testing hardware with halrun (on BBB)

[mlampert]

I have a Beaglebone Black and installed the stretch image from https://elinux.org/Beagleboard:BeagleBoneBlack_Debian#BBW.2FBBB_.28All_Revs.29_Machinekit_2

I figured I'll use halrun to confirm the basic setup and the major IO pin assignments but run into a basic problem - which is entirely rooted in my ignorance of how this is supposed to work. I am looking at the CRAMPS configuration for inspiration and guidance but obviously I'm missing something basic. I'm using something like this for testing an output pin:

newthread servo nofp 1000000000
loadrt hal_bb_gpio output_pins=912
addf bb_gpio.write servo
start
setp bb_gpio.p9.out-12 1
setp bb_gpio.p9.out-12 0

which works fine - until I start using different pins. CRAMPS uses pins 807,808,809 and the moment I try to use one of them I get an error message about some dangling ROUTER.
Checking /var/log/linuxcnc.log I find the following message:

May  8 00:25:31 machinekit rtapi:0: 1:rtapi_app:1053:user hal_bb_gpio: ERROR: GPIO Port 2 is not enabled in device tree

This is the output from /opt/scripts/tools/version.sh:
markus@machinekit:~$ sudo /opt/scripts/tools/version.sh 
git:/opt/scripts/:[9df8deb6b2ae7570c9102ab58f795d3bed592194]
eeprom:[A335BNLT00C03818BBBK09B3]
model:[TI_AM335x_BeagleBone_Black]
dogtag:[Machinekit Debian Image 2019-04-14]
bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot 2019.01-00002-g6de8c74429]:[location: dd MBR]
bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot 2016.01-00001-g4eb802e]:[location: dd MBR]
kernel:[4.19.31-bone-rt-r31]
uboot_overlay_options:[enable_uboot_overlays=1]
uboot_overlay_options:[disable_uboot_overlay_video=1]
uboot_overlay_options:[disable_uboot_overlay_audio=1]
uboot_overlay_options:[disable_uboot_overlay_wireless=1]
uboot_overlay_options:[uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo]
uboot_overlay_options:[enable_uboot_cape_universal=1]
pkg check: to individually upgrade run: [sudo apt install --only-upgrade <pkg>]
pkg:[bb-cape-overlays]:[4.4.20190429.0-0rcnee0~stretch+20190429]
pkg:[bb-wl18xx-firmware]:[1.20190227.1-0rcnee0~stretch+20190227]
pkg:[kmod]:[23-2rcnee1~stretch+20171005]
WARNING:pkg:[librobotcontrol]:[NOT_INSTALLED]
pkg:[firmware-ti-connectivity]:[20180825+dfsg-1rcnee1~stretch+20181217]
groups:[machinekit : machinekit adm kmem dialout cdrom floppy audio dip video plugdev users systemd-journal i2c bluetooth netdev gpio pwm eqep admin spi tisdk weston-launch xenomai cloud9ide]
cmdline:[console=ttyO0,115200n8 root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M net.ifnames=0 quiet cape_universal=enable]
dmesg | grep remote
[    0.870377] remoteproc remoteproc0: wkup_m3 is available
[    1.219779] remoteproc remoteproc0: powering up wkup_m3
[    1.219802] remoteproc remoteproc0: Booting fw image am335x-pm-firmware.elf, size 217168
[    1.221865] remoteproc remoteproc0: remote processor wkup_m3 is now up
dmesg | grep pru
dmesg | grep pinctrl-single
[    0.690466] pinctrl-single 44e10800.pinmux: 142 pins, size 568
dmesg | grep gpio-of-helper
lsusb
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
END

'been banging my head against this for a while and can't figure it out. Any pointers are much appreciated.

Thanks in advance,
Markus

[Robert Nelson]

> markus@machinekit:~$ sudo /opt/scripts/tools/version.sh
> git:/opt/scripts/:[9df8deb6b2ae7570c9102ab58f795d3bed592194]
> eeprom:[A335BNLT00C03818BBBK09B3]
> model:[TI_AM335x_BeagleBone_Black]
> dogtag:[Machinekit Debian Image 2019-04-14]
> bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot 2019.01-00002-g6de8c74429]:[location: dd MBR]
> bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot 2016.01-00001-g4eb802e]:[location: dd MBR]

The old version of u-boot on the eMMC is blocking things from working
with overlays, retry after running:

sudo dd if=/dev/zero of=/dev/mmcblk1 bs=1M count=10

and reboot.

Regards,

--
Robert Nelson
https://rcn-ee.com/

[Markus]

Thank you so much, that did the trick!

Hardware testing it is tonight.

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