_frequency_hz)
else if(rc_model()==MODEL_BB_POCKET) {
dirB_chip[1]=MDIR2B_CHIP_POCKET;
dirB_pin[1]=MDIR2B_PIN_POCKET;
+ }
else{
dirB_chip[1] = MDIR2B_CHIP;
dirB_pin[1] = MDIR2B_PIN;
--
GitLab
From fdf40e951d09067ef8594abd2de56c0b1bc4665f Mon Sep 17 00:00:00 2001
From: Jason Kridner <jdk@ti.com>
Date: Thu, 18 Jun 2020 21:03:12 +0000
Subject: [PATCH 08/13] Remove install.sh
---
install.sh | 68 ------------------------------------------------------
1 file changed, 68 deletions(-)
delete mode 100755 install.sh
diff --git a/install.sh b/install.sh
deleted file mode 100755
index d1fb660..0000000
--- a/install.sh
+++ /dev/null
@@ -1,68 +0,0 @@
-# basic install script to help when installing from source
-# please use the debian package unless you know what you are doing!
-
-
-echo ""
-echo "This install script is just to help install from source."
-echo "If you are running this on a BeagleBone we recommend running"
-echo "the version which comes packaged and preinstalled in the "
-echo "official BeagleBone images. Please visit this link for details:"
-echo ""
-echo "http://strawsondesign.com/docs/librobotcontrol/"
-echo ""
-echo "To continue, enter 1 to compile and install on BeagleBone"
-echo "enter 2 for other platforms (Raspberry Pi, x86, etc..)"
-echo ""
-
-
-
-read n
-case $n in
- 1)
- mode=BB
- echo "ready to install on BeagleBone, press enter to continue"
- ;;
- 2)
- mode=OTHER
- echo "ready to install generic library, press enter to continue"
- ;;
-
- *)
- echo "invalid option"
- exit;;
-esac
-
-# wait for keypress
-read n
-
-
-case $mode in
- BB)
- # for BBB, compile and install everything
- sudo debian/preinst
- make
- sudo make install
- sudo ldconfig
- sudo systemctl daemon-reload
- sudo systemctl enable robotcontrol
- sudo systemctl enable rc_battery_monitor
- sudo configure_robotics_dt.sh
- ;;
- OTHER)
- # for other platforms just install libary and examples
- make -C library --no-print-directory
- make -C examples --no-print-directory
- sudo make -C library -s install
- sudo make -C examples -s install
- sudo ldconfig
- ;;
- *)
- echo "invalid option"
- exit;;
-esac
-
-echo "finished!"
-
-
-
-
--
GitLab
From 06bc691af6684cdbbfcd52fab28bafffe84a693f Mon Sep 17 00:00:00 2001
From: Jason Kridner <jdk@ti.com>
Date: Thu, 18 Jun 2020 21:07:46 +0000
Subject: [PATCH 09/13] debian: these triggers are automatically added
---
debian/triggers | 1 -
1 file changed, 1 deletion(-)
diff --git a/debian/triggers b/debian/triggers
index dd86603..e69de29 100644
--- a/debian/triggers
+++ b/debian/triggers
@@ -1 +0,0 @@
-activate-noawait ldconfig
--
GitLab
From 0d2480bc9b86303ff76d929f816463991492b34b Mon Sep 17 00:00:00 2001
From: Jason Kridner <jdk@ti.com>
Date: Thu, 18 Jun 2020 21:17:49 +0000
Subject: [PATCH 10/13] docs: point to latest flasher image
---
docs/src/flashing.dox | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/docs/src/flashing.dox b/docs/src/flashing.dox
index ca49980..9dea1f7 100644
--- a/docs/src/flashing.dox
+++ b/docs/src/flashing.dox
@@ -10,11 +10,11 @@ We highly recommend flashing the internal memory as the eMMC will generally prov
\section flashing_s1 Flashing the Built-In eMMC Storage (recommended)
-The [BeagleBoard.org latest-images page](http://beagleboard.org/latest-images) is currently up to date with the 2018-10-07 stable image, but does not provide a version which will flash the built-in emmc memory. Here are the flasher images we recommend using for BeagleBone Black and BeagleBone Blue along with checksums you can optionally use to check the download integrity:
+Here are the flasher images we recommend using for BeagleBone Black and BeagleBone Blue along with checksums you can optionally use to check the download integrity:
-[2018-10-07 BeagleBone Black Flasher Image](http://strawsondesign.com/docs/images/BBB-blank-debian-9.5-iot-armhf-2018-10-07-4gb.img.xz) ([checksum](http://strawsondesign.com/docs/images/BBB-blank-debian-9.5-iot-armhf-2018-10-07-4gb.img.xz.sha256sum))
+[2020-04-06 BeagleBone Flasher Image](https://debian.beagleboard.org/images/bone-eMMC-flasher-debian-10.3-iot-armhf-2020-04-06-4gb.img.xz) ([checksum](https://debian.beagleboard.org/images/bone-eMMC-flasher-debian-10.3-iot-armhf-2020-04-06-4gb.img.xz.sha256sum))
-[2018-10-07 BeagleBone Blue Flasher Image](http://strawsondesign.com/docs/images/BBBL-blank-debian-9.5-iot-armhf-2018-10-07-4gb.img.xz) ([checksum](http://strawsondesign.com/docs/images/BBBL-blank-debian-9.5-iot-armhf-2018-10-07-4gb.img.xz.sha256sum))
+For BeagleBone Black + Robotics Cape, you'll still need to manually install the device tree overlay as the cape was designed without an identification EEPROM.
These links are .xz compressed archives (like a .zip file). You must un-archive (extract) them before writing to a microSD card. The extracted .img file should be about 4GB in size. Do not just write the .xz archive to an SD card, it will not work.
@@ -54,4 +54,4 @@ After flashing a BeagleBone Black or Black Wireless with a clean image it is nec
\tableofcontents
-*/
\ No newline at end of file
+*/
--
GitLab
From a50e071a7661eedebb9651b6936aec21cbd0e45a Mon Sep 17 00:00:00 2001
From: Jason Kridner <jdk@ti.com>
Date: Thu, 18 Jun 2020 21:37:37 +0000
Subject: [PATCH 11/13] debian: fix version dependency
---
debian/control | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/debian/control b/debian/control
index d7ac3e8..119e7f2 100644
--- a/debian/control
+++ b/debian/control
@@ -8,7 +8,7 @@ Homepage: http://beagleboard.org/librobotcontrol
Package: librobotcontrol
Architecture: any
-Depends: debconf, bb-customizations (>= 1.20200522.1-0), ${shlibs:Depends}, ${misc:Depends}
+Depends: debconf, bb-customizations (>= 1.20200522), ${shlibs:Depends}, ${misc:Depends}
Replaces: roboticscape
Conflicts: roboticscape
Provides: roboticscape
--
GitLab
From 23773c8c750b1a1ae7dbe62613c0c277cef4d937 Mon Sep 17 00:00:00 2001
From: Jason Kridner <jdk@ti.com>
Date: Thu, 18 Jun 2020 21:49:28 +0000
Subject: [PATCH 12/13] debian: drop config prompts to medium priority
---
debian/config | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/debian/config b/debian/config
index abfe2de..8d15416 100644
--- a/debian/config
+++ b/debian/config
@@ -33,7 +33,7 @@ if [ ! "$DEBIAN_FRONTEND" = "noninteractive" ]; then
# first, for Black and Black wireless we need to ask to modify uEnv.txt
if [ "$ISBLACK" = "true" ]; then
- db_input critical librobotcontrol/q_enable_dt || true
+ db_input medium librobotcontrol/q_enable_dt || true
db_go || true
fi
@@ -44,7 +44,7 @@ if [ ! "$DEBIAN_FRONTEND" = "noninteractive" ]; then
if [ "$RET" = "true" ]; then ISCAPE=true; fi
# ask for what should run on boot
- db_input critical librobotcontrol/q_runonboot || true
+ db_input medium librobotcontrol/q_runonboot || true
db_go || true
fi
--
GitLab
From 6d03fe3ce407e76a9da9111766ffa3fbbe9c1e47 Mon Sep 17 00:00:00 2001
From: "Mark A. Yoder" <Mark.A.Yoder@Rose-Hulman.edu>
Date: Fri, 19 Jun 2020 11:32:27 -0400
Subject: [PATCH 13/13] Fixed off by one for motor==0
---
library/src/motor.c | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/library/src/motor.c b/library/src/motor.c
index d95202c..b41d7ba 100644
--- a/library/src/motor.c
+++ b/library/src/motor.c
@@ -254,7 +254,7 @@ int rc_motor_set(int motor, double duty)
else if (duty <-1.0) duty =-1.0;
if(motor==0){
- for(i=1;i<channels;i++){
+ for(i=1;i<=channels;i++){
if(rc_motor_set(i,duty)==-1) return -1;
}
return 0;
@@ -298,7 +298,7 @@ int rc_motor_free_spin(int motor)
// case for all channels
if(motor==0){
- for(i=1;i<channels;i++){
+ for(i=1;i<=channels;i++){
if(rc_motor_free_spin(i)==-1) return -1;
}
return 0;
@@ -337,7 +337,7 @@ int rc_motor_brake(int motor)
// case for all channels
if(motor==0){
- for(i=1;i<channels;i++){
+ for(i=1;i<=channels;i++){
if(rc_motor_brake(i)==-1) return -1;
}
return 0;
--
GitLab