diff --git a/accessories/cables.rst b/accessories/cables.rst
index 5a742f198702dc5831d38f847eeca8f5c3fc7f5f..f1c121693a32782574a18d4228e8af1ecb57d729 100644
--- a/accessories/cables.rst
+++ b/accessories/cables.rst
@@ -167,7 +167,7 @@ JTAG debug Cables
TagConnect (JTAG)
==================
-Boards like :ref:`beagleconnect_freedom_home`, :ref:`beaglev-ahead-home`, :ref:`beaglev-fire-home`, and :ref:`beagleplay-home` use the TagConnect
+Boards like :ref:`beagleconnect-freedom-home`, :ref:`beaglev-ahead-home`, :ref:`beaglev-fire-home`, and :ref:`beagleplay-home` use the TagConnect
interface which allows you to perform firmware updates and JTAG hardware debugging. To use the interface, the the parts below from
`tag-connect <https://www.tag-connect.com>`_ are required.
diff --git a/boards/beagleconnect/freedom/index.rst b/boards/beagleconnect/freedom/index.rst
index 8140c51849d926c26b7fb4b309a0001bee911aac..1705ff013ed4bd075b0892518de9a3b4fad081dd 100644
--- a/boards/beagleconnect/freedom/index.rst
+++ b/boards/beagleconnect/freedom/index.rst
@@ -1,4 +1,4 @@
-.. _beagleconnect_freedom_home:
+.. _beagleconnect-freedom-home:
BeagleConnect Freedom
#####################
diff --git a/boards/beagleconnect/index.rst b/boards/beagleconnect/index.rst
index e30eba3fa2d656a5c5670261f7d78e331e94ea57..f1d6e693b93844a3409446870b4b2632af037d24 100644
--- a/boards/beagleconnect/index.rst
+++ b/boards/beagleconnect/index.rst
@@ -1,97 +1,21 @@
.. _beagleconnect-home:
-BeagleConnect
+BeagleConnectâ„¢
###############
.. important::
Currently under development
-BeagleConnectâ„¢ is a revolutionary technology virtually eliminating low-level
-software development for `IoT <https://en.wikipedia.org/wiki/Internet_of_things>`_
-and `IIoT <https://en.wikipedia.org/wiki/Industrial_internet_of_things>`_
-applications, such as building automation, factory automation, home automation,
-and scientific data acquisition. While numerous IoT and IIoT solutions
-available today provide massive software libraries for microcontrollers
-supporting a limited body of `sensors <https://en.wikipedia.org/wiki/Sensor>`_,
-`actuators <https://en.wikipedia.org/wiki/Actuator>`_ and `indicators <https://en.wikipedia.org/wiki/Indicator_(distance_amplifying_instrument)>`_
-as well as libraries for communicating over various networks, BeagleConnect
-simply eliminates the need for these libraries by shifting the burden into the
-most massive and collaborative software project of all time, the `Linux kernel <https://en.wikipedia.org/wiki/Linux_kernel>`_.
-
-These are the tools used to automate things in
-`scientific data collection <https://en.wikipedia.org/wiki/Data_collection_system>`_,
-`data science <https://en.wikipedia.org/wiki/Data_science>`_,
-`mechatronics <https://en.wikipedia.org/wiki/Mechatronics>`_,
-and `IoT <https://en.wikipedia.org/wiki/Internet_of_things>`_.
-
-BeagleConnectâ„¢ technology solves:
-
-* The need to write software to add a large set of diverse devices to your system,
-* The need to maintain the software with security updates,
-* The need to rapidly prototype using off-the-shelf software and hardware without wiring,
-* The need to connect to devices using long-range, low-power wireless, and
-* The need to produce high-volume custom hardware cost-optimized for your requirements.
-
-See:
-
-* :ref:`beagleconnect-overview`
-* :ref:`beagleconnect-story`
-
-BeagleConnect Experience
-*************************
-
-BeagleConnectâ„¢ provides a scalable experience for interacting with the physical world.
-
-.. note::
- The term BeagleConnectâ„¢ refers to a technology comprising of a family of
- boards, a collection of Linux kernel drivers, microcontroller firmware, a
- communication protocol, and system-level integration to automation software
- tools. More specific terms will be applied in the architecture details. The
- term is also used here to represent the experience introduced to users through
- the initial BeagleConnectâ„¢ Freedom product consisting of a board and case which
- ships programmed and ready to be used.
-
-For scientists, we are integrating `Jupyter Notebook <https://jupyter.org/>`_
-with the data streams from any of hundreds of sensor options, including
-`vibration <https://www.mikroe.com/click/sensors/force>`_,
-`gas detection <https://www.mikroe.com/click/sensors/gas>`_,
-`biometrics <https://www.mikroe.com/click/sensors/biometrics>`_ and
-`more <https://www.mikroe.com/click/sensors>`_. These data streams can be
-stored in simple `data files <https://en.wikipedia.org/wiki/Comma-separated_values>`
-or processed and visualized.
-
-.. todo::
-
- provide images demonstrating Jupyter Notebook visualization
-
-For embedded systems developers, data is easily extracted using the standard IIO
-interface provided by the Linux kernel running on the gateway using any of
-hundreds of programming languages and environments, without writing a line of
-microcontroller firmware. The Linux environment provides opportunities for
-high-level remote management using tools like Balena with applications deployed
-in Docker containers.
-
-.. todo:: provide image illustrating remote management
-
-The hardware and software are fully open source, providing for scalability and a lack of vendor lock-in.
-
-For DevOps…
-
-For home automaters, integration into WebThings…
-
-.. todo::
-
- think a bit more about this section with some feedback from Cathy.
+BeagleConnectâ„¢ is a family of boards that provides mikroBUS connections to Linux machines over :ref:`beagleconnect-technology` as Zephyr-supported MCU-based boards.
.. image:: freedom/images/BeagleConnect-Boards-Angled.*
:width: 598
:align: center
:alt: BeagleConnect Freedom
+BeagleConnectâ„¢ boards
+**********************
-BeagleConnect boards
-********************
-
-* :ref:`beagleconnect_freedom_home`
+* :ref:`beagleconnect-freedom-home`
diff --git a/boards/beagleplay/demos-and-tutorials/zephyr-cc1352-development.rst b/boards/beagleplay/demos-and-tutorials/zephyr-cc1352-development.rst
index 6e29e9c0bc03023bd96b0cb583f76307e41059ce..06d2065863588903d6043bc0e9df190780cfbfb5 100644
--- a/boards/beagleplay/demos-and-tutorials/zephyr-cc1352-development.rst
+++ b/boards/beagleplay/demos-and-tutorials/zephyr-cc1352-development.rst
@@ -14,7 +14,7 @@ source design. If you are one of those people, this is a good place to get
started.
Further, BeaglePlay is a reasonable development platform for creating Zephyr-based
-applications for :ref:`beagleconnect_freedom_home`. The same Zephyr development
+applications for :ref:`beagleconnect-freedom-home`. The same Zephyr development
environment setup here is also described for targeting applications on that board.
Install the latest software image for BeaglePlay
@@ -83,7 +83,7 @@ Background
This `WPANUSB` application was originally developed for radio devices with a USB interface. The CC1352P7
does not have a USB device, so the application was modified to communicate over a UART serial interface.
-For the :ref:`beagleconnect_freedom_home`, a USB-to-UART bridge device was used and the USB endpoints
+For the :ref:`beagleconnect-freedom-home`, a USB-to-UART bridge device was used and the USB endpoints
were made compatible with the `WPANUSB linux driver <https://github.com/finikorg/wpanusb>`_ which we
`augmented <https://git.beagleboard.org/beagleconnect/linux/wpanusb/>`_ to support this board. To utilize
the existing `WPANUSB` Zephyr application and this Linux driver, we chose to encode our UART traffic with
diff --git a/glossary.rst b/glossary.rst
index 51f3725feb2da4c495ee67c403cfef7ef66127a7..4ff7676c9ac624fe3b3b58eb5a9fb7b4b8be0cf9 100644
--- a/glossary.rst
+++ b/glossary.rst
@@ -18,3 +18,9 @@ Glossary of Terms
BeagleBone
A family of BeagleBoard.org boards from the original mint-tin sized computer and registered
trademark of the BeagleBoard.org Foundation.
+
+ BeagleConnect AP
+ It refers to the host CPUs, i.e., CPUs running Linux in most cases. It is responsible for administrating the Greybus network via the SVC.
+
+ BeagleConnect SVC
+ The SVC represents an entity within the Greybus network that configures and controls the Greybus (UniPro) network, mostly based on the instructions from the AP. All module insertion and removal events are first reported to the SVC, which in turn informs the AP about them using the SVC protocol.
diff --git a/index.rst b/index.rst
index 3426d7c3f6748bf0471117c50920185d47a115eb..450cd1a71e5477af0016478abce736a55e3a27b4 100644
--- a/index.rst
+++ b/index.rst
@@ -52,7 +52,7 @@ from source using appropriate design tools.
* Check out our easy-to-use Linux-based board at: :ref:`beagleplay-home`
* Check out our highest performance (8 TOPs) board at: :ref:`bbai64-home`
-* Check out our first Zephyr-based board at: :ref:`beagleconnect_freedom_home`
+* Check out our first Zephyr-based board at: :ref:`beagleconnect-freedom-home`
* Find all of our boards at: :ref:`boards`
.. grid:: 1 1 2 3
@@ -87,7 +87,7 @@ from source using appropriate design tools.
to the connected world.
.. grid-item-card::
- :link: beagleconnect_freedom_home
+ :link: beagleconnect-freedom-home
:link-type: ref
**BeagleConnectâ„¢ Freedom**
diff --git a/projects/beagleconnect/beaglebone-bcf.rst b/projects/beagleconnect/beaglebone-bcf.rst
new file mode 100644
index 0000000000000000000000000000000000000000..e0ad921b6ae1fe0abfd75aa2f094c1e4fc503d79
--- /dev/null
+++ b/projects/beagleconnect/beaglebone-bcf.rst
@@ -0,0 +1,1126 @@
+.. role:: strike
+ :class: strike
+
+.. _beagleconnect-technology-beaglebone-bcf:
+
+BeagleBone + BeagleConnect Freedom
+##################################
+
+.. important::
+
+ This demo was the old way of doing things. Anyone new and inexperienced should look at beagleplay + beagleconnect freedom instead.
+
+.. _beagleconnect-software-architecture:
+
+Software architecture
+*********************
+
+.. _beagleconnect-software-architecture-diagram:
+
+.. graphviz::
+ :caption: BeagleConnect Software Architecture Diagram
+
+ // Software architecture
+ digraph S {
+ node [color=white shape=box]
+ subgraph cluster_0 {
+ color=black label="Linux PC"
+ subgraph cluster_1 {
+ node [color=green style=filled]
+ color=lightgrey label="Linux userspace" style=filled
+ A [label="User Application" tooltip="Primary developer entry point"]
+ g [label="gbridge**" tooltip="Bridge Greybus to networked devices"]
+ }
+ subgraph cluster_2 {
+ node [color=green style=filled]
+ color=lightgrey label="Linux kernel" style=filled
+ I [label="IIO Drivers" tooltip="Hundreds of drivers for sensors and acutators"]
+ r [label=greybus tooltip="Dynamic RPC-like bus interface for I2C, SPI, UART, etc."]
+ n [label="gb-netlink**" tooltip="Extend Greybus over netlink to userspace"]
+ m [label="mikrobus**" tooltip="Board-level abstraction to identify sensor connections"]
+ w [label="wpanusb**" tooltip="USB-interface to IEEE802.15.4 radio"]
+ i [label=ieee802154 tooltip="Standards-based radio interface"]
+ 6 [label=lowpan tooltip="IPv6 for low-power wireless networks"]
+ }
+ }
+ subgraph cluster_3 {
+ color=black label="BCF gateway"
+ subgraph cluster_4 {
+ node [color=green style=filled]
+ color=lightgrey label=CC1352 style=filled
+ z [label="gateway**" tooltip="Zephyr-based IEEE802.15.4 radio accepting HDLC over UART transactions"]
+ }
+ subgraph cluster_5 {
+ node [color=green style=filled]
+ color=lightgrey label=MSP430 style=filled
+ b [label="usb_uart_bridge**" tooltip="USB interace to access CC1352 UART that encapulates WPANUSB in HDLC"]
+ }
+ }
+ subgraph cluster_6 {
+ color=black label="BCF node"
+ subgraph cluster_7 {
+ node [color=green style=filled]
+ color=lightgrey label=CC1352 style=filled
+ k [label="greybus-mikrobus**" tooltip="Zephyr-based applies Greybus transactions from IPv6/IEEE802154 to physical I2C, SPI, UART, etc."]
+ }
+ subgraph cluster_8 {
+ node [color=green style=filled]
+ color=lightgrey label="mikroBUS add-on board" style=filled
+ e [label="manifest 1-wire EEPROM**" tooltip="Manifest for mikroBUS driver"]
+ s [label=sensor tooltip="Over 1,000 different sensor, actuator and indicator options"]
+ }
+ }
+ A -> I
+ I -> m
+ m -> r
+ r -> n
+ n -> g
+ g -> 6
+ 6 -> i
+ i -> w
+ w -> b
+ b -> z
+ z -> k
+ k -> s
+ k -> e
+ }
+
+
+TODO items
+**********
+
+.. todo:: Click Board plug-ins for node-red for the same 100 or so Click Boards
+
+.. todo:: BeagleConnectâ„¢ Freedom System Reference Manual and FAQs
+
+
+Associated pre-work
+*******************
+
+* Click Board support for Node-RED can be executed with native connections on
+ PocketBeagle+TechLab and BeagleBone Black with mikroBUS Cape
+
+* Device tree fragments and driver updates can be provided via
+ https://bbb.io/click
+
+* The Kconfig style provisioning can be implemented for those solutions, which
+ will require a reboot. We need to centralize edits to /boot/uEnv.txt to be
+ programmatic. As I think through this, I don't think BeagleConnect is
+ impacted, because the Greybus-style discovery along with Click EEPROMS will
+ eliminate any need to edit /boot/uEnv.txt.
+
+User experience concerns
+************************
+
+* Make sure no reboots are required
+
+* Plugging BeagleConnect into host should trigger host configuration
+
+* Click EEPROMs should trigger loading whatever drivers are needed and
+ provisioning should load any new drivers
+
+* Userspace (spidev, etc.) drivers should unload cleanly when 2nd phase
+ provisioning is completed
+
+BeagleConnectâ„¢ Greybus demo using BeagleConnectâ„¢ Freedom
+********************************************************
+BeagleConnectâ„¢ Freedom runs a subGHz IEEE 802.15.4 network. This BeagleConnectâ„¢
+Greybus demo shows how to interact with GPIO, I2C and mikroBUS add-on boards
+remotely connected over a BeagleConnectâ„¢ Freedom.
+
+This section starts with the steps required to use
+`Linux <https://en.wikipedia.org/wiki/Linux>`_ embedded computer
+(`BeagleBone Green Gateway <https://wiki.seeedstudio.com/BeagleBone-Green-Gateway/>`_)
+and the `Greybus <https://lwn.net/Articles/715955/>`_ protocol, over an
+IEEE 802.15.4 wireless link, to blink an LED on a
+`Zephyr <https://zephyrproject.org/>`_ device.
+
+Introduction
+============
+
+*Why??*
+
+Good question. Blinking an LED is kind of the
+`Hello, World <https://en.wikipedia.org/wiki/%22Hello,_World!%22_program>`_ of
+the hardware community. In this case, we're less interested in the mechanics
+of switching a GPIO to drive some current through an LED and more interested in
+how that happens with the
+`Internet of Things (IoT) <https://en.wikipedia.org/wiki/Internet_of_things>`_.
+
+There are several existing network and application layers that are driven by
+corporate heavyweights and industry consortiums, but relatively few that are
+community driven and, more specifically, even fewer that have the ability to
+integrate so tightly with the Linux kernel.
+
+The goal here is to provide a community-maintained, developer-friendly, and
+open-source protocol for the Internet of Things using the Greybus Protocol, and
+blinking an LED using Greybus is the simplest proof-of-concept for that. All
+that is required is a reliable transport.
+
+#. Power a BeagleConnect Freedom that has not yet been programmed via a USB
+ power source, not the BeagleBone Green Gateway. You'll hear a click every
+ 1-2 seconds along with seeing 4 of the LEDs turn off and on.
+
+#. In an isolated terminal window, :code:`sudo beagleconnect-start-gateway`
+
+#. :code:`sensortest-rx.py`
+
+Every 1-2 minutes, you should see something like:
+
+.. code-block:: bash
+
+ ('fe80::3111:7a22:4b:1200%lowpan0', 52213, 0, 13) '2l:7.79;'
+ ('fe80::3111:7a22:4b:1200%lowpan0', 52213, 0, 13) '4h:43.75;4t:23.11;'
+
+The value after "2l:" is the amount of light in lux. The value after "4h:" is
+the relative humidity and after "4t:" is the temperature in Celsius.
+
+Flash BeagleConnectâ„¢ Freedom node device with Greybus firmware
+==============================================================
+
+#TODO: How can we add a step in here to show the network is connected without needing gbridge to be fully functional?
+
+Do this from the BeagleBone® Green Gateway board that was previously used to
+program the BeagleConnectâ„¢ Freedom gateway device:
+
+#. Disconnect the BeagleConnectâ„¢ Freedom **gateway** device
+
+#. Connect a new BeagleConnectâ„¢ Freedom board via USB
+
+#. :code:`sudo systemctl stop lowpan.service`
+
+#. :code:`cc2538-bsl.py /usr/share/beagleconnect/cc1352/greybus_mikrobus_beagleconnect.bin /dev/ttyACM0`
+
+#. After it finishes programming successfully, disconnect the BeagleConnect Freedom node device
+
+#. Power the newly programmed BeagleConnect Freedom node device from an alternate USB power source
+
+#. Reconnect the BeagleConnect Freedom **gateway** device to the BeagleBone Green Gateway
+
+#. :code:`sudo systemctl start lowpan.service`
+
+#. :code:`sudo beagleconnect-start-gateway`
+
+.. code-block:: bash
+
+ debian@beaglebone:~$ sudo beagleconnect-start-gateway
+ [sudo] password for debian:
+ setting up wpanusb gateway for IEEE 802154 CHANNEL 1(906 Mhz)
+ ping6: Warning: source address might be selected on device other than lowpan0.
+ PING 2001:db8::1(2001:db8::1) from ::1 lowpan0: 56 data bytes
+ 64 bytes from 2001:db8::1: icmp_seq=2 ttl=64 time=185 ms
+ 64 bytes from 2001:db8::1: icmp_seq=3 ttl=64 time=40.9 ms
+ 64 bytes from 2001:db8::1: icmp_seq=4 ttl=64 time=40.9 ms
+ 64 bytes from 2001:db8::1: icmp_seq=5 ttl=64 time=40.6 ms
+
+ --- 2001:db8::1 ping statistics ---
+ 5 packets transmitted, 4 received, 20% packet loss, time 36ms
+ rtt min/avg/max/mdev = 40.593/76.796/184.799/62.356 ms
+ debian@beaglebone:~$ iio_info
+ Library version: 0.19 (git tag: v0.19)
+ Compiled with backends: local xml ip usb serial
+ IIO context created with local backend.
+ Backend version: 0.19 (git tag: v0.19)
+ Backend description string: Linux beaglebone 5.14.18-bone20 #1buster PREEMPT Tue Nov 16 20:47:19 UTC 2021 armv7l
+ IIO context has 1 attributes:
+ local,kernel: 5.14.18-bone20
+ IIO context has 3 devices:
+ iio:device0: TI-am335x-adc.0.auto (buffer capable)
+ 8 channels found:
+ voltage0: (input, index: 0, format: le:u12/16>>0)
+ 1 channel-specific attributes found:
+ attr 0: raw value: 1412
+ voltage1: (input, index: 1, format: le:u12/16>>0)
+ 1 channel-specific attributes found:
+ attr 0: raw value: 2318
+ voltage2: (input, index: 2, format: le:u12/16>>0)
+ 1 channel-specific attributes found:
+ attr 0: raw value: 2631
+ voltage3: (input, index: 3, format: le:u12/16>>0)
+ 1 channel-specific attributes found:
+ attr 0: raw value: 817
+ voltage4: (input, index: 4, format: le:u12/16>>0)
+ 1 channel-specific attributes found:
+ attr 0: raw value: 881
+ voltage5: (input, index: 5, format: le:u12/16>>0)
+ 1 channel-specific attributes found:
+ attr 0: raw value: 0
+ voltage6: (input, index: 6, format: le:u12/16>>0)
+ 1 channel-specific attributes found:
+ attr 0: raw value: 0
+ voltage7: (input, index: 7, format: le:u12/16>>0)
+ 1 channel-specific attributes found:
+ attr 0: raw value: 1180
+ 2 buffer-specific attributes found:
+ attr 0: data_available value: 0
+ attr 1: watermark value: 1
+ iio:device1: hdc2010
+ 3 channels found:
+ humidityrelative: (input)
+ 3 channel-specific attributes found:
+ attr 0: peak_raw value: 52224
+ attr 1: raw value: 52234
+ attr 2: scale value: 1.525878906
+ current: (output)
+ 2 channel-specific attributes found:
+ attr 0: heater_raw value: 0
+ attr 1: heater_raw_available value: 0 1
+ temp: (input)
+ 4 channel-specific attributes found:
+ attr 0: offset value: -15887.515151
+ attr 1: peak_raw value: 25600
+ attr 2: raw value: 25628
+ attr 3: scale value: 2.517700195
+ iio:device2: opt3001
+ 1 channels found:
+ illuminance: (input)
+ 2 channel-specific attributes found:
+ attr 0: input value: 79.040000
+ attr 1: integration_time value: 0.800000
+ 2 device-specific attributes found:
+ attr 0: current_timestamp_clock value: realtime
+
+ attr 1: integration_time_available value: 0.1 0.8
+ debian@beaglebone:~$ dmesg | grep -e mikrobus -e greybus
+ [ 100.491253] greybus 1-2.2: Interface added (greybus)
+ [ 100.491294] greybus 1-2.2: GMP VID=0x00000126, PID=0x00000126
+ [ 100.491306] greybus 1-2.2: DDBL1 Manufacturer=0x00000126, Product=0x00000126
+ [ 100.737637] greybus 1-2.2: excess descriptors in interface manifest
+ [ 102.475168] mikrobus:mikrobus_port_gb_register: mikrobus gb_probe , num cports= 2, manifest_size 192
+ [ 102.475206] mikrobus:mikrobus_port_gb_register: protocol added 3
+ [ 102.475214] mikrobus:mikrobus_port_gb_register: protocol added 2
+ [ 102.475239] mikrobus:mikrobus_port_register: registering port mikrobus-1
+ [ 102.475400] mikrobus_manifest:mikrobus_state_get: mikrobus descriptor not found
+ [ 102.475417] mikrobus_manifest:mikrobus_manifest_attach_device: parsed device 1, driver=opt3001, protocol=3, reg=44
+ [ 102.494516] mikrobus_manifest:mikrobus_manifest_attach_device: parsed device 2, driver=hdc2010, protocol=3, reg=41
+ [ 102.494567] mikrobus_manifest:mikrobus_manifest_parse: (null) manifest parsed with 2 devices
+ [ 102.494592] mikrobus mikrobus-1: registering device : opt3001
+ [ 102.495096] mikrobus mikrobus-1: registering device : hdc2010
+ debian@beaglebone:~$
+
+
+#TODO: update the below for the built-in sensors
+
+#TODO: can we also handle the case where these sensors are included and recommend them? Same firmware?
+
+#TODO: the current demo is for the built-in sensors, not the Click boards mentioned below
+
+Currently only a limited number of add-on boards have been tested to work over Greybus, simple add-on boards without interrupt requirement are the ones that work currently. The example is for Air Quality 2 Click and Weather Click attached to the mikroBUS ports on the device side.
+
+/var/log/gbridge will have the gbridge log, and if the mikroBUS port has been instantiated successfully the kernel log will show the devices probe messages:
+
+#TODO: this log needs to be updated
+
+.. code-block::
+
+ greybus 1-2.2: GMP VID=0x00000126, PID=0x00000126
+ greybus 1-2.2: DDBL1 Manufacturer=0x00000126, Product=0x00000126
+ greybus 1-2.2: excess descriptors in interface manifest
+ mikrobus:mikrobus_port_gb_register: mikrobus gb_probe , num cports= 3, manifest_size 252
+ mikrobus:mikrobus_port_gb_register: protocol added 11
+ mikrobus:mikrobus_port_gb_register: protocol added 3
+ mikrobus:mikrobus_port_gb_register: protocol added 2
+ mikrobus:mikrobus_port_register: registering port mikrobus-0
+ mikrobus_manifest:mikrobus_manifest_attach_device: parsed device 1, driver=bme280, protocol=3, reg=76
+ mikrobus_manifest:mikrobus_manifest_attach_device: parsed device 2, driver=ams-iaq-core, protocol=3, reg=5a
+ mikrobus_manifest:mikrobus_manifest_parse: Greybus Service Sample Application manifest parsed with 2 devices
+ mikrobus mikrobus-0: registering device : bme280
+ mikrobus mikrobus-0: registering device : ams-iaq-core
+
+
+#TODO: bring in the GPIO toggle and I2C explorations for greater understanding
+
+Flashing via a Linux Host
+-------------------------
+
+If flashing the Freedom board via the BeagleBone fails here's a trick you can try to flash from a Linux host.
+
+Use :code:`sshfs` to mount the Bone's files on the Linux host. This assumes the
+Bone is plugged in the USB and appears at :code:`192.168.7.2`:
+
+.. code-block:: bash
+
+ host$ cd
+ host$ sshfs 192.168.7.2:/ bone
+ host$ cd bone; ls
+ bin dev home lib media opt root sbin sys usr
+ boot etc ID.txt lost+found mnt proc run srv tmp var
+ host$ ls /dev/ttyACM*
+ /dev/ttyACM1
+
+
+
+The Bone's files now appear as local files. Notice there is already a
+:code:`/dev/ACM*` appearing. Now plug the Connect into the Linux host's USB
+port and run the command again.
+
+.. code-block:: bash
+
+ host$ ls /dev/ttyACM*
+ /dev/ttyACM0 /dev/ttyACM1
+
+The :code:`/dev/ttyACM` that just appeared is the one associated with the
+Connect. In my case it's :code:`/dev/ttyACM0`. That's what I'll use in this
+example.
+
+Now change directories to where the binaries are and load:
+
+.. code-block:: bash
+
+ host$ cd ~/bone/usr/share/beagleconnect/cc1352;ls
+ greybus_mikrobus_beagleconnect.bin sensortest_beagleconnect.dts
+ greybus_mikrobus_beagleconnect.config wpanusb_beagleconnect.bin
+ greybus_mikrobus_beagleconnect.dts wpanusb_beagleconnect.config
+ sensortest_beagleconnect.bin wpanusb_beagleconnect.dts
+ sensortest_beagleconnect.config
+
+ host$ ~/bone/usr/bin/cc2538-bsl.py sensortest_beagleconnect.bin /dev/ttyACM0
+ 8-bsl.py sensortest_beagleconnect.bin /dev/ttyACM0
+ Opening port /dev/ttyACM0, baud 50000
+ Reading data from sensortest_beagleconnect.bin
+ Cannot auto-detect firmware filetype: Assuming .bin
+ Connecting to target...
+ CC1350 PG2.0 (7x7mm): 352KB Flash, 20KB SRAM, CCFG.BL_CONFIG at 0x00057FD8
+ Primary IEEE Address: 00:12:4B:00:22:7A:10:46
+ Performing mass erase
+ Erasing all main bank flash sectors
+ Erase done
+ Writing 360448 bytes starting at address 0x00000000
+ Write 104 bytes at 0x00057F988
+ Write done
+ Verifying by comparing CRC32 calculations.
+ Verified (match: 0x0f6bdf0f)
+
+Now you are ready to continue the instructions above after the cc2528 command.
+
+Trying for different add-on boards
+==================================
+
+See `mikroBUS over Greybus <https://github.com/vaishnav98/greybus-for-zephyr/tree/mikrobus#trying-out-different-add-on-boardsdevices-over-mikrobus>`_
+for trying out the same example for different mikroBUS add-on boards/ on-board devices.
+
+Observe the node device
+=======================
+
+Connect BeagleConnect Freedom node device to an Ubuntu laptop to observe the
+Zephyr console.
+
+
+Console (:code:`tio`)
+---------------------
+In order to see diagnostic messages or to run certain commands on the Zephyr
+device we will require a terminal open to the device console. In this case, we
+use `tio <https://tio.github.io/>`_ due how its usage simplifies the
+instructions.
+
+#. Install :code:`tio`
+ :code:`sudo apt install -y tio`
+
+#. Run :code:`tio`
+ :code:`tio /dev/ttyACM0`
+
+ To exit :code:`tio` (later), enter :code:`ctrl+t, q`.
+
+
+The Zephyr Shell
+----------------
+
+After flashing, you should observe the something matching the following output in :code:`tio`.
+
+.. code-block:: bash
+
+ uart:~$ *** Booting Zephyr OS build 9c858c863223 ***
+ [00:00:00.009,735] <inf> greybus_transport_tcpip: CPort 0 mapped to TCP/IP port 4242
+ [00:00:00.010,131] <inf> greybus_transport_tcpip: CPort 1 mapped to TCP/IP port 4243
+ [00:00:00.010,528] <inf> greybus_transport_tcpip: CPort 2 mapped to TCP/IP port 4244
+ [00:00:00.010,742] <inf> greybus_transport_tcpip: Greybus TCP/IP Transport initialized
+ [00:00:00.010,864] <inf> greybus_manifest: Registering CONTROL greybus driver.
+ [00:00:00.011,230] <inf> greybus_manifest: Registering GPIO greybus driver.
+ [00:00:00.011,596] <inf> greybus_manifest: Registering I2C greybus driver.
+ [00:00:00.011,871] <inf> greybus_service: Greybus is active
+ [00:00:00.026,092] <inf> net_config: Initializing network
+ [00:00:00.134,063] <inf> net_config: IPv6 address: 2001:db8::1
+
+
+
+The line beginning with :code:`***` is the Zephyr boot banner.
+
+Lines beginning with a timestamp of the form :code:`[H:m:s.us]` are Zephyr
+kernel messages.
+
+Lines beginning with :code:`uart:~$` indicates that the Zephyr shell is
+prompting you to enter a command.
+
+From the informational messages shown, we observe the following.
+
+* Zephyr is configured with the following
+ `link-local IPv6 address <https://en.wikipedia.org/wiki/Link-local_address#IPv6>`_ :code:`fe80::3177:a11c:4b:1200`
+
+* It is listening for (both) TCP and UDP traffic on port 4242
+
+However, what the log messages do not show (which will come into play later),
+are 2 critical pieces of information:
+
+#. **The RF Channel**: As you may have guessed, IEEE 802.15.4 devices are only
+ able to communicate with each other if they are using the same frequency to
+ transmit and receive data. This information is part of the Physical Layer.
+
+#. The `PAN identifier <https://www.silabs.com/community/wireless/proprietary/knowledge-base.entry.html/2019/10/04/connect_tutorial6-ieee802154addressing-rapc>`_:
+ IEEE 802.15.4 devices are only be able to communicate with one another if
+ they use the same PAN ID. This permits multiple networks (PANs) on the same
+ frequency. This information is part of the Data Link Layer.
+
+If we type :code:`help` in the shell and hit Enter, we're prompted with the
+following:
+
+.. code-block::
+
+ Please press the <Tab> button to see all available commands.
+ You can also use the <Tab> button to prompt or auto-complete all commands or its subcommands.
+ You can try to call commands with <-h> or <--help> parameter for more information.
+ Shell supports following meta-keys:
+
+ Ctrl+a, Ctrl+b, Ctrl+c, Ctrl+d, Ctrl+e, Ctrl+f, Ctrl+k, Ctrl+l, Ctrl+n, Ctrl+p, Ctrl+u, Ctrl+w
+ Alt+b, Alt+f.
+ Please refer to shell documentation for more details.
+
+So after hitting Tab, we see that there are several interesting commands we can
+use for additional information.
+
+.. code-block::
+
+ uart:~$
+ clear help history ieee802154 log net
+ resize sample shell
+
+Zephyr Shell: IEEE 802.15.4 commands
+------------------------------------
+
+Entering :code:`ieee802154 help`, we see
+
+.. code-block::
+
+ uart:~$ ieee802154 help
+ ieee802154 - IEEE 802.15.4 commands
+ Subcommands:
+ ack :<set/1 | unset/0> Set auto-ack flag
+ associate :<pan_id> <PAN coordinator short or long address (EUI-64)>
+ disassociate :Disassociate from network
+ get_chan :Get currently used channel
+ get_ext_addr :Get currently used extended address
+ get_pan_id :Get currently used PAN id
+ get_short_addr :Get currently used short address
+ get_tx_power :Get currently used TX power
+ scan :<passive|active> <channels set n[:m:...]:x|all> <per-channel
+ duration in ms>
+ set_chan :<channel> Set used channel
+ set_ext_addr :<long/extended address (EUI-64)> Set extended address
+ set_pan_id :<pan_id> Set used PAN id
+ set_short_addr :<short address> Set short address
+ set_tx_power :<-18/-7/-4/-2/0/1/2/3/5> Set TX power
+
+
+We get the missing Channel number (frequency) with the command :code:`ieee802154 get_chan`.
+
+.. code-block::
+
+ uart:~$ ieee802154 get_chan
+ Channel 26
+
+We get the missing PAN ID with the command :code:`ieee802154 get_pan_id`.
+
+.. code-block::
+
+ uart:~$ ieee802154 get_pan_id
+ PAN ID 43981 (0xabcd)
+
+Zephyr Shell: Network Commands
+------------------------------
+
+Additionally, we may query the IPv6 information of the Zephyr device.
+
+.. code-block::
+
+ uart:~$ net iface
+
+ Interface 0x20002b20 (IEEE 802.15.4) [1]
+ ========================================
+ Link addr : CD:99:A1:1C:00:4B:12:00
+ MTU : 125
+ IPv6 unicast addresses (max 3):
+ fe80::cf99:a11c:4b:1200 autoconf preferred infinite
+ 2001:db8::1 manual preferred infinite
+ IPv6 multicast addresses (max 4):
+ ff02::1
+ ff02::1:ff4b:1200
+ ff02::1:ff00:1
+ IPv6 prefixes (max 2):
+ <none>
+ IPv6 hop limit : 64
+ IPv6 base reachable time : 30000
+ IPv6 reachable time : 16929
+ IPv6 retransmit timer : 0
+
+
+
+And we see that the static IPv6 address (:code:`2001:db8::1`) from
+:code:`samples/net/sockets/echo_server/prj.conf` is present and configured.
+While the statically configured IPv6 address is useful, it isn't 100% necessary.
+
+Rebuilding from source
+======================
+
+#TODO: revisit everything below here
+
+Prerequisites
+-------------
+
+* Zephyr environment is set up according to the
+ `Getting Started Guide <https://docs.zephyrproject.org/latest/getting_started/index.html>`_
+
+ * Please use the Zephyr SDK when installing a toolchain above
+
+* `Zephyr SDK <https://docs.zephyrproject.org/latest/getting_started/index.html#install-a-toolchain>`_
+ is installed at ~/zephyr-sdk-0.11.2 (any later version should be fine as well)
+
+* Zephyr board is connected via USB
+
+Cloning the repository
+----------------------
+
+This repository utilizes `git submodules <https://git-scm.com/book/en/v2/Git-Tools-Submodules>`_
+to keep track of all of the projects required to reproduce the ongoing work.
+The instructions here only cover checking out the :code:`demo` branch which
+should stay in a tested state. ongoing development will be on the
+:code:`master` branch.
+
+Note: The parent directory :code:`~` is simply used as a placeholder for testing.
+Please use whatever parent directory you see fit.
+
+Clone specific tag
+^^^^^^^^^^^^^^^^^^
+
+.. code-block:: bash
+
+ cd ~
+ git clone --recurse-submodules --branch demo https://github.com/jadonk/beagleconnect
+
+Zephyr
+------
+
+Add the Fork
+^^^^^^^^^^^^
+
+For the time being, Greybus must remain outside of the main Zephyr repository.
+Currently, it is just in a Zephyr fork, but it should be converted to a
+proper `Module (External Project) <https://docs.zephyrproject.org/latest/guides/modules.html>`_.
+This is for a number of reasons, but mainly there must be:
+
+* specifications for authentication and encryption
+
+* specifications for joining and rejoining wireless networks
+
+* specifications for discovery
+
+Therefore, in order to reproduce this example, please run the following.
+
+.. code-block:: bash
+
+ cd ~/beagleconnect/sw/zephyrproject/zephyr
+ west update
+
+Build and Flash Zephyr
+^^^^^^^^^^^^^^^^^^^^^^
+
+Here, we will build and flash the Zephyr
+`greybus_net sample <https://github.com/cfriedt/zephyr/tree/greybus-sockets/samples/subsys/greybus/net>`_
+to our device.
+
+#. Edit the file :code:`~/.zephyrrc` and place the following text inside of it
+
+.. code-block:: bash
+
+ export ZEPHYR_TOOLCHAIN_VARIANT=zephyr
+ export ZEPHYR_SDK_INSTALL_DIR=~/zephyr-sdk-0.11.2
+
+#. Set up the required Zephyr environment variables via
+
+.. code-block:: bash
+
+ source zephyr-env.sh
+
+#. Build the project
+
+.. code-block:: bash
+
+ BOARD=cc1352r1_launchxl west build samples/subsys/greybus/net --pristine \
+ --build-dir build/greybus_launchpad -- -DCONF_FILE="prj.conf overlay-802154.conf"
+
+#. Ensure that the last part of the build process looks somewhat like this:
+
+.. code-block:: bash
+
+ ...
+ [221/226] Linking C executable zephyr/zephyr_prebuilt.elf
+ Memory region Used Size Region Size %age Used
+ FLASH: 155760 B 360360 B 43.22%
+ FLASH_CCFG: 88 B 88 B 100.00%
+ SRAM: 58496 B 80 KB 71.41%
+ IDT_LIST: 184 B 2 KB 8.98%
+ [226/226] Linking C executable zephyr/zephyr.elf
+
+#. Flash the firmware to your device using
+
+.. code-block:: bash
+
+ BOARD=cc1352r1_launchxl west flash --build-dir build/greybus_launchpad
+
+Linux
+-----
+
+Warning: If you aren't comfortable building and installing a Linux kernel on
+your computer, you should probably just stop here. I'll assume you know the
+basics of building and installing a Linux kernel from here on out.
+
+Clone, patch, and build the kernel
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+For this demo, I used the 5.8.4 stable kernel. Also, I've applied the
+:code:`mikrobus` kernel driver, though it isn't strictly required for greybus.
+
+Note: The parent directory :code:`~` is simply used as a placeholder for testing.
+Please use whatever parent directory you see fit.
+
+TODO: The patches for gb-netlink will eventually be applied here until pushed into mainline.
+
+.. code-block:: bash
+
+ cd ~
+ git clone --branch v5.8.4 --single-branch git://git.kernel.org/pub/scm/linux/kernel/git/stable/linux.git
+ cd linux
+ git checkout -b v5.8.4-greybus
+ git am ~/beagleconnect/sw/linux/v2-0001-RFC-mikroBUS-driver-for-add-on-boards.patch
+ git am ~/beagleconnect/sw/linux/0001-mikroBUS-build-fixes.patch
+ cp /boot/config-`uname -r` .config
+ yes "" | make oldconfig
+ ./scripts/kconfig/merge_config.sh .config ~/beagleconnect/sw/linux/mikrobus.config
+ ./scripts/kconfig/merge_config.sh .config ~/beagleconnect/sw/linux/atusb.config
+ make -j`nproc --all`
+ sudo make modules_install
+ sudo make install
+
+Reboot and select your new kernel.
+
+Probe the IEEE 802.15.4 Device Driver
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+On the Linux machine, make sure the :code:`atusb` driver is loaded. This should
+happen automatically when the adapter is inserted or when the machine is booted
+while the adapter is installed.
+
+.. code-block:: bash
+
+ $ dmesg | grep -i ATUSB
+ [ 6.512154] usb 1-1: ATUSB: AT86RF231 version 2
+ [ 6.512492] usb 1-1: Firmware: major: 0, minor: 3, hardware type: ATUSB (2)
+ [ 6.525357] usbcore: registered new interface driver atusb
+ ...
+
+
+
+We should now be able to see the IEEE 802.15.4 network device by entering :code:`ip a show wpan0`.
+
+.. code-block:: bash
+
+ $ ip a show wpan0
+ 36: wpan0: <BROADCAST,NOARP,UP,LOWER_UP> mtu 123 qdisc fq_codel state UNKNOWN group default qlen 300
+ link/ieee802.15.4 3e:7d:90:4d:8f:00:76:a2 brd ff:ff:ff:ff:ff:ff:ff:ff
+
+
+But wait, that is not an IP address! It's the hardware address of the 802.15.4
+device. So, in order to associate it with an IP address, we need to run a
+couple of other commands (thanks to wpan.cakelab.org).
+
+Set the 802.15.4 Physical and Link-Layer Parameters
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+#. First, get the phy number for the :code:`wpan0` device
+
+.. code-block:: bash
+
+ $ iwpan list
+ wpan_phy phy0
+ supported channels:
+ page 0: 11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26
+ current_page: 0
+ current_channel: 26, 2480 MHz
+ cca_mode: (1) Energy above threshold
+ cca_ed_level: -77
+ tx_power: 3
+ capabilities:
+ iftypes: node,monitor
+ channels:
+ page 0:
+ [11] 2405 MHz, [12] 2410 MHz, [13] 2415 MHz,
+ [14] 2420 MHz, [15] 2425 MHz, [16] 2430 MHz,
+ [17] 2435 MHz, [18] 2440 MHz, [19] 2445 MHz,
+ [20] 2450 MHz, [21] 2455 MHz, [22] 2460 MHz,
+ [23] 2465 MHz, [24] 2470 MHz, [25] 2475 MHz,
+ [26] 2480 MHz
+ tx_powers:
+ 3 dBm, 2.8 dBm, 2.3 dBm, 1.8 dBm, 1.3 dBm, 0.7 dBm,
+ 0 dBm, -1 dBm, -2 dBm, -3 dBm, -4 dBm, -5 dBm,
+ -7 dBm, -9 dBm, -12 dBm, -17 dBm,
+ cca_ed_levels:
+ -91 dBm, -89 dBm, -87 dBm, -85 dBm, -83 dBm, -81 dBm,
+ -79 dBm, -77 dBm, -75 dBm, -73 dBm, -71 dBm, -69 dBm,
+ -67 dBm, -65 dBm, -63 dBm, -61 dBm,
+ cca_modes:
+ (1) Energy above threshold
+ (2) Carrier sense only
+ (3, cca_opt: 0) Carrier sense with energy above threshold (logical operator is 'and')
+ (3, cca_opt: 1) Carrier sense with energy above threshold (logical operator is 'or')
+ min_be: 0,1,2,3,4,5,6,7,8
+ max_be: 3,4,5,6,7,8
+ csma_backoffs: 0,1,2,3,4,5
+ frame_retries: 3
+ lbt: false
+
+#. Next, set the Channel for the 802.15.4 device on the Linux machine
+
+.. code-block:: bash
+
+ sudo iwpan phy phy0 set channel 0 26
+
+#. Then, set the PAN identifier for the 802.15.4 device on the Linux machine :code:`sudo iwpan dev wpan0 set pan_id 0xabcd`
+
+#. Associate the :code:`wpan0` device to a new, 6lowpan network interface
+
+.. code-block:: bash
+
+ sudo ip link add link wpan0 name lowpan0 type lowpan
+
+#. Finally, set the links up for both :code:`wpan0` and :code:`lowpan0`
+
+.. code-block:: bash
+
+ sudo ip link set wpan0 up
+ sudo ip link set lowpan0 up
+
+
+
+We should observe something like the following when we run :code:`ip a show lowpan0`.
+
+.. code-block:: bash
+
+ ip a show lowpan0
+ 37: lowpan0@wpan0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1280 qdisc noqueue state UNKNOWN group default qlen 1000
+ link/6lowpan 9e:0b:a4:e8:00:d3:45:53 brd ff:ff:ff:ff:ff:ff:ff:ff
+ inet6 fe80::9c0b:a4e8:d3:4553/64 scope link
+ valid_lft forever preferred_lft forever
+
+Ping Pong
+=========
+
+Broadcast Ping
+--------------
+
+Now, perform a broadcast ping to see what else is listening on :code:`lowpan0`.
+
+.. code-block::
+
+ $ ping6 -I lowpan0 ff02::1
+ PING ff02::1(ff02::1) from fe80::9c0b:a4e8:d3:4553%lowpan0 lowpan0: 56 data bytes
+ 64 bytes from fe80::9c0b:a4e8:d3:4553%lowpan0: icmp_seq=1 ttl=64 time=0.099 ms
+ 64 bytes from fe80::9c0b:a4e8:d3:4553%lowpan0: icmp_seq=2 ttl=64 time=0.125 ms
+ 64 bytes from fe80::cf99:a11c:4b:1200%lowpan0: icmp_seq=2 ttl=64 time=17.3 ms (DUP!)
+ 64 bytes from fe80::9c0b:a4e8:d3:4553%lowpan0: icmp_seq=3 ttl=64 time=0.126 ms
+ 64 bytes from fe80::cf99:a11c:4b:1200%lowpan0: icmp_seq=3 ttl=64 time=9.60 ms (DUP!)
+ 64 bytes from fe80::9c0b:a4e8:d3:4553%lowpan0: icmp_seq=4 ttl=64 time=0.131 ms
+ 64 bytes from fe80::cf99:a11c:4b:1200%lowpan0: icmp_seq=4 ttl=64 time=14.9 ms (DUP!)
+
+Yay! We have pinged (pung?) the Zephyr device over IEEE 802.15.4 using 6LowPAN!
+
+Ping Zephyr
+-----------
+
+We can ping the Zephyr device directly without a broadcast ping too, of course.
+
+.. code-block::
+
+ $ ping6 -I lowpan0 fe80::cf99:a11c:4b:1200
+ PING fe80::cf99:a11c:4b:1200(fe80::cf99:a11c:4b:1200) from fe80::9c0b:a4e8:d3:4553%lowpan0 lowpan0: 56 data bytes
+ 64 bytes from fe80::cf99:a11c:4b:1200%lowpan0: icmp_seq=1 ttl=64 time=16.0 ms
+ 64 bytes from fe80::cf99:a11c:4b:1200%lowpan0: icmp_seq=2 ttl=64 time=13.8 ms
+ 64 bytes from fe80::cf99:a11c:4b:1200%lowpan0: icmp_seq=3 ttl=64 time=9.77 ms
+ 64 bytes from fe80::cf99:a11c:4b:1200%lowpan0: icmp_seq=5 ttl=64 time=11.5 ms
+
+Ping Linux
+----------
+
+Similarly, we can ping the Linux host from the Zephyr shell.
+
+.. code-block:: bash
+
+ uart:~$ net ping --help
+ ping - Ping a network host.
+ Subcommands:
+ --help :'net ping [-c count] [-i interval ms] <host>' Send ICMPv4 or ICMPv6
+ Echo-Request to a network host.
+ $ net ping -c 5 fe80::9c0b:a4e8:d3:4553
+ PING fe80::9c0b:a4e8:d3:4553
+ 8 bytes from fe80::9c0b:a4e8:d3:4553 to fe80::cf99:a11c:4b:1200: icmp_seq=0 ttl=64 rssi=110 time=11 ms
+ 8 bytes from fe80::9c0b:a4e8:d3:4553 to fe80::cf99:a11c:4b:1200: icmp_seq=1 ttl=64 rssi=126 time=9 ms
+ 8 bytes from fe80::9c0b:a4e8:d3:4553 to fe80::cf99:a11c:4b:1200: icmp_seq=2 ttl=64 rssi=128 time=13 ms
+ 8 bytes from fe80::9c0b:a4e8:d3:4553 to fe80::cf99:a11c:4b:1200: icmp_seq=3 ttl=64 rssi=126 time=10 ms
+ 8 bytes from fe80::9c0b:a4e8:d3:4553 to fe80::cf99:a11c:4b:1200: icmp_seq=4 ttl=64 rssi=126 time=7 ms
+
+Assign a Static Address
+=======================
+
+So far, we have been using IPv6 Link-Local addressing. However, the Zephyr
+application is configured to use a statically configured IPv6 address as well
+which is, namely :code:`2001:db8::1`.
+
+If we add a similar static IPv6 address to our Linux IEEE 802.15.4 network
+interface, :code:`lowpan0`, then we should expect to be able to reach that as
+well.
+
+In Linux, run the following
+
+.. code-block:: bash
+
+ sudo ip -6 addr add 2001:db8::2/64 dev lowpan0
+
+We can verify that the address has been set by examining the :code:`lowpan0`
+network interface again.
+
+.. code-block:: bash
+
+ $ ip a show lowpan0
+ 37: lowpan0@wpan0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1280 qdisc noqueue state UNKNOWN group default qlen 1000
+ link/6lowpan 9e:0b:a4:e8:00:d3:45:53 brd ff:ff:ff:ff:ff:ff:ff:ff
+ inet6 2001:db8::2/64 scope global
+ valid_lft forever preferred_lft forever
+ inet6 fe80::9c0b:a4e8:d3:4553/64 scope link
+ valid_lft forever preferred_lft forever
+
+Lastly, ping the statically configured IPv6 address of the Zephyr device.
+
+.. code-block::
+
+ $ ping6 2001:db8::1
+ PING 2001:db8::1(2001:db8::1) 56 data bytes
+ 64 bytes from 2001:db8::1: icmp_seq=2 ttl=64 time=53.7 ms
+ 64 bytes from 2001:db8::1: icmp_seq=3 ttl=64 time=13.1 ms
+ 64 bytes from 2001:db8::1: icmp_seq=4 ttl=64 time=22.0 ms
+ 64 bytes from 2001:db8::1: icmp_seq=5 ttl=64 time=22.7 ms
+ 64 bytes from 2001:db8::1: icmp_seq=6 ttl=64 time=18.4 ms
+
+Now that we have set up a reliable transport, let's move on to the application
+layer.
+
+
+Greybus
+=======
+
+Hopefully the videos listed earlier provide a sufficient foundation to
+understand what will happen shortly. However, there is still a bit more
+preparation required.
+
+Build and probe Greybus Kernel Modules
+--------------------------------------
+
+Greybus was originally intended to work exclusively on the UniPro physical
+layer. However, we're using RF as our physical layer and TCP/IP as our
+transport. As such, there was need to be able to communicate with the Linux
+Greybus facilities through userspace, and out of that need arose gb-netlink.
+The Netlink Greybus module actually does not care about the physical layer, but
+is happy to usher Greybus messages back and forth between the kernel and
+userspace.
+
+Build and probe the gb-netlink modules (as well as the other Greybus modules)
+with the following:
+
+.. code-block:: bash
+
+ cd ${WORKSPACE}/sw/greybus
+ make -j`nproc --all`
+ sudo make install
+ ../load_gb_modules.sh
+
+Build and Run Gbridge
+---------------------
+
+The gbridge utility was created as a proof of concept to abstract the Greybus
+Netlink datapath among several reliable transports. For the purposes of this
+tutorial, we'll be using it as a TCP/IP bridge.
+
+To run :code:`gbridge`, perform the following:
+
+.. code-block:: bash
+
+ sudo apt install -y libnl-3-dev libnl-genl-3-dev libbluetooth-dev libavahi-client-dev
+ cd gbridge
+ autoreconf -vfi
+ GBNETLINKDIR=${PWD}/../greybus \
+ ./configure --enable-uart --enable-tcpip --disable-gbsim --enable-netlink --disable-bluetooth
+ make -j`nproc --all`
+ sudo make install
+ gbridge
+
+
+Blinky!
+=======
+
+Now that we have set up a reliable TCP transport, and set up the Greybus
+modules in the Linux kernel, and used Gbridge to connect a Greybus node to the
+Linux kernel via TCP/IP, we can now get to the heart of the demonstration!
+
+First, save the following script as :code:`blinky.sh`.
+
+.. code-block:: bash
+
+ #!/bin/bash
+
+ # Blinky Demo for CC1352R SensorTag
+
+ # /dev/gpiochipN that Greybus created
+ CHIP="$(gpiodetect | grep greybus_gpio | head -n 1 | awk '{print $1}')"
+
+ # red, green, blue LED pins
+ RED=6
+ GREEN=7
+ BLUE=21
+
+ # Bash array for pins and values
+ PINS=($RED $GREEN $BLUE)
+ NPINS=${#PINS[@]}
+
+ for ((;;)); do
+ for i in ${!PINS[@]}; do
+ # turn off previous pin
+ if [ $i -eq 0 ]; then
+ PREV=2
+ else
+ PREV=$((i-1))
+ fi
+ gpioset $CHIP ${PINS[$PREV]}=0
+
+ # turn on current pin
+ gpioset $CHIP ${PINS[$i]}=1
+
+ # wait a sec
+ sleep 1
+ done
+ done
+
+
+Second, run the script with root privileges: :code:`sudo bash blinky.sh`
+
+The output of your minicom session should resemble the following.
+
+.. code-block::
+
+ $ *** Booting Zephyr OS build zephyr-v2.3.0-1435-g40c0ed940d71 ***
+ [00:00:00.011,932] <inf> net_config: Initializing network
+ [00:00:00.111,938] <inf> net_config: IPv6 address: fe80::6c42:bc1c:4b:1200
+ [00:00:00.112,121] <dbg> greybus_service.greybus_service_init: Greybus initializing..
+ [00:00:00.112,426] <dbg> greybus_transport_tcpip.gb_transport_backend_init: Greybus TCP/IP Transport initializing..
+ [00:00:00.112,579] <dbg> greybus_transport_tcpip.netsetup: created server socket 0 for cport 0
+ [00:00:00.112,579] <dbg> greybus_transport_tcpip.netsetup: setting socket options for socket 0
+ [00:00:00.112,609] <dbg> greybus_transport_tcpip.netsetup: binding socket 0 (cport 0) to port 4242
+ [00:00:00.112,640] <dbg> greybus_transport_tcpip.netsetup: listening on socket 0 (cport 0)
+ [00:00:00.112,823] <dbg> greybus_transport_tcpip.netsetup: created server socket 1 for cport 1
+ [00:00:00.112,823] <dbg> greybus_transport_tcpip.netsetup: setting socket options for socket 1
+ [00:00:00.112,854] <dbg> greybus_transport_tcpip.netsetup: binding socket 1 (cport 1) to port 4243
+ [00:00:00.112,854] <dbg> greybus_transport_tcpip.netsetup: listening on socket 1 (cport 1)
+ [00:00:00.113,037] <inf> net_config: IPv6 address: fe80::6c42:bc1c:4b:1200
+ [00:00:00.113,250] <dbg> greybus_transport_tcpip.netsetup: created server socket 2 for cport 2
+ [00:00:00.113,250] <dbg> greybus_transport_tcpip.netsetup: setting socket options for socket 2
+ [00:00:00.113,281] <dbg> greybus_transport_tcpip.netsetup: binding socket 2 (cport 2) to port 4244
+ [00:00:00.113,311] <dbg> greybus_transport_tcpip.netsetup: listening on socket 2 (cport 2)
+ [00:00:00.113,494] <dbg> greybus_transport_tcpip.netsetup: created server socket 3 for cport 3
+ [00:00:00.113,494] <dbg> greybus_transport_tcpip.netsetup: setting socket options for socket 3
+ [00:00:00.113,525] <dbg> greybus_transport_tcpip.netsetup: binding socket 3 (cport 3) to port 4245
+ [00:00:00.113,555] <dbg> greybus_transport_tcpip.netsetup: listening on socket 3 (cport 3)
+ [00:00:00.113,861] <inf> greybus_transport_tcpip: Greybus TCP/IP Transport initialized
+ [00:00:00.116,149] <inf> greybus_service: Greybus is active
+ [00:00:00.116,546] <dbg> greybus_transport_tcpip.accept_loop: calling poll
+ [00:45:08.397,399] <dbg> greybus_transport_tcpip.accept_loop: poll returned 1
+ [00:45:08.397,399] <dbg> greybus_transport_tcpip.accept_loop: socket 0 (cport 0) has traffic
+ [00:45:08.397,491] <dbg> greybus_transport_tcpip.accept_loop: accepted connection from [2001:db8::2]:39638 as fd 4
+ [00:45:08.397,491] <dbg> greybus_transport_tcpip.accept_loop: spawning client thread..
+ [00:45:08.397,735] <dbg> greybus_transport_tcpip.accept_loop: calling poll
+ [00:45:08.491,363] <dbg> greybus_transport_tcpip.accept_loop: poll returned 1
+ [00:45:08.491,363] <dbg> greybus_transport_tcpip.accept_loop: socket 3 (cport 3) has traffic
+ [00:45:08.491,455] <dbg> greybus_transport_tcpip.accept_loop: accepted connection from [2001:db8::2]:39890 as fd 5
+ [00:45:08.491,455] <dbg> greybus_transport_tcpip.accept_loop: spawning client thread..
+ [00:45:08.491,699] <dbg> greybus_transport_tcpip.accept_loop: calling poll
+ [00:45:08.620,056] <dbg> greybus_transport_tcpip.accept_loop: poll returned 1
+ [00:45:08.620,086] <dbg> greybus_transport_tcpip.accept_loop: socket 2 (cport 2) has traffic
+ [00:45:08.620,147] <dbg> greybus_transport_tcpip.accept_loop: accepted connection from [2001:db8::2]:42422 as fd 6
+ [00:45:08.620,147] <dbg> greybus_transport_tcpip.accept_loop: spawning client thread..
+ [00:45:08.620,422] <dbg> greybus_transport_tcpip.accept_loop: calling poll
+ [00:45:08.679,504] <dbg> greybus_transport_tcpip.accept_loop: poll returned 1
+ [00:45:08.679,534] <dbg> greybus_transport_tcpip.accept_loop: socket 1 (cport 1) has traffic
+ [00:45:08.679,595] <dbg> greybus_transport_tcpip.accept_loop: accepted connection from [2001:db8::2]:48286 as fd 7
+ [00:45:08.679,595] <dbg> greybus_transport_tcpip.accept_loop: spawning client thread..
+ [00:45:08.679,870] <dbg> greybus_transport_tcpip.accept_loop: calling poll
+ ...
+
+Read I2C Registers
+==================
+
+The SensorTag comes with an opt3001 ambient light sensor as well as an hdc2080
+temperature & humidity sensor.
+
+First, find which i2c device corresponds to the SensorTag:
+
+.. code-block:: bash
+
+ ls -la /sys/bus/i2c/devices/* | grep "greybus"
+ lrwxrwxrwx 1 root root 0 Aug 15 11:24 /sys/bus/i2c/devices/i2c-8 -> ../../../devices/virtual/gb_nl/gn_nl/greybus1/1-2/1-2.2/1-2.2.2/gbphy2/i2c-8
+
+On my machine, the i2c device node that Greybus creates is :code:`/dev/i2c-8`.
+
+Read the ID registers (at the i2c register address 0x7e) of the opt3001 sensor
+(at i2c bus address 0x44) as shown below:
+
+.. code-block:: bash
+
+ i2cget -y 8 0x44 0x7e w
+ 0x4954
+
+Read the ID registers (at the i2c register address 0xfc) of the hdc2080 sensor
+(at i2c bus address 0x41) as shown below:
+
+.. code-block:: bash
+
+ i2cget -y 8 0x41 0xfc w
+ 0x5449
+
+Conclusion
+**********
+
+The blinking LED can and poking i2c registers can be a somewhat anticlimactic,
+but hopefully it illustrates the potential for Greybus as an IoT application layer
+protocol.
+
+What is nice about this demo, is that we're using Device Tree to describe our
+Greybus Peripheral declaratively, they Greybus Manifest is automatically
+generated, and the Greybus Service is automatically started in Zephyr.
+
+In other words, all that is required to replicate this for other IoT devices is
+simply an appropriate Device Tree overlay file.
+
+The proof-of-concept involving Linux, Zephyr, and IEEE 802.15.4 was actually
+fairly straight forward and was accomplished with mostly already-upstream
+source.
+
+For Greybus in Zephyr, there is still a considerable amount of integration work
+to be done, including * converting the fork to a proper Zephyr module * adding
+security and authentication * automatic detection, joining, and rejoining of
+devices.
+
+Thanks for reading, and we hope you've enjoyed this tutorial.
diff --git a/projects/beagleconnect/beagleplay-bcf.rst b/projects/beagleconnect/beagleplay-bcf.rst
new file mode 100644
index 0000000000000000000000000000000000000000..a780648fa157060320e83ba5a2db85256dcf942b
--- /dev/null
+++ b/projects/beagleconnect/beagleplay-bcf.rst
@@ -0,0 +1,318 @@
+.. _beagleconnect-technology-beagleplay-bcf:
+
+BeaglePlay + BeagleConnect Freedom
+##################################
+
+:ref:`BeaglePlay <beagleplay-home>` and :ref:`BeagleConnect Freedom <beagleconnect-freedom-home>` are the first boards with the aim to provide seamless BeagleConnectâ„¢ Technology support over 6lowpan network which can have a range upto 1km. The support for `mikroBUS`_ add-on boards on :ref:`BeagleConnect Freedom <beagleconnect-freedom-home>` provide endless possibilties of peripherals. Let us go over some of the internal details that might be useful for developers who would like to get involved.
+
+Architecture
+************
+
+.. note::
+
+ This section assumes that you are familiar with terminology introduced in :ref:`beagleconnect-overview`.
+
+:ref:`BeaglePlay <beagleplay-home>` single-board computer contains 2 processors, an AM62x running Debian Linux and a CC1352P7 co-processor. The AM62x processor acts as the :term:`AP <BeagleConnect AP>` in Greybus architecture while CC1352P7 acts as the :term:`SVC <BeagleConnect SVC>`. The sub-1 ghz networking present in CC1352P7 is used as transport. This means all greybus messages between :term:`AP <BeagleConnect AP>` and Node are routed through CC1352P7.
+
+BeagleConnect Freedom serves as the Greybus module, running ZephyrRTOS. It has 2 `mikroBUS` ports which enables compatibility with over 1,000 mikroBUS add-on sensors, acutators, indicators and additional connectivity and storage options.
+
+Here is a visual representation of the architecture:
+
+.. image:: images/beagleplay_bcf_architecture.svg
+ :align: center
+ :alt: BeaglePlay + BeagleConnect Freedom BeagleConnet Setup
+
+
+Demo
+****
+
+.. important::
+
+ The current setup is in heavy development. In case of any problems feel free to reach out to us at `Discord <https://discordapp.com/channels/1108795636956024986/1189277127590289469>`_ or `BeagleBoard Forum <https://forum.beagleboard.org/>`_.
+
+:ref:`greybus-host`
+
+Here is a video of BeaglePlay + BeagleConnect Freedom in action:
+
+.. youtube:: O5coD55JvGU
+ :align: center
+
+Components Involved
+*******************
+
+* `gb-beagleplay Linux Driver <https://elixir.bootlin.com/linux/latest/source/drivers/greybus/gb-beagleplay.c>`_: Mainline Linux Kernel since v6.7.0
+* `mikroBUS Linux Driver <https://openbeagle.org/RobertCNelson/ti-linux-kernel-dev/-/tree/ti-linux-arm64-6.1.y/patches/mikrobus?ref_type=heads>`_: Out of tree
+* `greybus-node-firmware <https://openbeagle.org/beagleconnect/zephyr/greybus-for-zephyr>`_: Out of tree
+* `greybus-host-firmware <https://openbeagle.org/gsoc/greybus/cc1352-firmware>`_: Out of tree
+
+
+Demo
+****
+
+Using Pre-built Images
+=======================
+
+The pre-built images for both BeaglePlay and BeagleConnect Freedom are available at `here <https://openbeagle.org/ayush1325/zephyr/-/jobs/23728/artifacts/download>`_.
+
+
+Build Images from Source
+========================
+
+.. note::
+
+ The following steps are for building the images from source. If you want to use pre-built images, you can skip this section.
+
+.. todo::
+
+ Use upstream Zephyr. The current support in Zephyr upstream has some performance problems which are being worked on. For now, we are using a custom fork based on Zephyr v3.4
+
+
+Setup Zephyr
+------------
+
+.. note::
+
+ Checkout `Zephyr Getting Started Guide <https://docs.zephyrproject.org/latest/develop/getting_started/index.html>`_ for more up to date instructions.
+
+#. Install the required packages:
+
+ .. code-block:: shell-session
+
+ sudo apt install --no-install-recommends git cmake ninja-build gperf \
+ ccache dfu-util device-tree-compiler wget \
+ python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
+ make gcc gcc-multilib g++-multilib libsdl2-dev libmagic1 python3-venv
+
+#. Create a new virtual environment:
+
+ .. code-block:: shell-session
+
+ python3 -m venv ~/zephyrproject/.venv
+
+#. Activate the virtual environment:
+
+ .. code-block:: shell-session
+
+ source ~/zephyrproject/.venv/bin/activate
+
+#. Install west:
+
+ .. code-block:: shell-session
+
+ pip install west
+
+#. Get the Zephyr source code:
+
+ .. code-block:: shell-session
+
+ west init -m https://openbeagle.org/ayush1325/zephyr.git --mr demo-new ~/zephyrproject
+ cd ~/zephyrproject
+ west update
+
+#. Export a Zephyr CMake package. This allows CMake to automatically load boilerplate code required for building Zephyr applications.
+
+ .. code-block:: shell-session
+
+ west zephyr-export
+
+#. Zephyr’s scripts/requirements.txt file declares additional Python dependencies. Install them with pip.
+
+ .. code-block:: shell-session
+
+ pip install -r ~/zephyrproject/zephyr/scripts/requirements.txt
+
+#. Download and verify the Zephyr SDK bundle:
+
+ .. code-block:: shell-session
+
+ cd ~/.local/opt
+ wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v0.16.5-1/zephyr-sdk-0.16.5-1_linux-x86_64.tar.xz
+ wget -O - https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v0.16.5-1/sha256.sum | shasum --check --ignore-missing
+
+#. Extract the Zephyr SDK bundle archive:
+
+ .. code-block:: shell-session
+
+ tar xf zephyr-sdk-0.16.5-1_linux-x86_64.tar.xz
+ rm zephyr-sdk-0.16.5-1_linux-x86_64.tar.xz
+
+.. note::
+
+ If trying to build on BeaglePlay, use `zephyr-sdk-0.16.5-1_linux-aarch64_minimal.tar.xz` instead of full Zephyr SDK.
+
+#. Run the Zephyr SDK bundle setup script:
+
+ .. code-block:: shell-session
+
+ cd zephyr-sdk-0.16.5-1
+ ./setup.sh
+
+#. Install udev rules, which allow you to flash most Zephyr boards as a regular user:
+
+ .. code-block:: shell-session
+
+ sudo cp ~/zephyr-sdk-0.16.5-1/sysroots/x86_64-pokysdk-linux/usr/share/openocd/contrib/60-openocd.rules /etc/udev/rules.d
+ sudo udevadm control --reload
+
+#. Install `cc1352-flasher <https://pypi.org/project/cc1352-flasher/>`_
+
+ .. code-block:: shell-session
+
+ pip install cc1352-flasher
+
+
+Build and Flash BeagleConnect Freedom
+-------------------------------------
+
+#. Build Greybus for node
+
+ .. code-block:: shell-session
+
+ west build -b beagleconnect_freedom modules/greybus/samples/subsys/greybus/net/ -p -- -DOVERLAY_CONFIG=overlay-802154-subg.conf
+
+#. Connect Beagleconnect Freedom and flash the firmware
+
+ .. code-block:: shell-session
+
+ west flash
+
+
+Build and Flash BeaglePlay CC1352
+---------------------------------
+
+#. Build Greybus for host
+
+ .. code-block:: shell-session
+
+ west build -b beagleplay_cc1352 modules/greybus-host/ -p
+
+#. Start BeaglePlay with bcfserial overlay. If you are using USB to UART cable to connect to BeaglePlay, you can select `BeaglePlay eMMC disable BCFSERIAL` option. Else run the following command and reboot.
+
+ .. code-block:: shell-session
+
+ sed -i '5d' /boot/firmware/extlinux/extlinux.conf
+ sed -i '5idefault BeaglePlay eMMC disable BCFSERIAL' temp2
+
+#. Copy compiled image to BeaglePlay:
+
+ .. code-block:: shell-session
+
+ scp build/zephyr/zephyr.bin debian@beagleplay.local:~/greybus/zephyr/zephyr.bin
+
+#. Install `cc1352-flasher <https://pypi.org/project/cc1352-flasher/>`_ on BeaglePlay
+
+ .. code-block:: shell-session
+
+ pip install cc1352-flasher
+
+#. Flash the firmware
+
+ .. code-block:: shell-session
+
+ cc1352-flasher --play ~/greybus
+
+#. Enable bcfserial overlay. (Skip this step if you used Uboot menu in step 2):
+
+ .. code-block:: shell-session
+
+ sed -i '5d' /boot/firmware/extlinux/extlinux.conf
+ sed -i '5idefault BeaglePlay eMMC (default)' temp2
+
+#. Blacklist bcfserial Linux driver. This is required only in 5.x kernels:
+
+ .. code-block:: shell-session
+
+ sed -i '28s/$/ modprobe.blacklist=mikrobus/' /boot/firmware/extlinux/extlinux.conf
+
+#. Reboot
+
+BeaglePlay Driver
+-----------------
+
+.. note::
+
+ This section is only required for 5.x kernels.
+
+#. Clone the driver:
+
+ .. code-block:: shell-session
+
+ git clone https://git.beagleboard.org/gsoc/greybus/beagleplay-greybus-driver.git
+ cd beagleplay-greybus-driver
+
+#. Install kernel headers:
+
+ .. code-block:: shell-session
+
+ sudo apt install linux-headers-$(uname -r)
+
+#. Build `gb-beagleplay` driver:
+
+ .. code-block:: shell-session
+
+ debian@BeaglePlay:~/beagleplay-greybus-driver$ make
+ make -C /lib/modules/5.10.168-ti-arm64-r111/build M=/home/debian/beagleplay-greybus-driver modules
+ make[1]: Entering directory '/usr/src/linux-headers-5.10.168-ti-arm64-r111'
+ CC [M] /home/debian/beagleplay-greybus-driver/gb-beagleplay.o
+ MODPOST /home/debian/beagleplay-greybus-driver/Module.symvers
+ CC [M] /home/debian/beagleplay-greybus-driver/gb-beagleplay.mod.o
+ LD [M] /home/debian/beagleplay-greybus-driver/gb-beagleplay.ko
+ make[1]: Leaving directory '/usr/src/linux-headers-5.10.168-ti-arm64-r111'
+
+#. Load the driver:
+
+ .. code-block:: shell-session
+
+ sudo insmod gb-beagleplay.ko
+
+#. Check `iio_info`. Sensors from beagleconnect freedom should show up here:
+
+ .. code-block:: shell-session
+
+ debian@BeaglePlay:~$ iio_info
+ Library version: 0.24 (git tag: v0.24)
+ Compiled with backends: local xml ip usb
+ IIO context created with local backend.
+ Backend version: 0.24 (git tag: v0.24)
+ Backend description string: Linux BeaglePlay 5.10.168-ti-arm64-r111 #1bullseye SMP Tue Sep 26 14:22:20 UTC 2023 aarch64
+ IIO context has 2 attributes:
+ local,kernel: 5.10.168-ti-arm64-r111
+ uri: local:
+ IIO context has 2 devices:
+ iio:device0: adc102s051
+ 2 channels found:
+ voltage1: (input)
+ 2 channel-specific attributes found:
+ attr 0: raw value: 4068
+ attr 1: scale value: 0.805664062
+ voltage0: (input)
+ 2 channel-specific attributes found:
+ attr 0: raw value: 0
+ attr 1: scale value: 0.805664062
+ No trigger on this device
+ iio:device1: hdc2010
+ 3 channels found:
+ temp: (input)
+ 4 channel-specific attributes found:
+ attr 0: offset value: -15887.515151
+ attr 1: peak_raw value: 28928
+ attr 2: raw value: 28990
+ attr 3: scale value: 2.517700195
+ humidityrelative: (input)
+ 3 channel-specific attributes found:
+ attr 0: peak_raw value: 43264
+ attr 1: raw value: 41892
+ attr 2: scale value: 1.525878906
+ current: (output)
+ 2 channel-specific attributes found:
+ attr 0: heater_raw value: 0
+ attr 1: heater_raw_available value: 0 1
+ No trigger on this device
+
+
+Conclusion
+**********
+
+While BeagleConnectâ„¢ technology is still in development, we are excited to see the possibilities it brings to the table. We are continuously working on improving the technology and adding more features. Fee free to reach out to us at `Discord <https://discordapp.com/channels/1108795636956024986/1189277127590289469>`_ or `BeagleBoard Forum <https://forum.beagleboard.org/>`_.
+
+.. _mikroBUS: https://www.mikroe.com/mikrobus
diff --git a/projects/beagleconnect/images/beagleplay_bcf_architecture.svg b/projects/beagleconnect/images/beagleplay_bcf_architecture.svg
new file mode 100644
index 0000000000000000000000000000000000000000..10d388772ccc515ac4b0ec7cacbf4d2b799555c7
--- /dev/null
+++ b/projects/beagleconnect/images/beagleplay_bcf_architecture.svg
@@ -0,0 +1,4 @@
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\ No newline at end of file
diff --git a/projects/beagleconnect/index.rst b/projects/beagleconnect/index.rst
index 588b63ffc70c4456e21983a95a876d72c564fbd4..c1ddb75f1c4a3c8196f5fc897020f3d6691d49aa 100644
--- a/projects/beagleconnect/index.rst
+++ b/projects/beagleconnect/index.rst
@@ -1,1178 +1,29 @@
-.. role:: strike
- :class: strike
+.. _beagleconnect-technology:
-.. _beagleconnect-overview:
+BeagleConnectâ„¢ Technology
+##########################
-BeagleConnect Technology
-########################
+.. important::
-This is the deep-dive introduction to BeagleConnectâ„¢ technology and software
-architecture.
+ Currently under development
-.. note::
- This documentation and the associated software are each a work-in-progress.
+BeagleConnectâ„¢ is a revolutionary technology virtually eliminating low-level software development for `IoT <https://en.wikipedia.org/wiki/Internet_of_things>`_ and `IIoT <https://en.wikipedia.org/wiki/Industrial_internet_of_things>`_ applications, such as building automation, factory automation, home automation, and scientific data acquisition.
-BeagleConnectâ„¢ is built using `Greybus <https://kernel-recipes.org/en/2015/talks/an-introduction-to-greybus/>`__
-code in the Linux kernel originally designed for mobile phones.
-To understand a bit more about how the BeagleConnectâ„¢ Greybus stack is being
-built, this section helps describe the development currently in progress and
-the principles of operation.
+While numerous IoT and IIoT solutions available today provide massive software libraries for microcontrollers supporting a limited body of `sensors <https://en.wikipedia.org/wiki/Sensor>`_, `actuators <https://en.wikipedia.org/wiki/Actuator>`_ and `indicators <https://en.wikipedia.org/wiki/Indicator_(distance_amplifying_instrument)>`_ as well as libraries for communicating over various networks, BeagleConnectâ„¢ simply eliminates the need for these libraries by shifting the burden into the most massive and collaborative software project of all time, the `Linux kernel <https://en.wikipedia.org/wiki/Linux_kernel>`_.
-Background
-**********
-.. image:: images/SoftwareProp.jpg
- :width: 600
- :align: center
- :height: 400
- :alt: BeagleConnect Software Proposition
+These are the tools used to automate things in `scientific data collection <https://en.wikipedia.org/wiki/Data_collection_system>`_, `data science <https://en.wikipedia.org/wiki/Data_science>`_, `mechatronics <https://en.wikipedia.org/wiki/Mechatronics>`_, and `IoT <https://en.wikipedia.org/wiki/Internet_of_things>`_.
-BeagleConnectâ„¢ uses Greybus and mikroBUS add-on boards with ClickID and BeagleConnectâ„¢ mikroBUS manifests to
-eliminate the need to add and manually configure devices added onto the Linux
-system.
+BeagleConnectâ„¢ technology solves:
-High-level
-**********
-* For Linux nerds: Think of BeagleConnectâ„¢ as 6LoWPAN over 802.15.4-based
- Greybus (instead of Unipro as used by Project Ara), where every
- BeagleConnectâ„¢ board shows up as new SPI, I2C, UART, PWM, ADC, and GPIO
- controllers that can now be probed to load drivers for the sensors or
- whatever is connected to them. (Proof of concept of Greybus over TCP/IP:
- https://www.youtube.com/watch?v=7H50pv-4YXw)
+* The need to write software to add a large set of diverse devices to your system,
+* The need to maintain the software with security updates,
+* The need to rapidly prototype using off-the-shelf software and hardware without wiring,
+* The need to connect to devices using long-range, low-power wireless, and
+* The need to produce high-volume custom hardware cost-optimized for your requirements.
-* For MCU folks: Think of BeagleConnectâ„¢ as a Firmata-style firmware load that
- exposes the interfaces for remote access over a secured wireless network.
- However, instead of using host software that knows how to speak the Firmata
- protocol, the Linux kernel speaks the slightly similar Greybus protocol to
- the MCU and exposes the device generically to users using a Linux kernel
- driver. Further, the Greybus protocol is spoken over 6LoWPAN on 802.15.4.
+.. toctree::
+ :maxdepth: 2
-.. _beagleconnect-software-architecture:
-
-Software architecture
-*********************
-
-.. _beagleconnect-software-architecture-diagram:
-
-.. graphviz::
- :caption: BeagleConnect Software Architecture Diagram
-
- // Software architecture
- digraph S {
- node [color=white shape=box]
- subgraph cluster_0 {
- color=black label="Linux PC"
- subgraph cluster_1 {
- node [color=green style=filled]
- color=lightgrey label="Linux userspace" style=filled
- A [label="User Application" tooltip="Primary developer entry point"]
- g [label="gbridge**" tooltip="Bridge Greybus to networked devices"]
- }
- subgraph cluster_2 {
- node [color=green style=filled]
- color=lightgrey label="Linux kernel" style=filled
- I [label="IIO Drivers" tooltip="Hundreds of drivers for sensors and acutators"]
- r [label=greybus tooltip="Dynamic RPC-like bus interface for I2C, SPI, UART, etc."]
- n [label="gb-netlink**" tooltip="Extend Greybus over netlink to userspace"]
- m [label="mikrobus**" tooltip="Board-level abstraction to identify sensor connections"]
- w [label="wpanusb**" tooltip="USB-interface to IEEE802.15.4 radio"]
- i [label=ieee802154 tooltip="Standards-based radio interface"]
- 6 [label=lowpan tooltip="IPv6 for low-power wireless networks"]
- }
- }
- subgraph cluster_3 {
- color=black label="BCF gateway"
- subgraph cluster_4 {
- node [color=green style=filled]
- color=lightgrey label=CC1352 style=filled
- z [label="gateway**" tooltip="Zephyr-based IEEE802.15.4 radio accepting HDLC over UART transactions"]
- }
- subgraph cluster_5 {
- node [color=green style=filled]
- color=lightgrey label=MSP430 style=filled
- b [label="usb_uart_bridge**" tooltip="USB interace to access CC1352 UART that encapulates WPANUSB in HDLC"]
- }
- }
- subgraph cluster_6 {
- color=black label="BCF node"
- subgraph cluster_7 {
- node [color=green style=filled]
- color=lightgrey label=CC1352 style=filled
- k [label="greybus-mikrobus**" tooltip="Zephyr-based applies Greybus transactions from IPv6/IEEE802154 to physical I2C, SPI, UART, etc."]
- }
- subgraph cluster_8 {
- node [color=green style=filled]
- color=lightgrey label="mikroBUS add-on board" style=filled
- e [label="manifest 1-wire EEPROM**" tooltip="Manifest for mikroBUS driver"]
- s [label=sensor tooltip="Over 1,000 different sensor, actuator and indicator options"]
- }
- }
- A -> I
- I -> m
- m -> r
- r -> n
- n -> g
- g -> 6
- 6 -> i
- i -> w
- w -> b
- b -> z
- z -> k
- k -> s
- k -> e
- }
-
-
-TODO items
-**********
-
-* :strike:`Linux kernel driver` (wpanusb and bcfserial still need to be upstreamed)
-
-* Provisioning
-
-* :strike:`Firmware for host CC13x`
-
-* :strike:`Firmware for device CC13x`
-
-* Unify firmware for host/device CC13x
-
-* :strike:`Click Board drivers and device tree formatted metadata for 100 or so Click
- Boards`
-
-* Click Board plug-ins for node-red for the same 100 or so Click Boards
-
-* BeagleConnectâ„¢ Freedom System Reference Manual and FAQs
-
-
-Associated pre-work
-*******************
-
-* Click Board support for Node-RED can be executed with native connections on
- PocketBeagle+TechLab and BeagleBone Black with mikroBUS Cape
-
-* Device tree fragments and driver updates can be provided via
- https://bbb.io/click
-
-* The Kconfig style provisioning can be implemented for those solutions, which
- will require a reboot. We need to centralize edits to /boot/uEnv.txt to be
- programmatic. As I think through this, I don't think BeagleConnect is
- impacted, because the Greybus-style discovery along with Click EEPROMS will
- eliminate any need to edit /boot/uEnv.txt.
-
-User experience concerns
-************************
-
-* Make sure no reboots are required
-
-* Plugging BeagleConnect into host should trigger host configuration
-
-* Click EEPROMs should trigger loading whatever drivers are needed and
- provisioning should load any new drivers
-
-* Userspace (spidev, etc.) drivers should unload cleanly when 2nd phase
- provisioning is completed
-
-BeagleConnectâ„¢ Greybus demo using BeagleConnectâ„¢ Freedom
-********************************************************
-BeagleConnectâ„¢ Freedom runs a subGHz IEEE 802.15.4 network. This BeagleConnectâ„¢
-Greybus demo shows how to interact with GPIO, I2C and mikroBUS add-on boards
-remotely connected over a BeagleConnectâ„¢ Freedom.
-
-This section starts with the steps required to use
-`Linux <https://en.wikipedia.org/wiki/Linux>`_ embedded computer
-(`BeagleBone Green Gateway <https://wiki.seeedstudio.com/BeagleBone-Green-Gateway/>`_)
-and the `Greybus <https://lwn.net/Articles/715955/>`_ protocol, over an
-IEEE 802.15.4 wireless link, to blink an LED on a
-`Zephyr <https://zephyrproject.org/>`_ device.
-
-Introduction
-------------
-
-*Why??*
-
-Good question. Blinking an LED is kind of the
-`Hello, World <https://en.wikipedia.org/wiki/%22Hello,_World!%22_program>`_ of
-the hardware community. In this case, we're less interested in the mechanics
-of switching a GPIO to drive some current through an LED and more interested in
-how that happens with the
-`Internet of Things (IoT) <https://en.wikipedia.org/wiki/Internet_of_things>`_.
-
-There are several existing network and application layers that are driven by
-corporate heavyweights and industry consortiums, but relatively few that are
-community driven and, more specifically, even fewer that have the ability to
-integrate so tightly with the Linux kernel.
-
-The goal here is to provide a community-maintained, developer-friendly, and
-open-source protocol for the Internet of Things using the Greybus Protocol, and
-blinking an LED using Greybus is the simplest proof-of-concept for that. All
-that is required is a reliable transport.
-
-#. Power a BeagleConnect Freedom that has not yet been programmed via a USB
- power source, not the BeagleBone Green Gateway. You'll hear a click every
- 1-2 seconds along with seeing 4 of the LEDs turn off and on.
-
-#. In an isolated terminal window, :code:`sudo beagleconnect-start-gateway`
-
-#. :code:`sensortest-rx.py`
-
-Every 1-2 minutes, you should see something like:
-
-.. code-block:: bash
-
- ('fe80::3111:7a22:4b:1200%lowpan0', 52213, 0, 13) '2l:7.79;'
- ('fe80::3111:7a22:4b:1200%lowpan0', 52213, 0, 13) '4h:43.75;4t:23.11;'
-
-The value after "2l:" is the amount of light in lux. The value after "4h:" is
-the relative humidity and after "4t:" is the temperature in Celsius.
-
-Flash BeagleConnectâ„¢ Freedom node device with Greybus firmware
---------------------------------------------------------------
-
-.. todo:: How can we add a step in here to show the network is connected without needing gbridge to be fully functional?
-
-Do this from the BeagleBone® Green Gateway board that was previously used to
-program the BeagleConnectâ„¢ Freedom gateway device:
-
-#. Disconnect the BeagleConnectâ„¢ Freedom **gateway** device
-
-#. Connect a new BeagleConnectâ„¢ Freedom board via USB
-
-#. :code:`sudo systemctl stop lowpan.service`
-
-#. :code:`cc2538-bsl.py /usr/share/beagleconnect/cc1352/greybus_mikrobus_beagleconnect.bin /dev/ttyACM0`
-
-#. After it finishes programming successfully, disconnect the BeagleConnect Freedom node device
-
-#. Power the newly programmed BeagleConnect Freedom node device from an alternate USB power source
-
-#. Reconnect the BeagleConnect Freedom **gateway** device to the BeagleBone Green Gateway
-
-#. :code:`sudo systemctl start lowpan.service`
-
-#. :code:`sudo beagleconnect-start-gateway`
-
-.. code-block:: bash
-
- debian@beaglebone:~$ sudo beagleconnect-start-gateway
- [sudo] password for debian:
- setting up wpanusb gateway for IEEE 802154 CHANNEL 1(906 Mhz)
- ping6: Warning: source address might be selected on device other than lowpan0.
- PING 2001:db8::1(2001:db8::1) from ::1 lowpan0: 56 data bytes
- 64 bytes from 2001:db8::1: icmp_seq=2 ttl=64 time=185 ms
- 64 bytes from 2001:db8::1: icmp_seq=3 ttl=64 time=40.9 ms
- 64 bytes from 2001:db8::1: icmp_seq=4 ttl=64 time=40.9 ms
- 64 bytes from 2001:db8::1: icmp_seq=5 ttl=64 time=40.6 ms
-
- --- 2001:db8::1 ping statistics ---
- 5 packets transmitted, 4 received, 20% packet loss, time 36ms
- rtt min/avg/max/mdev = 40.593/76.796/184.799/62.356 ms
- debian@beaglebone:~$ iio_info
- Library version: 0.19 (git tag: v0.19)
- Compiled with backends: local xml ip usb serial
- IIO context created with local backend.
- Backend version: 0.19 (git tag: v0.19)
- Backend description string: Linux beaglebone 5.14.18-bone20 #1buster PREEMPT Tue Nov 16 20:47:19 UTC 2021 armv7l
- IIO context has 1 attributes:
- local,kernel: 5.14.18-bone20
- IIO context has 3 devices:
- iio:device0: TI-am335x-adc.0.auto (buffer capable)
- 8 channels found:
- voltage0: (input, index: 0, format: le:u12/16>>0)
- 1 channel-specific attributes found:
- attr 0: raw value: 1412
- voltage1: (input, index: 1, format: le:u12/16>>0)
- 1 channel-specific attributes found:
- attr 0: raw value: 2318
- voltage2: (input, index: 2, format: le:u12/16>>0)
- 1 channel-specific attributes found:
- attr 0: raw value: 2631
- voltage3: (input, index: 3, format: le:u12/16>>0)
- 1 channel-specific attributes found:
- attr 0: raw value: 817
- voltage4: (input, index: 4, format: le:u12/16>>0)
- 1 channel-specific attributes found:
- attr 0: raw value: 881
- voltage5: (input, index: 5, format: le:u12/16>>0)
- 1 channel-specific attributes found:
- attr 0: raw value: 0
- voltage6: (input, index: 6, format: le:u12/16>>0)
- 1 channel-specific attributes found:
- attr 0: raw value: 0
- voltage7: (input, index: 7, format: le:u12/16>>0)
- 1 channel-specific attributes found:
- attr 0: raw value: 1180
- 2 buffer-specific attributes found:
- attr 0: data_available value: 0
- attr 1: watermark value: 1
- iio:device1: hdc2010
- 3 channels found:
- humidityrelative: (input)
- 3 channel-specific attributes found:
- attr 0: peak_raw value: 52224
- attr 1: raw value: 52234
- attr 2: scale value: 1.525878906
- current: (output)
- 2 channel-specific attributes found:
- attr 0: heater_raw value: 0
- attr 1: heater_raw_available value: 0 1
- temp: (input)
- 4 channel-specific attributes found:
- attr 0: offset value: -15887.515151
- attr 1: peak_raw value: 25600
- attr 2: raw value: 25628
- attr 3: scale value: 2.517700195
- iio:device2: opt3001
- 1 channels found:
- illuminance: (input)
- 2 channel-specific attributes found:
- attr 0: input value: 79.040000
- attr 1: integration_time value: 0.800000
- 2 device-specific attributes found:
- attr 0: current_timestamp_clock value: realtime
-
- attr 1: integration_time_available value: 0.1 0.8
- debian@beaglebone:~$ dmesg | grep -e mikrobus -e greybus
- [ 100.491253] greybus 1-2.2: Interface added (greybus)
- [ 100.491294] greybus 1-2.2: GMP VID=0x00000126, PID=0x00000126
- [ 100.491306] greybus 1-2.2: DDBL1 Manufacturer=0x00000126, Product=0x00000126
- [ 100.737637] greybus 1-2.2: excess descriptors in interface manifest
- [ 102.475168] mikrobus:mikrobus_port_gb_register: mikrobus gb_probe , num cports= 2, manifest_size 192
- [ 102.475206] mikrobus:mikrobus_port_gb_register: protocol added 3
- [ 102.475214] mikrobus:mikrobus_port_gb_register: protocol added 2
- [ 102.475239] mikrobus:mikrobus_port_register: registering port mikrobus-1
- [ 102.475400] mikrobus_manifest:mikrobus_state_get: mikrobus descriptor not found
- [ 102.475417] mikrobus_manifest:mikrobus_manifest_attach_device: parsed device 1, driver=opt3001, protocol=3, reg=44
- [ 102.494516] mikrobus_manifest:mikrobus_manifest_attach_device: parsed device 2, driver=hdc2010, protocol=3, reg=41
- [ 102.494567] mikrobus_manifest:mikrobus_manifest_parse: (null) manifest parsed with 2 devices
- [ 102.494592] mikrobus mikrobus-1: registering device : opt3001
- [ 102.495096] mikrobus mikrobus-1: registering device : hdc2010
- debian@beaglebone:~$
-
-
-.. todo:: update the below for the built-in sensors
-
-.. todo:: can we also handle the case where these sensors are included and recommend them? Same firmware?
-
-.. todo:: the current demo is for the built-in sensors, not the Click boards mentioned below
-
-Currently only a limited number of add-on boards have been tested to work over Greybus, simple add-on boards without interrupt requirement are the ones that work currently. The example is for Air Quality 2 Click and Weather Click attached to the mikroBUS ports on the device side.
-
-/var/log/gbridge will have the gbridge log, and if the mikroBUS port has been instantiated successfully the kernel log will show the devices probe messages:
-
-.. todo:: this log needs to be updated
-
-.. code-block::
-
- greybus 1-2.2: GMP VID=0x00000126, PID=0x00000126
- greybus 1-2.2: DDBL1 Manufacturer=0x00000126, Product=0x00000126
- greybus 1-2.2: excess descriptors in interface manifest
- mikrobus:mikrobus_port_gb_register: mikrobus gb_probe , num cports= 3, manifest_size 252
- mikrobus:mikrobus_port_gb_register: protocol added 11
- mikrobus:mikrobus_port_gb_register: protocol added 3
- mikrobus:mikrobus_port_gb_register: protocol added 2
- mikrobus:mikrobus_port_register: registering port mikrobus-0
- mikrobus_manifest:mikrobus_manifest_attach_device: parsed device 1, driver=bme280, protocol=3, reg=76
- mikrobus_manifest:mikrobus_manifest_attach_device: parsed device 2, driver=ams-iaq-core, protocol=3, reg=5a
- mikrobus_manifest:mikrobus_manifest_parse: Greybus Service Sample Application manifest parsed with 2 devices
- mikrobus mikrobus-0: registering device : bme280
- mikrobus mikrobus-0: registering device : ams-iaq-core
-
-
-.. todo:: bring in the GPIO toggle and I2C explorations for greater understanding
-
-Flashing via a Linux Host
--------------------------
-
-
-
-If flashing the Freedom board via the BeagleBone fails here's a trick you can try to flash from a Linux host.
-
-Use :code:`sshfs` to mount the Bone's files on the Linux host. This assumes the
-Bone is plugged in the USB and appears at :code:`192.168.7.2`:
-
-.. code-block:: bash
-
- host$ cd
- host$ sshfs 192.168.7.2:/ bone
- host$ cd bone; ls
- bin dev home lib media opt root sbin sys usr
- boot etc ID.txt lost+found mnt proc run srv tmp var
- host$ ls /dev/ttyACM*
- /dev/ttyACM1
-
-
-
-The Bone's files now appear as local files. Notice there is already a
-:code:`/dev/ACM*` appearing. Now plug the Connect into the Linux host's USB
-port and run the command again.
-
-.. code-block:: bash
-
- host$ ls /dev/ttyACM*
- /dev/ttyACM0 /dev/ttyACM1
-
-The :code:`/dev/ttyACM` that just appeared is the one associated with the
-Connect. In my case it's :code:`/dev/ttyACM0`. That's what I'll use in this
-example.
-
-Now change directories to where the binaries are and load:
-
-.. code-block:: bash
-
- host$ cd ~/bone/usr/share/beagleconnect/cc1352;ls
- greybus_mikrobus_beagleconnect.bin sensortest_beagleconnect.dts
- greybus_mikrobus_beagleconnect.config wpanusb_beagleconnect.bin
- greybus_mikrobus_beagleconnect.dts wpanusb_beagleconnect.config
- sensortest_beagleconnect.bin wpanusb_beagleconnect.dts
- sensortest_beagleconnect.config
-
- host$ ~/bone/usr/bin/cc2538-bsl.py sensortest_beagleconnect.bin /dev/ttyACM0
- 8-bsl.py sensortest_beagleconnect.bin /dev/ttyACM0
- Opening port /dev/ttyACM0, baud 50000
- Reading data from sensortest_beagleconnect.bin
- Cannot auto-detect firmware filetype: Assuming .bin
- Connecting to target...
- CC1350 PG2.0 (7x7mm): 352KB Flash, 20KB SRAM, CCFG.BL_CONFIG at 0x00057FD8
- Primary IEEE Address: 00:12:4B:00:22:7A:10:46
- Performing mass erase
- Erasing all main bank flash sectors
- Erase done
- Writing 360448 bytes starting at address 0x00000000
- Write 104 bytes at 0x00057F988
- Write done
- Verifying by comparing CRC32 calculations.
- Verified (match: 0x0f6bdf0f)
-
-Now you are ready to continue the instructions above after the cc2528 command.
-
-Trying for different add-on boards
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-See `mikroBUS over Greybus <https://github.com/vaishnav98/greybus-for-zephyr/tree/mikrobus#trying-out-different-add-on-boardsdevices-over-mikrobus>`_
-for trying out the same example for different mikroBUS add-on boards/ on-board devices.
-
-Observe the node device
------------------------
-
-Connect BeagleConnect Freedom node device to an Ubuntu laptop to observe the
-Zephyr console.
-
-
-Console (:code:`tio`)
----------------------
-In order to see diagnostic messages or to run certain commands on the Zephyr
-device we will require a terminal open to the device console. In this case, we
-use `tio <https://tio.github.io/>`_ due how its usage simplifies the
-instructions.
-
-#. Install :code:`tio`
- :code:`sudo apt install -y tio`
-
-#. Run :code:`tio`
- :code:`tio /dev/ttyACM0`
-
- To exit :code:`tio` (later), enter :code:`ctrl+t, q`.
-
-
-The Zephyr Shell
-----------------
-
-
-After flashing, you should observe the something matching the following output in :code:`tio`.
-
-.. code-block:: bash
-
- uart:~$ *** Booting Zephyr OS build 9c858c863223 ***
- [00:00:00.009,735] <inf> greybus_transport_tcpip: CPort 0 mapped to TCP/IP port 4242
- [00:00:00.010,131] <inf> greybus_transport_tcpip: CPort 1 mapped to TCP/IP port 4243
- [00:00:00.010,528] <inf> greybus_transport_tcpip: CPort 2 mapped to TCP/IP port 4244
- [00:00:00.010,742] <inf> greybus_transport_tcpip: Greybus TCP/IP Transport initialized
- [00:00:00.010,864] <inf> greybus_manifest: Registering CONTROL greybus driver.
- [00:00:00.011,230] <inf> greybus_manifest: Registering GPIO greybus driver.
- [00:00:00.011,596] <inf> greybus_manifest: Registering I2C greybus driver.
- [00:00:00.011,871] <inf> greybus_service: Greybus is active
- [00:00:00.026,092] <inf> net_config: Initializing network
- [00:00:00.134,063] <inf> net_config: IPv6 address: 2001:db8::1
-
-
-
-The line beginning with :code:`***` is the Zephyr boot banner.
-
-Lines beginning with a timestamp of the form :code:`[H:m:s.us]` are Zephyr
-kernel messages.
-
-Lines beginning with :code:`uart:~$` indicates that the Zephyr shell is
-prompting you to enter a command.
-
-From the informational messages shown, we observe the following.
-
-* Zephyr is configured with the following
- `link-local IPv6 address <https://en.wikipedia.org/wiki/Link-local_address#IPv6>`_ :code:`fe80::3177:a11c:4b:1200`
-
-* It is listening for (both) TCP and UDP traffic on port 4242
-
-However, what the log messages do not show (which will come into play later),
-are 2 critical pieces of information:
-
-#. **The RF Channel**: As you may have guessed, IEEE 802.15.4 devices are only
- able to communicate with each other if they are using the same frequency to
- transmit and receive data. This information is part of the Physical Layer.
-
-#. The `PAN identifier <https://www.silabs.com/community/wireless/proprietary/knowledge-base.entry.html/2019/10/04/connect_tutorial6-ieee802154addressing-rapc>`_:
- IEEE 802.15.4 devices are only be able to communicate with one another if
- they use the same PAN ID. This permits multiple networks (PANs) on the same
- frequency. This information is part of the Data Link Layer.
-
-If we type :code:`help` in the shell and hit Enter, we're prompted with the
-following:
-
-.. code-block::
-
- Please press the <Tab> button to see all available commands.
- You can also use the <Tab> button to prompt or auto-complete all commands or its subcommands.
- You can try to call commands with <-h> or <--help> parameter for more information.
- Shell supports following meta-keys:
-
- Ctrl+a, Ctrl+b, Ctrl+c, Ctrl+d, Ctrl+e, Ctrl+f, Ctrl+k, Ctrl+l, Ctrl+n, Ctrl+p, Ctrl+u, Ctrl+w
- Alt+b, Alt+f.
- Please refer to shell documentation for more details.
-
-So after hitting Tab, we see that there are several interesting commands we can
-use for additional information.
-
-.. code-block::
-
- uart:~$
- clear help history ieee802154 log net
- resize sample shell
-
-Zephyr Shell: IEEE 802.15.4 commands
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Entering :code:`ieee802154 help`, we see
-
-.. code-block::
-
- uart:~$ ieee802154 help
- ieee802154 - IEEE 802.15.4 commands
- Subcommands:
- ack :<set/1 | unset/0> Set auto-ack flag
- associate :<pan_id> <PAN coordinator short or long address (EUI-64)>
- disassociate :Disassociate from network
- get_chan :Get currently used channel
- get_ext_addr :Get currently used extended address
- get_pan_id :Get currently used PAN id
- get_short_addr :Get currently used short address
- get_tx_power :Get currently used TX power
- scan :<passive|active> <channels set n[:m:...]:x|all> <per-channel
- duration in ms>
- set_chan :<channel> Set used channel
- set_ext_addr :<long/extended address (EUI-64)> Set extended address
- set_pan_id :<pan_id> Set used PAN id
- set_short_addr :<short address> Set short address
- set_tx_power :<-18/-7/-4/-2/0/1/2/3/5> Set TX power
-
-
-We get the missing Channel number (frequency) with the command :code:`ieee802154 get_chan`.
-
-.. code-block::
-
- uart:~$ ieee802154 get_chan
- Channel 26
-
-We get the missing PAN ID with the command :code:`ieee802154 get_pan_id`.
-
-.. code-block::
-
- uart:~$ ieee802154 get_pan_id
- PAN ID 43981 (0xabcd)
-
-Zephyr Shell: Network Commands
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Additionally, we may query the IPv6 information of the Zephyr device.
-
-.. code-block::
-
- uart:~$ net iface
-
- Interface 0x20002b20 (IEEE 802.15.4) [1]
- ========================================
- Link addr : CD:99:A1:1C:00:4B:12:00
- MTU : 125
- IPv6 unicast addresses (max 3):
- fe80::cf99:a11c:4b:1200 autoconf preferred infinite
- 2001:db8::1 manual preferred infinite
- IPv6 multicast addresses (max 4):
- ff02::1
- ff02::1:ff4b:1200
- ff02::1:ff00:1
- IPv6 prefixes (max 2):
- <none>
- IPv6 hop limit : 64
- IPv6 base reachable time : 30000
- IPv6 reachable time : 16929
- IPv6 retransmit timer : 0
-
-
-
-And we see that the static IPv6 address (:code:`2001:db8::1`) from
-:code:`samples/net/sockets/echo_server/prj.conf` is present and configured.
-While the statically configured IPv6 address is useful, it isn't 100% necessary.
-
-Rebuilding from source
-----------------------
-
-.. todo:: revisit everything below here
-
-Prerequisites
-^^^^^^^^^^^^^
-
-* Zephyr environment is set up according to the
- `Getting Started Guide <https://docs.zephyrproject.org/latest/getting_started/index.html>`_
-
- * Please use the Zephyr SDK when installing a toolchain above
-
-* `Zephyr SDK <https://docs.zephyrproject.org/latest/getting_started/index.html#install-a-toolchain>`_
- is installed at ~/zephyr-sdk-0.11.2 (any later version should be fine as well)
-
-* Zephyr board is connected via USB
-
-Cloning the repository
-^^^^^^^^^^^^^^^^^^^^^^
-
-This repository utilizes `git submodules <https://git-scm.com/book/en/v2/Git-Tools-Submodules>`_
-to keep track of all of the projects required to reproduce the ongoing work.
-The instructions here only cover checking out the :code:`demo` branch which
-should stay in a tested state. ongoing development will be on the
-:code:`master` branch.
-
-Note: The parent directory :code:`~` is simply used as a placeholder for testing.
-Please use whatever parent directory you see fit.
-
-Clone specific tag
-^^^^^^^^^^^^^^^^^^
-
-.. code-block:: bash
-
- cd ~
- git clone --recurse-submodules --branch demo https://github.com/jadonk/beagleconnect
-
-Zephyr
-------
-
-Add the Fork
-^^^^^^^^^^^^
-
-For the time being, Greybus must remain outside of the main Zephyr repository.
-Currently, it is just in a Zephyr fork, but it should be converted to a
-proper `Module (External Project) <https://docs.zephyrproject.org/latest/guides/modules.html>`_.
-This is for a number of reasons, but mainly there must be:
-
-* specifications for authentication and encryption
-
-* specifications for joining and rejoining wireless networks
-
-* specifications for discovery
-
-Therefore, in order to reproduce this example, please run the following.
-
-.. code-block:: bash
-
- cd ~/beagleconnect/sw/zephyrproject/zephyr
- west update
-
-Build and Flash Zephyr
-^^^^^^^^^^^^^^^^^^^^^^
-
-Here, we will build and flash the Zephyr
-`greybus_net sample <https://github.com/cfriedt/zephyr/tree/greybus-sockets/samples/subsys/greybus/net>`_
-to our device.
-
-#. Edit the file :code:`~/.zephyrrc` and place the following text inside of it
-
-.. code-block:: bash
-
- export ZEPHYR_TOOLCHAIN_VARIANT=zephyr
- export ZEPHYR_SDK_INSTALL_DIR=~/zephyr-sdk-0.11.2
-
-#. Set up the required Zephyr environment variables via
-
-.. code-block:: bash
-
- source zephyr-env.sh
-
-#. Build the project
-
-.. code-block:: bash
-
- BOARD=cc1352r1_launchxl west build samples/subsys/greybus/net --pristine \
- --build-dir build/greybus_launchpad -- -DCONF_FILE="prj.conf overlay-802154.conf"
-
-#. Ensure that the last part of the build process looks somewhat like this:
-
-.. code-block:: bash
-
- ...
- [221/226] Linking C executable zephyr/zephyr_prebuilt.elf
- Memory region Used Size Region Size %age Used
- FLASH: 155760 B 360360 B 43.22%
- FLASH_CCFG: 88 B 88 B 100.00%
- SRAM: 58496 B 80 KB 71.41%
- IDT_LIST: 184 B 2 KB 8.98%
- [226/226] Linking C executable zephyr/zephyr.elf
-
-#. Flash the firmware to your device using
-
-.. code-block:: bash
-
- BOARD=cc1352r1_launchxl west flash --build-dir build/greybus_launchpad
-
-Linux
------
-
-Warning: If you aren't comfortable building and installing a Linux kernel on
-your computer, you should probably just stop here. I'll assume you know the
-basics of building and installing a Linux kernel from here on out.
-
-Clone, patch, and build the kernel
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-For this demo, I used the 5.8.4 stable kernel. Also, I've applied the
-:code:`mikrobus` kernel driver, though it isn't strictly required for greybus.
-
-Note: The parent directory :code:`~` is simply used as a placeholder for testing.
-Please use whatever parent directory you see fit.
-
-.. todo:: The patches for gb-netlink will eventually be applied here until pushed into mainline.
-
-.. code-block:: bash
-
- cd ~
- git clone --branch v5.8.4 --single-branch git://git.kernel.org/pub/scm/linux/kernel/git/stable/linux.git
- cd linux
- git checkout -b v5.8.4-greybus
- git am ~/beagleconnect/sw/linux/v2-0001-RFC-mikroBUS-driver-for-add-on-boards.patch
- git am ~/beagleconnect/sw/linux/0001-mikroBUS-build-fixes.patch
- cp /boot/config-`uname -r` .config
- yes "" | make oldconfig
- ./scripts/kconfig/merge_config.sh .config ~/beagleconnect/sw/linux/mikrobus.config
- ./scripts/kconfig/merge_config.sh .config ~/beagleconnect/sw/linux/atusb.config
- make -j`nproc --all`
- sudo make modules_install
- sudo make install
-
-Reboot and select your new kernel.
-
-Probe the IEEE 802.15.4 Device Driver
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-On the Linux machine, make sure the :code:`atusb` driver is loaded. This should
-happen automatically when the adapter is inserted or when the machine is booted
-while the adapter is installed.
-
-.. code-block:: bash
-
- $ dmesg | grep -i ATUSB
- [ 6.512154] usb 1-1: ATUSB: AT86RF231 version 2
- [ 6.512492] usb 1-1: Firmware: major: 0, minor: 3, hardware type: ATUSB (2)
- [ 6.525357] usbcore: registered new interface driver atusb
- ...
-
-
-
-We should now be able to see the IEEE 802.15.4 network device by entering :code:`ip a show wpan0`.
-
-.. code-block:: bash
-
- $ ip a show wpan0
- 36: wpan0: <BROADCAST,NOARP,UP,LOWER_UP> mtu 123 qdisc fq_codel state UNKNOWN group default qlen 300
- link/ieee802.15.4 3e:7d:90:4d:8f:00:76:a2 brd ff:ff:ff:ff:ff:ff:ff:ff
-
-
-But wait, that is not an IP address! It's the hardware address of the 802.15.4
-device. So, in order to associate it with an IP address, we need to run a
-couple of other commands (thanks to wpan.cakelab.org).
-
-Set the 802.15.4 Physical and Link-Layer Parameters
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-#. First, get the phy number for the :code:`wpan0` device
-
-.. code-block:: bash
-
- $ iwpan list
- wpan_phy phy0
- supported channels:
- page 0: 11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26
- current_page: 0
- current_channel: 26, 2480 MHz
- cca_mode: (1) Energy above threshold
- cca_ed_level: -77
- tx_power: 3
- capabilities:
- iftypes: node,monitor
- channels:
- page 0:
- [11] 2405 MHz, [12] 2410 MHz, [13] 2415 MHz,
- [14] 2420 MHz, [15] 2425 MHz, [16] 2430 MHz,
- [17] 2435 MHz, [18] 2440 MHz, [19] 2445 MHz,
- [20] 2450 MHz, [21] 2455 MHz, [22] 2460 MHz,
- [23] 2465 MHz, [24] 2470 MHz, [25] 2475 MHz,
- [26] 2480 MHz
- tx_powers:
- 3 dBm, 2.8 dBm, 2.3 dBm, 1.8 dBm, 1.3 dBm, 0.7 dBm,
- 0 dBm, -1 dBm, -2 dBm, -3 dBm, -4 dBm, -5 dBm,
- -7 dBm, -9 dBm, -12 dBm, -17 dBm,
- cca_ed_levels:
- -91 dBm, -89 dBm, -87 dBm, -85 dBm, -83 dBm, -81 dBm,
- -79 dBm, -77 dBm, -75 dBm, -73 dBm, -71 dBm, -69 dBm,
- -67 dBm, -65 dBm, -63 dBm, -61 dBm,
- cca_modes:
- (1) Energy above threshold
- (2) Carrier sense only
- (3, cca_opt: 0) Carrier sense with energy above threshold (logical operator is 'and')
- (3, cca_opt: 1) Carrier sense with energy above threshold (logical operator is 'or')
- min_be: 0,1,2,3,4,5,6,7,8
- max_be: 3,4,5,6,7,8
- csma_backoffs: 0,1,2,3,4,5
- frame_retries: 3
- lbt: false
-
-#. Next, set the Channel for the 802.15.4 device on the Linux machine
-
-.. code-block:: bash
-
- sudo iwpan phy phy0 set channel 0 26
-
-#. Then, set the PAN identifier for the 802.15.4 device on the Linux machine :code:`sudo iwpan dev wpan0 set pan_id 0xabcd`
-
-#. Associate the :code:`wpan0` device to a new, 6lowpan network interface
-
-.. code-block:: bash
-
- sudo ip link add link wpan0 name lowpan0 type lowpan
-
-#. Finally, set the links up for both :code:`wpan0` and :code:`lowpan0`
-
-.. code-block:: bash
-
- sudo ip link set wpan0 up
- sudo ip link set lowpan0 up
-
-
-
-We should observe something like the following when we run :code:`ip a show lowpan0`.
-
-.. code-block:: bash
-
- ip a show lowpan0
- 37: lowpan0@wpan0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1280 qdisc noqueue state UNKNOWN group default qlen 1000
- link/6lowpan 9e:0b:a4:e8:00:d3:45:53 brd ff:ff:ff:ff:ff:ff:ff:ff
- inet6 fe80::9c0b:a4e8:d3:4553/64 scope link
- valid_lft forever preferred_lft forever
-
-Ping Pong
----------
-
-Broadcast Ping
-^^^^^^^^^^^^^^
-
-Now, perform a broadcast ping to see what else is listening on :code:`lowpan0`.
-
-.. code-block::
-
- $ ping6 -I lowpan0 ff02::1
- PING ff02::1(ff02::1) from fe80::9c0b:a4e8:d3:4553%lowpan0 lowpan0: 56 data bytes
- 64 bytes from fe80::9c0b:a4e8:d3:4553%lowpan0: icmp_seq=1 ttl=64 time=0.099 ms
- 64 bytes from fe80::9c0b:a4e8:d3:4553%lowpan0: icmp_seq=2 ttl=64 time=0.125 ms
- 64 bytes from fe80::cf99:a11c:4b:1200%lowpan0: icmp_seq=2 ttl=64 time=17.3 ms (DUP!)
- 64 bytes from fe80::9c0b:a4e8:d3:4553%lowpan0: icmp_seq=3 ttl=64 time=0.126 ms
- 64 bytes from fe80::cf99:a11c:4b:1200%lowpan0: icmp_seq=3 ttl=64 time=9.60 ms (DUP!)
- 64 bytes from fe80::9c0b:a4e8:d3:4553%lowpan0: icmp_seq=4 ttl=64 time=0.131 ms
- 64 bytes from fe80::cf99:a11c:4b:1200%lowpan0: icmp_seq=4 ttl=64 time=14.9 ms (DUP!)
-
-Yay! We have pinged (pung?) the Zephyr device over IEEE 802.15.4 using 6LowPAN!
-
-Ping Zephyr
-^^^^^^^^^^^
-
-We can ping the Zephyr device directly without a broadcast ping too, of course.
-
-.. code-block::
-
- $ ping6 -I lowpan0 fe80::cf99:a11c:4b:1200
- PING fe80::cf99:a11c:4b:1200(fe80::cf99:a11c:4b:1200) from fe80::9c0b:a4e8:d3:4553%lowpan0 lowpan0: 56 data bytes
- 64 bytes from fe80::cf99:a11c:4b:1200%lowpan0: icmp_seq=1 ttl=64 time=16.0 ms
- 64 bytes from fe80::cf99:a11c:4b:1200%lowpan0: icmp_seq=2 ttl=64 time=13.8 ms
- 64 bytes from fe80::cf99:a11c:4b:1200%lowpan0: icmp_seq=3 ttl=64 time=9.77 ms
- 64 bytes from fe80::cf99:a11c:4b:1200%lowpan0: icmp_seq=5 ttl=64 time=11.5 ms
-
-Ping Linux
-^^^^^^^^^^
-
-Similarly, we can ping the Linux host from the Zephyr shell.
-
-.. code-block:: bash
-
- uart:~$ net ping --help
- ping - Ping a network host.
- Subcommands:
- --help :'net ping [-c count] [-i interval ms] <host>' Send ICMPv4 or ICMPv6
- Echo-Request to a network host.
- $ net ping -c 5 fe80::9c0b:a4e8:d3:4553
- PING fe80::9c0b:a4e8:d3:4553
- 8 bytes from fe80::9c0b:a4e8:d3:4553 to fe80::cf99:a11c:4b:1200: icmp_seq=0 ttl=64 rssi=110 time=11 ms
- 8 bytes from fe80::9c0b:a4e8:d3:4553 to fe80::cf99:a11c:4b:1200: icmp_seq=1 ttl=64 rssi=126 time=9 ms
- 8 bytes from fe80::9c0b:a4e8:d3:4553 to fe80::cf99:a11c:4b:1200: icmp_seq=2 ttl=64 rssi=128 time=13 ms
- 8 bytes from fe80::9c0b:a4e8:d3:4553 to fe80::cf99:a11c:4b:1200: icmp_seq=3 ttl=64 rssi=126 time=10 ms
- 8 bytes from fe80::9c0b:a4e8:d3:4553 to fe80::cf99:a11c:4b:1200: icmp_seq=4 ttl=64 rssi=126 time=7 ms
-
-Assign a Static Address
-^^^^^^^^^^^^^^^^^^^^^^^
-
-So far, we have been using IPv6 Link-Local addressing. However, the Zephyr
-application is configured to use a statically configured IPv6 address as well
-which is, namely :code:`2001:db8::1`.
-
-If we add a similar static IPv6 address to our Linux IEEE 802.15.4 network
-interface, :code:`lowpan0`, then we should expect to be able to reach that as
-well.
-
-In Linux, run the following
-
-.. code-block:: bash
-
- sudo ip -6 addr add 2001:db8::2/64 dev lowpan0
-
-We can verify that the address has been set by examining the :code:`lowpan0`
-network interface again.
-
-.. code-block:: bash
-
- $ ip a show lowpan0
- 37: lowpan0@wpan0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1280 qdisc noqueue state UNKNOWN group default qlen 1000
- link/6lowpan 9e:0b:a4:e8:00:d3:45:53 brd ff:ff:ff:ff:ff:ff:ff:ff
- inet6 2001:db8::2/64 scope global
- valid_lft forever preferred_lft forever
- inet6 fe80::9c0b:a4e8:d3:4553/64 scope link
- valid_lft forever preferred_lft forever
-
-Lastly, ping the statically configured IPv6 address of the Zephyr device.
-
-.. code-block::
-
- $ ping6 2001:db8::1
- PING 2001:db8::1(2001:db8::1) 56 data bytes
- 64 bytes from 2001:db8::1: icmp_seq=2 ttl=64 time=53.7 ms
- 64 bytes from 2001:db8::1: icmp_seq=3 ttl=64 time=13.1 ms
- 64 bytes from 2001:db8::1: icmp_seq=4 ttl=64 time=22.0 ms
- 64 bytes from 2001:db8::1: icmp_seq=5 ttl=64 time=22.7 ms
- 64 bytes from 2001:db8::1: icmp_seq=6 ttl=64 time=18.4 ms
-
-Now that we have set up a reliable transport, let's move on to the application
-layer.
-
-
-Greybus
--------
-
-Hopefully the videos listed earlier provide a sufficient foundation to
-understand what will happen shortly. However, there is still a bit more
-preparation required.
-
-Build and probe Greybus Kernel Modules
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Greybus was originally intended to work exclusively on the UniPro physical
-layer. However, we're using RF as our physical layer and TCP/IP as our
-transport. As such, there was need to be able to communicate with the Linux
-Greybus facilities through userspace, and out of that need arose gb-netlink.
-The Netlink Greybus module actually does not care about the physical layer, but
-is happy to usher Greybus messages back and forth between the kernel and
-userspace.
-
-Build and probe the gb-netlink modules (as well as the other Greybus modules)
-with the following:
-
-.. code-block:: bash
-
- cd ${WORKSPACE}/sw/greybus
- make -j`nproc --all`
- sudo make install
- ../load_gb_modules.sh
-
-Build and Run Gbridge
-^^^^^^^^^^^^^^^^^^^^^
-
-The gbridge utility was created as a proof of concept to abstract the Greybus
-Netlink datapath among several reliable transports. For the purposes of this
-tutorial, we'll be using it as a TCP/IP bridge.
-
-To run :code:`gbridge`, perform the following:
-
-.. code-block:: bash
-
- sudo apt install -y libnl-3-dev libnl-genl-3-dev libbluetooth-dev libavahi-client-dev
- cd gbridge
- autoreconf -vfi
- GBNETLINKDIR=${PWD}/../greybus \
- ./configure --enable-uart --enable-tcpip --disable-gbsim --enable-netlink --disable-bluetooth
- make -j`nproc --all`
- sudo make install
- gbridge
-
-
-Blinky!
--------
-
-Now that we have set up a reliable TCP transport, and set up the Greybus
-modules in the Linux kernel, and used Gbridge to connect a Greybus node to the
-Linux kernel via TCP/IP, we can now get to the heart of the demonstration!
-
-First, save the following script as :code:`blinky.sh`.
-
-.. code-block:: bash
-
- #!/bin/bash
-
- # Blinky Demo for CC1352R SensorTag
-
- # /dev/gpiochipN that Greybus created
- CHIP="$(gpiodetect | grep greybus_gpio | head -n 1 | awk '{print $1}')"
-
- # red, green, blue LED pins
- RED=6
- GREEN=7
- BLUE=21
-
- # Bash array for pins and values
- PINS=($RED $GREEN $BLUE)
- NPINS=${#PINS[@]}
-
- for ((;;)); do
- for i in ${!PINS[@]}; do
- # turn off previous pin
- if [ $i -eq 0 ]; then
- PREV=2
- else
- PREV=$((i-1))
- fi
- gpioset $CHIP ${PINS[$PREV]}=0
-
- # turn on current pin
- gpioset $CHIP ${PINS[$i]}=1
-
- # wait a sec
- sleep 1
- done
- done
-
-
-Second, run the script with root privileges: :code:`sudo bash blinky.sh`
-
-The output of your minicom session should resemble the following.
-
-.. code-block::
-
- $ *** Booting Zephyr OS build zephyr-v2.3.0-1435-g40c0ed940d71 ***
- [00:00:00.011,932] <inf> net_config: Initializing network
- [00:00:00.111,938] <inf> net_config: IPv6 address: fe80::6c42:bc1c:4b:1200
- [00:00:00.112,121] <dbg> greybus_service.greybus_service_init: Greybus initializing..
- [00:00:00.112,426] <dbg> greybus_transport_tcpip.gb_transport_backend_init: Greybus TCP/IP Transport initializing..
- [00:00:00.112,579] <dbg> greybus_transport_tcpip.netsetup: created server socket 0 for cport 0
- [00:00:00.112,579] <dbg> greybus_transport_tcpip.netsetup: setting socket options for socket 0
- [00:00:00.112,609] <dbg> greybus_transport_tcpip.netsetup: binding socket 0 (cport 0) to port 4242
- [00:00:00.112,640] <dbg> greybus_transport_tcpip.netsetup: listening on socket 0 (cport 0)
- [00:00:00.112,823] <dbg> greybus_transport_tcpip.netsetup: created server socket 1 for cport 1
- [00:00:00.112,823] <dbg> greybus_transport_tcpip.netsetup: setting socket options for socket 1
- [00:00:00.112,854] <dbg> greybus_transport_tcpip.netsetup: binding socket 1 (cport 1) to port 4243
- [00:00:00.112,854] <dbg> greybus_transport_tcpip.netsetup: listening on socket 1 (cport 1)
- [00:00:00.113,037] <inf> net_config: IPv6 address: fe80::6c42:bc1c:4b:1200
- [00:00:00.113,250] <dbg> greybus_transport_tcpip.netsetup: created server socket 2 for cport 2
- [00:00:00.113,250] <dbg> greybus_transport_tcpip.netsetup: setting socket options for socket 2
- [00:00:00.113,281] <dbg> greybus_transport_tcpip.netsetup: binding socket 2 (cport 2) to port 4244
- [00:00:00.113,311] <dbg> greybus_transport_tcpip.netsetup: listening on socket 2 (cport 2)
- [00:00:00.113,494] <dbg> greybus_transport_tcpip.netsetup: created server socket 3 for cport 3
- [00:00:00.113,494] <dbg> greybus_transport_tcpip.netsetup: setting socket options for socket 3
- [00:00:00.113,525] <dbg> greybus_transport_tcpip.netsetup: binding socket 3 (cport 3) to port 4245
- [00:00:00.113,555] <dbg> greybus_transport_tcpip.netsetup: listening on socket 3 (cport 3)
- [00:00:00.113,861] <inf> greybus_transport_tcpip: Greybus TCP/IP Transport initialized
- [00:00:00.116,149] <inf> greybus_service: Greybus is active
- [00:00:00.116,546] <dbg> greybus_transport_tcpip.accept_loop: calling poll
- [00:45:08.397,399] <dbg> greybus_transport_tcpip.accept_loop: poll returned 1
- [00:45:08.397,399] <dbg> greybus_transport_tcpip.accept_loop: socket 0 (cport 0) has traffic
- [00:45:08.397,491] <dbg> greybus_transport_tcpip.accept_loop: accepted connection from [2001:db8::2]:39638 as fd 4
- [00:45:08.397,491] <dbg> greybus_transport_tcpip.accept_loop: spawning client thread..
- [00:45:08.397,735] <dbg> greybus_transport_tcpip.accept_loop: calling poll
- [00:45:08.491,363] <dbg> greybus_transport_tcpip.accept_loop: poll returned 1
- [00:45:08.491,363] <dbg> greybus_transport_tcpip.accept_loop: socket 3 (cport 3) has traffic
- [00:45:08.491,455] <dbg> greybus_transport_tcpip.accept_loop: accepted connection from [2001:db8::2]:39890 as fd 5
- [00:45:08.491,455] <dbg> greybus_transport_tcpip.accept_loop: spawning client thread..
- [00:45:08.491,699] <dbg> greybus_transport_tcpip.accept_loop: calling poll
- [00:45:08.620,056] <dbg> greybus_transport_tcpip.accept_loop: poll returned 1
- [00:45:08.620,086] <dbg> greybus_transport_tcpip.accept_loop: socket 2 (cport 2) has traffic
- [00:45:08.620,147] <dbg> greybus_transport_tcpip.accept_loop: accepted connection from [2001:db8::2]:42422 as fd 6
- [00:45:08.620,147] <dbg> greybus_transport_tcpip.accept_loop: spawning client thread..
- [00:45:08.620,422] <dbg> greybus_transport_tcpip.accept_loop: calling poll
- [00:45:08.679,504] <dbg> greybus_transport_tcpip.accept_loop: poll returned 1
- [00:45:08.679,534] <dbg> greybus_transport_tcpip.accept_loop: socket 1 (cport 1) has traffic
- [00:45:08.679,595] <dbg> greybus_transport_tcpip.accept_loop: accepted connection from [2001:db8::2]:48286 as fd 7
- [00:45:08.679,595] <dbg> greybus_transport_tcpip.accept_loop: spawning client thread..
- [00:45:08.679,870] <dbg> greybus_transport_tcpip.accept_loop: calling poll
- ...
-
-Read I2C Registers
-^^^^^^^^^^^^^^^^^^
-
-The SensorTag comes with an opt3001 ambient light sensor as well as an hdc2080
-temperature & humidity sensor.
-
-First, find which i2c device corresponds to the SensorTag:
-
-.. code-block:: bash
-
- ls -la /sys/bus/i2c/devices/* | grep "greybus"
- lrwxrwxrwx 1 root root 0 Aug 15 11:24 /sys/bus/i2c/devices/i2c-8 -> ../../../devices/virtual/gb_nl/gn_nl/greybus1/1-2/1-2.2/1-2.2.2/gbphy2/i2c-8
-
-On my machine, the i2c device node that Greybus creates is :code:`/dev/i2c-8`.
-
-Read the ID registers (at the i2c register address 0x7e) of the opt3001 sensor
-(at i2c bus address 0x44) as shown below:
-
-.. code-block:: bash
-
- i2cget -y 8 0x44 0x7e w
- 0x4954
-
-Read the ID registers (at the i2c register address 0xfc) of the hdc2080 sensor
-(at i2c bus address 0x41) as shown below:
-
-.. code-block:: bash
-
- i2cget -y 8 0x41 0xfc w
- 0x5449
-
-Conclusion
-----------
-
-The blinking LED can and poking i2c registers can be a somewhat anticlimactic,
-but hopefully it illustrates the potential for Greybus as an IoT application layer
-protocol.
-
-What is nice about this demo, is that we're using Device Tree to describe our
-Greybus Peripheral declaratively, they Greybus Manifest is automatically
-generated, and the Greybus Service is automatically started in Zephyr.
-
-In other words, all that is required to replicate this for other IoT devices is
-simply an appropriate Device Tree overlay file.
-
-The proof-of-concept involving Linux, Zephyr, and IEEE 802.15.4 was actually
-fairly straight forward and was accomplished with mostly already-upstream
-source.
-
-For Greybus in Zephyr, there is still a considerable amount of integration work
-to be done, including * converting the fork to a proper Zephyr module * adding
-security and authentication * automatic detection, joining, and rejoining of
-devices.
-
-Thanks for reading, and we hope you've enjoyed this tutorial.
+ introduction
+ beagleplay-bcf
+ beaglebone-bcf
diff --git a/projects/beagleconnect/introduction.rst b/projects/beagleconnect/introduction.rst
new file mode 100644
index 0000000000000000000000000000000000000000..e38e84e009d1808c04172905f9e51b41dac53e05
--- /dev/null
+++ b/projects/beagleconnect/introduction.rst
@@ -0,0 +1,74 @@
+.. _beagleconnect-overview:
+
+Overview
+#########
+
+Greybus
+*******
+
+I will be taking information from the `Greybus LWN article <https://lwn.net/Articles/715955/>`_. So feel free to check it out.
+
+Greybus was initially designed for Google's Project Ara smartphone (which is discontinued now), but the first (and only) product released with it is Motorola's Moto Mods. It was initially merged for potential use by kernel components that need to communicate in a platform-independent way.
+
+The `Greybus specification <https://github.com/projectara/greybus-spec>`_ provides device discovery and description at runtime, network routing and housekeeping, and class and bridged PHY protocols, which devices use to talk to each other and to the processors. The following figure shows how various parts of the kernel interact with the Greybus subsystem.
+
+.. image:: images/greybus.webp
+ :align: center
+ :alt: Greybus subsystem
+
+
+There are three main entities in the Greybus network:
+
+#. **AP:** It refers to the host CPUs, i.e., CPUs running Linux in most cases. It is responsible for administrating the Greybus network via the SVC.
+#. **SVC:** The SVC represents an entity within the Greybus network that configures and controls the Greybus (UniPro) network, mostly based on the instructions from the AP. All module insertion and removal events are first reported to the SVC, which in turn informs the AP about them using the SVC protocol.
+#. **Module:** A module is the physical hardware entity that can be connected or disconnected statically (before powering the system on) or dynamically (while the system is running) from the Greybus network. Once the modules are connected to the Greybus network, the AP and the SVC enumerate the modules and fetch per-interface manifests to learn about their capabilities.
+
+While Greybus is a great protocol, the implementation is tightly coupled with the UniPro transport. This makes it challenging to use Greybus in other modes of transport.
+
+
+BeagleConnectâ„¢ Technology Mission
+**********************************
+
+BeagleConnectâ„¢ Technology aims to use Greybus outside of the traditional Greybus network. This includes using transports other than UniPro (such as 6lowpan), using embedded devices running `ZephyrRTOS <https://zephyrproject.org/>`_ as modules, emulating :term:`SVC <BeagleConnect SVC>` in co-processor, etc. This makes BeagleConnectâ„¢ much more flexible than what traditional greybus seems to support. Here is a diagram of the general BeagleConnectâ„¢ setup:
+
+.. image:: images/software_prop_transport.svg
+ :align: center
+ :alt: BeagleConnect Technology arbitrary transport
+
+The :term:`SVC <BeagleConnect SVC>` is either emulated in userspace software in the SOC (gbridge) or in a co-processor (e.g., in :ref:`BeaglePlay <beagleplay-home>`). The arbitrary transport can be anything from 6lowpan (for long range) to ethernet or optical cables (for max speed). Finally, greybus nodes such as BeagleConnectâ„¢ Freedom running Greybus Zephyr firmware allow the use of `mikroBUS <https://www.mikroe.com/mikrobus>`_ which opens a host of Plug and Play possibilities for peripherals.
+
+
+Why should you use BeagleConnectâ„¢?
+***********************************
+
+.. image:: images/SoftwareProp.jpg
+ :align: center
+ :alt: BeagleConnect Technology arbitrary transport
+
+#. **Open-source:** The `Greybus Spec <https://github.com/projectara/greybus-spec>`_ is open-source and a part of the Linux kernel. This makes it easy to use and personalize for your use case. Being part of the Linux Kernel also provides it a level of reliability that most similar solutions lack.
+
+#. **Network agnostic:** BeagleConnectâ„¢ allows Greybus to be network agnostic. This means it can be used over networks like 6lowpan, which has incredible wireless range, or over optical networks for high-throughput, low-latency use cases.
+
+#. **Rapid Prototyping:** Any device (e.g., `mikroBUS add-on boards <https://www.mikroe.com/click-boards>`_) connected to the greybus node can be accessed from the Linux host. In this setup, only the Linux host needs to have device drivers. We remove the need to write drivers for the OS our node (the device with which peripheral is actually connected) runs on (e.g. `ZephyrRTOS <https://www.zephyrproject.org>`_, `Nuttx <https://nuttx.apache.org>`_, etc). This allows being able to prototype devices by just creating a Linux driver instead of having to write drivers for each individual embedded OS.
+
+#. **Star topology IoT and IIoT networks:** Greybus was designed to be low level and allow hot-plugging of remote devices. This means a greybus network does not need to use bulky protocols like REST and data formats like JSON. This in turn allows using relatively low-powered device as nodes.
+
+#. **Use of Existing Infrastructure:** Since BeagleConnectâ„¢ devices show up as normal Linux devices, they work with existing local device management software. This eliminates need for propritory and custom solutions to monitor devices. Instead Linux host can directly read peripherals on nodes using standard Linux tools such as `iio_readdev <https://wiki.analog.com/resources/tools-software/linux-software/libiio/iio_readdev>`_.
+
+#. **Infinite Customization:** With support for `mikroBUS add-on boards <https://www.mikroe.com/click-boards>`_, capabilities of BeagleConnectâ„¢ nodes can be expanded dramaticically with little to no fiddling.
+
+.. note::
+
+ The above is just a glimpse of what BeagleConnectâ„¢ can do. Many more use cases can be explored. If you have any ideas, feel free to reach out to us.
+
+
+What's next?
+************
+
+BeagleConnectâ„¢ is still in its early stages. We are working on making it more robust and easy to use. We are trying to provide a complete experience for testing BeagleConnectâ„¢ Technology in our BeaglePlay and BeagleConnectâ„¢ boards.
+
+We are looking for more people to join us in improving BeagleConnectâ„¢ technology. Feel free to reach out to us at `Discord <https://discordapp.com/channels/1108795636956024986/1189277127590289469>`_ or `BeagleBoard Forum <https://forum.beagleboard.org/>`_.
+
+Contributions
+*************
+- `Greybus LWN article <https://lwn.net/Articles/715955/>`_
diff --git a/projects/index.rst b/projects/index.rst
index 1bb3de7abdbbf0a1163286eb2d6ae570864e13e1..b66c5cf116800bdb2b33b88928feaa1eccd5d250 100644
--- a/projects/index.rst
+++ b/projects/index.rst
@@ -6,7 +6,7 @@ Projects
This is a collection of reasonably well-supported projects useful to Beagle developers.
.. toctree::
- :maxdepth: 1
+ :maxdepth: 2
/projects/simppru/index
/projects/bb-config/index