Merge pull request #190 from beagleboard/prufix

V1.0.5 merge

CHANGELOG

@@ -1,3 +1,13 @@
+1.0.5
+    * use latest aliases for PRU indexes
+    * add support for PocketBeagle
+    * integrate PX4 build handling
+    * clean-up some messages from rc_balance
+    * fix rc_startup_routine start delay
+    * fix rc_filter_duplicate initialization check
+    * fix stdin control mode for rc_balance
+    * add PRU to startup routine checks and required kernel modules
+
 1.0.4
     * fix missing stddef.h include in i2c.h
     * add kmartin36's PRU encoder robustness improvement
@@ -187,4 +197,4 @@
 0.1.0
     * installs on Blue as well and Black
 
-// indentation is with spaces to allow copy/paste into debian/changelog
+// indentation is with spaces to allow copy/paste into debian/changelog

debian/changelog

@@ -1,3 +1,15 @@
+librobotcontrol (1.0.5) stable; urgency=low
+    * use latest aliases for PRU indexes
+    * add support for PocketBeagle
+    * integrate PX4 build handling
+    * clean-up some messages from rc_balance
+    * fix rc_startup_routine start delay
+    * fix rc_filter_duplicate initialization check
+    * fix stdin control mode for rc_balance
+    * add PRU to startup routine checks and required kernel modules
+ -- Jason Kridner <jkridner@beagleboard.org>  Thu, 18 Jun 2020 00:17:41 -0400
+
+
 librobotcontrol (1.0.4) stable; urgency=low
     * fix missing stddef.h include in i2c.h
     * add kmartin36's PRU encoder robustness improvement

debian/config

@@ -33,7 +33,7 @@ if [ ! "$DEBIAN_FRONTEND" = "noninteractive" ]; then
 
 	# first, for Black and Black wireless we need to ask to modify uEnv.txt
 	if [ "$ISBLACK" = "true" ]; then
-		db_input critical librobotcontrol/q_enable_dt || true
+		db_input medium librobotcontrol/q_enable_dt || true
 		db_go || true
 	fi
 
@@ -44,7 +44,7 @@ if [ ! "$DEBIAN_FRONTEND" = "noninteractive" ]; then
 	if [ "$RET" = "true" ]; then ISCAPE=true; fi
 
 	# ask for what should run on boot
-	db_input critical librobotcontrol/q_runonboot || true
+	db_input medium librobotcontrol/q_runonboot || true
 	db_go || true
 
 fi

debian/control

@@ -3,14 +3,14 @@ Section: utils
 Priority: optional
 Build-Depends: debhelper (>= 9), devscripts, debconf (>= 0.2.26)
 Standards-Version: 3.9.8
-Maintainer: James Strawson <james@strawsondesign.com>
-Homepage: http://www.strawsondesign.com/
+Maintainer: Jason Kridner <jkridner@beagleboard.org>
+Homepage: http://beagleboard.org/librobotcontrol
 
 Package: librobotcontrol
 Architecture: any
-Depends: debconf, ${shlibs:Depends}, ${misc:Depends}
+Depends: debconf, bb-customizations (>= 1.20200522), ${shlibs:Depends}, ${misc:Depends}
 Replaces: roboticscape
 Conflicts: roboticscape
 Provides: roboticscape
 Description: Robot Control Library and Examples
- Hardware support for the Robotics Cape and BeagleBone Blue.
+ Hardware support for BeagleBoard.org Robotics Cape and BeagleBoard.org BeagleBone Blue.

debian/triggers

@@ -1 +0,0 @@
-activate-noawait ldconfig

docs/src/flashing.dox

@@ -10,11 +10,11 @@ We highly recommend flashing the internal memory as the eMMC will generally prov
 
 \section flashing_s1 Flashing the Built-In eMMC Storage (recommended)
 
-The [BeagleBoard.org latest-images page](http://beagleboard.org/latest-images) is currently up to date with the 2018-10-07 stable image, but does not provide a version which will flash the built-in emmc memory. Here are the flasher images we recommend using for BeagleBone Black and BeagleBone Blue along with checksums you can optionally use to check the download integrity:
+Here are the flasher images we recommend using for BeagleBone Black and BeagleBone Blue along with checksums you can optionally use to check the download integrity:
 
-[2018-10-07 BeagleBone Black Flasher Image](http://strawsondesign.com/docs/images/BBB-blank-debian-9.5-iot-armhf-2018-10-07-4gb.img.xz) ([checksum](http://strawsondesign.com/docs/images/BBB-blank-debian-9.5-iot-armhf-2018-10-07-4gb.img.xz.sha256sum))
+[2020-04-06 BeagleBone Flasher Image](https://debian.beagleboard.org/images/bone-eMMC-flasher-debian-10.3-iot-armhf-2020-04-06-4gb.img.xz) ([checksum](https://debian.beagleboard.org/images/bone-eMMC-flasher-debian-10.3-iot-armhf-2020-04-06-4gb.img.xz.sha256sum))
 
-[2018-10-07 BeagleBone Blue Flasher Image](http://strawsondesign.com/docs/images/BBBL-blank-debian-9.5-iot-armhf-2018-10-07-4gb.img.xz) ([checksum](http://strawsondesign.com/docs/images/BBBL-blank-debian-9.5-iot-armhf-2018-10-07-4gb.img.xz.sha256sum))
+For BeagleBone Black + Robotics Cape, you'll still need to manually install the device tree overlay as the cape was designed without an identification EEPROM.
 
 These links are .xz compressed archives (like a .zip file). You must un-archive (extract) them before writing to a microSD card. The extracted .img file should be about 4GB in size. Do not just write the .xz archive to an SD card, it will not work.
 
@@ -54,4 +54,4 @@ After flashing a BeagleBone Black or Black Wireless with a clean image it is nec
 
 
 \tableofcontents
-*/
+*/

examples/src/rc_test_drivers.c

@@ -65,7 +65,7 @@ int main()
 	} else printf("PASSED: eqep2\n");
 
 	// rproc
-	if(access("/sys/class/remoteproc/remoteproc1/state", F_OK ) != 0){
+	if(access("/dev/remoteproc/pruss-core0/state", F_OK ) != 0){
 		printf("ERROR:  pru-rproc driver not loaded\n");
 	} else printf("PASSED: pru-rproc\n");
 

library/Makefile

@@ -5,7 +5,7 @@ BUILDDIR	:= build
 INCLUDEDIR	:= include
 SHORTNAME	:= librobotcontrol.so
 SONAME		:= librobotcontrol.so.1
-FULLNAME	:= librobotcontrol.so.1.0.4
+FULLNAME	:= librobotcontrol.so.1.0.5
 TARGET		:= $(LIBDIR)/$(FULLNAME)
 RC_VAR_DIR	:= var/lib/robotcontrol
 

library/include/rc/version.h

@@ -20,7 +20,7 @@ extern "C" {
 
 #define RC_LIB_VERSION_MAJOR	1
 #define RC_LIB_VERSION_MINOR	0
-#define RC_LIB_VERSION_PATCH	4
+#define RC_LIB_VERSION_PATCH	5
 #define RC_LIB_VERSION_HEX	((RC_LIB_VERSION_MAJOR << 16) | \
 				 (RC_LIB_VERSION_MINOR <<  8) | \
 				 (RC_LIB_VERSION_PATCH))
@@ -58,4 +58,4 @@ void rc_version_print(void);
 
 #endif //RC_VERSION_H
 
-/** @} end group version*/
+/** @} end group version*/

library/src/io/encoder_eqep.c

@@ -12,6 +12,7 @@
 #include <fcntl.h> // for open
 #include <unistd.h> // for close
 
+#include <rc/model.h>
 #include <rc/encoder_eqep.h>
 
 // preposessor macros
@@ -60,26 +61,28 @@ int rc_encoder_eqep_init(void)
 	fd[0]=temp_fd;
 
 	// subsystem 1
-	temp_fd = open(EQEP_BASE1 "/enabled", O_WRONLY);
-	if(temp_fd<0){
-		perror("ERROR in rc_encoder_eqep_init, failed to open device driver");
-		fprintf(stderr,"Perhaps kernel or device tree is too old\n");
-		return -1;
-	}
-	if(write(temp_fd,"1",2)==-1){
-		perror("ERROR in rc_encoder_eqep_init, failed to enable device driver");
-		return -1;
-	}
-	close(temp_fd);
-	temp_fd = open(EQEP_BASE1 "/position", O_RDWR);
-	if(temp_fd<0){
-		perror("ERROR in rc_encoder_eqep_init, failed to open device driver");
-		fprintf(stderr,"Perhaps kernel or device tree is too old\n");
-		return -1;
-	}
-	if(write(temp_fd,"0",2)==-1){
-		perror("ERROR in rc_encoder_eqep_init, failed to zero out position");
-		return -1;
+	if(rc_model()!=MODEL_BB_POCKET) { // Skip since not enabled on Pocket
+		temp_fd = open(EQEP_BASE1 "/enabled", O_WRONLY);
+		if(temp_fd<0){
+			perror("ERROR in rc_encoder_eqep_init, failed to open device driver");
+			fprintf(stderr,"Perhaps kernel or device tree is too old\n");
+			return -1;
+		}
+		if(write(temp_fd,"1",2)==-1){
+			perror("ERROR in rc_encoder_eqep_init, failed to enable device driver");
+			return -1;
+		}
+		close(temp_fd);
+		temp_fd = open(EQEP_BASE1 "/position", O_RDWR);
+		if(temp_fd<0){
+			perror("ERROR in rc_encoder_eqep_init, failed to open device driver");
+			fprintf(stderr,"Perhaps kernel or device tree is too old\n");
+			return -1;
+		}
+		if(write(temp_fd,"0",2)==-1){
+			perror("ERROR in rc_encoder_eqep_init, failed to zero out position");
+			return -1;
+		}
 	}
 	fd[1]=temp_fd;