diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index 0029fa6f0d0799a7cfac938cceccbe5c24a2ea51..80ce5c95cb7dd4bdb7a1ea15381e26dc7d48ac3d 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -14,21 +14,21 @@ where to start then you can checkout our contribution documents to help you with
### Code of Conduct
-This project and everyone participating in it is governed by the [BeagleBoard.org Code of Conduct](https://docs.beagleboard.org/latest/intro/contribution/index.html#code-of-conduct). By participating, you are expected to uphold this code. Please report unacceptable behavior to [coc@bbb.io](mailto:coc@bbb.io) or contact one of the administrators on https://forum.beagleboard.org.
+This project and everyone participating in it is governed by the [BeagleBoard.org Code of Conduct](https://docs.beagleboard.org/latest/intro/contribution/code-of-conduct.html). By participating, you are expected to uphold this code. Please report unacceptable behavior to [coc@bbb.io](mailto:coc@bbb.io) or contact one of the administrators on https://forum.beagleboard.org.
### Style and usage guidelines
-If you are new to Sphinx, RST, or git then you can checkout out our [Style and usage guidelines](https://docs.beagleboard.org/latest/intro/contribution/index.html#style-and-usage-guidelines).
+If you are new to Sphinx, RST, or git then you can checkout out our [How can I contribute? guide](https://docs.beagleboard.org/latest/intro/contribution/how.html).
See more at https://docs.beagleboard.org/latest/intro/contribution/.
### Forking the Project
-You can [fork](https://docs.gitlab.com/ee/user/project/repository/forking_workflow.html) this project repository to create and submit changes to the documentation. BeagleBoard documentation is generated using [**Sphinx** ](https://www.sphinx-doc.org/en/master/) documentation tool. Sphinx uses the [**reStructuredText**](https://docutils.sourceforge.io/rst.html) (.rst) markup language by default. Some files are also written in [**Markdown**](https://docs.gitlab.com/ee/user/markdown.html) (.md) format. GitLab can render previews for both RST and MD files. So if you do not want to use any external tools to edit the documentation, you can do that within your browser and use the `Preview` button in GitLab to view how the changes will actually look like.
+You can [fork](https://openbeagle.org/help/user/project/repository/forking_workflow.md) this project repository to create and submit changes to the documentation. BeagleBoard documentation is generated using [**Sphinx** ](https://www.sphinx-doc.org/en/master/) documentation tool. Sphinx uses the [**reStructuredText**](https://docutils.sourceforge.io/rst.html) (.rst) markup language by default. Some files are also written in [**Markdown**](https://docs.gitlab.com/ee/user/markdown.html) (.md) format. GitLab can render previews for both RST and MD files. So if you do not want to use any external tools to edit the documentation, you can do that within your browser and use the `Preview` button in GitLab to view how the changes will actually look like.
#### Using A Browser
-Using a browser is the easiest way to contribute to this project, if you are a beginner, or if your suggestions for changes are small. Though, some Git version control knowledge is preferrable. You can learn more about [Git and GitLab from here](https://docs.gitlab.com/ee/topics/git/).
+Using a browser is the easiest way to contribute to this project, if you are a beginner, or if your suggestions for changes are small. Though, some Git version control knowledge is preferrable. You can learn more about [Git and GitLab from here](https://openbeagle.org/help/topics/git/index.md).
You can create a fork of this repository to your GitLab account using the `Forks` button found on the main page of the project. This will create a stand-alone copy of the repository for you to work with.
@@ -65,4 +65,8 @@ VS Code is not limited to running from a folder as a workspace, or as a native a
## FAQ
-* [Frequently Asked Questions category on the BeagleBoard.org Forum](https://forum.beagleboard.org/c/faq/19)
+* [Frequently Asked Questions category on the BeagleBoard.org Forum](https://forum.beagleboard.org/c/faq)
+
+## Feedback
+
+* [Site Feedback category on the BeagleBoard.org Forum](https://forum.beagleboard.org/c/site-feedback)
diff --git a/_static/css/custom.css b/_static/css/custom.css
index 22957e5ab52b61f3c3a16cefd06d2d62ef144fde..6407cf8561e7e456e43d6bfe907a4af5c60cdc61 100644
--- a/_static/css/custom.css
+++ b/_static/css/custom.css
@@ -1,9 +1,10 @@
-.wy-side-nav-search > a img.logo {
+.wy-side-nav-search>a img.logo {
width: 340px;
height: 66px;
}
-.rst-content div.figure, .rst-content figure {
+.rst-content div.figure,
+.rst-content figure {
text-align: center;
}
@@ -36,7 +37,7 @@
background-color: #25282b;
}
-.wy-nav-top{
+.wy-nav-top {
background-color: #25282b;
background-color: #25282b;
}
@@ -74,10 +75,68 @@ span.strike {
overflow: auto;
}
+/* Site horizontal spacing */
.bd-main .bd-content .bd-article-container {
- max-width: 100%; /* default is 60em */
+ max-width: 120em;
+ /* default is 60em */
}
+.bd-page-width {
+ max-width: 120rem;
+ /* default is 88rem */
+}
+
+/* Figure headerlink */
+
figure a.headerlink {
position: static;
-}
\ No newline at end of file
+}
+
+/* Primary sidebar toggle button */
+#pst-primary-sidebar.collapsed {
+ overflow: hidden;
+ padding: 0;
+ width: 0; /* Collapse the sidebar */
+ transition: none;
+}
+
+#pst-secondary-sidebar.collapsed {
+ overflow: hidden;
+ padding: 0;
+ width: 0; /* Collapse the sidebar */
+ transition: none;
+}
+
+#pst-secondary-sidebar {
+ padding-left: 0px;
+}
+
+/* Toggle button styles */
+.sidebar-toggle-btn {
+ margin-top: 44px; /* Space between sidebar and button */
+ padding: 7px; /* Set padding for the button, horizontally more */
+ background-color: #F16321; /* Button background color */
+ color: white; /* Text color */
+ border: none; /* Remove border */
+ cursor: pointer; /* Pointer cursor on hover */
+ display: block; /* Ensure the button is block-level */
+ font-size: 20px; /* Adjust font size */
+ font-weight: bold; /* Bold text */
+ height: 40px; /* Set a fixed height for the button */
+ width: auto; /* Width based on content */
+ line-height: 20px; /* Vertically center the text */
+}
+
+#toggle-primary-sidebar.sidebar-toggle-btn{
+ border-radius: 0 5px 5px 0; /* Rounded corners */
+}
+
+#toggle-secondary-sidebar.sidebar-toggle-btn{
+ border-radius: 5px 0 0 5px; /* Rounded corners */
+}
+
+/* Optional: Adding a hover effect */
+.sidebar-toggle-btn:hover {
+ background-color: #C7480D; /* Slightly darker blue on hover */
+}
+
diff --git a/_templates/404.html b/_templates/404.html
index 21e5668fc48366fac3a3a889dc6a619b83b3fe39..303ee3a3fc96d66c6caeed1962b527c85a412be8 100644
--- a/_templates/404.html
+++ b/_templates/404.html
@@ -3,124 +3,119 @@
{% block extrahead %}
<script>
- // The redirect_folders dictionary is passed from html_context
- const redirectFolders = JSON.parse('{{ redirect_folders | tojson | safe }}');
-
- // Get the current URL
- let currentUrl = window.location.href;
-
- // Iterate over the redirect_folders key-value pairs
- let redirectFound = false;
- for (const [key, value] of Object.entries(redirectFolders)) {
- if (currentUrl.includes("/" + key)) {
- // Determine the replacement value
- let replacement = value === "" ? "" : "/" + value;
-
- // Create a new URL by replacing "/key" with the replacement value
- let newUrl = currentUrl.replace("/" + key, replacement);
-
- // Make an HTTP request to check if the new URL exists
- fetch(newUrl, { method: "HEAD" })
- .then(response => {
- if (response.ok) {
- // Redirect is found
- redirectFound = true;
-
- // Update the heading with the correct information
- const headingElement = document.getElementById('pageHeading');
- if (headingElement) {
- headingElement.textContent = "Page Moved!";
- }
+ document.addEventListener("DOMContentLoaded", function () {
+ // The redirect_folders dictionary is passed from html_context
+ const redirectFolders = JSON.parse('{{ redirect_folders | tojson | safe }}');
- // Update the message with the correct link
- const redirectMessageElement = document.getElementById('redirectMessage');
- if (redirectMessageElement) {
- redirectMessageElement.innerHTML = `We found the correct page you are looking for <a href="${newUrl}" id="correctPageLink">here</a>.`;
- }
+ // Get the current URL
+ let currentUrl = window.location.href;
- document.getElementById('redirectInfo').style.display = "block";
+ // Flag to check if valid redirect is found
+ let redirectFound = false;
- // If the response is OK, show the modal and initiate the countdown
- const redirectModal = new bootstrap.Modal(document.getElementById('redirectModal'), {
- backdrop: 'static', // Prevents closing the modal by clicking outside
- keyboard: false // Disables closing the modal with the keyboard
- });
- redirectModal.show();
+ // Iterate over the redirect_folders key-value pairs
+ for (const [key, value] of Object.entries(redirectFolders)) {
+ if (currentUrl.includes("/" + key)) {
- let countdownValue = 5;
- const countdownElement = document.getElementById('countdownNumber');
- if (countdownElement) {
- countdownElement.textContent = countdownValue;
- }
+ // Determine the replacement value
+ let replacement = value === "" ? "" : "/" + value;
- // Variable to track if countdown should continue
- let countdownActive = true;
+ // Create a new URL by replacing "/key" with the replacement value
+ let newUrl = currentUrl.replace("/" + key, replacement);
- // Countdown from 5 to 1
- const countdownInterval = setInterval(() => {
- if (!countdownActive) {
- clearInterval(countdownInterval);
- return;
+ // Make an HTTP request to check if the new URL exists
+ fetch(newUrl, { method: "HEAD" })
+ .then(response => {
+ if (response.ok) {
+ // Valid redirect is found
+ redirectFound = true;
+
+ // Update the heading with the correct information
+ const headingElement = document.getElementById('pageHeading');
+ if (headingElement) {
+ headingElement.textContent = "Page Moved!";
}
- countdownValue--;
+
+ // Update the message with the correct link
+ const redirectMessageElement = document.getElementById('redirectMessage');
+ if (redirectMessageElement) {
+ redirectMessageElement.innerHTML = `We found the correct page you are looking for <a href="${newUrl}" id="correctPageLink">here</a>.`;
+ }
+
+ document.getElementById('redirectInfo').style.display = "block";
+
+ // If the response is OK, show the modal and initiate the countdown
+ const redirectModal = new bootstrap.Modal(document.getElementById('redirectModal'), {
+ backdrop: 'static', // Prevents closing the modal by clicking outside
+ keyboard: false // Disables closing the modal with the keyboard
+ });
+ redirectModal.show();
+
+ let countdownValue = 5;
+ const countdownElement = document.getElementById('countdownNumber');
if (countdownElement) {
countdownElement.textContent = countdownValue;
}
- // When countdown reaches 1, redirect
- if (countdownValue <= 1) {
- clearInterval(countdownInterval);
+ // Variable to track if countdown should continue
+ let countdownActive = true;
+
+ // Countdown from 5 to 1
+ const countdownInterval = setInterval(() => {
+ if (!countdownActive) {
+ clearInterval(countdownInterval);
+ return;
+ }
+ countdownValue--;
+ if (countdownElement) {
+ countdownElement.textContent = countdownValue;
+ }
+
+ // When countdown reaches 1, redirect
+ if (countdownValue <= 1) {
+ clearInterval(countdownInterval);
+ window.location.href = newUrl;
+ }
+ }, 1000);
+
+ // Event listener for "Redirect Now" button
+ document.getElementById('redirectNow').addEventListener('click', () => {
window.location.href = newUrl;
- }
- }, 1000);
-
- // Event listener for "Redirect Now" button
- document.getElementById('redirectNow').addEventListener('click', () => {
- window.location.href = newUrl;
- });
-
- // Event listener for "Cancel" button
- document.getElementById('cancelRedirect').addEventListener('click', () => {
- countdownActive = false;
- clearInterval(countdownInterval);
- });
-
- // Event listener for "Close" button in the modal header
- document.getElementById('closeRedirect').addEventListener('click', () => {
- countdownActive = false;
- clearInterval(countdownInterval);
- });
- } else if (!redirectFound) {
- const headingElement = document.getElementById('pageHeading');
- if (headingElement) {
- headingElement.textContent = "Page Not Found (404)";
+ });
+
+ // Event listener for "Cancel" button
+ document.getElementById('cancelRedirect').addEventListener('click', () => {
+ countdownActive = false;
+ clearInterval(countdownInterval);
+ });
+
+ // Event listener for "Close" button in the modal header
+ document.getElementById('closeRedirect').addEventListener('click', () => {
+ countdownActive = false;
+ clearInterval(countdownInterval);
+ });
+ } else {
+ // If the response is not OK, proceed to check other redirects
+ console.log(`No valid page found at ${newUrl}`);
}
- document.getElementById('redirectInfo').style.display = "block";
- }
- })
- .catch(error => {
- console.error("Error checking the URL:", error);
- // In case of an error, ensure the title is properly set
- const headingElement = document.getElementById('pageHeading');
- if (headingElement) {
- headingElement.textContent = "Page Not Found (404)";
- }
- document.getElementById('redirectInfo').style.display = "block";
- });
-
- // Stop after the first successful replacement check
- break;
+ })
+ .catch(error => {
+ console.error("Error checking the URL:", error);
+ });
+ break;
+ }
}
- }
- // If no potential redirect match is found after iteration
- if (!redirectFound) {
- const headingElement = document.getElementById('pageHeading');
- if (headingElement) {
- headingElement.textContent = "Page Not Found (404)";
+
+ if (!redirectFound) {
+ // In case the link test doesn't include redirectFolders
+ const headingElement = document.getElementById('pageHeading');
+ if (headingElement) {
+ headingElement.textContent = "Page Not Found (404)";
+ }
+ document.getElementById('redirectInfo').style.display = "block";
}
- document.getElementById('redirectInfo').style.display = "block";
- }
+ });
</script>
{{ super() }}
diff --git a/_templates/layout.html b/_templates/layout.html
index a0068534465b7458a8f3e78e0e105479b72ea35d..50faa2d5beee97785f3c94e55372cdf4daa976bb 100644
--- a/_templates/layout.html
+++ b/_templates/layout.html
@@ -4,36 +4,7 @@
<!-- Top version and announcement message -->
<script>
-
- // Function to check for the next div and clear it or create it if not available
- function getBannerDiv() {
- // Get the first element with the class 'search-button__wrapper'
- const sbw = document.getElementsByClassName('search-button__wrapper');
- // Ensure the collection is not empty to avoid errors
- if (sbw.length > 0) {
- const sbwElement = sbw[0];
- const nextElement = sbwElement.nextElementSibling;
-
- // Check if the next element exists and has the class 'pst-async-banner-revealer'
- if (nextElement && nextElement.classList.contains('pst-async-banner-revealer')) {
- // Clear the content of the next element
- nextElement.innerHTML = '';
- } else {
- // Create a new div with the required class and style if it doesn't exist
- const newDiv = document.createElement('div');
- newDiv.className = 'pst-async-banner-revealer';
- newDiv.style.height = 'auto';
- sbwElement.insertAdjacentElement('afterend', newDiv);
- return newDiv; // Return the newly created div
- }
- return nextElement; // Return the existing element
- } else {
- console.error("No elements with the class 'search-button__wrapper' found.");
- return null;
- }
- }
-
// Function to generate version and announcement banner HTML
function getBannerHTML() {
return `
@@ -65,8 +36,8 @@
}
// Get the target element where the banners will be added
- const bannerDiv = getBannerDiv();
-
+ const bannerDiv = document.getElementsByClassName('pst-async-banner-revealer')[0];
+
// Add version banner and announcement banner if bannerDiv is valid
if (bannerDiv) {
bannerDiv.innerHTML = getBannerHTML();
@@ -77,3 +48,119 @@
{{ super() }}
{% endblock docs_navbar %}
+
+{% block docs_main %}
+<script>
+
+document.addEventListener('DOMContentLoaded', () => {
+ // Add primary sidebar toggle button
+ const primarySidebar = document.getElementById('pst-primary-sidebar');
+ if (primarySidebar) {
+ addSidebarToggleButton(
+ primarySidebar,
+ 'primary',
+ 'sidebar-toggle-btn',
+ '<i class="fa-solid fa-caret-left"></i>',
+ '<i class="fa-solid fa-caret-right"></i>',
+ 'after'
+ );
+ }
+
+ // Add secondary sidebar toggle button
+ const secondarySidebar = document.getElementById('pst-secondary-sidebar');
+ if (secondarySidebar) {
+ addSidebarToggleButton(
+ secondarySidebar,
+ 'secondary',
+ 'sidebar-toggle-btn',
+ '<i class="fa-solid fa-caret-right"></i>',
+ '<i class="fa-solid fa-caret-left"></i>',
+ 'before'
+ );
+ }
+
+ /**
+ * Adds a toggle button for a sidebar with visibility and state management.
+ * @param {HTMLElement} sidebar - The sidebar element to toggle.
+ * @param {string} key - A unique key for localStorage and button id.
+ * @param {string} buttonClass - CSS class for the toggle button.
+ * @param {string} collapseHTML - HTML for the button when the sidebar is collapsed.
+ * @param {string} expandHTML - HTML for the button when the sidebar is expanded.
+ * @param {string} position - Position to insert the button ('before' or 'after').
+ */
+ function addSidebarToggleButton(sidebar, key, buttonClass, collapseHTML, expandHTML, position) {
+ const toggleButton = document.createElement('button');
+ toggleButton.id = `toggle-${key}-sidebar`;
+ toggleButton.innerHTML = sidebar.classList.contains('collapsed') ? expandHTML : collapseHTML;
+ toggleButton.className = buttonClass;
+
+ // Insert the toggle button
+ if (position === 'before') {
+ sidebar.parentNode.insertBefore(toggleButton, sidebar);
+ } else if (position === 'after') {
+ sidebar.parentNode.insertBefore(toggleButton, sidebar.nextSibling);
+ }
+
+ // Restore collapsed state from localStorage
+ const collapsedState = localStorage.getItem(`${key}SidebarCollapsed`) === 'true';
+ if (collapsedState) {
+ sidebar.classList.add('collapsed');
+ toggleButton.innerHTML = expandHTML;
+ }
+
+ // Handle toggle button click
+ toggleButton.addEventListener('click', () => {
+ sidebar.classList.toggle('collapsed');
+
+ // Update button content and save state
+ if (sidebar.classList.contains('collapsed')) {
+ toggleButton.innerHTML = expandHTML;
+ localStorage.setItem(`${key}SidebarCollapsed`, 'true');
+ } else {
+ toggleButton.innerHTML = collapseHTML;
+ localStorage.setItem(`${key}SidebarCollapsed`, 'false');
+ }
+ });
+
+ // Check visibility of the toggle button
+ function checkToggleVisibility() {
+ const existingToggleButton = document.querySelector(
+ `.pst-navbar-icon.sidebar-toggle.${key}-toggle`
+ );
+ if (existingToggleButton && existingToggleButton.offsetParent !== null) {
+ toggleButton.style.display = 'none'; // Hide custom toggle button
+ } else {
+ toggleButton.style.display = 'block'; // Show custom toggle button
+ }
+ }
+
+ // Update button visibility if the sidebar is removed
+ function updateButtonVisibility() {
+ if (window.getComputedStyle(sidebar).display === 'none') {
+ toggleButton.remove(); // Remove button if sidebar is hidden
+ } else if (!document.querySelector(`#toggle-${key}-sidebar`)) {
+ // Re-add the button if missing
+ if (position === 'before') {
+ sidebar.parentNode.insertBefore(toggleButton, sidebar);
+ } else if (position === 'after') {
+ sidebar.parentNode.insertBefore(toggleButton, sidebar.nextSibling);
+ }
+ }
+ }
+
+ // Initial visibility check
+ checkToggleVisibility();
+ updateButtonVisibility();
+
+ // Monitor window resize for dynamic button visibility updates
+ window.addEventListener('resize', () => {
+ checkToggleVisibility();
+ updateButtonVisibility();
+ });
+ }
+});
+
+</script>
+{{ super() }}
+
+{% endblock docs_main %}
\ No newline at end of file
diff --git a/_templates/mission.html b/_templates/mission.html
index d43bad347a1f729eb9b06983748440a0fe887a5d..41e533da874cd426ffb51ce1887707a0c5246041 100644
--- a/_templates/mission.html
+++ b/_templates/mission.html
@@ -1,55 +1,47 @@
-<div class="card bg-light mt-4 text-center">
- <div class="card-header bg-primary text-light fw-bold" data-bs-toggle="collapse" href="#collapseWhy" role="button" aria-expanded="false" aria-controls="collapseWhy">
+<div class="card mb-3">
+ <div class="card-header bg-primary text-light fw-bold">
Why are we doing this?
</div>
- <div id="collapseWhy" class="collapse">
- <div class="card-body">
- <p class="card-text text-dark">
- We believe in making computers open again to democratize technology and empower individuals and organizations to explore, experiment, and create without the constraints of proprietary systems.
- </p>
- </div>
+ <div class="card-body">
+ <p class="card-text text-dark">
+ We believe in making computers open again to democratize technology and empower individuals and organizations to explore, experiment, and create without the constraints of proprietary systems.
+ </p>
</div>
</div>
-<div class="card bg-light mt-4 text-center">
- <div class="card-header bg-warning text-dark fw-bold" data-bs-toggle="collapse" href="#collapseWhat" role="button" aria-expanded="false" aria-controls="collapseWhat">
+<div class="card mb-3">
+ <div class="card-header bg-warning text-dark fw-bold">
What are we doing?
</div>
- <div id="collapseWhat" class="collapse">
- <div class="card-body">
- <p class="card-text text-dark">
- We design versatile and affordable single-board computers to provide developers, hobbyists, and educators with a platform for prototyping, experimentation, and production of embedded systems. Our comprehensive documentation, tutorials, and vibrant online community support users in their projects and foster knowledge sharing.
- </p>
- </div>
+ <div class="card-body">
+ <p class="card-text text-dark">
+ We design versatile and affordable single-board computers to provide developers, hobbyists, and educators with a platform for prototyping, experimentation, and production of embedded systems. Our comprehensive documentation, tutorials, and vibrant online community support users in their projects and foster knowledge sharing.
+ </p>
</div>
</div>
-<div class="card bg-light mt-4 text-center">
- <div class="card-header bg-success text-light fw-bold" data-bs-toggle="collapse" href="#collapseHow" role="button" aria-expanded="false" aria-controls="collapseHow">
+<div class="card mb-3">
+ <div class="card-header bg-success text-light fw-bold">
How are we doing it?
</div>
- <div id="collapseHow" class="collapse">
- <div class="card-body">
- <p class="card-text text-dark">
- Through open-source hardware designs, diverse software support, and active community engagement, we enable users to customize, innovate, and collaborate effortlessly in embedded computing.
- </p>
- </div>
+ <div class="card-body">
+ <p class="card-text text-dark">
+ Through open-source hardware designs, diverse software support, and active community engagement, we enable users to customize, innovate, and collaborate effortlessly in embedded computing.
+ </p>
</div>
</div>
-<div class="card bg-light mt-4 text-center">
- <div class="card-header bg-dark text-light fw-bold" data-bs-toggle="collapse" href="#collapseSupport" role="button" aria-expanded="false" aria-controls="collapseSupport">
+<div class="card mb-3">
+ <div class="card-header bg-dark text-light fw-bold">
Support us <i class="fa-solid fa-hand-holding-dollar"></i>
</div>
- <div id="collapseSupport" class="collapse">
- <div class="card-body">
- <p class="card-text text-dark">
- The BeagleBoard.org Foundation is a Michigan, USA-based 501(c)(3) non-profit corporation existing to provide education in and collaboration around the design and use of open-source software and hardware in embedded computing.
- </p>
- </div>
- <div class="card-footer d-grid gap-2">
- <a href="https://patreon.com/beagleboard" class="btn btn-danger text-light"><i class="fa-brands fa-patreon"></i> Become a Patreon</a>
- <a href="https://github.com/sponsors/beagleboard" class="btn btn-dark text-light"><i class="fa-brands fa-github"></i> Sponsor on GitHub</a>
- </div>
+ <div class="card-body">
+ <p class="card-text text-dark">
+ The BeagleBoard.org Foundation is a Michigan, USA-based 501(c)(3) non-profit corporation existing to provide education in and collaboration around the design and use of open-source software and hardware in embedded computing.
+ </p>
+ </div>
+ <div class="card-footer d-grid gap-2">
+ <a href="https://patreon.com/beagleboard" class="btn btn-danger text-light"><i class="fa-brands fa-patreon"></i> Become a Patreon</a>
+ <a href="https://github.com/sponsors/beagleboard" class="btn btn-dark text-light"><i class="fa-brands fa-github"></i> Sponsor on GitHub</a>
</div>
</div>
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/accessories/peripherals.rst b/accessories/peripherals.rst
index d96600448593372932b2f07463aa461e1093f307..59e945b1dc752f8e78e2039e817414fa5fc0615e 100644
--- a/accessories/peripherals.rst
+++ b/accessories/peripherals.rst
@@ -44,7 +44,7 @@ USB HUBS
- `Inland 4 Port <http://www.microcenter.com/product/360458/4-Port_USB_20_Hub>`_
- `Manhattan 10-port HUB <http://www.microcenter.com/product/393316/10-Port_USB_20_Hi-Speed_Desktop_Hub>`_
- `4-Port USB Cable HUB <http://www.microcenter.com/product/354122/4-Port_USB_20_Cable_Hub>`_
-- `D-LINK DUB-H7 <https://www.dlink.com/uk/en/products/dub-h7-7-port-usb-2-0-hub>`_
+- `D-Link 7-Port USB 2.0 Hub DUB-H7 <https://www.dlink.com/en/products/dub-h7-7-port-usb-2-0-hub>`_
- `Trust HU-5770 7-Port Powered Hub <http://www.amazon.co.uk/TRUST-UK-HU-5770-PORT-POWERED/dp/B000HG5Q42>`_
.. tip::
diff --git a/boards/beagleconnect/freedom/images/BeagleConnect-Freedom-Back.webp b/boards/beagleconnect/freedom/images/BeagleConnect-Freedom-Back.webp
new file mode 100644
index 0000000000000000000000000000000000000000..b5847158d49835e4ca9a8bf3f90f830a52c04cc1
Binary files /dev/null and b/boards/beagleconnect/freedom/images/BeagleConnect-Freedom-Back.webp differ
diff --git a/boards/beagleconnect/freedom/images/BeagleConnect-Freedom-Block-Diagram.webp b/boards/beagleconnect/freedom/images/BeagleConnect-Freedom-Block-Diagram.webp
new file mode 100644
index 0000000000000000000000000000000000000000..9b50207ca4702ecd567b63c79d8ed8fd28ba2fa8
Binary files /dev/null and b/boards/beagleconnect/freedom/images/BeagleConnect-Freedom-Block-Diagram.webp differ
diff --git a/boards/beagleconnect/freedom/images/BeagleConnect-Freedom-Front.webp b/boards/beagleconnect/freedom/images/BeagleConnect-Freedom-Front.webp
new file mode 100644
index 0000000000000000000000000000000000000000..959405026c1053ae1652f910aeb882c3d91709ba
Binary files /dev/null and b/boards/beagleconnect/freedom/images/BeagleConnect-Freedom-Front.webp differ
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/05-demos.rst b/boards/beagleplay/05-demos.rst
index 39ee1d933d42de3728f6223abaa714c563fa6153..7668c388fbc5b03090c454918b5b53594ae20a3a 100644
--- a/boards/beagleplay/05-demos.rst
+++ b/boards/beagleplay/05-demos.rst
@@ -65,17 +65,17 @@ Demos and tutorials
beginner
- .. card::
- :link: beagleplay-nodered
- :link-type: ref
+ .. card::
+ :link: beagleplay-nodered
+ :link-type: ref
- **Using NodeRed**
- ^^^
- Learn how to use NodeRed with BeaglePlay for rapid and easy prototyping.
- +++
- .. admonition:: Complexity level
+ **Using NodeRed**
+ ^^^
+ Learn how to use NodeRed with BeaglePlay for rapid and easy prototyping.
+ +++
+ .. admonition:: Complexity level
- beginner
+ beginner
.. card::
:link: beagleplay-rtc
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/boards/beaglev/fire/05-demos.rst b/boards/beaglev/fire/05-demos.rst
index b7c8b1ea46812d0a634b8224c7087e3fb75ca42b..796ea43e5a472665334e809bf90c6cfa248cbb84 100644
--- a/boards/beaglev/fire/05-demos.rst
+++ b/boards/beaglev/fire/05-demos.rst
@@ -27,4 +27,4 @@ Demos
demos-and-tutorials/gateware/gateware-design-simulation-libero
demos-and-tutorials/gateware/comms-cape-gateware-usage
demos-and-tutorials/gateware/axi-apb-interfaces-demo
-
+ demos-and-tutorials/building-linux-with-buildroot
diff --git a/boards/beaglev/fire/demos-and-tutorials/building-linux-with-buildroot.rst b/boards/beaglev/fire/demos-and-tutorials/building-linux-with-buildroot.rst
new file mode 100644
index 0000000000000000000000000000000000000000..3a4a40142a570f20392f595e079a967daeb8fd31
--- /dev/null
+++ b/boards/beaglev/fire/demos-and-tutorials/building-linux-with-buildroot.rst
@@ -0,0 +1,109 @@
+.. _beaglev-fire-building-linux-with-buildroot:
+
+Building Linux for BeagleV-Fire using Buildroot
+################################################
+
+Introduction
+**************
+
+Buildroot is a simple, efficient, and user-friendly tool for creating custom embedded Linux systems through cross-compilation.
+
+This document provides a guide for building and flashing a Linux image on the BeagleV-Fire board with Buildroot.
+It outlines the process for compiling the image, writing image to the eMMC, and booting the new operating system.
+
+Hardware requirements:
+========================
+
+1. BeagleV-Fire board
+2. USB-C cable
+3. 3.3v USB to UART bridge
+
+Connect BeagleV-Fire UART debug port using 3.3v USB to UART bridge.
+
+.. figure:: ../images/debug/BeagleV-Fire-UART-Debug.*
+ :width: 1240
+ :align: center
+ :alt: UART debug connection
+
+Software requirements:
+=======================
+
+Download `Buildroot <https://github.com/buildroot/buildroot>`_ repository from GitHub.
+
+Start Building
+****************
+
+.. note::
+
+ The following steps are intended for a Linux operating system.
+
+To build and flash Linux image using Buildroot,
+
+Step 1. Navigate to the Buildroot directory
+============================================
+
+.. code:: console
+
+ cd buildroot
+
+Step 2. Configure the Build for BeagleV-Fire
+=============================================
+
+Configure the build by selecting the default board configuration:
+
+.. code:: console
+
+ make beaglev_fire_defconfig
+
+Step 3. Customise the build (Optional)
+=======================================
+
+If you need to customize the build, use the following command:
+
+.. code:: console
+
+ make menuconfig
+
+Step 4: Start the build process
+
+.. code:: console
+
+ make
+
+.. note::
+
+ The build process can take 20-30 minutes for a clean build.
+
+Step 5. Locate the build image
+===============================
+
+Once the build is complete, the Linux image will be saved as `sdcard.img` in the `/output/images/` directory.
+The directory structure will look something like this:
+
+.. code:: console
+
+ $ ls output/images/
+ boot.scr boot.vfat.bmap dts/ Image.gz mpfs_icicle/ mpfs_icicle.its rootfs.cpio rootfs.tar sdcard.img sdcard.img.gz
+ boot.vfat boot.vfat.gz Image microchip/ mpfs_icicle.itb payload.bin rootfs.cpio.gz sdcard.bmap sdcard.img.bmap u-boot.bin
+
+Step 6. Flash the Image to BeagleV-Fire's eMMC
+===============================================
+
+- Restart the board and halt the HSS (Hart Software Services) by pressing any key
+- In the HSS command line interface, type `usbdmsc` to expose the eMMC as a USB mass storage device using the USB-C connector.
+- If successful, a message saying "USB Host connected" will be displayed
+- Now, copy the image from local machine to BeagleV Fire's eMMC
+
+.. code:: console
+
+ sudo dd if=output/images/sdcard.img of=/dev/sdX bs=1M
+
+.. note::
+
+ You need to replace /dev/sdX with the actual device name of your eMMC.
+ Be very careful not to overwrite the wrong drive, as this action is irreversible.
+
+- Once the transfer is complete, type `CTRL+C` to disconnect your device
+- Finally boot the new Linux image by typing `boot` or reset your board
+
+Detailed description of this step is mentioned in `Flashing eMMC <https://docs.beagleboard.org/latest/boards/beaglev/fire/demos-and-tutorials/flashing-board.html#flashing-emmc>`_ section.
diff --git a/boards/beagley/ai/01-introduction.rst b/boards/beagley/ai/01-introduction.rst
index e3e3037fb54f2b7a4caae78e06c0752a4a7c438d..9df46ae48b77d2fe7e6c139ff38eca4afdfbc98c 100644
--- a/boards/beagley/ai/01-introduction.rst
+++ b/boards/beagley/ai/01-introduction.rst
@@ -23,11 +23,9 @@ I/O and control, a 50 GFlop GPU, video and vision accelerators, and other specia
+=======================+=========================================================================================================================================================+
| Processor | Texas Instruments AM67A, Quad 64-bit Arm® Cortex®-A53 @1.4 GHz, multiple cores including Arm/GPU processors, DSP, and vision/deep learning accelerators |
+-----------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------+
- | RAM | 4GB LPDDR4 |
+ | RAM | 4GB LPDDR4 (x32) |
+-----------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------+
- | Wi-Fi | Beagleboard BM3301, 802.11ax Wi-Fi |
- +-----------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------+
- | Bluetooth | Bluetooth Low Energy 5.4 (BLE) |
+ | Wi-Fi/Bluetooth | BeagleBoard.org BeagleMod BM3301, 802.11ax Wi-Fi 6, Bluetooth Low Energy (BLE) 5.4 |
+-----------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------+
| USB Ports | 4 x USB 3.0 TypeA ports supporting simultaneous 5Gbps operation, 1 x USB 2.0 TypeC, supports USB 2.0 device mode |
+-----------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------+
@@ -35,7 +33,7 @@ I/O and control, a 50 GFlop GPU, video and vision accelerators, and other specia
+-----------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------+
| Camera/Display | 2 x 4-lane MIPI camera connector (one connector muxed with DSI capability) |
+-----------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------+
- | Display Output | 1 x HDMI display, 1 x OLDI display, 1 x DSI MIPI Display |
+ | Display Output | 1 x HDMI display, 1 x OLDI display, 1 x DSI MIPI Display (DSI muxed with 1 CSI) |
+-----------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------+
| Real-time Clock (RTC) | Supports external coin-cell battery for power failure time retention |
+-----------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------+
@@ -109,15 +107,15 @@ Front components
+----------------------+-------------------------------------------------------------------------------------------------------------------+
| Feature | Description |
+======================+===================================================================================================================+
- | WiFi/BLE | Beagleboard BM3301 with 802.11ax Wi-Fi & Bluetooth Low Energy 5.4 (BLE) |
+ | WiFi/Bluetooth | BeagleBoard.org BeagleMod BM3301 with 802.11ax Wi-Fi 6 & Bluetooth Low Energy 5.4 (BLE) |
+----------------------+-------------------------------------------------------------------------------------------------------------------+
- | RAM | 4GB LPDDR4 |
+ | RAM | 4GB LPDDR4 (x32) |
+----------------------+-------------------------------------------------------------------------------------------------------------------+
| Expansion | 40pin Expansion header compatible with HATs |
+----------------------+-------------------------------------------------------------------------------------------------------------------+
| SoC | TI AM67A Arm®Cortex®-A53 4 TOPS vision SoC with RGB-IR ISP for 4 cameras, machine vision, robotics, and smart HMI |
+----------------------+-------------------------------------------------------------------------------------------------------------------+
- | Fan | 4pin Fan connector |
+ | Fan | 4-pin fan connector |
+----------------------+-------------------------------------------------------------------------------------------------------------------+
| USB-A | 4 x USB 3 TypeA ports supporting simultaneous 5Gbps operation host ports |
+----------------------+-------------------------------------------------------------------------------------------------------------------+
diff --git a/boards/beagley/ai/03-design.rst b/boards/beagley/ai/03-design.rst
index df25737ad65fa39f2c2da41217f665a46d1a1149..a6060bcf56bb108b5d6926180d0ea54af1cf1b83 100644
--- a/boards/beagley/ai/03-design.rst
+++ b/boards/beagley/ai/03-design.rst
@@ -745,6 +745,11 @@ Miscellaneous
Mechanical Specifications
**************************
+.. todo::
+
+ If there are real design elements, put those here, like clearances and other elements going
+ into design consideration. Summary information should just go in the support page.
+
Dimensions & Weight
===================
@@ -768,4 +773,4 @@ Dimensions & Weight
| Gross Weight | 110 g |
+--------------------+----------------------------------------------------+
| Net Weight | 50 g |
- +--------------------+----------------------------------------------------+
\ No newline at end of file
+ +--------------------+----------------------------------------------------+
diff --git a/boards/beagley/ai/04-expansion.rst b/boards/beagley/ai/04-expansion.rst
index fbd0fdf0bc0a55c5a1f7fd55d45d97798380b544..5c0df1806aacc8ae7403a5288428be0cd60aa633 100644
--- a/boards/beagley/ai/04-expansion.rst
+++ b/boards/beagley/ai/04-expansion.rst
@@ -5,12 +5,25 @@ Expansion
.. todo::
- Describe how to build expansion hardware for BeagleY-AI
+ Describe how to build expansion hardware for BeagleY-AI. This section is not about using existing add-on hardware.
PCIe
****
-For software reference, you can see how PCIe is used on NVMe HATs.
+For software reference, you can :ref:`see how PCIe is used on NVMe HATs<beagley-ai-expansion-nvme>`.
+
+
+CSI
+***
+
+For software reference, you can :ref:`see how CSI is used on IMX219-based camera modules<beagley-ai-imx219-csi-cameras>`.
+
+RTC
+***
+
+.. todo::
+
+ Remove this. I really don't see how "RTC" falls into our definition of what should be documented in "Expansion".
* :ref:`beagley-ai-expansion-nvme`
* :ref:`beagley-ai-using-imx219-csi-cameras`
diff --git a/boards/beagley/ai/05-demos.rst b/boards/beagley/ai/05-demos.rst
index 7393b068ad78141d7a1e002eea3e11dbaf208ccc..1a90f88ff6e350982c4e5fde951802d6d30b70cc 100644
--- a/boards/beagley/ai/05-demos.rst
+++ b/boards/beagley/ai/05-demos.rst
@@ -6,17 +6,17 @@ Demos and tutorials
.. toctree::
:maxdepth: 1
+.. todo:: Isn't including "beagley-ai" in the filename superfluous?
+
demos/beagley-ai-using-gpio
demos/beagley-ai-using-pwm
demos/beagley-ai-using-rtc
demos/beagley-ai-using-i2c-oled-display
demos/beagley-ai-using-i2c-adc
demos/beagley-ai-pca9685-motor-drivers
- demos/beagley-ai-expansion-nvme
+ demos/expansion-nvme
+ demos/connecting-imx219-csi-cameras.rst
demos/beagley-ai-using-imx219-csi-cameras
demos/beagley-ai-arducam-imx219-v3link-dual-camera-kit
demos/beagley-ai-object-detection-tutorial
-
-
-
diff --git a/boards/beagley/ai/demos/beagley-ai-using-rtc.rst b/boards/beagley/ai/demos/beagley-ai-using-rtc.rst
index 18ad5346d6406bba6329b67a4abfa62425deda59..1755e53928824ddafaa253ccf5bb2af23b91fb60 100644
--- a/boards/beagley/ai/demos/beagley-ai-using-rtc.rst
+++ b/boards/beagley/ai/demos/beagley-ai-using-rtc.rst
@@ -13,7 +13,7 @@ Fortunately, BeagleY-AI comes with a built-in `DS1340 <https://www.analog.com/me
Required Hardware
**********************
-BeagleY provides a **1.00 mm pitch, 2-pin JST SH connector** for a coin cell battery to enable the RTC to keep time even if power is lost to the board.
+BeagleY-AI provides a **1.00 mm pitch, 2-pin JST SH connector** for a coin cell battery to enable the RTC to keep time even if power is lost to the board.
These batteries are available from several vendors:
diff --git a/boards/beagley/ai/demos/connecting-imx219-csi-cameras.rst b/boards/beagley/ai/demos/connecting-imx219-csi-cameras.rst
new file mode 100644
index 0000000000000000000000000000000000000000..504723ebbebc7727588b87c3e752cc71d5c9b3d3
--- /dev/null
+++ b/boards/beagley/ai/demos/connecting-imx219-csi-cameras.rst
@@ -0,0 +1,73 @@
+.. _beagley-ai-imx219-csi-cameras:
+
+.. todo::
+
+ Need to add `gstreamer` and/or `cheese` commands to show how to make use of connected cameras.
+
+Using IMX219 CSI Cameras
+############################
+
+To enable an IMX219 CSI camera, modify the following file: `/boot/firmware/extlinux/extlinux.conf`
+
+We can check the available list of Device Tree Overlays as such:
+
+.. code:: console
+
+ debian@BeagleBone:~$ ls /boot/firmware/overlays/ | grep "beagley"
+ k3-am67a-beagley-ai-csi0-imx219.dtbo
+ k3-am67a-beagley-ai-csi0-ov5640.dtbo
+ k3-am67a-beagley-ai-csi1-imx219.dtbo
+ k3-am67a-beagley-ai-dsi-rpi-7inch-panel.dtbo
+ k3-am67a-beagley-ai-lincolntech-185lcd-panel.dtbo
+
+Using CSI Port 0
+**************************************
+
+Then, add the following line to load the IMX219 CSI0 DTBO:
+
+.. code:: bash
+
+ fdtoverlays /overlays/k3-am67a-beagley-ai-csi0-imx219.dtbo
+
+Your /boot/firmware/extlinux/extlinux.conf file should look something like this:
+
+.. code:: bash
+
+ label microSD (default)
+ kernel /Image
+ append console=ttyS2,115200n8 root=/dev/mmcblk0p2 ro rootfstype=ext4 rootwait net.ifnames=0
+ fdtdir /
+ fdt /ti/k3-j722s-beagley-ai.dtb
+ fdtoverlays /overlays/k3-am67a-beagley-ai-csi0-imx219.dtbo
+ initrd /initrd.img
+
+Now reboot...
+
+.. code:: console
+
+ debian@BeagleBone:~$ ls /dev/ | grep "video"
+ video0
+ video1
+ video2
+
+Using CSI Port 1
+*******************
+
+
+Troubleshooting
+*******************
+
+.. code:: console
+
+ Found /extlinux/extlinux.conf
+ Retrieving file: /extlinux/extlinux.conf
+ beagley-ai microSD (extlinux.conf)
+ 1: microSD Recovery
+ 2: microSD (RPI 7inch panel)
+ 3: microSD (lincolntech-185lcd panel)
+ 4: microSD (csi0 imx219)
+ 5: microSD (csi1 imx219)
+ 6: microSD (csi0 ov5640)
+ 7: microSD (default)
+ Enter choice: 4
+ 4: microSD (csi0 imx219)
diff --git a/boards/beagley/ai/demos/beagley-ai-expansion-nvme.rst b/boards/beagley/ai/demos/expansion-nvme.rst
similarity index 100%
rename from boards/beagley/ai/demos/beagley-ai-expansion-nvme.rst
rename to boards/beagley/ai/demos/expansion-nvme.rst
diff --git a/boards/capes/motor_cape.rst b/boards/capes/motor_cape.rst
index 0745dd257256acbc6c76df13a0079769e0708e08..9e59e0bf29a92613a4ee6ebefda852b3333ee71a 100644
--- a/boards/capes/motor_cape.rst
+++ b/boards/capes/motor_cape.rst
@@ -374,7 +374,7 @@ TDA4VM on the BBAI-64, i.e. GPIO and PWM respectively.
The next file is not our library but our file to run on the command line to call MotorLib for our
use case, e.g. opening a door by unbolting our locking solenoid and/or locking it back.
-.. code-block::
+.. code-block:: python
#!/usr/bin/python3
diff --git a/boards/index.rst b/boards/index.rst
index 65d9cd6c230ee4f9a9db83bb6f7002db68da4264..c5498e9e22d2f6ac1fe8840b90c6b5f47c4cf735 100644
--- a/boards/index.rst
+++ b/boards/index.rst
@@ -40,6 +40,8 @@ started.
beagley/ai/index.rst
beagleplay/index
+ pocketbeagle-2/index
+ pocketbeagle/index
beaglebone/ai-64/index
beaglebone/ai/index
beaglebone/black/index
@@ -47,7 +49,6 @@ started.
beaglebone/index
beaglev/ahead/index
beaglev/fire/index
- pocketbeagle/index
beagleconnect/freedom/index
beagleconnect/index
beagleboard/index
diff --git a/boards/pocketbeagle-2/01-introduction.rst b/boards/pocketbeagle-2/01-introduction.rst
new file mode 100644
index 0000000000000000000000000000000000000000..0dd5e68701f22bd53a94eea7acfdc51a7ca4b79d
--- /dev/null
+++ b/boards/pocketbeagle-2/01-introduction.rst
@@ -0,0 +1,164 @@
+.. _pocketbeagle-2-introduction:
+
+Introduction
+###############
+
+PocketBeagle 2 is based on `Texas Instrments AM6232 SoC <https://www.ti.com/product/AM623>`_, it's dual A53 cores can
+provides higher performance than classic PocketBeagle. The new design comes with pre-soldered headers,
+3-pin JST-SH 1.00mm uart debug port, USB-C port, MSPM0L1105, 512MB RAM, and LiPo Battery charger.
+
+.. table::
+ :align: center
+ :widths: auto
+
+ +----------------------------------------------------+---------------------------------------------------------+
+ | .. image:: images/product/pocketbeagle-2-front.* | .. image:: images/product/pocketbeagle-2-back.* |
+ | :width: 700 | :width: 700 |
+ | :align: center | :align: center |
+ | :alt: PocketBeagle 2 front | :alt: PocketBeagle 2 back |
+ +----------------------------------------------------+---------------------------------------------------------+
+
+
+.. _pocketbeagle-2-comparison:
+
+Comparison
+***************
+
+The board is intended to provide functionality well beyond classic PocketBeagle,
+while still providing compatibility with PocketBeagle's expansion headers as
+much as possible. There are several significant differences between the designs.
+
+.. _pocketbeagle-comparison-table, PocketBeagle comparison:
+
+.. table:: Table: PocketBeagle comparison
+
+ +-------------------+---------------------+----------------------------+
+ | Feature | PocketBeagle 2 | PocketBeagle original |
+ +===================+=====================+============================+
+ | SoC | AM6232 | AM3358 |
+ +-------------------+---------------------+----------------------------+
+ | Arm CPU | Cortex-A53 (64-bit) | Cortex-A8 (32-bit) |
+ +-------------------+---------------------+----------------------------+
+ | Arm cores | 2 x 1GHz | 1 x 1GHz |
+ +-------------------+---------------------+----------------------------+
+ | RAM | 512MB DDR4 | 512MB DDR3 |
+ +-------------------+---------------------+----------------------------+
+
+
+.. todo::
+
+ add cape compatibility details
+
+
+.. _pocketbeagle-2-features-and-specificationd:
+
+PocketBeagle 2 Features and Specification
+********************************************
+
+This section covers the specifications and features of the board and provides a high level
+description of the major components and interfaces that make up the board.
+
+.. _pocketbeagle-2-features,PocketBeagle 2 features tabled:
+
+.. table:: Table: PocketBeagle 2 Features and Specification
+
+ +-------------------------+-----------------------------------------------------------------------------------------------------------------------------------------+
+ | | Feature |
+ +=========================+=========================================================================================================================================+
+ | **Processor** | `Texas Instruments AM6232 <https://www.ti.com/product/AM623>`_ |
+ +-------------------------+-----------------------------------------------------------------------------------------------------------------------------------------+
+ | **SDRAM Memory** | LPDDR4 3200MHz (512MB) Kingston D2516AN9EXGXN-TU |
+ +-------------------------+-----------------------------------------------------------------------------------------------------------------------------------------+
+ | **PMIC** | TPS6521903 |
+ +-------------------------+-----------------------------------------------------------------------------------------------------------------------------------------+
+ | **Debug Support** | 3 pin 3.3V JST-SH 1.00mm UART debug port (RPI debug probe compatible) |
+ + +-----------------------------------------------------------------------------------------------------------------------------------------+
+ | | 10-pin JTAG TAG-CONNECT footprint |
+ +-------------------------+-----------------------------------------------------------------------------------------------------------------------------------------+
+ | **Power Source** | USB C or Cape Header VIN (5V @ 1A) |
+ +-------------------------+-----------------------------------------------------------------------------------------------------------------------------------------+
+ | **PCB** | 55 x 35 mm |
+ +-------------------------+-----------------------------------------------------------------------------------------------------------------------------------------+
+ | **Indicators** | 1x Power, 1x Battery charging, and 4x User Controllable LEDs |
+ +-------------------------+-----------------------------------------------------------------------------------------------------------------------------------------+
+ | **SD/MMC Connector** | microSD (1.8/3.3V) |
+ +-------------------------+-----------------------------------------------------------------------------------------------------------------------------------------+
+ | **User Input** | 1. Power Button |
+ | | 2. User/Boot Button |
+ +-------------------------+-----------------------------------------------------------------------------------------------------------------------------------------+
+ | **Weight** | 12.7gm |
+ +-------------------------+-----------------------------------------------------------------------------------------------------------------------------------------+
+
+.. _pocketbeagle-2-component-locations:
+
+Board Component Locations
+***************************
+
+This section describes the key components on the board. It provides information on their location
+and function. Familiarize yourself with the various components on the board.
+
+.. _pocketbeagle-2-components:
+
+Board components
+================
+
+This section describes the key components on the board, their location and function.
+
+.. tab-set::
+
+ .. tab-item:: Front components location
+
+ .. figure:: images/components/front.*
+ :width: 1240
+ :align: center
+ :alt: PocketBeagle 2 board front components location
+
+ PocketBeagle 2 board front components location
+
+ .. table:: PocketBeagle 2 board front components location table
+ :align: center
+
+ +----------------------------+---------------------------------------------------------------------------+
+ | Feature | Description |
+ +============================+===========================================================================+
+ | AM6232 SoC | Internet of Things (IoT) and gateway SoC with dual core A53 @ 1GHz |
+ +----------------------------+---------------------------------------------------------------------------+
+ | MSPM0 MCU | MSPM0 MCU to provide ADC and EEPROM functionality |
+ +----------------------------+---------------------------------------------------------------------------+
+ | U, P and C LEDs | USR1 - USR4 (U) user LEDs, Power (P) & Charging (C) LED indicator |
+ +----------------------------+---------------------------------------------------------------------------+
+ | USB C | Power and connectivity. |
+ +----------------------------+---------------------------------------------------------------------------+
+ | User button | User action button, hold down to boot from sdCard on a board with eMMC |
+ +----------------------------+---------------------------------------------------------------------------+
+ | Power button | Hold down to toggle ON/OFF |
+ +----------------------------+---------------------------------------------------------------------------+
+ | TPS6521903 | Power Management Integrated Circuit (PMIC) |
+ +----------------------------+---------------------------------------------------------------------------+
+ | 512MB RAM | 512MB DDR4 RAM |
+ +----------------------------+---------------------------------------------------------------------------+
+ | JTAG debug port | Tag-Connect JTAG (AM6232) debug port |
+ +----------------------------+---------------------------------------------------------------------------+
+
+ .. tab-item:: Back components location
+
+ .. figure:: images/components/back.*
+ :width: 1240
+ :align: center
+ :alt: PocketBeagle 2 board back components location
+
+ PocketBeagle 2 board back components location
+
+ .. table:: PocketBeagle 2 board back components location table
+ :align: center
+
+ +----------------------------+---------------------------------------------------------------------------+
+ | Feature | Description |
+ +============================+===========================================================================+
+ | microSD | Micro SD Card holder |
+ +----------------------------+---------------------------------------------------------------------------+
+ | P1 & P2 cape header | Expansion headers for PocketBeagle capes. |
+ +----------------------------+---------------------------------------------------------------------------+
+ | UART debug ports | 3pin JST-SH 1.00mm UART debug port (RPI debug probe compatible) |
+ +----------------------------+---------------------------------------------------------------------------+
+
diff --git a/boards/pocketbeagle-2/02-quick-start.rst b/boards/pocketbeagle-2/02-quick-start.rst
new file mode 100644
index 0000000000000000000000000000000000000000..56fb76c63b99d79866ab21b0960ca8b1083bf2c9
--- /dev/null
+++ b/boards/pocketbeagle-2/02-quick-start.rst
@@ -0,0 +1,117 @@
+.. _pocketbeagle-2-quick-start:
+
+Quick Start Guide
+##################
+
+This section provides instructions on how to hook up your board. This Beagle requires a 5V @ 1A (5W)
+power supply to work properly via either USB Type-C power adapter or via cape header pins.
+
+Recommended adapters can be found at :ref:`accessories-power-supplies` section.
+
+.. _pocketbeagle-2-whats-in-the-box:
+
+What’s In the Box
+*******************
+
+In the box you will find two main items,
+
+* `PocketBeagle 2 <https://www.beagleboard.org/boards/pocketbeagle-2>`_
+* Instruction card
+
+.. note::
+
+ A USB-C to USB-C / USB-A to USB-C cable is not included, but recommended for the tethered scenario and creates
+ a developer experience where the board can be used immediately with no other equipment needed.
+
+.. tip::
+
+ For board files, 3D model, and more, you can checkout
+ `PocketBeagle 2 repository on OpenBeagle <https://openbeagle.org/pocketbeagle/pocketbeagle-2>`_.
+
+.. todo:: Add picture of PocketBeagle 2 box content
+
+Creating bootable microSD card
+*******************************
+
+To get started with creating a bootable microSD card, you need folloiwing items,
+
+1. Up to date `bb-imager-rs <https://openbeagle.org/ayush1325/bb-imager-rs/>`_
+2. microSD card (8GB or larger)
+
+.. tip::
+
+ If required you can manually download the image from
+ `beagleboard.org distros page <https://www.beagleboard.org/distros/>`_, for example,
+ https://www.beagleboard.org/distros/pocketbeagle2-debian-12-9-2025-01-15-minimal
+
+ .. figure:: images/distro/pocketbeagle-2-distro-selection.png
+ :align: center
+ :alt: Distro selection
+
+ Distros selection
+
+To begin you have to select PocketBeagle 2 from the list of boards,
+then select the image you want to flash, and finally select the microSD card.
+After doing this you have to select the config button to configure the image
+and then click on the flash button to start the flashing process.
+
+.. figure:: images/distro/bb-imager-selection.png
+ :align: center
+ :alt: Board and image selection
+
+ Board and image selection
+
+Below image shows the configuration options available for the image.
+
+.. tip::
+
+ You can enable Skip ``Verification`` as shown in the image below,
+ which will make the flashing process faster by skipping the verification step.
+
+.. figure:: images/distro/bb-imager-config.png
+ :align: center
+ :alt: Configuration options
+
+ Configuration options
+
+Make sure to select the correct microSD card and click on the flash button to start the flashing process.
+
+.. figure:: images/distro/bb-imager-flashing.png
+ :align: center
+ :alt: Flashing in progress
+
+ Flashing in progress
+
+Once the flashing is done, you will see the following screen.
+
+.. figure:: images/distro/bb-imager-flashing-done.png
+ :align: center
+ :alt: Flashing done
+
+ Flashing done
+
+Your microSD card is now ready to boot PocketBeagle 2.
+
+Methods of operation
+*********************
+
+1. Directly tethered to a PC via USB-C port.
+2. With TechLab Cape for sesors, USB host, LEDs and Buttons.
+
+.. todo:: add link to TechLab Cape
+
+.. _pocketbeagle-2-main-connection-scenarios:
+
+Main Connection Scenarios
+============================
+
+This section describes how to connect and power the board and serves as a slightly more detailed
+description of the Quick Start Guide included in the box. The board can be configured in several
+different ways, but we will discuss the two most common scenarios.
+
+* Tethered to a PC via the USB cable
+* Attached to a cape like TechLab Cape
+
+.. todo:: Add connection information in detail
+
+
diff --git a/boards/pocketbeagle-2/03-design-and-specifications.rst b/boards/pocketbeagle-2/03-design-and-specifications.rst
new file mode 100644
index 0000000000000000000000000000000000000000..afe1d1367b146b73f104bf8a4efdb34282dd3045
--- /dev/null
+++ b/boards/pocketbeagle-2/03-design-and-specifications.rst
@@ -0,0 +1,631 @@
+.. _pocketbeagle-2-design:
+
+Design and Specifications
+##########################
+
+In this chapter, we delve into the intricate design and detailed specifications of PocketBeagle 2,
+offering a thorough understanding of its hardware architecture. We begin with a high-level overview,
+presenting block diagrams that illustrate the main components and their interconnections, including
+the System on Chip (SoC), power management, memory, connectivity interfaces, and peripheral components.
+These diagrams provide a visual representation of the I2C tree, power distribution, and boot configurations,
+essential for grasping the board's functionality.
+
+The chapter then focuses on the heart of PocketBeagle 2, the AM6232 SoC. We explore its internal
+architecture, highlighting the dual ARM Cortex-A53 cores, Cortex-M4F core, and various integrated
+peripherals. Detailed figures illustrate the SoC's functional blocks, decoupling capacitors,
+DDR controller, and power management, emphasizing the importance of each component
+in ensuring efficient and reliable operation.
+
+Connectivity and expansion options are also covered extensively. We discuss the USB connections,
+cape headers, and the MicroSD card slot, which enhance the board's versatility and usability.
+Additionally, we provide insights into the debug ports, including the serial debug port and
+JTAG connections, which are crucial for development and troubleshooting.
+
+The power management section details the integrated circuits responsible for stable and efficient power
+delivery, such as the TPS6521903 PMIC, TLV62595 step-down converter, LM73100 power path management IC,
+and BQ21040 battery charger. Each component's role in maintaining power integrity and optimizing
+consumption is explained, supported by relevant figures.
+
+Finally, we present the mechanical specifications of PocketBeagle 2, including its dimensions,
+weight, and PCB details. This comprehensive overview ensures that you have a complete understanding
+of PocketBeagle 2's design, capabilities, and potential applications, making it an invaluable
+resource for developers and engineers.
+
+Block Diagram and Overview
+**************************
+
+The figure below provides a high-level overview of PocketBeagle 2 hardware architecture, illustrating
+the main components and their interconnections. This includes the System on Chip (SoC), power management,
+memory, connectivity interfaces, and other peripheral components.
+
+- **System on Chip (SoC)**: At the core of PocketBeagle 2 is the AM6232 SoC, which integrates dual ARM Cortex-A53 cores, a Cortex-M4F core, and various peripherals. This SoC is optimized for power efficiency and performance, making it suitable for a wide range of embedded applications.
+
+- **Power Management**: The diagram highlights several power management ICs:
+ - **TPS6521903 PMIC**: Manages multiple power rails, including buck converters and LDOs, to supply necessary voltages.
+ - **TLV62595 Step-Down Converter**: Provides a stable 3.3V power supply with high efficiency.
+ - **LM73100 Power Path Management IC**: Seamlessly switches between multiple power sources (VIN_5V, USB_5V, VBAT) to ensure stable system voltage.
+
+- **Memory Components**: PocketBeagle 2 includes:
+ - **512MB LPDDR4 RAM**: Ensures efficient data transfer and memory access.
+
+- **Connectivity Interfaces**: The board offers various connectivity options:
+ - **USB Ports**: For data transfer and power supply.
+ - **Cape Headers**: P1 and P2 headers for expansion and additional peripherals.
+ - **MicroSD Card Slot**: For additional storage and boot options.
+
+- **Debug Ports**: Essential for development and troubleshooting:
+ - **Serial Debug Port**: Compatible with the Raspberry Pi Debug Probe for UART communication.
+ - **JTAG**: For in-depth debugging and programming.
+
+This comprehensive block diagram is essential for understanding the intricate design and functionality of PocketBeagle 2, providing a visual representation of how each component interacts within the system.
+
+.. figure:: images/hardware-design/block-diagram.png
+ :width: 900px
+ :align: center
+ :alt: PocketBeagle 2 Block Diagram
+
+ PocketBeagle 2 Block Diagram
+
+The following figure illustrates the I2C tree of PocketBeagle 2, showing the connections between the I2C
+master and various I2C slave devices on the board. The I2C tree is crucial for understanding the communication
+pathways and how different components interact with each other.
+
+Key I2C Ports and Connections:
+
+.. list-table:: Key I2C Ports and Connections
+ :header-rows: 1
+
+ * - I2C
+ - Connection
+ * - **WKUP_I2C0**
+ - Connected to the TPS6521903 PMIC for power management control and monitoring.
+ * - **I2C0**
+ - Connected to the MSPM0L1105 microcontroller, which emulates an 8-channel 12-bit ADC and a 4KB EEPROM.
+ * - **I2C1**
+ - Available on the P1 cape header for additional peripherals and expansion options.
+ * - **I2C2**
+ - Also available on the P1 cape header for additional peripherals and expansion options.
+ * - **I2C3**
+ - Available on the P2 cape header for user-defined peripherals and custom applications.
+ * - **MCU_I2C0**
+ - Not connected to anything internally, thus can be used if someone wants to modify PocketBeagle 2 design to add something like a QWIIC connector.
+
+These connections ensure efficient communication and control across PocketBeagle 2, enabling robust and flexible system design.
+
+.. figure:: images/hardware-design/i2c-tree.png
+ :width: 900px
+ :align: center
+ :alt: I2C tree
+
+ I2C tree
+
+The following figure shows the power tree of PocketBeagle 2, detailing the power distribution from the
+main power sources to various components on the board. This diagram is crucial for understanding how power
+is managed and distributed across the board to ensure stable and efficient operation.
+
+Key Components and Power Paths:
+
+- **VIN_5V**: This is the primary power input, typically supplied by an external power adapter. It is the main source of power for the board when available.
+- **USB_5V**: This input comes from a USB connection. It serves as an alternative power source when VIN_5V is not available, allowing the board to be powered via a USB connection.
+- **VBAT**: This is the battery voltage input, used when neither VIN_5V nor USB_5V is available. It ensures that the board remains powered in portable applications.
+
+Power Management ICs:
+
+- **TPS6521903 PMIC**: Manages multiple power rails, including buck converters and LDOs, to supply necessary voltages to various components. It ensures stable and efficient power delivery.
+- **TLV62595 Step-Down Converter**: Provides a stable 3.3V power supply with high efficiency, powering critical components on the board.
+- **LM73100 Power Path Management IC**: Seamlessly switches between VIN_5V, USB_5V, and VBAT to ensure a stable system voltage (VSYS). It prioritizes the highest available power source and transitions smoothly between sources to prevent power interruptions.
+- **BQ21040 Battery Charger**: Manages the charging of a single-cell Li-Ion or Li-Polymer battery. It features high-accuracy voltage regulation, programmable charge current, and thermal protection, ensuring safe and efficient battery charging.
+
+Power Distribution:
+
+- **3.3V Rail**: Powers various components, including the SoC, memory, and peripheral interfaces. The TLV62595 step-down converter ensures a stable 3.3V supply.
+- **1.8V and 1.2V Rails**: These lower voltage rails are generated by the TPS6521903 PMIC and are used to power specific components that require lower operating voltages.
+- **VDDA 0.85V**: This rail powers the analog components of the SoC, ensuring precise analog signal processing.
+- **VDD Core**: Powers the core logic of the SoC, ensuring stable operation of the processor and integrated peripherals.
+
+The power tree diagram provides a comprehensive overview of how power is distributed and managed across PocketBeagle 2, highlighting the role of each power management component in maintaining system stability and efficiency.
+
+.. figure:: images/hardware-design/power-tree.png
+ :width: 900px
+ :align: center
+ :alt: Power tree
+
+ Power tree
+
+.. _pocketbeagle-2-processor:
+
+System on Chip (SoC)
+*********************
+
+PocketBeagle 2 is powered by the AM6232 SoC, which is a high-performance, low-power processor
+designed for embedded applications. The AM6232 integrates dual ARM Cortex-A53 cores, a
+Cortex-M4F core, and various peripherals to support a wide range of functionalities. It is
+optimized for power efficiency and performance, making it suitable for applications requiring
+robust processing capabilities while maintaining low power consumption. The AM6232 SoC functional
+block diagram below provides a detailed view of the internal architecture of the System on Chip. It
+highlights the various functional blocks such as the CPU cores, memory controllers, peripheral
+interfaces, and other integrated components. This diagram is essential for understanding how
+the SoC manages data flow and interacts with other hardware components on PocketBeagle 2 board.
+
+.. figure:: images/hardware-design/soc-functional-block-diagram.png
+ :align: center
+ :alt: SoC functional block diagram
+
+ SoC functional block diagram
+
+Decoupling capacitors are used to filter out noise and provide a stable power supply to the SoC. They
+help in maintaining the integrity of the power signals by smoothing out voltage fluctuations and transient
+spikes, ensuring reliable operation of the SoC and preventing potential malfunctions due to power instability.
+
+.. figure:: images/hardware-design/soc-dcaps.png
+ :align: center
+ :alt: SoC decoupling capacitors
+
+ SoC decoupling capacitors
+
+The following figure shows the DDR controller of the SoC, which manages the communication between the
+processor and the DDR memory. It ensures efficient data transfer and memory access, playing a crucial
+role in the overall performance of the system.
+
+.. figure:: images/hardware-design/soc-ddr-controller.png
+ :align: center
+ :alt: SoC DDR controller
+
+ SoC DDR controller
+
+The following figure shows the power capacitors used for the SoC. These capacitors are crucial for
+maintaining stable power delivery to the SoC, filtering out noise, and ensuring reliable operation
+by smoothing out voltage fluctuations.
+
+.. figure:: images/hardware-design/soc-power-caps.png
+ :align: center
+ :alt: SoC power capacitors
+
+ SoC power capacitors
+
+The following figure shows the power distribution for the SoC, detailing how power is supplied to
+various components within the SoC to ensure stable and efficient operation.
+
+.. figure:: images/hardware-design/soc-power.png
+ :align: center
+ :alt: SoC power
+
+ SoC power
+
+The following figure shows the VSS (Ground) connection for the SoC. This connection is crucial
+for providing a common reference point for all the electrical signals and ensuring the proper
+operation of the SoC by stabilizing the voltage levels.
+
+.. figure:: images/hardware-design/soc-vss.png
+ :align: center
+ :alt: SoC VSS (Ground) connection
+
+ SoC VSS (Ground) connection
+
+.. _pocketbeagle-2-boot-modes:
+
+Boot Modes
+===========
+
+The following figure shows the boot configuration of PocketBeagle 2.
+
+.. figure:: images/hardware-design/boot-config.png
+ :align: center
+ :alt: Boot configuration
+
+ Boot configuration
+
+The following figure illustrates the bootstrap pins connection, which are used to select the boot mode during the power-up sequence.
+
+.. figure:: images/hardware-design/bootstrap.png
+ :align: center
+ :alt: Bootstrap pins connection
+
+ Bootstrap pins connection
+
+SoC GPIOs
+==========
+
+.. tab-set::
+
+ .. tab-item:: GPIO GPMC
+
+ .. figure:: images/hardware-design/gpio-gpmc.png
+ :align: center
+ :alt: GPIO GPMC
+
+ GPIO GPMC
+
+ .. tab-item:: GPIO MCASP0
+
+ .. figure:: images/hardware-design/gpio-mcasp0.png
+ :align: center
+ :alt: GPIO MCASP0
+
+ GPIO MCASP0
+
+ .. tab-item:: GPIO OSC0
+
+ .. figure:: images/hardware-design/gpio-osc0.png
+ :align: center
+ :alt: GPIO OSC0
+
+ GPIO OSC0
+
+ .. tab-item:: GPIO OSPI
+
+ .. figure:: images/hardware-design/gpio-ospi.png
+ :align: center
+ :alt: GPIO OSPI
+
+ GPIO OSPI
+
+ .. tab-item:: GPIO RGMII1
+
+ .. figure:: images/hardware-design/gpio-rgmii1.png
+ :align: center
+ :alt: GPIO RGMII1
+
+ GPIO RGMII1
+
+.. tab-set::
+
+ .. tab-item:: GPIO RGMII2
+
+ .. figure:: images/hardware-design/gpio-rgmii2.png
+ :align: center
+ :alt: GPIO RGMII2
+
+ GPIO RGMII2
+
+ .. tab-item:: GPIO VOUT0
+
+ .. figure:: images/hardware-design/gpio-vout0.png
+ :align: center
+ :alt: GPIO VOUT0
+
+ GPIO VOUT0
+
+ .. tab-item:: MCU domain
+
+ .. figure:: images/hardware-design/mcu-domain.png
+ :align: center
+ :alt: MCU domain
+
+ MCU domain
+
+ .. tab-item:: MCU system
+
+ .. figure:: images/hardware-design/mcu-system.png
+ :align: center
+ :alt: MCU system
+
+ MCU system
+
+ .. tab-item:: Wakeup domain
+
+ .. figure:: images/hardware-design/wkup-domain.png
+ :align: center
+ :alt: Wakeup domain
+
+ Wakeup domain
+
+
+.. _pocketbeagle-2-power-management:
+
+Power Management
+*****************
+
+PMIC
+====
+
+The TPS6521903 is a power management integrated circuit (PMIC) designed to provide efficient power
+management for PocketBeagle. It integrates multiple power rails, including buck converters and
+LDOs, to supply the necessary voltages to various components on the board. The PMIC ensures stable
+and reliable power delivery, optimizing power consumption and extending battery life.
+
+.. figure:: images/hardware-design/pmic.png
+ :align: center
+ :alt: PMIC
+
+ PMIC
+
+3V3 power
+=========
+
+The TLV62595 is a high-efficiency, synchronous step-down converter that provides a stable
+3.3V power supply to various components on PocketBeagle 2. It features a wide input voltage
+range, low quiescent current, and excellent transient response, making it suitable for
+powering sensitive electronics and ensuring reliable operation.
+
+.. figure:: images/hardware-design/dc-3v3.png
+ :align: center
+ :alt: 3V3 power
+
+ 3V3 power
+
+Power path
+===========
+
+The LM73100 is a power path management IC that can be used to seamlessly switch between multiple
+power sources to generate a stable system voltage (VSYS). In this design, we have three power
+sources: VIN_5V, USB_5V, and VBAT. Here's how each of these sources is utilized:
+
+1. VIN_5V: This is typically the main power input, which could come from an external power adapter. The LM73100 prioritizes this input when it is available, ensuring that the system is powered by this stable and higher current source.
+2. USB_5V: This input comes from a USB connection. When VIN_5V is not available, the LM73100 switches to USB_5V to power the system. This allows the device to be powered or charged via a USB connection when an external adapter is not connected.
+3. VBAT: This is the battery voltage input. When neither VIN_5V nor USB_5V is available, the LM73100 switches to VBAT to ensure that the system remains powered. This is crucial for portable devices that need to operate on battery power when no external power sources are connected.
+
+The LM73100 manages these inputs and switches between them to provide a stable VSYS output. It
+ensures that the highest priority power source is used first, and seamlessly transitions to the
+next available source if the current one is disconnected or falls below a certain threshold.
+
+This power path management ensures that the system remains powered without interruption,
+providing a reliable and efficient power solution for various applications.
+
+.. figure:: images/hardware-design/power-path.png
+ :align: center
+ :alt: Power path
+
+ Power path
+
+Battery charging
+================
+
+The BQ21040 is a highly integrated Li-Ion and Li-Polymer linear battery charger device
+targeted at space-limited portable applications. The device operates from USB ``VBUS`` or
+cape header pin ``VIN`` voltage input. It features a high-accuracy voltage regulation, programmable
+charge current, and thermal regulation. The BQ21040 is designed
+to charge single-cell Li-Ion and Li-Polymer batteries and includes a power path
+management feature to power the system while charging the battery.
+
+Key Features:
+- Input voltage range: 4.5V minimum
+- Programmable charge current up to 800mA
+- High-accuracy voltage regulation
+- Thermal regulation and protection
+- Power path management
+- Status indication for charge and fault conditions
+
+Applications:
+- Wearable devices
+- Fitness accessories
+- Portable medical devices
+- Bluetooth headsets
+- Other space-limited portable applications
+
+On PocketBeagle 2, the BQ21040 is used to manage the charging of a single-cell Li-Ion or Li-Polymer battery.
+The BQ21040's status indication feature provides feedback on the charging status and any fault conditions,
+making it easier to monitor the charging process. This integration of the BQ21040 in PocketBeagle 2 design
+enhances the device's portability and reliability, making it suitable for various applications that require battery power.
+
+.. figure:: images/hardware-design/battery-charging.png
+ :align: center
+ :alt: Battery charging
+
+ Battery charging
+
+Decoupling capacitors
+======================
+
+.. figure:: images/hardware-design/vdd-1v2-caps.png
+ :align: center
+ :alt: VDD 1.2V capacitors
+
+ VDD 1.2V capacitors
+
+.. figure:: images/hardware-design/vdd-1v8-caps.png
+ :align: center
+ :alt: VDD 1.8V capacitors
+
+ VDD 1.8V capacitors
+
+.. figure:: images/hardware-design/vdd-3v3-caps.png
+ :align: center
+ :alt: VDD 3.3V capacitors
+
+ VDD 3.3V capacitors
+
+.. figure:: images/hardware-design/vdda-0v85-caps.png
+ :align: center
+ :alt: VDDA 0.85V capacitors
+
+ VDDA 0.85V capacitors
+
+.. figure:: images/hardware-design/vdd-core-caps.png
+ :align: center
+ :alt: VDD core capacitors
+
+ VDD core capacitors
+
+.. _pocketbeagle-2-connectivity-and-expansion:
+
+General connectivity and expansion
+************************************
+
+USB connections
+===============
+
+.. figure:: images/hardware-design/usb.png
+ :align: center
+ :alt: USB connections
+
+ USB connections
+
+Cape headers
+=============
+
+P1 cape header
+---------------
+
+.. figure:: images/hardware-design/cape-header-p1.png
+ :align: center
+ :alt: P1 cape headers
+
+ P1 cape headers
+
+P2 cape header
+---------------
+
+.. figure:: images/hardware-design/cape-header-p2.png
+ :align: center
+ :alt: P2 cape headers
+
+ P2 cape headers
+
+MicroSD card slot
+=================
+
+.. figure:: images/hardware-design/microsd.png
+ :align: center
+ :alt: MicroSD card slot
+
+ MicroSD card slot
+
+.. figure:: images/hardware-design/microsd-3v3.png
+ :align: center
+ :alt: MicroSD card power
+
+ MicroSD card power
+
+.. todo:: Add MicroSD card slot information
+
+Buttons & LEDs
+***************
+
+User & Power Button
+=====================
+
+.. figure:: images/hardware-design/buttons.png
+ :align: center
+ :alt: Buttons
+
+ Buttons
+
+.. todo:: Add button details
+
+LED Indicators
+===============
+
+.. todo:: Add information about LED indicators
+
+.. figure:: images/hardware-design/leds.png
+ :align: center
+ :alt: LED indicators
+
+ LED indicators
+
+.. _pocketbeagle-2-memory-media-storage:
+
+Memory, Media, and storage
+***************************
+
+Described in the following sections are the memory devices found on the board.
+
+.. _pocketbeagle-2-512mb-ddr4:
+
+512MB LPDDR4
+==============
+
+.. figure:: images/hardware-design/ddr.png
+ :align: center
+ :alt: 512MB LPDDR4 RAM
+
+ 512MB LPDDR4 RAM
+
+.. figure:: images/hardware-design/ddr-power.png
+ :align: center
+ :alt: DDR power
+
+ DDR power
+
+.. _pocketbeagle-2-mspm0-adc-eeprom:
+
+MSPM0 ADC & EEPROM
+==================
+
+The MSPM0L1105 is a versatile microcontroller that we are utilizing to emulate an 8-channel 12-bit ADC and a 4KB EEPROM.
+This microcontroller is connected to PocketBeagle via the I2C interface, allowing for efficient communication and data transfer.
+
+1. The 8-channel 12-bit ADC provides high-resolution analog-to-digital conversion, enabling precise measurement of analog signals
+from various sensors and inputs. This is particularly useful for applications requiring accurate data acquisition and monitoring.
+1. The 4KB EEPROM emulation offers non-volatile storage for configuration data, calibration parameters, and other critical information.
+This ensures that important data is retained even when the system is powered off, enhancing the reliability and functionality of PocketBeagle 2.
+
+By integrating the MSPM0L1105, we can leverage its capabilities to expand the analog input and storage options of PocketBeagle 2,
+making it suitable for a wider range of applications and use cases.
+
+.. figure:: images/hardware-design/mspm0.png
+ :align: center
+ :alt: MSPM0L1105 as 8ch 12bit ADC & 4KB EEPROM
+
+ MSPM0L1105 as 8ch 12bit ADC & 4KB EEPROM
+
+.. _pocketbeagle-2-debug-ports:
+
+Debug Ports
+************
+
+Serial debug port
+=================
+
+PocketBeagle 2 features a JST-SH 1.00mm connector for UART, which is compatible with the Raspberry Pi Debug Probe.
+This connector allows for easy and reliable serial communication for boot time debugging purposes.
+
+.. figure:: images/hardware-design/uart-debug.png
+ :align: center
+ :alt: Serial debug port
+
+ Serial debug port
+
+TagConnect (JTAG)
+=================
+
+.. figure:: images/hardware-design/jtag.png
+ :align: center
+ :alt: JTAG
+
+ JTAG
+
+.. figure:: images/hardware-design/tag-connect.png
+ :align: center
+ :alt: TagConnect (JTAG)
+
+ TagConnect (JTAG)
+
+Mechanical specifications
+**************************
+
+Dimensions & Weight
+====================
+
+.. table:: Dimensions & weight
+
+ +--------------------+----------------------------------------------------+
+ | Parameter | Value |
+ +====================+====================================================+
+ | Size | 56 x 35mm |
+ +--------------------+----------------------------------------------------+
+ | Max heigh | 13.6 |
+ +--------------------+----------------------------------------------------+
+ | PCB Size | 55 x 35mm |
+ +--------------------+----------------------------------------------------+
+ | PCB Layers | 10--layers |
+ +--------------------+----------------------------------------------------+
+ | PCB Thickness | 1.6mm |
+ +--------------------+----------------------------------------------------+
+ | RoHS compliant | Yes |
+ +--------------------+----------------------------------------------------+
+ | Net Weight | 12.7g |
+ +--------------------+----------------------------------------------------+
+ | Gross Weight | 19g |
+ +--------------------+----------------------------------------------------+
+
+
+Board Dimensions
+=================
+
+.. figure:: images/pocketbeagle-2-revA-dimensions.jpg
+ :align: center
+ :alt: PocketBeagle 2 RevA Dimensions
+
+ PocketBeagle 2 RevA Dimensions
diff --git a/boards/pocketbeagle-2/04-expansion.rst b/boards/pocketbeagle-2/04-expansion.rst
new file mode 100644
index 0000000000000000000000000000000000000000..2d7d8229caf3d4d7ebfa12fc87f5e1c904e7f8dd
--- /dev/null
+++ b/boards/pocketbeagle-2/04-expansion.rst
@@ -0,0 +1,1024 @@
+.. _pocketbeagle-2-expansion:
+
+Expansion
+############
+
+.. _pocketbeagle-2-pinout-diagrams:
+
+Pinout Diagrams
+***************
+
+PocketBeagle 2 ``P1`` & ``P2`` cape headers are designed to be compatible with PocketBeagle classic as much as possible.
+Below pinout diagrams are design to simplify cape header pin usage and cape design process for PB2. To start
+using P1 / P2 cape header choose respective pinout diagram tab below.
+
+.. tab-set::
+
+ .. tab-item:: P1 cape header
+
+ .. figure:: images/pinout/PocketBeagle-2-P1.*
+ :align: center
+ :alt: PocketBeagle 2 P1 Cape Header Pinout
+
+ PocketBeagle 2 P1 Cape Header Pinout
+
+ .. tab-item:: P2 cape header
+
+ .. figure:: images/pinout/PocketBeagle-2-P2.*
+ :align: center
+ :alt: PocketBeagle 2 P2 Cape Header Pinout
+
+ PocketBeagle 2 P2 Cape Header Pinout
+
+.. _pocketbeagle-2-connectors:
+
+Cape Header Connectors
+**********************
+
+Beagle cape expansion interface on PocketBeagle 2 like other Beagles is comprised of two
+headers P1 & P2. All signals on the expansion headers are **3.3V** unless
+otherwise indicated. **On some of the cape header pins on PocketBeagle 2 multiple SoC pins are shorted and
+only one of them should be used at a time.** Information regarding the double/shorted pins is provided
+in the :ref:`pocketbeagle-2-pinout-diagrams` above (simplified) and cape header pin tables below (detailed).
+
+.. danger::
+ Do not connect 5V logic level signals to these pins or the board will be damaged.
+
+ **NO PINS ARE TO BE DRIVEN UNTIL AFTER THE SYS_RESET LINE GOES HIGH. DO NOT APPLY
+ VOLTAGE TO ANY I/O PIN WHEN POWER IS NOT SUPPLIED TO THE BOARD.
+ IT WILL DAMAGE THE PROCESSOR AND VOID THE WARRANTY.**
+
+Connector P1
+==============
+
+The following tables show the pinout of the **P1** expansion header. The
+SW is responsible for setting the default function of each pin. Refer to
+the processor documentation for more information on these pins and
+detailed descriptions of all of the pins listed. In some cases there may
+not be enough signals to complete a group of signals that may be
+required to implement a total interface.
+
+The column heading is the pin number on the expansion header.
+
+The **GPIO** row is the expected gpio identifier number in the Linux
+kernel.
+
+Each row includes the gpiochipX and pinY in the format of
+`X Y`. You can use these values to directly control the GPIO pins with the
+commands shown below.
+
+.. code:: bash
+
+ # to set the GPIO pin state to HIGH
+ debian@BeagleBone:~$ gpioset X Y=1
+
+ # to set the GPIO pin state to LOW
+ debian@BeagleBone:~$ gpioset X Y=0
+
+ For Example:
+
+ +---------+----------+
+ | Pin | P1.03 |
+ +=========+==========+
+ | GPIO | 1 20 |
+ +---------+----------+
+
+ Use the commands below for controlling this pin (P1.03) where X = 1 and Y = 20
+
+ # to set the GPIO pin state to HIGH
+ debian@BeagleBone:~$ gpioset 1 20=1
+
+ # to set the GPIO pin state to LOW
+ debian@BeagleBone:~$ gpioset 1 20=0
+
+The **BALL** row is the pin number on the processor.
+
+The **REG** row is the offset of the control register for the processor
+pin.
+
+The **MODE #** rows are the mode setting for each pin. Setting each mode
+to align with the mode column will give that function on that pin.
+
+
+.. important::
+
+ **DO NOT APPLY VOLTAGE TO ANY I/O PIN WHEN POWER IS NOT SUPPLIED TO THE
+ BOARD. IT WILL DAMAGE THE PROCESSOR AND VOID THE WARRANTY.**
+
+ **NO PINS ARE TO BE DRIVEN UNTIL AFTER THE SYS_RESET LINE GOES HIGH.**
+
+P1.02-P1.03
+-------------
+
++---------+---------+
+| Pin | P1.01 |
++=========+=========+
+| Signal | VIN_5V |
++---------+---------+
+
++------------+----------------------+------------------+------------------+
+| Pin | P1.02 | P1.02A | P1.03 |
++============+======================+==================+==================+
+| GPIO | GPIO1_10 | GPIO0_87 | GPIO1_51 |
++------------+----------------------+------------------+------------------+
+| BALL | E18 | AA19 | F18 |
++------------+----------------------+------------------+------------------+
+| Register | PADCONFIG104 | PADCONFIG89 | PADCONFIG150 |
++------------+----------------------+------------------+------------------+
+| Address | 0x000F41A0 | 0x000F4164 | 0x000F4258 |
++------------+----------------------+------------------+------------------+
+| Page | 29 | 40 | 45 |
++------------+----------------------+------------------+------------------+
+| MODE 0 | MCASP0_AXR0 | RGMII2_TX_CTL | USB1_DRVVBUS |
++------------+----------------------+------------------+------------------+
+| MODE 1 | PR0_ECAP0_IN_APWM_OUT| RMII2_TX_EN | ~ |
++------------+----------------------+------------------+------------------+
+| MODE 2 | AUDIO_EXT_REFCLK0 | MCASP2_AXR4 | ~ |
++------------+----------------------+------------------+------------------+
+| MODE 3 | ~ | PR0_PRU1_GPO0 | ~ |
++------------+----------------------+------------------+------------------+
+| MODE 4 | ~ | PR0_PRU1_GPI0 | ~ |
++------------+----------------------+------------------+------------------+
+| MODE 5 | PR0_UART0_TXD | ~ | ~ |
++------------+----------------------+------------------+------------------+
+| MODE 6 | EHRPWM1_B | ~ | ~ |
++------------+----------------------+------------------+------------------+
+| MODE 7 | GPIO1_10 | GPIO0_87 | GPIO1_51 |
++------------+----------------------+------------------+------------------+
+| MODE 8 | EQEP0_I | ~ | ~ |
++------------+----------------------+------------------+------------------+
+
+
+P1.04-P1.07
+-------------
+
++--------+-----------+---------+
+| Pin | P1.05 | P1.07 |
++========+===========+=========+
+| BALL | AB10 | ~ |
++--------+-----------+---------+
+| Signal | USB1_VBUS | VIN.USB |
++--------+-----------+---------+
+
++------------+----------------------+------------------+------------------+------------------+
+| Pin | P1.04 | P1.04A | P1.06 | P1.06A |
++============+======================+==================+==================+==================+
+| GPIO | GPIO1_12 | GPIO0_89 | GPIO1_13 | GPIO0_78 |
++------------+----------------------+------------------+------------------+------------------+
+| BALL | D20 | Y18 | E19 | AD18 |
++------------+----------------------+------------------+------------------+------------------+
+| Register | PADCONFIG106 | PADCONFIG91 | PADCONFIG107 | PADCONFIG80 |
++------------+----------------------+------------------+------------------+------------------+
+| Address | 0x000F41A8 | 0x000F416C | 0x000F41AC | 0x000F4140 |
++------------+----------------------+------------------+------------------+------------------+
+| Page | 29 | 42 | 29 | 41 |
++------------+----------------------+------------------+------------------+------------------+
+| MODE 0 | MCASP0_AFSX | RGMII2_TD0 | MCASP0_AFSR | RGMII1_TD3 |
++------------+----------------------+------------------+------------------+------------------+
+| MODE 1 | SPI2_CS3 | RMII2_TXD0 | SPI2_CS0 | ~ |
++------------+----------------------+------------------+------------------+------------------+
+| MODE 2 | AUDIO_EXT_REFCLK1 | MCASP2_AXR6 | UART1_RXD | PR0_UART0_TXD |
++------------+----------------------+------------------+------------------+------------------+
+| MODE 3 | ~ | PR0_PRU1_GPO2 | ~ | ~ |
++------------+----------------------+------------------+------------------+------------------+
+| MODE 4 | ~ | PR0_PRU1_GPI2 | ~ | ~ |
++------------+----------------------+------------------+------------------+------------------+
+| MODE 5 | ~ | ~ | ~ | ~ |
++------------+----------------------+------------------+------------------+------------------+
+| MODE 6 | ~ | ~ | EHRPWM0_A | ~ |
++------------+----------------------+------------------+------------------+------------------+
+| MODE 7 | GPIO1_12 | GPIO0_89 | GPIO1_13 | GPIO0_78 |
++------------+----------------------+------------------+------------------+------------------+
+| MODE 8 | EQEP1_B | ~ | EQEP1_S | ~ |
++------------+----------------------+------------------+------------------+------------------+
+
+P1.08 - P1.11
+-------------
+
++--------+---------+---------+
+| Pin | P1_09 | P1_11 |
++========+=========+=========+
+| BALL | AD10 | AE9 |
++--------+---------+---------+
+| Signal | USB1.D- | USB1.D+ |
++--------+---------+---------+
+
++------------+-----------------------+---------------------------+-----------------------------+
+| Pin | P1.08 | P1.10 | P1.10A |
++============+=======================+===========================+=============================+
+| GPIO | GPIO1_14 | GPIO1_30 | GPIO1_7 |
++------------+-----------------------+---------------------------+-----------------------------+
+| BALL | A20 | A18 | B19 |
++------------+-----------------------+---------------------------+-----------------------------+
+| Register | PADCONFIG108 | PADCONFIG124 | PADCONFIG101 |
++------------+-----------------------+---------------------------+-----------------------------+
+| Address | 0x000F41B0 | 0x000F41F0 | 0x000F4194 |
++------------+-----------------------+---------------------------+-----------------------------+
+| Page | 28 | 19 | 30 |
++------------+-----------------------+---------------------------+-----------------------------+
+| MODE 0 | MCASP0_ACLKR | EXT_REFCLK1 | MCASP0_AXR3 |
++------------+-----------------------+---------------------------+-----------------------------+
+| MODE 1 | SPI2_CLK | SYNC1_OUT | SPI2_D0 |
++------------+-----------------------+---------------------------+-----------------------------+
+| MODE 2 | UART1_TXD | SPI2_CS3 | UART1_CTSn |
++------------+-----------------------+---------------------------+-----------------------------+
+| MODE 3 | ~ | SYSCLKOUT0 | UART6_RXD |
++------------+-----------------------+---------------------------+-----------------------------+
+| MODE 4 | ~ | TIMER_IO4 | PR0_IEP0_EDIO_DATA_IN_OUT28 |
++------------+-----------------------+---------------------------+-----------------------------+
+| MODE 5 | ~ | CLKOUT0 | ECAP1_IN_APWM_OUT |
++------------+-----------------------+---------------------------+-----------------------------+
+| MODE 6 | EHRPWM0_B | CP_GEMAC_CPTS0_RFT_CLK | PR0_UART0_RXD |
++------------+-----------------------+---------------------------+-----------------------------+
+| MODE 7 | GPIO1_14 | GPIO1_30 | GPIO1_7 |
++------------+-----------------------+---------------------------+-----------------------------+
+| MODE 8 | EQEP1_I | ECAP0_IN_APWM_OUT | EQEP0_A |
++------------+-----------------------+---------------------------+-----------------------------+
+
+P1.12 - P1.13
+-------------
+
++------------+-----------------------------+------------------------+-----------------------+
+| Pin | P1.12 | P1.12A | P1.13 |
++============+=============================+========================+=======================+
+| GPIO | GPIO1_8 | GPIO0_77 | GPIO0_36 |
++------------+-----------------------------+------------------------+-----------------------+
+| BALL | A19 | AE18 | N20 |
++------------+-----------------------------+------------------------+-----------------------+
+| Register | PADCONFIG102 | PADCONFIG79 | PADCONFIG37 |
++------------+-----------------------------+------------------------+-----------------------+
+| Address | 0x000F4198 | 0x000F413C | 0x000F4094 |
++------------+-----------------------------+------------------------+-----------------------+
+| Page | 29 | 41 | 25 |
++------------+-----------------------------+------------------------+-----------------------+
+| MODE 0 | MCASP0_AXR2 | RGMII1_TD2 | GPMC0_BE1n |
++------------+-----------------------------+------------------------+-----------------------+
+| MODE 1 | SPI2_D1 | ~ | ~ |
++------------+-----------------------------+------------------------+-----------------------+
+| MODE 2 | UART1_RTSn | PR0_UART0_RXD | ~ |
++------------+-----------------------------+------------------------+-----------------------+
+| MODE 3 | UART6_TXD | ~ | MCASP2_AXR12 |
++------------+-----------------------------+------------------------+-----------------------+
+| MODE 4 | PR0_IEP0_EDIO_DATA_IN_OUT29 | ~ | PR0_PRU0_GPO13 |
++------------+-----------------------------+------------------------+-----------------------+
+| MODE 5 | ECAP2_IN_APWM_OUT | ~ | PR0_PRU0_GPI13 |
++------------+-----------------------------+------------------------+-----------------------+
+| MODE 6 | PR0_UART0_TXD | ~ | TRC_DATA11 |
++------------+-----------------------------+------------------------+-----------------------+
+| MODE 7 | GPIO1_8 | GPIO0_77 | GPIO0_36 |
++------------+-----------------------------+------------------------+-----------------------+
+| MODE 8 | EQEP0_B | ~ | ~ |
++------------+-----------------------------+------------------------+-----------------------+
+
+P1.14 - P1.21
+-------------
+
++--------+---------+-------+-------+----------+----------+-------+-------+
+| Pin | P1_14 | P1_15 | P1_16 | P1_17 | P1_18 | P1_19 | P1_21 |
++========+=========+=======+=======+==========+==========+=======+=======+
+| Signal | VDD_3V3 | GND | GND | AIN.REF- | AIN.REF+ | AIN0 | AIN1 |
++--------+---------+-------+-------+----------+----------+-------+-------+
+
++------------+-----------------------+-----------------------+-----------------------+
+| Pin | P1.19 | P1.20 | P1.21 |
++============+=======================+=======================+=======================+
+| GPIO | GPIO1_1 | GPIO0_50 | GPIO1_6 |
++------------+-----------------------+-----------------------+-----------------------+
+| BALL | AD22 | Y24 | AE22 |
++------------+-----------------------+-----------------------+-----------------------+
+| Register | PADCONFIG95 | PADCONFIG51 | PADCONFIG100 |
++------------+-----------------------+-----------------------+-----------------------+
+| Address | 0x000F417C | 0x000F40CC | 0x000F4190 |
++------------+-----------------------+-----------------------+-----------------------+
+| Page | 40 | 49 | 42 |
++------------+-----------------------+-----------------------+-----------------------+
+| MODE 0 | RGMII2_RX_CTL | VOUT0_DATA5 | RGMII2_RD3 |
++------------+-----------------------+-----------------------+-----------------------+
+| MODE 1 | RMII2_RX_ER | GPMC0_A5 | ~ |
++------------+-----------------------+-----------------------+-----------------------+
+| MODE 2 | MCASP2_AXR3 | PR0_PRU1_GPO5 | AUDIO_EXT_REFCLK0 |
++------------+-----------------------+-----------------------+-----------------------+
+| MODE 3 | PR0_PRU0_GPO0 | PR0_PRU1_GPI5 | PR0_PRU0_GPO16 |
++------------+-----------------------+-----------------------+-----------------------+
+| MODE 4 | PR0_PRU0_GPI0 | UART4_TXD | PR0_PRU0_GPI16 |
++------------+-----------------------+-----------------------+-----------------------+
+| MODE 5 | ~ | PR0_PRU0_GPO13 | PR0_UART0_TXD |
++------------+-----------------------+-----------------------+-----------------------+
+| MODE 6 | ~ | PR0_PRU0_GPI13 | ~ |
++------------+-----------------------+-----------------------+-----------------------+
+| MODE 7 | GPIO1_1 | GPIO0_50 | GPIO1_6 |
++------------+-----------------------+-----------------------+-----------------------+
+| MODE 8 | ~ | ~ | EQEP2_B |
++------------+-----------------------+-----------------------+-----------------------+
+
+P1.22 - P1.26
+-------------
+
++---------+-------+-------+-------+-------+
+| Pin | P1.22 | P1.23 | P1.24 | P1.25 |
++=========+=======+=======+=======+=======+
+| Signal | GND | AIN2 | VOUT | AIN3 |
++---------+-------+-------+-------+-------+
+
++----------+---------------+---------------+-----------------+----------------+
+| Pin | P1.23 | P1.25 | P1.26 | P1.26A |
++==========+===============+===============+=================+================+
+| GPIO | GPIO1_5 | GPIO1_4 | GPIO0_44 | MCU_GPIO0_13 |
++----------+---------------+---------------+-----------------+----------------+
+| BALL | AC21 | AB20 | K24 | D6 |
++----------+---------------+---------------+-----------------+----------------+
+| Register | PADCONFIG99 | PADCONFIG98 | PADCONFIG45 | MCU_PADCONFIG13|
++----------+---------------+---------------+-----------------+----------------+
+| Address | 0x000F418C | 0x000F4188 | 0x000F40B4 | 0x04084034 |
++----------+---------------+---------------+-----------------+----------------+
+| Page | 41 | 41 | 26 | 30 |
++----------+---------------+---------------+-----------------+----------------+
+| MODE 0 | RGMII2_RD2 | RGMII2_RD1 | GPMC0_CSn3 | MCU_MCAN0_TX |
++----------+---------------+---------------+-----------------+----------------+
+| MODE 1 | ~ | RMII2_RXD1 | I2C2_SDA | WKUP_TIMER_IO0 |
++----------+---------------+---------------+-----------------+----------------+
+| MODE 2 | MCASP2_AXR0 | MCASP2_AFSR | GPMC0_A20 | MCU_SPI0_CS3 |
++----------+---------------+---------------+-----------------+----------------+
+| MODE 3 | PR0_PRU0_GPO4 | PR0_PRU0_GPO3 | UART4_TXD | ~ |
++----------+---------------+---------------+-----------------+----------------+
+| MODE 4 | PR0_PRU0_GPI4 | PR0_PRU0_GPI3 | MCASP1_AXR5 | ~ |
++----------+---------------+---------------+-----------------+----------------+
+| MODE 5 | PR0_UART0_RXD | MCASP2_AXR7 | ~ | ~ |
++----------+---------------+---------------+-----------------+----------------+
+| MODE 6 | ~ | ~ | TRC_DATA18 | ~ |
++----------+---------------+---------------+-----------------+----------------+
+| MODE 7 | GPIO1_5 | GPIO1_4 | GPIO0_44 | MCU_GPIO0_13 |
++----------+---------------+---------------+-----------------+----------------+
+| MODE 8 | EQEP2_A | ~ | MCASP1_ACLKR | ~ |
++----------+---------------+---------------+-----------------+----------------+
+
+
+P1.27 - P1.28
+-------------
+
++---------+-------+
+| Pin | P1.27 |
++=========+=======+
+| Signal | AIN4 |
++---------+-------+
+
++----------+----------------+-----------------+----------------+
+| Pin | P1.27 | P1.28 | P1.28A |
++==========+================+=================+================+
+| GPIO | GPIO1_3 | GPIO0_43 | MCU_GPIO0_14 |
++----------+----------------+-----------------+----------------+
+| BALL | AE23 | K22 | B3 |
++----------+----------------+-----------------+----------------+
+| Register | PADCONFIG97 | PADCONFIG44 | MCU_PADCONFIG14|
++----------+----------------+-----------------+----------------+
+| Address | 0x000F4184 | 0x000F40B0 | 0x04084038 |
++----------+----------------+-----------------+----------------+
+| Page | 41 | 49 | 43 |
++----------+----------------+-----------------+----------------+
+| MODE 0 | RGMII2_RD0 | GPMC0_CSn2 | MCU_MCAN0_RX |
++----------+----------------+-----------------+----------------+
+| MODE 1 | RMII2_RXD0 | I2C2_SCL | MCU_TIMER_IO0 |
++----------+----------------+-----------------+----------------+
+| MODE 2 | MCASP2_AXR2 | MCASP1_AXR4 | MCU_SPI1_CS3 |
++----------+----------------+-----------------+----------------+
+| MODE 3 | PR0_PRU0_GPO2 | UART4_RXD | ~ |
++----------+----------------+-----------------+----------------+
+| MODE 4 | PR0_PRU0_GPI2 | PR0_PRU0_GPO19 | ~ |
++----------+----------------+-----------------+----------------+
+| MODE 5 | ~ | PR0_PRU0_GPI19 | ~ |
++----------+----------------+-----------------+----------------+
+| MODE 6 | PR0_UART0_RTSn | TRC_DATA17 | ~ |
++----------+----------------+-----------------+----------------+
+| MODE 7 | GPIO1_3 | GPIO0_43 | MCU_GPIO0_14 |
++----------+----------------+-----------------+----------------+
+| MODE 8 | ~ | MCASP1_AFSR | ~ |
++----------+----------------+-----------------+----------------+
+
+P1.29 - P1.31
+-------------
+
++----------+----------------+-------------------+----------------+
+| Pin | P1.29 | P1.30 | P1.31 |
++==========+================+===================+================+
+| GPIO | GPIO0_62 | GPIO1_21 | GPIO0_59 |
++----------+----------------+-------------------+----------------+
+| BALL | Y20 | E14 | Y22 |
++----------+----------------+-------------------+----------------+
+| Register | PADCONFIG63 | PADCONFIG115 | PADCONFIG60 |
++----------+----------------+-------------------+----------------+
+| Address | 0x000F40FC | 0x000F41CC | 0x000F40F0 |
++----------+----------------+-------------------+----------------+
+| Page | 46 | 45 | 51 |
++----------+----------------+-------------------+----------------+
+| MODE 0 | VOUT0_DE | UART0_TXD | VOUT0_DATA14 |
++----------+----------------+-------------------+----------------+
+| MODE 1 | GPMC0_A17 | ECAP2_IN_APWM_OUT | GPMC0_A14 |
++----------+----------------+-------------------+----------------+
+| MODE 2 | PR0_PRU1_GPO17 | SPI2_D1 | PR0_PRU1_GPO13 |
++----------+----------------+-------------------+----------------+
+| MODE 3 | PR0_PRU1_GPI17 | EHRPWM2_B | PR0_PRU1_GPI13 |
++----------+----------------+-------------------+----------------+
+| MODE 4 | UART3_CTSn | ~ | UART4_RTSn |
++----------+----------------+-------------------+----------------+
+| MODE 5 | PR0_PRU0_GPO7 | ~ | PR0_PRU0_GPO4 |
++----------+----------------+-------------------+----------------+
+| MODE 6 | PR0_PRU0_GPI7 | ~ | PR0_PRU0_GPI4 |
++----------+----------------+-------------------+----------------+
+| MODE 7 | GPIO0_62 | GPIO1_21 | GPIO0_59 |
++----------+----------------+-------------------+----------------+
+| MODE 8 | ~ | ~ | ~ |
++----------+----------------+-------------------+----------------+
+
+P1.32 - P1.33
+-------------
+
++----------+-------------------+---------------+----------------+
+| Pin | P1.32 | P1.33 | P1.33A |
++==========+===================+===============+================+
+| GPIO | GPIO1_20 | GPIO1_29 | GPIO0_56 |
++----------+-------------------+---------------+----------------+
+| BALL | D14 | A17 | AA23 |
++----------+-------------------+---------------+----------------+
+| Register | PADCONFIG114 | PADCONFIG123 | PADCONFIG57 |
++----------+-------------------+---------------+----------------+
+| Address | 0x000F41C8 | 0x000F41EC | 0x000F40E4 |
++----------+-------------------+---------------+----------------+
+| Page | 44 | 27 | 50 |
++----------+-------------------+---------------+----------------+
+| MODE 0 | UART0_RXD | I2C1_SDA | VOUT0_DATA11 |
++----------+-------------------+---------------+----------------+
+| MODE 1 | ECAP1_IN_APWM_OUT | UART1_TXD | GPMC0_A11 |
++----------+-------------------+---------------+----------------+
+| MODE 2 | SPI2_D0 | TIMER_IO1 | PR0_PRU1_GPO10 |
++----------+-------------------+---------------+----------------+
+| MODE 3 | EHRPWM2_A | SPI2_CLK | PR0_PRU1_GPI10 |
++----------+-------------------+---------------+----------------+
+| MODE 4 | ~ | EHRPWM0_SYNCO | UART6_CTSn |
++----------+-------------------+---------------+----------------+
+| MODE 5 | ~ | ~ | PR0_PRU0_GPO1 |
++----------+-------------------+---------------+----------------+
+| MODE 6 | ~ | ~ | PR0_PRU0_GPI1 |
++----------+-------------------+---------------+----------------+
+| MODE 7 | GPIO1_20 | GPIO1_29 | GPIO0_56 |
++----------+-------------------+---------------+----------------+
+| MODE 8 | ~ | EHRPWM2_B | ~ |
++----------+-------------------+---------------+----------------+
+| MODE 9 | ~ | MMC2_SDWP | ~ |
++----------+-------------------+---------------+----------------+
+
+P1.34 - P1.36
+-------------
+
++----------+-------------------+---------------+---------------+---------------+
+| Pin | P1.34 | P1.35 | P1.36 | P1.36A |
++==========+===================+===============+===============+===============+
+| GPIO | GPIO1_2 | GPIO0_88 | GPIO0_55 | GPIO1_28 |
++----------+-------------------+---------------+---------------+---------------+
+| BALL | AD23 | AE21 | V20 | B17 |
++----------+-------------------+---------------+---------------+---------------+
+| Register | PADCONFIG96 | PADCONFIG90 | PADCONFIG56 | PADCONFIG122 |
++----------+-------------------+---------------+---------------+---------------+
+| Address | 0x000F4180 | 0x000F4168 | 0x000F40E0 | 0x000F41E8 |
++----------+-------------------+---------------+---------------+---------------+
+| Page | 40 | 40 | 50 | 27 |
++----------+-------------------+---------------+---------------+---------------+
+| MODE 0 | RGMII2_RXC | RGMII2_TXC | VOUT0_DATA10 | I2C1_SCL |
++----------+-------------------+---------------+---------------+---------------+
+| MODE 1 | RMII2_REF_CLK | RMII2_CRS_DV | GPMC0_A10 | UART1_RXD |
++----------+-------------------+---------------+---------------+---------------+
+| MODE 2 | MCASP2_AXR1 | MCASP2_AXR5 | PR0_PRU1_GPO9 | TIMER_IO0 |
++----------+-------------------+---------------+---------------+---------------+
+| MODE 3 | PR0_PRU0_GPO1 | PR0_PRU1_GPO1 | PR0_PRU1_GPI9 | SPI2_CS1 |
++----------+-------------------+---------------+---------------+---------------+
+| MODE 4 | PR0_PRU0_GPI1 | PR0_PRU1_GPI1 | UART6_RTSn | EHRPWM0_SYNCI |
++----------+-------------------+---------------+---------------+---------------+
+| MODE 5 | PR0_ECAP0_SYNC_IN | ~ | PR0_PRU0_GPO0 | ~ |
++----------+-------------------+---------------+---------------+---------------+
+| MODE 6 | ~ | ~ | PR0_PRU0_GPI0 | ~ |
++----------+-------------------+---------------+---------------+---------------+
+| MODE 7 | GPIO1_2 | GPIO0_88 | GPIO0_55 | GPIO1_28 |
++----------+-------------------+---------------+---------------+---------------+
+| MODE 8 | ~ | ~ | ~ | EHRPWM2_A |
++----------+-------------------+---------------+---------------+---------------+
+| MODE 9 | ~ | ~ | ~ | MMC2_SDCD |
++----------+-------------------+---------------+---------------+---------------+
+
+
+Connector P2
+==============
+
+The following tables show the pinout of the **P2** expansion header. The
+SW is responsible for setting the default function of each pin. Refer to
+the processor documentation for more information on these pins and
+detailed descriptions of all of the pins listed. In some cases there may
+not be enough signals to complete a group of signals that may be
+required to implement a total interface.
+
+The column heading is the pin number on the expansion header.
+
+The **GPIO** row is the expected gpio identifier number in the Linux
+kernel.
+
+Each row includes the gpiochipX and pinY in the format of
+`X Y`. You can use these values to directly control the GPIO pins with the
+commands shown below.
+
+.. code:: shell-session
+
+ # to set the GPIO pin state to HIGH
+ debian@BeagleBone:~$ gpioset X Y=1
+
+ # to set the GPIO pin state to LOW
+ debian@BeagleBone:~$ gpioset X Y=0
+
+ For Example:
+
+ +---------+----------+
+ | Pin | P2.11 |
+ +=========+==========+
+ | GPIO | 1 1 |
+ +---------+----------+
+
+ Use the commands below for controlling this pin (P2.11) where X = 1 and Y = 1
+
+ # to set the GPIO pin state to HIGH
+ debian@BeagleBone:~$ gpioset 1 20=1
+
+ # to set the GPIO pin state to LOW
+ debian@BeagleBone:~$ gpioset 1 20=0
+
+The **BALL** row is the pin number on the processor.
+
+The **REG** row is the offset of the control register for the processor
+pin.
+
+The **MODE #** rows are the mode setting for each pin. Setting each mode
+to align with the mode column will give that function on that pin.
+
+If included, the **2nd BALL** row is the pin number on the processor for
+a second processor pin connected to the same pin on the expansion
+header. Similarly, all row headings starting with **2nd** refer to data
+for this second processor pin.
+
+.. important::
+
+ **DO NOT APPLY VOLTAGE TO ANY I/O PIN WHEN POWER IS NOT SUPPLIED TO THE
+ BOARD. IT WILL DAMAGE THE PROCESSOR AND VOID THE WARRANTY.**
+
+ **NO PINS ARE TO BE DRIVEN UNTIL AFTER THE SYS_RESET LINE GOES HIGH.**
+
+
+P2.01 - P2.02
+-------------
+
++----------+-------------------+-------------------+---------------+
+| Pin | P2.01 | P2.01A | P2.02 |
++==========+===================+===================+===============+
+| GPIO | GPIO1_11 | GPIO0_86 | GPIO0_45 |
++----------+-------------------+-------------------+---------------+
+| BALL | B20 | AD24 | U22 |
++----------+-------------------+-------------------+---------------+
+| Register | PADCONFIG105 | PADCONFIG88 | PADCONFIG46 |
++----------+-------------------+-------------------+---------------+
+| Address | 0x000F41A4 | 0x000F4160 | 0x000F40B8 |
++----------+-------------------+-------------------+---------------+
+| Page | 28 | 32 | 47 |
++----------+-------------------+-------------------+---------------+
+| MODE 0 | MCASP0_ACLKX | MDIO0_MDC | VOUT0_DATA0 |
++----------+-------------------+-------------------+---------------+
+| MODE 1 | SPI2_CS1 | ~ | GPMC0_A0 |
++----------+-------------------+-------------------+---------------+
+| MODE 2 | ECAP2_IN_APWM_OUT | ~ | PR0_PRU1_GPO0 |
++----------+-------------------+-------------------+---------------+
+| MODE 3 | ~ | ~ | PR0_PRU1_GPI0 |
++----------+-------------------+-------------------+---------------+
+| MODE 4 | ~ | ~ | UART2_RXD |
++----------+-------------------+-------------------+---------------+
+| MODE 5 | ~ | ~ | PR0_PRU0_GPO8 |
++----------+-------------------+-------------------+---------------+
+| MODE 6 | ~ | ~ | PR0_PRU0_GPI8 |
++----------+-------------------+-------------------+---------------+
+| MODE 7 | GPIO1_11 | GPIO0_86 | GPIO0_45 |
++----------+-------------------+-------------------+---------------+
+| MODE 8 | EQEP1_A | ~ | ~ |
++----------+-------------------+-------------------+---------------+
+
+P2.03 - P2.04
+-------------
+
++----------+-------------------+-------------+---------------+
+| Pin | P2.03A | P2.03 | P2.04 |
++==========+===================+=============+===============+
+| GPIO | GPIO1_9 | GPIO0_85 | GPIO0_46 |
++----------+-------------------+-------------+---------------+
+| BALL | B18 | AB22 | V24 |
++----------+-------------------+-------------+---------------+
+| Register | PADCONFIG103 | PADCONFIG87 | PADCONFIG47 |
++----------+-------------------+-------------+---------------+
+| Address | 0x000F419C | 0x000F415C | 0x000F40BC |
++----------+-------------------+-------------+---------------+
+| Page | 29 | 32 | 48 |
++----------+-------------------+-------------+---------------+
+| MODE 0 | MCASP0_AXR1 | MDIO0_MDIO | VOUT0_DATA1 |
++----------+-------------------+-------------+---------------+
+| MODE 1 | SPI2_CS2 | ~ | GPMC0_A1 |
++----------+-------------------+-------------+---------------+
+| MODE 2 | ECAP1_IN_APWM_OUT | ~ | PR0_PRU1_GPO1 |
++----------+-------------------+-------------+---------------+
+| MODE 3 | ~ | ~ | PR0_PRU1_GPI1 |
++----------+-------------------+-------------+---------------+
+| MODE 4 | ~ | ~ | UART2_TXD |
++----------+-------------------+-------------+---------------+
+| MODE 5 | PR0_UART0_RXD | ~ | PR0_PRU0_GPO9 |
++----------+-------------------+-------------+---------------+
+| MODE 6 | EHRPWM1_A | ~ | PR0_PRU0_GPI9 |
++----------+-------------------+-------------+---------------+
+| MODE 7 | GPIO1_9 | GPIO0_85 | GPIO0_46 |
++----------+-------------------+-------------+---------------+
+| MODE 8 | EQEP0_S | ~ | ~ |
++----------+-------------------+-------------+---------------+
+
+
+P2.05 - P2.06
+-------------
+
++----------+----------------+----------------+----------------+
+| Pin | P2.05 | P2.05A | P2.06 |
++==========+================+================+================+
+| GPIO | GPIO1_24 | MCU_GPIO0_5 | GPIO0_47 |
++----------+----------------+----------------+----------------+
+| BALL | C15 | B5 | W25 |
++----------+----------------+----------------+----------------+
+| Register | PADCONFIG118 | MCU_PADCONFIG5 | PADCONFIG48 |
++----------+----------------+----------------+----------------+
+| Address | 0x000F41D8 | 0x04084014 | 0x000F40C0 |
++----------+----------------+----------------+----------------+
+| Page | 28 | 32 | 48 |
++----------+----------------+----------------+----------------+
+| MODE 0 | MCAN0_TX | MCU_UART0_RXD | VOUT0_DATA2 |
++----------+----------------+----------------+----------------+
+| MODE 1 | UART5_RXD | ~ | GPMC0_A2 |
++----------+----------------+----------------+----------------+
+| MODE 2 | TIMER_IO2 | ~ | PR0_PRU1_GPO2 |
++----------+----------------+----------------+----------------+
+| MODE 3 | SYNC2_OUT | ~ | PR0_PRU1_GPI2 |
++----------+----------------+----------------+----------------+
+| MODE 4 | UART1_DTRn | ~ | UART3_RXD |
++----------+----------------+----------------+----------------+
+| MODE 5 | EQEP2_I | ~ | PR0_PRU0_GPO10 |
++----------+----------------+----------------+----------------+
+| MODE 6 | PR0_UART0_RXD | ~ | PR0_PRU0_GPI10 |
++----------+----------------+----------------+----------------+
+| MODE 7 | GPIO1_24 | MCU_GPIO0_5 | GPIO0_47 |
++----------+----------------+----------------+----------------+
+| MODE 8 | MCASP2_AXR0 | ~ | ~ |
++----------+----------------+----------------+----------------+
+| MODE 9 | EHRPWM_TZn_IN3 | ~ | ~ |
++----------+----------------+----------------+----------------+
+
+
+P2.07 - P2.08
+-------------
+
++----------+----------------+----------------+----------------+
+| Pin | P2.07 | P2.07A | P2.08 |
++==========+================+================+================+
+| GPIO | GPIO1_25 | MCU_GPIO0_6 | GPIO0_48 |
++----------+----------------+----------------+----------------+
+| BALL | E15 | A5 | W24 |
++----------+----------------+----------------+----------------+
+| Register | PADCONFIG119 | MCU_PADCONFIG6 | PADCONFIG49 |
++----------+----------------+----------------+----------------+
+| Address | 0x000F41DC | 0x04084018 | 0x000F40C4 |
++----------+----------------+----------------+----------------+
+| Page | 28 | 32 | 48 |
++----------+----------------+----------------+----------------+
+| MODE 0 | MCAN0_RX | MCU_UART0_TXD | VOUT0_DATA3 |
++----------+----------------+----------------+----------------+
+| MODE 1 | UART5_TXD | ~ | GPMC0_A3 |
++----------+----------------+----------------+----------------+
+| MODE 2 | TIMER_IO3 | ~ | PR0_PRU1_GPO3 |
++----------+----------------+----------------+----------------+
+| MODE 3 | SYNC3_OUT | ~ | PR0_PRU1_GPI3 |
++----------+----------------+----------------+----------------+
+| MODE 4 | UART1_RIn | ~ | UART3_TXD |
++----------+----------------+----------------+----------------+
+| MODE 5 | EQEP2_S | ~ | PR0_PRU0_GPO11 |
++----------+----------------+----------------+----------------+
+| MODE 6 | PR0_UART0_TXD | ~ | PR0_PRU0_GPI11 |
++----------+----------------+----------------+----------------+
+| MODE 7 | GPIO1_25 | MCU_GPIO0_6 | GPIO0_48 |
++----------+----------------+----------------+----------------+
+| MODE 8 | MCASP2_AXR1 | ~ | ~ |
++----------+----------------+----------------+----------------+
+| MODE 9 | EHRPWM_TZn_IN4 | ~ | ~ |
++----------+----------------+----------------+----------------+
+
+
+P2.09 - P2.10
+-------------
+
++----------+--------------------+-----------------+-----------------------+
+| Pin | P2.09 | P2.09A | P2.10 |
++==========+====================+=================+=======================+
+| GPIO | GPIO1_22 | MCU_GPIO0_16 | GPIO0_91 |
++----------+--------------------+-----------------+-----------------------+
+| BALL | A15 | D4 | AD21 |
++----------+--------------------+-----------------+-----------------------+
+| Register | PADCONFIG116 | MCU_PADCONFIG16 | PADCONFIG93 |
++----------+--------------------+-----------------+-----------------------+
+| Address | 0x000F41D0 | 0x04084040 | 0x000F4174 |
++----------+--------------------+-----------------+-----------------------+
+| Page | 44 | 30 | 42 |
++----------+--------------------+-----------------+-----------------------+
+| MODE 0 | UART0_CTSn | MCU_MCAN1_RX | RGMII2_TD2 |
++----------+--------------------+-----------------+-----------------------+
+| MODE 1 | SPI0_CS2 | MCU_TIMER_IO3 | ~ |
++----------+--------------------+-----------------+-----------------------+
+| MODE 2 | I2C3_SCL | MCU_SPI0_CS2 | MCASP2_AFSX |
++----------+--------------------+-----------------+-----------------------+
+| MODE 3 | UART2_RXD | MCU_SPI1_CS2 | PR0_PRU1_GPO4 |
++----------+--------------------+-----------------+-----------------------+
+| MODE 4 | TIMER_IO6 | MCU_SPI1_CLK | PR0_PRU1_GPI4 |
++----------+--------------------+-----------------+-----------------------+
+| MODE 5 | AUDIO_EXT_REFCLK0 | ~ | PR0_ECAP0_IN_APWM_OUT |
++----------+--------------------+-----------------+-----------------------+
+| MODE 6 | PR0_ECAP0_SYNC_OUT | ~ | ~ |
++----------+--------------------+-----------------+-----------------------+
+| MODE 7 | GPIO1_22 | MCU_GPIO0_16 | GPIO0_91 |
++----------+--------------------+-----------------+-----------------------+
+| MODE 8 | MCASP2_AFSX | ~ | EQEP2_I |
++----------+--------------------+-----------------+-----------------------+
+| MODE 9 | MMC2_SDCD | ~ | ~ |
++----------+--------------------+-----------------+-----------------------+
+
+P2.11 - P2.17
+-------------
+
++----------+----------------+----------------+----------------+----------------+-------------------+
+| Pin | P2.12 | P2.13 | P2.14 | P2.15 | P2.16 |
++==========+================+================+================+================+===================+
+| Signal | PWR.BTN | VOUT - VSYS | VBAT | GND | BAT.TEMP - BAT_TS |
++----------+----------------+----------------+----------------+----------------+-------------------+
+
++----------+-----------------------+-----------------+-----------------------+
+| Pin | P2.11 | P2.11A | P2.17 |
++==========+=======================+=================+=======================+
+| GPIO | GPIO1_23 | MCU_GPIO0_15 | GPIO0_64 |
++----------+-----------------------+-----------------+-----------------------+
+| BALL | B15 | E5 | AC24 |
++----------+-----------------------+-----------------+-----------------------+
+| Register | PADCONFIG117 | MCU_PADCONFIG15 | PADCONFIG65 |
++----------+-----------------------+-----------------+-----------------------+
+| Address | 0x000F41D4 | 0x0408403C | 0x000F4104 |
++----------+-----------------------+-----------------+-----------------------+
+| Page | 44 | 31 | 47 |
++----------+-----------------------+-----------------+-----------------------+
+| MODE 0 | UART0_RTSn | MCU_MCAN1_TX | VOUT0_PCLK |
++----------+-----------------------+-----------------+-----------------------+
+| MODE 1 | SPI0_CS3 | MCU_TIMER_IO2 | GPMC0_A19 |
++----------+-----------------------+-----------------+-----------------------+
+| MODE 2 | I2C3_SDA | ~ | PR0_PRU1_GPO19 |
++----------+-----------------------+-----------------+-----------------------+
+| MODE 3 | UART2_TXD | MCU_SPI1_CS1 | PR0_PRU1_GPI19 |
++----------+-----------------------+-----------------+-----------------------+
+| MODE 4 | TIMER_IO7 | MCU_EXT_REFCLK0 | UART2_CTSn |
++----------+-----------------------+-----------------+-----------------------+
+| MODE 5 | AUDIO_EXT_REFCLK1 | ~ | PR0_PRU0_GPO19 |
++----------+-----------------------+-----------------+-----------------------+
+| MODE 6 | PR0_ECAP0_IN_APWM_OUT | ~ | PR0_PRU0_GPI19 |
++----------+-----------------------+-----------------+-----------------------+
+| MODE 7 | GPIO1_23 | MCU_GPIO0_15 | GPIO0_64 |
++----------+-----------------------+-----------------+-----------------------+
+| MODE 8 | MCASP2_ACLKX | ~ | PR0_ECAP0_IN_APWM_OUT |
++----------+-----------------------+-----------------+-----------------------+
+| MODE 9 | MMC2_SDWP | ~ | ~ |
++----------+-----------------------+-----------------+-----------------------+
+
+
+P2.18 - P2.23
+-------------
+
++---------+-------+---------+
+| Pin | P1.21 | P2.23 |
++=========+=======+=========+
+| Signal | GND | VDD_3V3 |
++---------+-------+---------+
+
++----------+----------------+--------------------+----------------+----------------+
+| Pin | P2.18 | P2.19 | P2.20 | P2.22 |
++==========+================+====================+================+================+
+| GPIO | GPIO0_53 | GPIO1_0 | GPIO0_49 | GPIO0_63 |
++----------+----------------+--------------------+----------------+----------------+
+| BALL | V21 | AC20 | Y25 | AC25 |
++----------+----------------+--------------------+----------------+----------------+
+| Register | PADCONFIG54 | PADCONFIG94 | PADCONFIG50 | PADCONFIG64 |
++----------+----------------+--------------------+----------------+----------------+
+| Address | 0x000F40D8 | 0x000F4178 | 0x000F40C8 | 0x000F4100 |
++----------+----------------+--------------------+----------------+----------------+
+| Page | 49 | 42 | 48 | 47 |
++----------+----------------+--------------------+----------------+----------------+
+| MODE 0 | VOUT0_DATA8 | RGMII2_TD3 | VOUT0_DATA4 | VOUT0_VSYNC |
++----------+----------------+--------------------+----------------+----------------+
+| MODE 1 | GPMC0_A8 | ~ | GPMC0_A4 | GPMC0_A18 |
++----------+----------------+--------------------+----------------+----------------+
+| MODE 2 | PR0_PRU1_GPO16 | MCASP2_ACLKX | PR0_PRU1_GPO4 | PR0_PRU1_GPO18 |
++----------+----------------+--------------------+----------------+----------------+
+| MODE 3 | PR0_PRU1_GPI16 | PR0_PRU1_GPO16 | PR0_PRU1_GPI4 | PR0_PRU1_GPI18 |
++----------+----------------+--------------------+----------------+----------------+
+| MODE 4 | UART6_RXD | PR0_PRU1_GPI16 | UART4_RXD | UART2_RTSn |
++----------+----------------+--------------------+----------------+----------------+
+| MODE 5 | PR0_PRU0_GPO17 | PR0_ECAP0_SYNC_OUT | PR0_PRU0_GPO12 | PR0_PRU0_GPO18 |
++----------+----------------+--------------------+----------------+----------------+
+| MODE 6 | PR0_PRU0_GPI17 | PR0_UART0_CTSn | PR0_PRU0_GPI12 | PR0_PRU0_GPI18 |
++----------+----------------+--------------------+----------------+----------------+
+| MODE 7 | GPIO0_53 | GPIO1_0 | GPIO0_49 | GPIO0_63 |
++----------+----------------+--------------------+----------------+----------------+
+| MODE 8 | ~ | EQEP2_S | ~ | ~ |
++----------+----------------+--------------------+----------------+----------------+
+
+P2.24 - P2.27
+-------------
+
++---------+-------------------+
+| Pin | P1.26 |
++=========+===================+
+| Signal | RESET# - nRESET |
++---------+-------------------+
+
++----------+----------------+--------------------------+--------------------------+
+| Pin | P2.24 | P2.25 | P2.27 |
++==========+================+==========================+==========================+
+| GPIO | GPIO0_51 | GPIO1_19 | GPIO1_18 |
++----------+----------------+--------------------------+--------------------------+
+| BALL | Y23 | B14 | B13 |
++----------+----------------+--------------------------+--------------------------+
+| Register | PADCONFIG52 | PADCONFIG113 | PADCONFIG112 |
++----------+----------------+--------------------------+--------------------------+
+| Address | 0x000F40D0 | 0x000F41C4 | 0x000F41C0 |
++----------+----------------+--------------------------+--------------------------+
+| Page | 49 | 43 | 43 |
++----------+----------------+--------------------------+--------------------------+
+| MODE 0 | VOUT0_DATA6 | SPI0_D1 | SPI0_D0 |
++----------+----------------+--------------------------+--------------------------+
+| MODE 1 | GPMC0_A6 | CP_GEMAC_CPTS0_HW2TSPUSH | CP_GEMAC_CPTS0_HW1TSPUSH |
++----------+----------------+--------------------------+--------------------------+
+| MODE 2 | PR0_PRU1_GPO6 | EHRPWM_TZn_IN0 | EHRPWM1_B |
++----------+----------------+--------------------------+--------------------------+
+| MODE 3 | PR0_PRU1_GPI6 | ~ | ~ |
++----------+----------------+--------------------------+--------------------------+
+| MODE 4 | UART5_RXD | ~ | ~ |
++----------+----------------+--------------------------+--------------------------+
+| MODE 5 | PR0_PRU0_GPO14 | ~ | ~ |
++----------+----------------+--------------------------+--------------------------+
+| MODE 6 | PR0_PRU0_GPI14 | ~ | ~ |
++----------+----------------+--------------------------+--------------------------+
+| MODE 7 | GPIO0_51 | GPIO1_19 | GPIO1_18 |
++----------+----------------+--------------------------+--------------------------+
+| MODE 8 | ~ | ~ | ~ |
++----------+----------------+--------------------------+--------------------------+
+
+P2.28 - P2.39
+-------------
+
++----------+----------------+------------------------+-----------------------+
+| Pin | P2.28 | P2.29 | P2.29A |
++==========+================+========================+=======================+
+| GPIO | GPIO0_61 | GPIO1_17 | GPIO0_40 |
++----------+----------------+------------------------+-----------------------+
+| BALL | AB24 | A14 | M22 |
++----------+----------------+------------------------+-----------------------+
+| Register | PADCONFIG62 | PADCONFIG111 | PADCONFIG41 |
++----------+----------------+------------------------+-----------------------+
+| Address | 0x000F40F8 | 0x000F41BC | 0x000F40A4 |
++----------+----------------+------------------------+-----------------------+
+| Page | 47 | 43 | 20 |
++----------+----------------+------------------------+-----------------------+
+| MODE 0 | VOUT0_HSYNC | SPI0_CLK | GPMC0_DIR |
++----------+----------------+------------------------+-----------------------+
+| MODE 1 | GPMC0_A16 | CP_GEMAC_CPTS0_TS_SYNC | PR0_ECAP0_IN_APWM_OUT |
++----------+----------------+------------------------+-----------------------+
+| MODE 2 | PR0_PRU1_GPO15 | EHRPWM1_A | ~ |
++----------+----------------+------------------------+-----------------------+
+| MODE 3 | PR0_PRU1_GPI15 | ~ | MCASP2_AXR13 |
++----------+----------------+------------------------+-----------------------+
+| MODE 4 | UART3_RTSn | ~ | PR0_PRU0_GPO16 |
++----------+----------------+------------------------+-----------------------+
+| MODE 5 | PR0_PRU0_GPO6 | ~ | PR0_PRU0_GPI16 |
++----------+----------------+------------------------+-----------------------+
+| MODE 6 | PR0_PRU0_GPI6 | ~ | TRC_DATA14 |
++----------+----------------+------------------------+-----------------------+
+| MODE 7 | GPIO0_61 | GPIO1_17 | GPIO0_40 |
++----------+----------------+------------------------+-----------------------+
+| MODE 8 | ~ | ~ | EQEP2_S |
++----------+----------------+------------------------+-----------------------+
+
+P2.30 - P2.31
+-------------
+
++----------+----------------+-------------------+---------------+
+| Pin | P2.30 | P2.31 | P2.31A |
++==========+================+===================+===============+
+| GPIO | GPIO0_58 | GPIO1_15 | GPIO0_90 |
++----------+----------------+-------------------+---------------+
+| BALL | AA24 | A13 | AA18 |
++----------+----------------+-------------------+---------------+
+| Register | PADCONFIG59 | PADCONFIG109 | PADCONFIG92 |
++----------+----------------+-------------------+---------------+
+| Address | 0x000F40EC | 0x000F41B4 | 0x000F4170 |
++----------+----------------+-------------------+---------------+
+| Page | 51 | 42 | 42 |
++----------+----------------+-------------------+---------------+
+| MODE 0 | VOUT0_DATA13 | SPI0_CS0 | RGMII2_TD1 |
++----------+----------------+-------------------+---------------+
+| MODE 1 | GPMC0_A13 | ~ | RMII2_TXD1 |
++----------+----------------+-------------------+---------------+
+| MODE 2 | PR0_PRU1_GPO12 | EHRPWM0_A | MCASP2_ACLKR |
++----------+----------------+-------------------+---------------+
+| MODE 3 | PR0_PRU1_GPI12 | ~ | PR0_PRU1_GPO3 |
++----------+----------------+-------------------+---------------+
+| MODE 4 | UART5_CTSn | ~ | PR0_PRU1_GPI3 |
++----------+----------------+-------------------+---------------+
+| MODE 5 | PR0_PRU0_GPO3 | ~ | MCASP2_AXR8 |
++----------+----------------+-------------------+---------------+
+| MODE 6 | PR0_PRU0_GPI3 | PR0_ECAP0_SYNC_IN | ~ |
++----------+----------------+-------------------+---------------+
+| MODE 7 | GPIO0_58 | GPIO1_15 | GPIO0_90 |
++----------+----------------+-------------------+---------------+
+
+P2.32 - P2.34
+-------------
+
++----------+----------------+----------------+----------------+
+| Pin | P2.32 | P2.33 | P2.34 |
++==========+================+================+================+
+| GPIO | GPIO0_57 | GPIO0_52 | GPIO0_60 |
++----------+----------------+----------------+----------------+
+| BALL | AB25 | AA25 | AA21 |
++----------+----------------+----------------+----------------+
+| Register | PADCONFIG58 | PADCONFIG53 | PADCONFIG61 |
++----------+----------------+----------------+----------------+
+| Address | 0x000F40E8 | 0x000F40D4 | 0x000F40F4 |
++----------+----------------+----------------+----------------+
+| Page | 50 | 49 | 51 |
++----------+----------------+----------------+----------------+
+| MODE 0 | VOUT0_DATA12 | VOUT0_DATA7 | VOUT0_DATA15 |
++----------+----------------+----------------+----------------+
+| MODE 1 | GPMC0_A12 | GPMC0_A7 | GPMC0_A15 |
++----------+----------------+----------------+----------------+
+| MODE 2 | PR0_PRU1_GPO11 | PR0_PRU1_GPO7 | PR0_PRU1_GPO14 |
++----------+----------------+----------------+----------------+
+| MODE 3 | PR0_PRU1_GPI11 | PR0_PRU1_GPI7 | PR0_PRU1_GPI14 |
++----------+----------------+----------------+----------------+
+| MODE 4 | UART5_RTSn | UART5_TXD | UART4_CTSn |
++----------+----------------+----------------+----------------+
+| MODE 5 | PR0_PRU0_GPO2 | PR0_PRU0_GPO15 | PR0_PRU0_GPO5 |
++----------+----------------+----------------+----------------+
+| MODE 6 | PR0_PRU0_GPI2 | PR0_PRU0_GPI15 | PR0_PRU0_GPI5 |
++----------+----------------+----------------+----------------+
+| MODE 7 | GPIO0_57 | GPIO0_52 | GPIO0_60 |
++----------+----------------+----------------+----------------+
+
+P2.35 - P2.36
+-------------
+
++----------+----------------+------------------------+
+| Pin | P2.35 | P2.36 |
++==========+================+========================+
+| Signal | AIN5 | AIN7 |
++----------+----------------+------------------------+
+
++----------+----------------+------------------------+
+| Pin | P2.35 | P2.36 |
++==========+================+========================+
+| GPIO | GPIO0_54 | GPIO1_16 |
++----------+----------------+------------------------+
+| BALL | W21 | C13 |
++----------+----------------+------------------------+
+| Register | PADCONFIG55 | PADCONFIG110 |
++----------+----------------+------------------------+
+| Address | 0x000F40DC | 0x000F41B8 |
++----------+----------------+------------------------+
+| Page | 50 | 43 |
++----------+----------------+------------------------+
+| MODE 0 | VOUT0_DATA9 | SPI0_CS1 |
++----------+----------------+------------------------+
+| MODE 1 | GPMC0_A9 | CP_GEMAC_CPTS0_TS_COMP |
++----------+----------------+------------------------+
+| MODE 2 | PR0_PRU1_GPO8 | EHRPWM0_B |
++----------+----------------+------------------------+
+| MODE 3 | PR0_PRU1_GPI8 | ECAP0_IN_APWM_OUT |
++----------+----------------+------------------------+
+| MODE 4 | UART6_TXD | ~ |
++----------+----------------+------------------------+
+| MODE 5 | PR0_PRU0_GPO16 | ~ |
++----------+----------------+------------------------+
+| MODE 6 | PR0_PRU0_GPI16 | ~ |
++----------+----------------+------------------------+
+| MODE 7 | GPIO0_54 | GPIO1_16 |
++----------+----------------+------------------------+
+| MODE 8 | ~ | ~ |
++----------+----------------+------------------------+
+| MODE 9 | ~ | EHRPWM_TZn_IN5 |
++----------+----------------+------------------------+
+
diff --git a/boards/pocketbeagle-2/05-demos-and-tutorials.rst b/boards/pocketbeagle-2/05-demos-and-tutorials.rst
new file mode 100644
index 0000000000000000000000000000000000000000..e85e94b3c5e5fcfcfb8f5bc10de23738ae040a2f
--- /dev/null
+++ b/boards/pocketbeagle-2/05-demos-and-tutorials.rst
@@ -0,0 +1,6 @@
+.. _pocketbeagle-2-demos-and-tutorials:
+
+Demos and Tutorials
+###################
+
+.. todo:: Add PocketBeagle 2 demos and tutorials.
diff --git a/boards/pocketbeagle-2/06-support.rst b/boards/pocketbeagle-2/06-support.rst
new file mode 100644
index 0000000000000000000000000000000000000000..aed30210fd1f8654618d3f538627fdcba3e27d77
--- /dev/null
+++ b/boards/pocketbeagle-2/06-support.rst
@@ -0,0 +1,112 @@
+.. _pocketbeagle-2-support:
+
+Additional Support Information
+##############################
+
+All support for this design is through BeagleBoard.org community
+at `BeagleBoard.org forum <https://forum.beagleboard.org/tag/pocketbeagle-2>`_.
+
+.. _pocketbeagle-2-certifications:
+
+Certifications and export control
+*********************************
+
+Export designations
+===================
+
+* ECCN: 3A991.a
+* HSCODE: 8517180050
+* USHSCODE: 8543708800
+* EUHSCODE: 8543709099
+* UPC number: 841454123484
+
+.. _pocketbeagle-2-hardware-design:
+
+Hardware Design
+****************
+
+You can find all PocketBeagle 2 hardware files
+`here <https://openbeagle.org/pocketbeagle/pocketbeagle-2>`_ under the `design` folder.
+
+Production board boot media
+****************************
+
+.. todo:: Add production image link with board revision information.
+
+.. _pocketbeagle-2-software-updates:
+
+Software Updates
+******************
+
+Follow instructions below to download the latest image for your PocketBeagle 2:
+
+1. Go to `BeagleBoard.org distro <https://www.beagleboard.org/distros>`_ page.
+2. On distros page, from dropdown select PB2 and download the image.
+
+.. todo:: add distros page image selection for pocketbeagle-2
+
+.. tip::
+
+ You can follow the :ref:`flash-latest-image` guide for more information on
+ flashing the downloaded image to your board.
+
+To see what SW revision is loaded into the eMMC check `/etc/dogtag`.
+It should look something like as shown in example below,
+
+.. code-block:: shell
+
+ root@BeagleBone:~# cat /etc/dogtag
+ BeagleBoard.org Debian Image 2024-02-24
+
+.. _pocketbeagle-2-rma-support:
+
+RMA Support
+*****************
+
+If you feel your board is defective or has issues, request an Return Merchandise Application (RMA)
+by filling out the form at http://beagleboard.org/support/rma . You will need the serial number and
+revision of the board. The serial numbers and revisions keep moving. Different boards can have different
+locations depending on when they were made. The following figures show the three locations of the serial
+and revision number.
+
+.. _pocketbeagle-2-getting-help:
+
+Getting Help
+**************
+
+If you need some up to date troubleshooting techniques, you can post your
+queries on link: `BeagleBoard.org forum <https://forum.beagleboard.org/tag/pocketbeagle-2>`_
+
+.. _pocketbeagle-2-mechanical:
+
+Mechanical Details
+******************
+
+.. _pocketbeagle-2-dimensions-and-weight:
+
+Dimensions and Weight
+======================
+
+.. table:: Dimensions & weight
+
+ +--------------------+----------------------------------------------------+
+ | Parameter | Value |
+ +====================+====================================================+
+ | Size | 56 x 35mm |
+ +--------------------+----------------------------------------------------+
+ | Max heigh | 13.6 |
+ +--------------------+----------------------------------------------------+
+ | PCB Size | 55 x 35mm |
+ +--------------------+----------------------------------------------------+
+ | PCB Layers | 10--layers |
+ +--------------------+----------------------------------------------------+
+ | PCB Thickness | 1.6mm |
+ +--------------------+----------------------------------------------------+
+ | RoHS compliant | Yes |
+ +--------------------+----------------------------------------------------+
+ | Net Weight | 12.7g |
+ +--------------------+----------------------------------------------------+
+ | Gross Weight | 19g |
+ +--------------------+----------------------------------------------------+
+
+
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diff --git a/boards/pocketbeagle-2/index.rst b/boards/pocketbeagle-2/index.rst
new file mode 100644
index 0000000000000000000000000000000000000000..27542bfc353cfdf6827dfa0285d38047930f218d
--- /dev/null
+++ b/boards/pocketbeagle-2/index.rst
@@ -0,0 +1,128 @@
+.. _pocketbeagle-2-home:
+
+PocketBeagle 2
+###################
+
+PocketBeagle 2 is an upgraded version of the widely popular PocketBeagle, designed as an ultra-compact, low-cost,
+and powerful single-board computer (SBC). Targeted at developers, students, and hobbyists, PocketBeagle 2 retains
+the simplicity and flexibility of its predecessor while delivering enhanced performance and expanded features
+to support modern development needs. PocketBeagle 2 is ideal for creating IoT devices, robotics projects,
+and educational applications. Its small form factor and low power consumption make it a versatile platform
+for embedded development, whether prototyping or deploying at scale.
+
+.. image:: images/hero.*
+ :width: 740px
+ :align: center
+ :alt: PocketBeagle 2
+
+.. only:: html
+
+ .. grid:: 1 1 2 2
+ :margin: 4 4 0 0
+ :gutter: 4
+
+ .. grid-item-card::
+ :link: pocketbeagle-2-introduction
+ :link-type: ref
+
+ **1. Introduction**
+ ^^^
+
+ .. image:: images/chapter-thumbnails/01-introduction.*
+ :align: center
+ :alt: PocketBeagle 2 Chapter01 thumbnail
+
+ +++
+
+ Introduction to PocketBeagle 2 board with information on each component
+ location on both front and back of the board.
+
+ .. grid-item-card::
+ :link: pocketbeagle-2-quick-start
+ :link-type: ref
+
+ **2. Quick start**
+ ^^^
+
+ .. image:: images/chapter-thumbnails/02-quick-start.*
+ :align: center
+ :alt: PocketBeagle 2 Chapter02 thumbnail
+
+ +++
+
+ Getting started guide to enable you to start building your projects
+ in no time.
+
+ .. grid-item-card::
+ :link: pocketbeagle-2-design
+ :link-type: ref
+
+ **3. Design & Specifications**
+ ^^^
+
+ .. image:: images/chapter-thumbnails/03-design-and-specifications.*
+ :align: center
+ :alt: PocketBeagle 2 Chapter03 thumbnail
+
+ +++
+
+ Hardware and mechanical design and specifications of PocketBeagle 2 board
+ for those who want to know their board inside and out.
+
+ .. grid-item-card::
+ :link: pocketbeagle-2-expansion
+ :link-type: ref
+
+ **4. Expansion**
+ ^^^
+
+ .. image:: images/chapter-thumbnails/04-connectors-and-pinouts.*
+ :align: center
+ :alt: PocketBeagle 2 Chapter04 thumbnail
+
+ +++
+
+ Connector pinout diagrams with expansion details so that you can
+ easily debug your connections and create custom expansion hardware.
+
+ .. grid-item-card::
+ :link: pocketbeagle-2-demos-and-tutorials
+ :link-type: ref
+
+ **5. Demos**
+ ^^^
+
+ .. image:: images/chapter-thumbnails/05-demos-and-tutorials.*
+ :align: center
+ :alt: PocketBeagle 2 Chapter5 thumbnail
+
+ +++
+
+ Demos and tutorials to quickly learn about PocketBeagle 2 capabilities.
+
+ .. grid-item-card::
+ :link: pocketbeagle-2-support
+ :link-type: ref
+
+ **6. Support**
+ ^^^
+
+ .. image:: images/chapter-thumbnails/06-support-documents.*
+ :align: center
+ :alt: PocketBeagle 2 Chapter6 thumbnail
+
+ +++
+
+ Additional supporting information, images, documents, change history and
+ hardware & software repositories including issue trackers.
+
+.. toctree::
+ :maxdepth: 1
+ :hidden:
+
+ 01-introduction
+ 02-quick-start
+ 03-design-and-specifications
+ 04-expansion
+ 05-demos-and-tutorials
+ 06-support
diff --git a/conf.yml b/conf.yml
index 81a19ceba4218bf22eded41a472f1fa90c30d117..40261a11b64047f615882d5905446756bb78a2b8 100644
--- a/conf.yml
+++ b/conf.yml
@@ -90,6 +90,12 @@ boards:
path: boards/pocketbeagle
pdf: True
oshw: PocketBeagle_US000083.svg
+ PocketBeagle 2:
+ page: https://www.beagleboard.org/boards/pocketbeagle-2
+ git: https://openbeagle.org/pocketbeagle/pocketbeagle-2
+ forum: https://forum.beagleboard.org/tag/pocketbeagle-2
+ path: boards/pocketbeagle-2
+ pdf: True
# Books
books:
@@ -100,6 +106,11 @@ books:
path: books/pru-cookbook
pdf: True
+books:
+ BeagleBone Cookbook:
+ path: books/beaglebone-cookbook
+ pdf: True
+
# Projects
projects:
BB-Config:
@@ -113,4 +124,4 @@ projects:
pdf: False
SimpPRU:
path: projects/simppru
- pdf: True
\ No newline at end of file
+ pdf: True
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..b5270a18c5bbdf7be57c88a003965e8b34aeba23 100644
--- a/index.rst
+++ b/index.rst
@@ -10,13 +10,7 @@ BeagleBoard Documentation
Welcome to the `BeagleBoard project documentation <https://git.beagleboard.org/docs/docs.beagleboard.io>`_.
If you are looking for help with your Beagle open-hardware development platform, you've found the right place!
-
-.. note::
- The BeagleBoard.org Foundation is a US-based 501(c)3 non-profit organization providing open hardware
- computing solutions for a community of makers, educators and professionals that enable
- rapid prototyping without barriers to creating real-world embedded systems. The BeagleBoard.org Foundation
- supports the BeagleBoard community through efforts like developing this documentation.
-
+
Introduction
************
@@ -52,10 +46,10 @@ 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
+.. grid:: 1 1 2 4
:margin: 4 4 0 0
:gutter: 4
@@ -63,14 +57,15 @@ from source using appropriate design tools.
:link: beagley-ai-home
:link-type: ref
- **BeagleY-AI**
+ **BeagleY®-AI**
^^^
.. image:: boards/images/beagley-ai.*
:align: center
+++
- An industry standard form-factor 64-bit ARM computer.
+ An industry standard form-factor 64-bit ARM computer with 4 TOPS AI engine
+ and integrated ARM Cortex-R5 for low-latency I/O tasks.
.. grid-item-card::
:link: beagleplay-home
@@ -87,7 +82,7 @@ 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**
@@ -207,7 +202,7 @@ from source using appropriate design tools.
Capes
******
-.. grid:: 1 1 2 3
+.. grid:: 1 1 2 4
:margin: 4 4 0 0
:gutter: 4
diff --git a/intro/beagle101/blinkLED.rst b/intro/beagle101/blinkLED.rst
index 8b2d521e79c0553a5d98c1255eaca5f01441d70a..405bc0264c8a6cbb77c9a69a232bfdf1c3a7889c 100644
--- a/intro/beagle101/blinkLED.rst
+++ b/intro/beagle101/blinkLED.rst
@@ -110,10 +110,14 @@ heart beat.
The Beagle is now up and running, but you didn't have to
load up Linux. This is because all Beagles
-(except PocketBeagle, see :ref:`flash-latest-image`
-to install an image on the Pocket) have built-in flash memory
+have built-in flash memory
that has the Debian distribution of Linux preinstalled.
+.. note::
+ The one exception is the PocketBeagle which has no built-in
+ flash memory. See :ref:`flash-latest-image`
+ to install an image on the Pocket
+
.. _intro-using-vs-code:
Using VS Code
@@ -178,6 +182,59 @@ are running Linux on your host, take the ``ssh (Linux)`` tab. Finally take the
.. tab-set::
+ .. tab-item:: VS Code
+
+ Recent Beagles come with the IDE Visual Studio Code
+ (https://code.visualstudio.com/) installed and
+ running. To access it, open a web browser on
+ your host computer and browse to: ``192.168.7.2:3000``
+ (use ``192.168.6.2:3000`` for the Mac)
+ and you will see something like:
+
+ .. figure:: figures/vscode1.png
+
+ At this point you can either run the scripts via a command
+ line within VS Code, or run them by clicking the
+ ``RUN Code`` button.
+
+
+ Running via the command line
+
+ Open a terminal window in VS Code by dropping down the
+ ``Terminal`` menu and selecting ``New Terminal`` (or entering
+ ``Ctrl+Shift+```). The terminal window appears at the
+ bottom of the screen as shown below.
+
+ .. figure:: figures/vscode3.png
+
+ You can now enter commands and see them run as shown below.
+
+ .. figure:: figures/vscode4.png
+
+ Running via the ``RUN`` button
+
+ Use the file navigator on the left to navigate to
+ ``examples/BeagleBone/Black/blinkInternalLED.sh``
+ and you will see:
+
+ .. figure:: figures/vscode2.png
+
+ This code blinks one of the USR LEDs built into the board.
+ Click on the ``RUN Code`` triangle on the upper right of
+ the screen (see red arrow) to run the code. (You could also enter ``Ctrl+Alt+N``)
+ The USR3 LED should now be blinking.
+
+ Click on the ``Stop Code Run`` (``Ctrl+Alt+M``) square to the right of the
+ ``Run Code`` button.
+
+
+
+ Time to play! Try changing the LED number (on line 10) from
+ 3 to something else. Click the ``Run Code`` button (no
+ need to save the file, autosave is on by default).
+
+ Try running ``seqLEDs.py``.
+
.. tab-item:: ssh (Mac)
If you are running a Mac host, open a terminal widow and run
@@ -233,7 +290,7 @@ internal LEDs.
.. code-block:: shell-session
- bone:~$ cat blinkInternalLED.py
+ bone:~$ cat blinkInternalLED.sh
LED="3"
LEDPATH='/sys/class/leds/beaglebone:green:usr'
@@ -244,12 +301,23 @@ internal LEDs.
echo "0" > ${LEDPATH}${LED}/brightness
sleep 0.5
done
- bone:~$ ./blinkInternalLED.py
+ bone:~$ ./blinkInternalLED.sh
^c
+:download:`blinkInternalLED.sh<code/blinkInternalLED.sh>`
+
Here you see a simple bash script that turns an LED
on and off. Enter Ctrl+c to stop the script.
+Congratulations, you've blinked an LED.
+
+Your turn
+^^^^^^^^^
+
+Now that you have an LED blinking, try blinking a different LED.
+Or, blink more than one LED at a time. Try slowing down, or speeding up
+the blink rate.
+
Blinking via Python
====================
@@ -273,17 +341,33 @@ Here's a script that sequences the LEDs on and off.
while True:
for i in range(LEDs):
f[i].seek(0)
- f[i].write("1")
+ f[i].write("1") # 1 turns the LED on
time.sleep(0.25)
for i in range(LEDs):
f[i].seek(0)
- f[i].write("0")
+ f[i].write("0") # 0 turns the LED off
time.sleep(0.25)
bone:~$ ./seqLEDs.py
^c
-
+
+:download:`seqLEDs.py<code/seqLEDs.py>`
+
Again, hit Ctrl+c to stop the script.
+This python script is a bit more complicated that the previous bash
+script. Note that *LEDPATH* is the same in both scripts. They use the
+same interface to control the built-in LEDs. The python script opens a
+file for each of the LEDs and then writes a **1** to the file to turn on
+the LED. A **0** is writen to turn it off. The *for* loop allows it to turn
+on (or off) all four LEDs in sequence.
+
+Your turn
+^^^^^^^^^
+
+Try speeding up, or slowing down the sequencing by changing the *sleep* times.
+If you have programming experience, make a single LED sequence back and forth.
+
+
Blinking from Command Line
==========================
@@ -308,8 +392,8 @@ You can blink any of them. Let's try ``usr1``.
bone:~$ echo 1 > brightness
bone:~$ echo 0 > brightness
-When you echo 1 into ``brightness`` the LED turns on.
-Echoing a 0 turns it off.
+When you echo **1** into ``brightness`` the LED turns on.
+Echoing a **0** turns it off.
Blinking other LEDs
===================
@@ -319,7 +403,7 @@ directories and doing the same. Let's blink the USR0 LED.
.. code-block:: shell-session
- bone:~$ cd ../beaglebone\:green\:usr0/
+ bone:~$ cd /sys/class/leds/beaglebone\:green\:usr0/
bone:~$ echo 1 > brightness
bone:~$ echo 0 > brightness
@@ -343,10 +427,17 @@ what triggers you can set:
bone:~$ echo none > trigger
Notice ``[heartbeat]`` is in brackets. This shows it's the
-current trigger. The echo changes the trigger to ``none``.
+current trigger. The ``echo`` changes the trigger to ``none``.
+Your turn
+^^^^^^^^^
Try experimenting with some of the other triggers and see if you
-can figure them out.
+can figure them out. Try changing the trigger on the other LEDs.
+
+.. note::
+
+ The following may not work on all Beagles since it depends on which
+ version of Debian you are running.
Another way to Blink an LED
===========================
@@ -384,21 +475,26 @@ the ``gpioset`` command.
The first command sets chip 1, line 22 (the usr1 LED) to 1 (on) for
2 seconds. The second command turns it off for 2 seconds.
-Try it for the other LEDs.
+Your turn
+^^^^^^^^^
+
+Try turning on and off the other LEDs. If you have programming experience,
+try modifying the earler *bash* script to use `gpiod` instead of `echo`.
.. note::
- This may not work on all Beagles since it depends on which
+ The following may not work on all Beagles since it depends on which
version of Debian you are running.
-Blinking in response to a button
-=================================
+Blinking in response to a button event
+--------------------------------------
-Some Beagles have a USR button that can be used to control the LEDs.
-You can test the USR button with ``evtest``
+Some Beagles have a **USR** button that can be used to control the LEDs.
+You can test the **USR** button with ``evtest``
.. code-block:: shell-session
+ bone:~$ sudo apt install evtest
bone:~$ evtest
No device specified, trying to scan all of /dev/input/event*
Not running as root, no devices may be available.
@@ -439,8 +535,11 @@ the USR button and you'll see:
Event: time 1692994988.641754, -------------- SYN_REPORT ------------
Ctrl+c
-The following script uses evtest to wait for the USR button to be pressed and
-then turns on the LED.
+The value **1** means the **USR** button was pressed, the **0** means it
+was released. The value **2** means the button is being held.
+
+The following script uses ``evtest`` to wait for the **USR** button to be
+pressed and then turns on the LED.
.. literalinclude:: code/buttonEvent.sh
:language: Shell
@@ -449,9 +548,26 @@ then turns on the LED.
:download:`code/buttonEvent.sh<code/buttonEvent.sh>`
-Try running it and pressing the USR button.
+Try running it and pressing the **USR** button.
+
+.. code-block:: shell-session
+
+ bone:~$ ./buttonEvent.sh
+ ^c
+
+The **USR3** LED should turn on when the **USR** button is pressed.
+
+Your turn
+^^^^^^^^^
+Try modifying the code to turn on a different LED. Try blinking 2 or 3
+LEDs when the button is pressed. Can you toggle an LED each time the
+button is pressed?
+
+Blinking in response to a button poll
+-------------------------------------
-The next script polls the USR button and toggles the LED.
+The next script polls the USR button and toggles the LED rather that waiting
+for an event.
.. literalinclude:: code/buttonLED.sh
:language: shell
diff --git a/intro/beagle101/c.rst b/intro/beagle101/c.rst
index cac26db97ac2a6b4230af9bdacce206c471fc9d1..1efaf85aac5780aea925ec63052c95ee568fb7ce 100644
--- a/intro/beagle101/c.rst
+++ b/intro/beagle101/c.rst
@@ -6,8 +6,8 @@ Introduction to C
.. todo:: Place-holder for tutorial on the C programming language
The C programming language is powerful and flexible and sits at the heart of
-many key open source software projects, including :ref:`Linux <intro-linux>` and
-:ref:`Zephyr <intro-zephyr>`. While it is intimidating to many people, C holds a
+many key open source software projects, including `Linux`_
+and `Zephyr`_. While it is intimidating to many people, C holds a
strong relevance in today's technology landscape and can be approached and learned
by those without extensive previous computer knowledge.
@@ -32,14 +32,21 @@ While C is an extremely popular programming language, popularity shouldn't neces
your top guide in choosing a programming language to learn. What are some of the best
reasons to learn C?
-Provides Strong Foundation
-==========================
+C Provides a Strong Foundation
+==============================
Many other programming languages are very similar to C, like `Java`_, `Wiring`_ or `Rust`_,
-are direct extensions of C, namely `C++`_ and `C#`_, or are written in C themselves.
+are direct extensions of C, like `C++`_ or `C#`_, or are written in C themselves.
Learning C will set you up well to learn many programming languages and the rationales
behind them.
+C Lets You Go Low
+=================
+
+The majority of operating systems, including `Linux`_ and `Zephyr`_ are written in C, so
+it is critical to know C to build a solid understanding of them. If you ever need to write
+ref:`writing-kernel-modules`, C is the obvious choice to get started.
+
Your First C Program
********************
@@ -72,3 +79,9 @@ Recommended Resources
.. _C#:
https://en.wikipedia.org/wiki/C_Sharp_%28programming_language%29
+
+.. _Linux:
+ :ref:`Linux <intro-linux>`
+
+.. _Zephyr:
+ :ref:`Zephyr <intro-zephyr>`
diff --git a/intro/beagle101/linux.rst b/intro/beagle101/linux.rst
index b46cdddc010ead10d7700e6894ab5480cda3c83a..e179b8f42e3645fcf2084c38496270b8e1360ad8 100644
--- a/intro/beagle101/linux.rst
+++ b/intro/beagle101/linux.rst
@@ -85,6 +85,15 @@ learn
See http://www.busybox.net/.
+.. _writing-kernel-modules:
+
+Kernel Modules
+**************
+
+Writing a bit of code that runs in the kernel is not too difficult.
+
+See :ref:`play-kernel-development`.
+
.. _embedded-linux-training:
Training
diff --git a/intro/beagle101/zephyr.rst b/intro/beagle101/zephyr.rst
index 7cbac9257816b58d1f3b3356fef0d54c4f11dac1..f050c41234a522c66f73ec916bf0a7082fd9a7c1 100644
--- a/intro/beagle101/zephyr.rst
+++ b/intro/beagle101/zephyr.rst
@@ -154,13 +154,16 @@ To flash the application, you need to run the following command:
.. note::
1. To use west flash in BeagleConnect Freedom or BeaglePlay, it requires ``cc1352-flasher`` tool to be installed.
- .. code-block:: none
- pip3 install cc1352-flasher
+
+ .. code-block:: none
+
+ pip3 install cc1352-flasher
+
2. At the moment, BeagleBone AI-64 doesn't support west flash. Please use the
- `documentation <https://docs.zephyrproject.org/latest/boards/beagle/beaglebone_ai64/doc/index.html>`_
+ `AI-64 documentation <https://docs.zephyrproject.org/latest/boards/beagle/beaglebone_ai64/doc/index.html>`_
provided by Zephyr for flashing the application.
3. At the moment, BeagleV-Fire doesn't support west flash. Please use the
- `documentation <https://docs.zephyrproject.org/latest/boards/beagle/beaglev_fire/doc/index.html>`_
+ `BeagleV-Fire documentation <https://docs.zephyrproject.org/latest/boards/beagle/beaglev_fire/doc/index.html>`_
provided by Zephyr for flashing the application.
Result
diff --git a/intro/contribution/doc-builder.rst b/intro/contribution/doc-builder.rst
new file mode 100644
index 0000000000000000000000000000000000000000..ca9414fe15a1922d3a3d3f3fdba1545bddb1e0e7
--- /dev/null
+++ b/intro/contribution/doc-builder.rst
@@ -0,0 +1,38 @@
+.. _doc-builder:
+
+Building the Documentation
+##########################
+
+We chose `Sphinx`_ as our tool for documenting BeagleBoard.org projects due to its popular use
+in `Linux`_ and `Zephyr`_, two open source projects we respect a lot. This page is intended to
+document specific aspects of the process of turning the `Docs Git Repo`_ into the `Docs Page`_.
+This should help newcomers figure it out and those of us working on it a lot to simply remember
+what we did.
+
+Invoking Sphinx
+***************
+
+We rely primarily on invoking `Sphinx`_ from the `OpenBeagle CI`_.
+
+.. literalinclude:: ../../.gitlab-ci.yml
+ :language: YAML
+ :caption: .gitlab-ci.yml
+ :linenos:
+
+.. _Sphinx:
+ https://www.sphinx-doc.org/en/master/
+
+.. _Linux:
+ :ref:`Linux <intro-linux>`
+
+.. _Zephyr:
+ :ref:`Zephyr <intro-zephyr>`
+
+.. _Docs Git Repo:
+ https://openbeagle.org/docs/docs.beagleboard.io
+
+.. _Docs Page:
+ https://docs.beagleboard.org
+
+.. _OpenBeagle CI:
+ :ref:`OpenBeagle CI <intro-openbeagle-ci>`
diff --git a/intro/contribution/index.rst b/intro/contribution/index.rst
index ba0f71642ae08ec90c626f8b80066c1f006809bb..8829fd78ce4e18f12cef016a40c14f4452a293f1 100644
--- a/intro/contribution/index.rst
+++ b/intro/contribution/index.rst
@@ -20,6 +20,11 @@ Example projects suitable for first contributions:
These guidelines are mostly suggestions, not hard-set rules. Use your best judgment, and feel free
to propose changes to this document in a merge request.
+.. todo::
+ We need some kind of documentation on how the build process runs and how Sphinx is
+ configured. This `conf.yml` file is just a mystery, with insufficient information on
+ the provided interface.
+
.. toctree::
:maxdepth: 2
@@ -32,4 +37,5 @@ to propose changes to this document in a merge request.
style
rst-cheat-sheet
linux-upstream
+ doc-builder
/CONTRIB
diff --git a/intro/contribution/prerequisites.rst b/intro/contribution/prerequisites.rst
new file mode 100644
index 0000000000000000000000000000000000000000..9e80438f5dbf9cd2bf4d2df21c1141d67fde52d0
--- /dev/null
+++ b/intro/contribution/prerequisites.rst
@@ -0,0 +1,11 @@
+.. _contribution-prerequisites:
+
+What should I know before I get started?
+########################################
+
+The more you know about Linux and contributing to upstream projects, the better, but this knowledge isn't strictly required. Simply
+reading about contributing to Linux and upstream projects can help build your vocabulary in a meaningful way to help out. Learn about
+the skills required for Linux contributions in the :ref:`beagleboard-linux-upstream` section.
+
+The most useful thing to know is how to ask smart questions. Read about this in the :ref:`intro-getting-support` section. If you ask
+smart questions on the issue trackers and forum, you'll be doing a lot to help us improve the designs and documentation.
diff --git a/intro/contribution/rst-cheat-sheet.rst b/intro/contribution/rst-cheat-sheet.rst
index 0e35f9b8725f569f5638a3bc0e604da18aeb22de..79615e64428baba0a8c112786250df360111343b 100644
--- a/intro/contribution/rst-cheat-sheet.rst
+++ b/intro/contribution/rst-cheat-sheet.rst
@@ -26,6 +26,16 @@ you should keep in mind while working with rst,
reStructuredText vs. Markdown for technical documentation
<https://eli.thegreenplace.net/2017/restructuredtext-vs-markdown-for-technical-documentation/>`_
+.. todo::
+
+ There are several type of entries that should be added to the cheat sheet to help provide
+ some consistency and avoid needing to refer to outside documentation.
+
+ 1. `todo` entries and general admonitions like `note` and `important`
+ 2. `literalinclude` usage
+ 3. `tab-set` entries
+ 4. `toctree` entires and policy (depth, etc.)
+ 5. Using `Separated Links`_
Text formatting
****************
@@ -366,3 +376,6 @@ More
.. [#] `Quick reStructuredText (sourceforge) <https://docutils.sourceforge.io/docs/user/rst/quickref.html#hyperlink-targets>`_
.. [#] `A two-page cheatsheet for restructured text <https://github.com/ralsina/rst-cheatsheet>`_
+
+.. _Separated Links:
+ https://www.sphinx-doc.org/en/master/usage/restructuredtext/basics.html#external-links
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
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43B595b9vrq90OwGc9neZkSrz/qql3A/CON9d1/N4jBLrw/R0WwU5BtAsg92hNLkzVBglWkY/eWFHx/QHMdN9pgWC3S64tiurkyQ2rIX3NzG4PwHNNnYUgpes7Mm04npUVvEBAV+vXSgng/zyHYF9vZl7/0nOLt+XfOfufKkZSmym9Z3u/XTOfAOroEXUDAQ8C3kXqaWsEMkHXTU1ygwSrYBM/NzNlrZldNhpR6WQr62HFCZ71MW/sDXa1A5I6EW7wuZ2j+bfN7J4AZKxVqRR5cPUGWqbfxwM4boXGZtwZktzLzE4qoZRcoe476103107Rn97LL5+TLX7XCXvbeZsEZzshFghUQiAIdgpsm78pwaeVFpWnUlMEq75I6upxT0+/EzJyS9l7LieTbRCsNgTfMbOrlNBXri5HpA3BawHo3dhdSO6hemZ2fXcls1NT3tw9APwtV4ekrIN3zslN/K6QlQ9ZTWrvqUdSb+xKM3iUmV3UU6eQeRoApTeMskAE4rN5IdgDI9iY2gX+HdXqqmGClT+m/DLLlIMAHL9ogi02BDkr3llqye/37emqVS4nX9tAtsXyT0EgrmlmOl3qvTcbRWldZ3KJkpvQ2R4wS1oTrzYpn1i5WMkt6EsAtIFYU1JyBo1GxK2kDYrCtLVHnwkZGWDtPMvFq2RbIR4IVEJgYARbCYOotAQEGibYrRKZyCjIu571gd8KgOIZzyxNv8FOdkTyxWb29BrQ/7UYs/LeypVG77pbKBeumV25RrsbUv3l2kqnZG8yg2lN6apefrey9lYsZlk565SvQBIbY03nlLngd83vHZoyqvJ1WVcqDgd1Eexife8HqYu6h049RqBJghUMJL9qZrs6IXFlrWmZYPW3p3i+rfm7OrGYFDsyXQsfXrYeSW1wzpDLU9m6Lck/C8CLWmp7uM0Gxzc+t0GwjUMaDXoQaIFgdRrUqdBTngzg5TnBNgm22BTo1CkL6P1zuizg91cnlyBP6MOpqhRvvZ8qTqALUHd6FzQ7blME9l8Bp0oChaVNXA879uxHgmB7OLFDULkFgr2Omf3AiY0sS7NWuW0TbEGy+ht8rpnp5LjJqX+TYrpqfqaZHQOgVoyBwspXEaL+sUkFS7T1QgDPLiEfooFAqwgEwbYKbzQ+C4GmCbYgK49F6+YsO9N0m9yVLoJgL3g2pq64b1sE3ZeB0qKK3q0fAOArpTqc77qzQ7JYlitNKxl0Zuip99tHp6hT7y81jhAOBFpGIAi2ZYCj+ekItESwz0sGLs/JYH44AAVcyBY3wdJ2xCZ8P9tgRiAZPilDkHLY6rq7zVOgMggdk7LcKGfuBgveBsYht5rDzOwpLV8Zy0BKmYAOazriVV0Mon4bCHguZdvot3qbQbDVsStq9m/Saw+5gQZaItgbZDLnSHN3QnM3wZrtmMLx1SbYVVhJKm6xksk/Wvo2APdqE0pQrhR1r1AavwbbndoUyS3N7EnFWGalC6yixqq7ksbhTVlXpZ+oEwjUQqDnBBvkVmv2l1i5DYLVcEjK5ePaM4Z2NgBdYbrKsgh2UjmS102bBvnN3srMblYyQIVCLCoSlJK9KzPON1wDb1ioSO4uv1wF9lBAEPm3egL1r2oi39yzUt0vKG+tmX02vbXq7TjK0BAY2Ce95wQ7tNUV4wkE5iNAUhGg9E4rP1G5xchv9JJmJsLR1a9i/Sr8owJFnFPXcKmN+ShCN2rjIJ/dqxX+u7oeV5QmJb5XtCqNQfGQfyw/WU9UqTZ0jTYDgToIBMHWQS/qBgKdQWBgW//O4BqKBALVEQiCrY5d1AwEAoFAYIEIxCZqgWA30lUQbCMwNtNI/Pk0g2O0EggEAoFAFxAIgu3CLIQOi0EgdjCLwTl6CQQCgRUEgmBjIQQCgUAgEAgEAi0gsFCCjQPE2hkMPFpY0dFkIBAIBAIdQWChBNuRMYcagUAgEAgEAoFA6wgEwbYOcXQQCAQCgUAgMEYEgmDHOOsx5kAgEAgEAoHWEQiCbR3i6CAQcCAQD/IOkEIkEOgXAkGw/ZqvhrTt9te829o1NAXRzNIQiPW1NOhH13EQ7OimPAYcCAQCgUAgsAgEgmCLhNeLADv6CAQCgUAgEBgPAkGw45nrGGlPEYgrzZ5OXKg9egSCYEe/BAKAQCAQCAQCgTYQCIJtA9VoMxAIBAKBQGD0CATBjn4JBACDRiDulwcxvTGN/ZzGINh+zltoHQgEAoFAINBxBIJgOz5BoV4gEAj0F4E4efZ37prQPAi2CRSjjUAgEAgEAoFAYB0CgyTY2DXGOh86ArHGhz7DMb4hIDBIgh3CxMQYAoFAYDYCscGI1dEHBIJg+zBLoWMgEAgEAoFAdxBw7vA6T7DOcXQH+NAkEOgrAvHH1smZG8q0DGUcZRZJ5wm2zGBCNhAIBAKBQCAQ6AoCQbBdmYnQIxAIBAKBQGBQCATBDmo6YzCBQCAQCAQCXUEgCHbeTAzq0WByMIMaWFf+lqbqEUh3enpCuUCgVQR6TLDx6Wp1ZUTjgUBLCMRfbkvAttDscuZqEb0uog9byTYeJRAIBAKBQCAQCAQaRiAItmFAo7lAIBAIBMaBwGJOgX3GcoAEG5Pe5wUZugcCg0YgPk+Dnt71gxsgwY5q/mKwo0QgvtKjnPYeDnrsKzUItoeLNlQOBAKBQCAQ6D4CSyDYse9pur8oVjUkeRcz+5hD49cCONghFyIDQoDk/5jZFTND+gOAy/Rt2CRPMLMDHXrfEcC/OuRCZIQILIFgR4hyD4dMUh/F75jZNTLq/8TMrgfgdz0cpkPlAW8Iaw5t4AR7eTP7npldNbNIzjWznQH80bGYSorUnKCSvYV48wgEwTaP6SBaJHmcmR3iGMy9AHzIIRciA0OgCwTbJgWRvI+ZvdcxbS8D8FSHXIiMDIEg2JFNuGe4JHczs5PNbFNG/kQA+ghtKCRvaGane/orZP7LzK4D4PeuOo4vK0mdQn7taE/9/tAh1zsRB0yVx9QFgq2svLNiWscfTOv4nhnxv5nZrgBOczY7crE2V2W3oA2C7dZ8tKJNmeVMUuLfMLMbZ5Q538yuC+A/GiJYNfNCAM9uCoQg2KaQnN7OSAh2GzM728wunkHzFAC7t4t4tN43BIJg25ixMozWRP8N9kdyPzP7F4daLwHwjFlyFU6waupPZrb9LNJ26LRGJAi2LGLl5MdAsEKE5DFmdqgDnXsDeL9DbpQiDX6meoPfCsGOceC9maEFKkryYsVu/ZqZbn9lZtcG8JuGCVbNvT1d1z64iWGvECzt146AoB24Iu7fX+GICHYLMzvHzPS/88oP0pvtTukW5q9NrN9oo/8IxAm2/3PY2AhIapeu3XquPBnAy+cJVTzBrhwYzGw3AF/LKZH7PU6wOYTq/T4Wgi1OsTJiOtqB2EEAjnfIhcgIEBgBwfbvZLCMdUfyEmb2IzPbMtP/z81sGwB/bolg1ezJAPaoi8OiCXZpK61Wx9Urt0aw1VWqu2Rm1i/+Pn5sZlfOdCK3tW0B/F9rykTDvUFgBATb1lx08CtQY6gkH2lmr3c0cTiAI3NyNU6wq03fD4DHRWLeR3H0VsS5earze2sEW0epFuuSPCLdsDzX0cVDAHjsGBxNhUifEQiC7fPsNaR7YTn8XTPbIdOknOmvDkBvsHNLAwQrB/4dcyflzCl64AS73E3eEAi2DIIkdXrVKVa3PfPK6QByVvi5P6H4fQAIBMEOYBLrDoHk3ZNbzocd7bwGgCf4hCwvy/rBTuv+6QA8715TVV/0FbEDv0GJDIFgy04IydeZ2aMc9fYC8DmHXIgMGIFaBFtm9zdgDHs/NJIfNbO7OgaikIgKH7dS5s1/QwSr8IvbpTjHv3DotkEkCLYKav46IyXYXczsWw6U3pP+Vu7vkJsQiS9qOby6L12LYLs/vNAwhwDJK6Ud+U9TkIeLZmRPA3CTXHurvzdEsGrueAAHefudZP0gWDdqlQTHSLACiuS3zez6GdDk030VAP9bCdyo1AgCy96yBME2Mo1daKTaUiL52GQZ+RrHCA4FcKxDbkXESbA6of5jpk2FodsFgN6IS5WlEWwxFSSVKGG7ImGCfCgvWRz89fHV2GVxqrfmHwD4e6nBNSBMUpsqXeVvX1iPX8rM9M6uN/bvm9mZKcbuH2Z1tUyCJXkthdaUTYCZXa7AVpa70le4KvTldwFo/TRaSD4t9fcSR6MPBfBWh1yIDBSBINiBTuz8YV1IxiQVczgX4k0fqa0BKF6wqzgJVv6CCiqRS2f2SQB3dnU8IbRogiWpzcK9zOweZnYrh8vTqrYiBYWn/EQ6GSm+c6txkUnezsweY2Z3ymAvV6zPFNblHwEgH+XNJW3O/tvhtjKRrq7aJrDYsGlzsm+6nt3HzG7rSJOnajo9fiEZ770rZbx5X85gzqsdya0Ll7ZcrO5PARDGUUaKQO8IdlXhNX/pI528usMurCLl15pbB19MBhu3KdOfk2BlMKLTxvMdbd8ZwCcdcpMEsBArYpJKaXaYmR2QAnVctoyOU2S1tJVf9AUAvlyzrTXVSeo0LVesPSu0q0D2BwA4c7UuSW24rpJpq1Y+WJI6VSvIw+OcpDpLHT2DvLB4cqh9W0DyK2Z2i8zYFdHpCnFNXGG1DaRK7sM6kGGOYBje7ffaE4iMMLS7z5XnAHhBTmjydyfBfiRdRT6gCM+oU8G8oty0Nyhz5df2CbZwb3pS2qA8z3EKLwPfquz7zEyRgZTYvEJZc1MhS/F31NTzL2a2HwDppWcAbY7+qUmCnVzGJPcys7cU18AVxj+1iohRPtbSvXIhqU3h4Y4G7g5ARoRRRohAEOwIJ311yCR1mlGAiVzZHcApM4WmkLuTYE8FcAuS+6foN/8vp0RBNu4wdG0SLEm9+73bzPZ26F1H5GdKlwbg61UbIalrawXtuEjVNibq6blg3+Tn+WGSyqSU2xhVOsGS1MblZY6UiVWGpNPsHQFo01apkLx1cf2cq38sAE+igFw7o/69wvmhE3gFwX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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 f8aaf538d836581a835ec5c066e1c92dc522e1d1..7288a653dd6a4183756c2a54f69df5c04d21b6fc 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
diff --git a/projects/librobotcontrol b/projects/librobotcontrol
index dff5842702d03a91e56d50464549751175bd7608..a399c2603968263581ab5bace8c4c77025db1328 160000
--- a/projects/librobotcontrol
+++ b/projects/librobotcontrol
@@ -1 +1 @@
-Subproject commit dff5842702d03a91e56d50464549751175bd7608
+Subproject commit a399c2603968263581ab5bace8c4c77025db1328
diff --git a/requirements.txt b/requirements.txt
index 15601b36fe8133c3da7d165056c83eda5542198b..7fcfdf125953051bb80cdd7c11c6028d7fe6d8af 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -17,7 +17,7 @@ lxml==5.3.0
MarkupSafe==2.1.3
packaging==23.2
Pillow==10.1.0
-pydata-sphinx-theme==0.15.4
+pydata-sphinx-theme==0.16
Pygments==2.17.2
PyYAML==6.0.2
requests==2.31.0
diff --git a/venv-build-env.sh b/venv-build-env.sh
index ea57e6d5037f20a52bb59912ed38025a03c2b6e3..28de84927fa5243a898f8cc81faa147b0a20e73e 100755
--- a/venv-build-env.sh
+++ b/venv-build-env.sh
@@ -3,6 +3,6 @@
if [ ! -e ./.venv ]; then
python3 -m venv .venv
fi
-source ./.venv/bin/activate
+. ./.venv/bin/activate
pip install --upgrade pip
pip install -r requirements.txt