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INSTALLATION

Get one of the latest linux Debian images

Download one of the latest debian images provided by the following list. This installation guide refers to bone-debian-9.3-iot-armhf-2018-03-05-4gb.img.xz.

If necessary, check the integrity of the downloaded image by matching its sha256sum hash and the one provided on the website (on a linux terminal, just run sha256sum bone-debian-9.3-iot-armhf-2018-03-05-4gb.img.xz).

Always use the most minimal image you can find, e.g. no graphical user interface etc.

Flash the SD card

WARNING: Be careful when selecting the device to be flashed, as you may end up losing data inside it.

Connect an empty SD card to your PC and extract and copy the image over your sd card.

Based on the platform this can be done via the following methods:

Linux

On a terminal, save the SD card device path by inspecting lsblk. The SD card should be under a path similar to /dev/mmcblkN. Run on the terminal, xzcat bone-debian-9.3-iot-armhf-2018-03-05-4gb.img.xz | sudo dd of=/dev/mmcblkN. Before extracting the SD card remember to run sync in order to flush any remaining buffered I/O operation.

Linux / Mac OS / Windows

Using the graphical tool https://etcher.io/. Select the downloaded image , the target device and then click on Flash.

Boot

  1. Connect the beaglebone to your local LAN with DHCP enabled or via USB.
  2. Insert the SD card on the beaglebone slot.
  3. Turn on the beaglebone.

Connect via SSH

If you connected the beaglebone via USB, a virtual Ethernet interface should appear on your PC.

Linux / Mac OS

Open a terminal and run: ssh debian@beaglebone.local the default password is usually temppwd.

Windows

Download the ssh client from https://www.putty.org/. use as hostname debian@beaglebone.local and connect using the usual temppwd password.

Prepare the environment

If the following one-liner:

if lsmod | grep "uio_pruss" &> /dev/null ; then echo "The kernel is BeagleG ready"; else echo "uio_pruss module not present"; fi`

will return The kernel is BeagleG-ready, it means that you can skip this section, otherwise you will need some additional steps.

Beagleg as it is now, requires a kernel module called uio_pruss (see this).

To enable it, you will need to edit your /boot/uEnv.txt and change:

###PRUSS OPTIONS
###pru_rproc (4.4.x-ti kernel)
#uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-4-TI-00A0.dtbo
###pru_uio (4.4.x-ti, 4.14.x-ti & mainline/bone kernel)
#uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo
###

uncommenting (removing the # in front) the line uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo.

Before rebooting, you will also need to have an updated version of your kernel as you may suffer a bug that will not correctly load the uio_pruss module and device tree overlay.

To do so, run sudo apt-get update; sudo apt-get upgrade and on completion, execute a reboot.

Install BeagleG

Let's start from fetching the BeagleG repository with:

git clone --recursive https://github.com/hzeller/beagleg.git

change directory into the repository and run make.

The resulting machine-control binary will be in the toplevel directory. You can sudo make install it, or run it right there.

TROUBLESHOOTING

In general, make sure to have the latest Beaglebone Debian image; most of earlier images have various problems that are not covered here for brevity.

In any case of trouble, make sure to have your system up-to-date

sudo apt-get update
sudo apt-get upgrade

... and have a fresh kernel

cd /opt/scripts/tools/
git pull
sudo ./update_kernel.sh

uio_pruss not loaded

In some older kernels, you might need to manually

sudo modprobe uio_pruss

System locks up

If you have some older debian image, then you might run into this: Some 4.4 linux kernel versions do not have the timers drivers enabled which results in a kernel panic when BeagleG initializes these. In order to be able to use the PWM you would need to recompile the kernel with CONFIG_OMAP_DM_TIMER=y.

Alternatively, in order to use BeagleG without the PWM TIMERS support, you can compile beagleg with:

CONFIG_FLAGS=-D_DISABLE_PWM_TIMERS make

Empty am335x_pru_package folder

When compiling, you might encounter the following error:

make -e -C src all
make[1]: Entering directory '/home/debian/beagleg/src'
g++ -std=c++11 -Wall -I. -I../am335x_pru_package/pru_sw/app_loader/include -I../hardware/BUMPS -D_XOPEN_SOURCE=500 -mtune=cortex-a8 -march=armv7-a -O3 -DCAPE_NAME='"BUMPS"' -DBEAGLEG_VERSION='"2018-06-16 (commit=51db5c7)"'   -c  machine-control.cc -o machine-control.o
g++ -std=c++11 -Wall -I. -I../am335x_pru_package/pru_sw/app_loader/include -I../hardware/BUMPS -D_XOPEN_SOURCE=500 -mtune=cortex-a8 -march=armv7-a -O3 -DCAPE_NAME='"BUMPS"' -DBEAGLEG_VERSION='"2018-06-16 (commit=51db5c7)"'   -c  motor-operations.cc -o motor-operations.o
g++ -std=c++11 -Wall -I. -I../am335x_pru_package/pru_sw/app_loader/include -I../hardware/BUMPS -D_XOPEN_SOURCE=500 -mtune=cortex-a8 -march=armv7-a -O3 -DCAPE_NAME='"BUMPS"' -DBEAGLEG_VERSION='"2018-06-16 (commit=51db5c7)"'   -c  sim-firmware.cc -o sim-firmware.o
g++ -std=c++11 -Wall -I. -I../am335x_pru_package/pru_sw/app_loader/include -I../hardware/BUMPS -D_XOPEN_SOURCE=500 -mtune=cortex-a8 -march=armv7-a -O3 -DCAPE_NAME='"BUMPS"' -DBEAGLEG_VERSION='"2018-06-16 (commit=51db5c7)"'   -c  pru-motion-queue.cc -o pru-motion-queue.o
make -C ../am335x_pru_package
make[2]: Entering directory '/home/debian/beagleg/am335x_pru_package'
make[2]: *** No targets specified and no makefile found.  Stop.
make[2]: Leaving directory '/home/debian/beagleg/am335x_pru_package'
Makefile:141: recipe for target '../am335x_pru_package/pru_sw/utils/pasm' failed
make[1]: *** [../am335x_pru_package/pru_sw/utils/pasm] Error 2
make[1]: Leaving directory '/home/debian/beagleg/src'
Makefile:32: recipe for target 'all' failed
make: *** [all] Error 2

this means that you most probably forgot to clone the repository with the --recursive flag.

If that's the case, you can simply run inside the repository folder git submodule update --init --recursive and run make again.

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