beagleboard module

This beagleboard module implements a BeagleBoard BeagleBone AI 64 using the rdk:component:board API.

Setup

Follow the setup guide to prepare your BeagleBone for running viam-server before configuring a beaglebone board.

Note

Before configuring your board, you must create a machine.

Navigate to the CONFIGURE tab of your machine in the Viam app. Add board / beagleboard:beaglebone to your machine.

Configure your beaglebone board

Configuration

  {}

Configuration with optional digital interrupts

{
  "digital_interrupts": [
    {
      "name": "your-interrupt-1",
      "pin": "15"
    },
    {
      "name": "your-interrupt-2",
      "pin": "16"
    }
  ]
}

Attributes

The following attributes are available for viam:beagleboard:beaglebone boards:

Attribute	Type	Required?	Description
digital_interrupts	object	Optional	Any digital interrupts's pin number and name.

Digital interrupt configuration

Interrupts are a method of signaling precise state changes. Configuring digital interrupts to monitor GPIO pins on your board is useful when your application needs to know precisely when there is a change in GPIO value between high and low.

• When an interrupt configured on your board processes a change in the state of the GPIO pin it is configured to monitor, it ticks to record the state change. You can stream these ticks with the board API's StreamTicks(), or get the current value of the digital interrupt with Value().
• Calling GetGPIO() on a GPIO pin, which you can do without configuring interrupts, is useful when you want to know a pin's value at specific points in your program, but is less precise and convenient than using an interrupt.

Integrate digital_interrupts into your machine in the attributes of your board by adding the following to your board's attributes configuration:

{
  "digital_interrupts": [
    {
      "name": "<your-digital-interrupt-name>",
      "pin": "<your-digital-interrupt-pin-number>"
    }
  ]
}

Attributes

The following attributes are available for digital_interrupts:

Name	Type	Required?	Description
name	string	Required	Your name for the digital interrupt.
pin	string	Required	The pin number of the board's GPIO pin that you wish to configure the digital interrupt for.

Configure your BeagleY-AI board

In the default OS, all PWM is software-PWM (except for the pins 29, 31, 32, 33 mapped to hardware-PWM). To use hardware-PWM, follow the BeagleBoard docs to set the correct PWM overlays expected by this module.

Add the following line to the board's /boot/firmware/extlinux/extlinux.conf to enable hardware PWM on pins 29, 31, 32, 33:

fdtoverlays /overlays/k3-am67a-beagley-ai-pwm-epwm0-gpio5-gpio12.dtbo /overlays/k3-am67a-beagley-ai-pwm-epwm1-gpio6-gpio13.dtbo

So the resulting section in the config will look something like this:

label microSD (default)
    kernel /Image
    append console=ttyS2,115200n8 root=/dev/mmcblk1p3 ro rootfstype=ext4 resume=/dev/mmcblk1p2 rootwait net.ifnames=0 quiet
    fdtdir /
    fdt /ti/k3-am67a-beagley-ai.dtb
    fdtoverlays /overlays/k3-am67a-beagley-ai-pwm-epwm0-gpio5-gpio12.dtbo /overlays/k3-am67a-beagley-ai-pwm-epwm1-gpio6-gpio13.dtbo
    #initrd /initrd.img

After rebooting your board, you should have hardware-PWM enabled for those pins.

Configuration

  {}

Configuration with optional digital interrupts

{
  "digital_interrupts": [
    {
      "name": "your-interrupt-1",
      "pin": "15"
    },
    {
      "name": "your-interrupt-2",
      "pin": "16"
    }
  ]
}

Attributes

The following attributes are available for viam:beagleboard:beagle-y-ai boards:

Attribute	Type	Required?	Description
digital_interrupts	object	Optional	Any digital interrupts's pin number and name.

Digital interrupt configuration

Interrupts are a method of signaling precise state changes. Configuring digital interrupts to monitor GPIO pins on your board is useful when your application needs to know precisely when there is a change in GPIO value between high and low.

• When an interrupt configured on your board processes a change in the state of the GPIO pin it is configured to monitor, it ticks to record the state change. You can stream these ticks with the board API's StreamTicks(), or get the current value of the digital interrupt with Value().
• Calling GetGPIO() on a GPIO pin, which you can do without configuring interrupts, is useful when you want to know a pin's value at specific points in your program, but is less precise and convenient than using an interrupt.

Integrate digital_interrupts into your machine in the attributes of your board by adding the following to your board's attributes configuration:

{
  "digital_interrupts": [
    {
      "name": "<your-digital-interrupt-name>",
      "pin": "<your-digital-interrupt-pin-number>"
    }
  ]
}

Attributes

The following attributes are available for digital_interrupts:

Name	Type	Required?	Description
name	string	Required	Your name for the digital interrupt.
pin	string	Required	The pin number of the board's GPIO pin that you wish to configure the digital interrupt for.

Next Steps

• To test your board, expand the TEST section of its configuration pane or go to the CONTROL tab.
• To write code against your board, use one of the available SDKs.
• To view examples using a board component, explore these tutorials.