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Librobotcontrol is package of C library which contains examples and testing programs for Robotic control projects used by `roboticcape <https://www.beagleboard.org/boards/beaglebone-robotics-cape>`_ which is sold by beagleboard.org,
BeaglBboneBlack(BBB) supports the librobotcontrol package thanks to Deepak khatri who Previouly worked upon cape compatibility layer on BBB.
Librobotcontrol is package of C library which contains examples and testing programs for Robotic control projects used by `robotic-cape <https://www.beagleboard.org/boards/beaglebone-robotics-cape>`_ which is sold by beagleboard.org.
BeaglBboneBlack(BBB) supports the librobotcontrol package thanks to Deepak khatri, Who Previouly worked upon cape compatibility layer on BBB.
BeaglBboneBlack support robotic-cape cape with librobotcontrol package due to creation of device tree ovelayes which identify the robotics cape and symlink help to address the location of specific peripherals in data structure.
as below is simple dts example for accesing GPIO's for blink LED's.
since P9_12 supports the GPIO's functinoality as output signal.
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@@ -66,7 +66,7 @@ since P9_12 supports the GPIO's functinoality as output signal.
version = "00A0";
fragment@0{
pinctrl-singl.pins = <
0X078 0x07 /* connected LED */
0X078 0x07 /* connected LED, resister address and offset */
>
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@@ -77,12 +77,12 @@ since P9_12 supports the GPIO's functinoality as output signal.
Main goal of project is to update librobotcontrol package for beaglebone-AI(am5x), beaglebone-AI64(j721e) and beaeglV-fire(olarV-soc) boards.
Primarily librobotcontrol support all the boards but not able to make roboiticcape as flexible as BBB board foe librobotcontrol package.
Primarily librobotcontrol support all the boards but not able to make roboitic-cape as flexible as BBB board for librobotcontrol package.
BeagleBone-AI support librobotcontrol package but its been draft. and there is not a stable device treee overlays for robotic cape in AI image.
BeagleBone-AI support librobotcontrol package but its been draft. and there is not a stable device tree overlays for robotic cape in AI image.
So for using package, have to check the passed results for various drivers and use cape with AI, and make changes accordingly.
BeagleBone AI is based on the Texas Instruments AM5729 dual-core Cortex-A15 SoC with flexible BeagleBone Black header and mechanical compatibility.
which supports the am5x device tree binary files. this .dtb file will include in binary file (.dts) files in AI which will help to call root nodes to creat device tree for cape.
which supports the AM572x device tree binary files. this .dtb file will include in binary file (.dts) files in AI which will help to call root nodes to create device tree for cape.
but as AI-support the cape, there is only need to cross verify the package and update accordingly.
**BeagleBone-AI64**
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@@ -90,7 +90,7 @@ but as AI-support the cape, there is only need to cross verify the package and u
BeagleBone AI-64 uses TI J721E-family TDA4VM system-on-chip (SoC) which is part of the K3 Multicore SoC architecture.
Each TI evm has an unique device tree binary file required by the kernel. As BeaglBboneBlack need (ti,am335x) similarly beaglebone-AI64 support (ti,j721e) device tree binary (.dtb).
BeagleBone AI-64 also support librobotcontrol packages but there are less tutorial and not refine code for support librobotcontrol package with new boards. Need to refine the device trees overlays to use this librobotcontrol package with AI-64.
As in librobotcontrol there is no roboticcape dtb support for beaglebone-AI64 we need to write the device tree ovelay with (ti,j721e) binary file (.dtb).
As in librobotcontrol there is no robotic-cape dtb support for beaglebone-AI64 we need to write the device tree ovelays with (ti,j721e) binary file (.dtb).
How it will be possible, see an example for blink LEDs via device tree ovelay which is for GPIO's:
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@@ -142,7 +142,7 @@ Previous work:-
Previously Deepak khatri who worked upon the cape compatibility for beagleboards. use the robotic cape for various tasks.
using pre-work upon robotic cape, i can take a deep dive to robotic cape compatibility with BeaglBboneBlack (BBB) and how its works.
In previous gsocted with one of Bea-2022 participation kai yamada work upon same project which was about robotic-cape support with BeagleBone-AI (BB-AI).
In both projects implementation was about the device tree overlayes for BBB and AI for specific pheripherals to enabling functionality of PWM, I2C and SPI and UART for roboticcapes.
In both projects implementation was about the device tree overlayes for BBB and AI for specific pheripherals to enabling functionality of PWM, I2C and SPI and UART for robotic-cape.
Software
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@@ -238,7 +238,7 @@ Community Bonding Period (May 1st - May 26th)
- At current period of time, all the required hardware will be available.
- Setup all the beagleboard hardware (Flashing OS and test hello world).
- Check all hardware with beagleboard like DC motors, Servo motors and available sensors.
- Use roboticcape with beagleboard BeaglBboneBlack (BBB) and librobotcontrol.
- Use robotic-cape with beagleboard BeaglBboneBlack (BBB) and librobotcontrol.
- Use robotic-cape with BeagleBone-AI.
Coding begins (May 27th)
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@@ -258,7 +258,7 @@ Milestone #2 (June 10th)
==========================
- For RoboticsCape, Test a device tree overlay to allow AI-64 to light the power LEDs with GPIO support.
- Test PWM devic tree overlay with roboticscape with help of Hardware specification and check with oscilloscope.
- Test PWM Device tree overlay with robotics-cape with help of Hardware specification and check with oscilloscope.
- Get feeback from mentors.
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@@ -266,21 +266,21 @@ Milestone #3 (June 17th)
=========================
- Write I2C device tree for AI-64.
- Test I2C with IMU and roboticcape.
- Test I2C with IMU and robotic-cape.
- Get feedback from mentor.
Milestone #4 (June 24th)
==========================
- Creat merge request for I2C Device tree overlays.
- Create merge request for I2C Device tree overlays.
- Write SPI device tree overlay for AI-64.
- Test with roboticcape.
- get feedback from mentor.
- Test with robotic-cape.
- Get feedback from mentor.
Milestone #5 (July 1st)
========================
- Creat RoboticsCape.dts file for roboticcape which will support AI-64 using pre-work.
- Create RoboticsCape.dts file for robotic-cape which will support AI-64 using pre-work.
- Test RoboticsCape with cape gateware for beagleV-fire.
- Test RoboticsCape with cape gateware for beagleV-fire pre-installed in image.
- Understand the customization process for cape Gateware.
Milestone #7 (July 22nd)
=========================
- Customized LED example for robotic-cape gateware.
- Test GPIO's, Robotic cape with beaeglV-fire.
- Creat merge request for LED blink with beaeglV-fire.
- Test GPIO's, Robotic cape with beaglV-fire.
- Create merge request for LED blink with beaglV-fire.
Milestone #8 (July 29th)
=========================
- Examine SPI support for beagleV-fire with robotic-cape.
- Create I2C device tree to test barometer on roboticcape.
- Creat merge request for I2C support.
- Create I2C device tree to test barometer on robotic-cape.
- Create merge request for I2C support.
- Discuss results and features with mentor.
Milestone #9 (Aug 5th)
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@@ -319,13 +319,13 @@ Milestone #9 (Aug 5th)
- Test all pre-work for librobotcontrol and robotic-cape with beaeglV-fire.
- Upgrade robotic_cape.dts file gateware for beaeglV-fire using pre-work.
- Creat Documentation and feeback from mentors.
- Create Documentation and feeback from mentors.
Milestone #10 (Aug 12th)
========================
- Finalize the work on robotic-cape.dts for beaeglV-fire and test example of librobotcontrol.
- Creat documentation for current process.
- Finalize the work on robotic-cape.dts for beaeglV-fire and test examples of librobotcontrol.
- Create documentation for current process.
- Fixing other bugs, typos, etc. found during documentation.
Final YouTube video (Aug 19th)
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@@ -359,13 +359,13 @@ Experience and approch
***********************
Experience:
• I’m well experienced with embedded system and C. I’ve in-hand experienced with embedded programming and hardware design for various boards and projects.
• I’m well experienced with Embedded System and C. I’ve in-hand experienced with Embedded programming and Hardware design for various boards and projects.
• Here are my projects which demonstrate my proficiency in Embedded system and Robotics.
1. `Martian rover used in IRC (International rover challenge ) <https://github.com/vishwaspace>`_
Martian rover is a prototype of curosity the nasa mars rover which performed function like soil testing, sample collection and monitoring planet.
project required embedded hardware and firmware design for motor control and sensors configuration with ROS.
Project required Embedded hardware and firmware design for motor control, arm control and science sensor's configuration with ROS.
