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pru: BeagleBone Firmware upgrade to Debian 11.7 Bullseye (#6577)
* Porting BeagleBone to Kernel 5.10 * Fixing issue with installation for BeagleBone. This fix resolve 2 issue: 1. Conflict with AVR packages. 2. "klipper_pru" script is executed before PRU cores are ready * Adding additional steps to BeagleBone install guide. * Updating BeagleBone documentation, adding different use cases, adding buses configurations SPI, I2C, CAN, UART Signed-off-by: Oleg Gavavka <work@datalink.net.ua>
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Oleg Gavavka
GitHub
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23 changed files with 565 additions and 2601 deletions
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@ -6,23 +6,64 @@ PRU.
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## Building an OS image
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Start by installing the
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[Debian 9.9 2019-08-03 4GB SD IoT](https://beagleboard.org/latest-images)
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[Debian 11.7 2023-09-02 4GB microSD IoT](https://beagleboard.org/latest-images)
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image. One may run the image from either a micro-SD card or from
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builtin eMMC. If using the eMMC, install it to eMMC now by following
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the instructions from the above link.
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Then ssh into the Beaglebone machine (`ssh debian@beaglebone` --
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password is `temppwd`) and install Klipper by running the following
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password is `temppwd`).
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Before start installing Klipper you need to free-up additional space.
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there are 3 options to do that:
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1. remove some BeagleBone "Demo" resources
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2. if you did boot from SD-Card, and it's bigger than 4Gb - you can expand
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current filesystem to take whole card space
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3. do option #1 and #2 together.
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To remove some BeagleBone "Demo" resources execute these commands
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```
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sudo apt remove bb-node-red-installer
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sudo apt remove bb-code-server
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```
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To expand filesystem to full size of your SD-Card execute this command, reboot is not required.
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```
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sudo growpart /dev/mmcblk0 1
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sudo resize2fs /dev/mmcblk0p1
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```
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Install Klipper by running the following
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commands:
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```
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git clone https://github.com/Klipper3d/klipper
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git clone https://github.com/Klipper3d/klipper.git
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./klipper/scripts/install-beaglebone.sh
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```
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## Install Octoprint
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After installing Klipper you need to decide what kind of deployment do you need,
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but take a note that BeagleBone is 3.3v based hardware and in most cases you can't
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directly connect pins to 5v or 12v based hardware without conversion boards.
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One may then install Octoprint:
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As Klipper have multimodule architecture on BeagleBone you can achieve many different use cases,
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but general ones are following:
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Use case 1: Use BeagleBone only as a host system to run Klipper and additional software
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like OctoPrint/Fluidd + Moonraker/... and this configuration will be driving
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external micro-controllers via serial/usb/canbus connections.
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Use case 2: Use BeagleBone with extension board (cape) like CRAMPS board.
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in this configuration BeagleBone will host Klipper + additional software, and
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it will drive extension board with BeagleBone PRU cores (2 additional cores 200Mh, 32Bit).
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Use case 3: It's same as "Use case 1" but additionally you want to drive
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BeagleBone GPIOs with high speed by utilizing PRU cores to offload main CPU.
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## Installing Octoprint
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One may then install Octoprint or fully skip this section if desired other software:
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```
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git clone https://github.com/foosel/OctoPrint.git
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cd OctoPrint/
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@ -51,25 +92,89 @@ Then start the Octoprint service:
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```
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sudo systemctl start octoprint
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```
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Make sure the OctoPrint web server is accessible - it should be at:
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Wait 1-2 minutes and make sure the OctoPrint web server is accessible - it should be at:
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[http://beaglebone:5000/](http://beaglebone:5000/)
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## Building the micro-controller code
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To compile the Klipper micro-controller code, start by configuring it
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for the "Beaglebone PRU":
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## Building the BeagleBone PRU micro-controller code (PRU firmware)
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This section is required for "Use case 2" and "Use case 3" mentioned above,
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you should skip it for "Use case 1".
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Check that required devices are present
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```
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sudo beagle-version
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```
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You should check that output contains successful "remoteproc" drivers loading and presence of PRU cores,
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in Kernel 5.10 they should be "remoteproc1" and "remoteproc2" (4a334000.pru, 4a338000.pru)
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Also check that many GPIOs are loaded they will look like "Allocated GPIO id=0 name='P8_03'"
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Usually everything is fine and no hardware configuration is required.
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If something is missing - try to play with "uboot overlays" options or with cape-overlays
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Just for reference some output of working BeagleBone Black configuration with CRAMPS board:
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```
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model:[TI_AM335x_BeagleBone_Black]
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UBOOT: Booted Device-Tree:[am335x-boneblack-uboot-univ.dts]
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UBOOT: Loaded Overlay:[BB-ADC-00A0.bb.org-overlays]
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UBOOT: Loaded Overlay:[BB-BONE-eMMC1-01-00A0.bb.org-overlays]
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kernel:[5.10.168-ti-r71]
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/boot/uEnv.txt Settings:
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uboot_overlay_options:[enable_uboot_overlays=1]
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uboot_overlay_options:[disable_uboot_overlay_video=0]
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uboot_overlay_options:[disable_uboot_overlay_audio=1]
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uboot_overlay_options:[disable_uboot_overlay_wireless=1]
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uboot_overlay_options:[enable_uboot_cape_universal=1]
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pkg:[bb-cape-overlays]:[4.14.20210821.0-0~bullseye+20210821]
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pkg:[bb-customizations]:[1.20230720.1-0~bullseye+20230720]
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pkg:[bb-usb-gadgets]:[1.20230414.0-0~bullseye+20230414]
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pkg:[bb-wl18xx-firmware]:[1.20230414.0-0~bullseye+20230414]
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.............
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.............
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```
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To compile the Klipper micro-controller code, start by configuring it for the "Beaglebone PRU",
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for "BeagleBone Black" additionally disable options "Support GPIO Bit-banging devices" and disable "Support LCD devices"
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inside the "Optional features" because they will not fit in 8Kb PRU firmware memory,
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then exit and save config:
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```
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cd ~/klipper/
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make menuconfig
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```
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To build and install the new micro-controller code, run:
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To build and install the new PRU micro-controller code, run:
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```
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sudo service klipper stop
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make flash
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sudo service klipper start
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```
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After previous commands was executed your PRU firmware should be ready and started
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to check if everything was fine you can execute following command
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```
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dmesg
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```
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and compare last messages with sample one which indicate that everything started properly:
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```
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[ 71.105499] remoteproc remoteproc1: 4a334000.pru is available
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[ 71.157155] remoteproc remoteproc2: 4a338000.pru is available
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[ 73.256287] remoteproc remoteproc1: powering up 4a334000.pru
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[ 73.279246] remoteproc remoteproc1: Booting fw image am335x-pru0-fw, size 97112
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[ 73.285807] remoteproc1#vdev0buffer: registered virtio0 (type 7)
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[ 73.285836] remoteproc remoteproc1: remote processor 4a334000.pru is now up
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[ 73.286322] remoteproc remoteproc2: powering up 4a338000.pru
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[ 73.313717] remoteproc remoteproc2: Booting fw image am335x-pru1-fw, size 188560
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[ 73.313753] remoteproc remoteproc2: header-less resource table
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[ 73.329964] remoteproc remoteproc2: header-less resource table
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[ 73.348321] remoteproc remoteproc2: remote processor 4a338000.pru is now up
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[ 73.443355] virtio_rpmsg_bus virtio0: creating channel rpmsg-pru addr 0x1e
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[ 73.443727] virtio_rpmsg_bus virtio0: msg received with no recipient
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[ 73.444352] virtio_rpmsg_bus virtio0: rpmsg host is online
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[ 73.540993] rpmsg_pru virtio0.rpmsg-pru.-1.30: new rpmsg_pru device: /dev/rpmsg_pru30
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```
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take a note about "/dev/rpmsg_pru30" - it's your future serial device for main mcu configuration
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this device is required to be present, if it's absent - your PRU cores did not start properly.
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## Building and installing Linux host micro-controller code
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This section is required for "Use case 2" and optional for "Use case 3" mentioned above
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It is also necessary to compile and install the micro-controller code
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for a Linux host process. Configure it a second time for a "Linux process":
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make flash
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sudo service klipper start
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```
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take a note about "/tmp/klipper_host_mcu" - it will be your future serial device for "mcu host"
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if that file don't exist - refer to "scripts/klipper-mcu.service" file, it was installed by
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previous commands, and it's responsible for it.
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Take a note for "Use case 2" about following: when you will define printer configuration you should always
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use temperature sensors from "mcu host" because ADCs not present in default "mcu" (PRU cores).
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Sample configuration of "sensor_pin" for extruder and heated bed are available in "generic-cramps.cfg"
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You can use any other GPIO directly from "mcu host" by referencing them this way "host:gpiochip1/gpio17"
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but that should be avoided because it will be creating additional load on main CPU and most probably
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you can't use them for stepper control.
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## Remaining configuration
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Complete the installation by configuring Klipper and Octoprint
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Complete the installation by configuring Klipper
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following the instructions in
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the main [Installation](Installation.md#configuring-klipper) document.
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the main [Installation](Installation.md#configuring-octoprint-to-use-klipper) document.
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## Printing on the Beaglebone
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@ -97,4 +214,111 @@ OctoPrint well. Print stalls have been known to occur on complex
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prints (the printer may move faster than OctoPrint can send movement
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commands). If this occurs, consider using the "virtual_sdcard" feature
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(see [Config Reference](Config_Reference.md#virtual_sdcard) for
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details) to print directly from Klipper.
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details) to print directly from Klipper
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and disable any DEBUG or VERBOSE logging options if you did enable them.
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## AVR micro-controller code build
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This environment have everything to build necessary micro-controller code except AVR,
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AVR packages was removed because of conflict with PRU packages.
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if you still want to build AVR micro-controller code in this environment you need to remove
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PRU packages and install AVR packages by executing following commands
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```
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sudo apt-get remove gcc-pru
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sudo apt-get install avrdude gcc-avr binutils-avr avr-libc
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```
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if you need to restore PRU packages - then remove ARV packages before that
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```
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sudo apt-get remove avrdude gcc-avr binutils-avr avr-libc
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sudo apt-get install gcc-pru
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```
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## Hardware Pin designation
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BeagleBone is very flexible in terms of pin designation, same pin can be configured for different function
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but always single function for single pin, same function can be present on different pins.
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So you can't have multiple functions on single pin or have same function on multiple pins.
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Example:
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P9_20 - i2c2_sda/can0_tx/spi1_cs0/gpio0_12/uart1_ctsn
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P9_19 - i2c2_scl/can0_rx/spi1_cs1/gpio0_13/uart1_rtsn
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P9_24 - i2c1_scl/can1_rx/gpio0_15/uart1_tx
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P9_26 - i2c1_sda/can1_tx/gpio0_14/uart1_rx
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Pin designation is defined by using special "overlays" which will be loaded during linux boot
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they are configured by editing file /boot/uEnv.txt with elevated permissions
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```
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sudo editor /boot/uEnv.txt
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```
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and defining which functionality to load, for example to enable CAN1 you need to define overlay for it
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```
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uboot_overlay_addr4=/lib/firmware/BB-CAN1-00A0.dtbo
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```
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This overlay BB-CAN1-00A0.dtbo will reconfigure all required pins for CAN1 and create CAN device in Linux.
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Any change in overlays will require system reboot to be applied.
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If you need to understand which pins are involved in some overlay - you can analyze source files in
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this location: /opt/sources/bb.org-overlays/src/arm/
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or search info in BeagleBone forums.
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## Enabling hardware SPI
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BeagleBone usually have multiple hardware SPI buses, for example BeagleBone Black can have 2 of them,
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they can work up to 48Mhz, but usually they are limited to 16Mhz by Kernel Device-tree.
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By default, in BeagleBone Black some of SPI1 pins are configured for HDMI-Audio output,
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to fully enable 4-wire SPI1 you need to disable HDMI Audio and enable SPI1
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To do that edit file /boot/uEnv.txt with elevated permissions
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```
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sudo editor /boot/uEnv.txt
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```
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uncomment variable
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```
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disable_uboot_overlay_audio=1
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```
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next uncomment variable and define it this way
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```
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uboot_overlay_addr4=/lib/firmware/BB-SPIDEV1-00A0.dtbo
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```
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Save changes in /boot/uEnv.txt and reboot the board.
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Now you have SPI1 Enabled, to verify its presence execute command
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```
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ls /dev/spidev1.*
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```
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Take a note that BeagleBone usually is 3.3v based hardware and to use 5V SPI devices
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you need to add Level-Shifting chip, for example SN74CBTD3861, SN74LVC1G34 or similar.
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If you are using CRAMPS board - it already contains Level-Shifting chip and SPI1 pins
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will become available on P503 port, and they can accept 5v hardware,
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check CRAMPS board Schematics for pin references.
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## Enabling hardware I2C
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BeagleBone usually have multiple hardware I2C buses, for example BeagleBone Black can have 3 of them,
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they support speed up-to 400Kbit Fast mode.
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By default, in BeagleBone Black there are two of them (i2c-1 and i2c-2) usually both are already configured and
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present on P9, third ic2-0 usually reserved for internal use.
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If you are using CRAMPS board then i2c-2 is present on P303 port with 3.3v level,
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If you want to obtain I2c-1 in CRAMPS board - you can get them on Extruder1.Step, Extruder1.Dir pins,
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they also are 3.3v based, check CRAMPS board Schematics for pin references.
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Related overlays, for [Hardware Pin designation](#hardware-pin-designation):
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I2C1(100Kbit): BB-I2C1-00A0.dtbo
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I2C1(400Kbit): BB-I2C1-FAST-00A0.dtbo
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I2C2(100Kbit): BB-I2C2-00A0.dtbo
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I2C2(400Kbit): BB-I2C2-FAST-00A0.dtbo
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## Enabling hardware UART(Serial)/CAN
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BeagleBone have up to 6 hardware UART(Serial) buses (up to 3Mbit)
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and up to 2 hardware CAN(1Mbit) buses.
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UART1(RX,TX) and CAN1(TX,RX) and I2C2(SDA,SCL) are using same pins - so you need to chose what to use
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UART1(CTSN,RTSN) and CAN0(TX,RX) and I2C1(SDA,SCL) are using same pins - so you need to chose what to use
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All UART/CAN related pins are 3.3v based, so you will need to use Transceiver chips/boards like SN74LVC2G241DCUR (for UART),
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SN65HVD230 (for CAN), TTL-RS485 (for RS-485) or something similar which can convert 3.3v signals to appropriate levels.
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Related overlays, for [Hardware Pin designation](#hardware-pin-designation)
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CAN0: BB-CAN0-00A0.dtbo
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CAN1: BB-CAN1-00A0.dtbo
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UART0: - used for Console
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UART1(RX,TX): BB-UART1-00A0.dtbo
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UART1(RTS,CTS): BB-UART1-RTSCTS-00A0.dtbo
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UART2(RX,TX): BB-UART2-00A0.dtbo
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UART3(RX,TX): BB-UART3-00A0.dtbo
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UART4(RS-485): BB-UART4-RS485-00A0.dtbo
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UART5(RX,TX): BB-UART5-00A0.dtbo
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Loading…
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