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INSTALLATION

Get one of the latest linux Debian images

Download one of the latest debian images provided by the following list. This installation guide refers to AM3358 Debian 10.3 2020-04-06 4GB SD IoT

Always use the most minimal image you can find, e.g. no graphical user interface etc.

Flash the SD card; Boot; SSH into your Beaglebone

This documentation is provided elsewhere already, see https://beagleboard.org/getting-started

In short: unpack the xz-packed image, and place as-is on the SD card (On Linux, use dd, on other platforms they have more complicated graphical tools).

Then boot the Beaglebone and connect via ssh to it ( ssh [email protected], default password temppwd).

Prepare the environment

If you have an old Beaglebone

If you have your Beaglebone lying around in a drawer for a while, it is probably good to update the uboot on the eMMC to the latest version.

sudo apt install bb-u-boot-am335x-evm
sudo /opt/u-boot/bb-u-boot-am335x-evm/install-mmcblk0.sh
sudo /opt/u-boot/bb-u-boot-am335x-evm/install-mmcblk1.sh

Enable PRU

To enable the PRU the way we use it, we need to /boot/uEnv.txt and enable the correct uboot_overlay_pru line.

We need to disable the line containing PRU-RPROC (add a # in front) and enable the line containing the PRU-UIO (remove # in front); so it will look like this:

###PRUSS OPTIONS
###pru_rproc (4.4.x-ti kernel)
#uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-4-TI-00A0.dtbo
###pru_uio (4.4.x-ti, 4.14.x-ti & mainline/bone kernel)
uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo

Install BeagleG

Let's start from fetching the BeagleG repository with:

git clone --recursive https://github.com/hzeller/beagleg.git

change directory into the repository and run make.

The resulting machine-control binary will be in the toplevel directory. You can sudo make install it, or run it right there.

Then set up your hardware and possibly create the necessary systemd configuration for a set-up that starts on boot.

TROUBLESHOOTING

In general, make sure to have the latest Beaglebone Debian image; most of earlier images have various problems that are not covered here for brevity.

In any case of trouble, make sure to have your system up-to-date

sudo apt-get update
sudo apt-get upgrade

... and have a fresh kernel

cd /opt/scripts/tools/
git pull
sudo ./update_kernel.sh

In particular if you see prussdrv_open() failed in the logs, this might indicate that either the wrong PRU config is enabled; check /boot/uEnv.txt.

System locks up

If you have some older debian image, then you might run into this: Some 4.4 linux kernel versions do not have the timers drivers enabled which results in a kernel panic when BeagleG initializes these. In order to be able to use the PWM you would need to recompile the kernel with CONFIG_OMAP_DM_TIMER=y.

Alternatively, in order to use BeagleG without the PWM TIMERS support, you can compile beagleg with:

CONFIG_FLAGS=-D_DISABLE_PWM_TIMERS make

Empty am335x_pru_package folder

When compiling, you might encounter the following error:

make -e -C src all
make[1]: Entering directory '/home/debian/beagleg/src'
g++ -std=c++11 -Wall -I. -I../am335x_pru_package/pru_sw/app_loader/include -I../hardware/BUMPS -D_XOPEN_SOURCE=500 -mtune=cortex-a8 -march=armv7-a -O3 -DCAPE_NAME='"BUMPS"' -DBEAGLEG_VERSION='"2018-06-16 (commit=51db5c7)"'   -c  machine-control.cc -o machine-control.o
g++ -std=c++11 -Wall -I. -I../am335x_pru_package/pru_sw/app_loader/include -I../hardware/BUMPS -D_XOPEN_SOURCE=500 -mtune=cortex-a8 -march=armv7-a -O3 -DCAPE_NAME='"BUMPS"' -DBEAGLEG_VERSION='"2018-06-16 (commit=51db5c7)"'   -c  motor-operations.cc -o motor-operations.o
g++ -std=c++11 -Wall -I. -I../am335x_pru_package/pru_sw/app_loader/include -I../hardware/BUMPS -D_XOPEN_SOURCE=500 -mtune=cortex-a8 -march=armv7-a -O3 -DCAPE_NAME='"BUMPS"' -DBEAGLEG_VERSION='"2018-06-16 (commit=51db5c7)"'   -c  sim-firmware.cc -o sim-firmware.o
g++ -std=c++11 -Wall -I. -I../am335x_pru_package/pru_sw/app_loader/include -I../hardware/BUMPS -D_XOPEN_SOURCE=500 -mtune=cortex-a8 -march=armv7-a -O3 -DCAPE_NAME='"BUMPS"' -DBEAGLEG_VERSION='"2018-06-16 (commit=51db5c7)"'   -c  pru-motion-queue.cc -o pru-motion-queue.o
make -C ../am335x_pru_package
make[2]: Entering directory '/home/debian/beagleg/am335x_pru_package'
make[2]: *** No targets specified and no makefile found.  Stop.
make[2]: Leaving directory '/home/debian/beagleg/am335x_pru_package'
Makefile:141: recipe for target '../am335x_pru_package/pru_sw/utils/pasm' failed
make[1]: *** [../am335x_pru_package/pru_sw/utils/pasm] Error 2
make[1]: Leaving directory '/home/debian/beagleg/src'
Makefile:32: recipe for target 'all' failed
make: *** [all] Error 2

this means that you most probably forgot to clone the repository with the --recursive flag.

If that's the case, you can simply run inside the repository folder git submodule update --init --recursive and run make again.