beagleboneAI.txt

flashing image:
http://elinux.org/Beagleboard:BeagleBoneBlack_Debian#Flashing_eMMC.
this time.....

usb connection:
http://192.168.7.2/

wifi:  board does not have wifi built in. use usb wifi dongle

https://linuxcommando.blogspot.com/2013/10/how-to-connect-to-wpawpa2-wifi-network.html
https://www.linuxbabe.com/debian/connect-to-wi-fi-from-terminal-on-debian-wpa-supplicant

/sbin/iw dev
ip link show wlan0
sudo ip link set wlan0 up
ip link show wlan0
/sbin/iw wlan0 link
iwconfig 
wpa_passphrase xxxxxxx >> /etc/wpa_supplicant.conf
cat /etc/wpa_supplicant.conf 
sudo wpa_supplicant -B -Dnl80211 -i wlan0 -c/etc/wpa_supplicant.conf
/sbin/iw wlan0 link

enable wifi at boot
/sbin/iw wlan0 link

root:
sudo -i
edit interfaces
sudo nano  /etc/network/interfaces
add:
auto wlan0
iface wlan0 inet dhcp
wireless-essid 444
pre-up wpa_supplicant -B -Dnl80211 -i wlan0 -c/etc/wpa_supplicant.conf
#post-up route add default gw 192.168.88.1 wlan0
post-down killall -q wpa_supplicant


sudo beagle-version
sudo beagle-version | grep

pip3 updates:

pip3 install --upgrade pip
pip3 install --upgrade setuptools

Configuring pins
https://forum.beagleboard.org/t/bb-ai64-gpio-basics/36032/8
    
In directory /opt/source/dtb-5.10-ti/ 
   
/opt/source/dtb-5.10-ti/src/arm64/overlays
run:

    sudo make clean
    sudo make
    sudo make install_arm64
    reboot


for uart and i2c add thes lines to your custom overlay dts file.

&bone_uart_1 {
	/* tested with sudo agetty 115200 ttyS4 */
	status = "okay";
};

&bone_i2c_2 {
	status = "okay";
};

Adafruit gpio doesnt work with AI64 yet.

gpiod library.

https://pypi.org/project/gpiod/
https://forum.beagleboard.org/t/bb-ai64-gpio-basics/36032
https://github.com/brgl/libgpiod/blob/master/bindings/python/examples/watch_multiple_line_values.py

gpiodetect
gpioinfo
gpiofind P8_28
gpioset 1 72=0

uart and i2c
to check if ports are open
tree /dev/bone
screen /dev/ttyS4 9600 
screen crtl+a . letter command  D D quit
https://aperiodic.net/screen/quick_reference

or minitab -D /dev/ttyS4 (turn off hw / sw bit control)

 BLINKA
pip3 install Adafruit-Blinka
pip3 install adafruit-circuitpython-lsm303agr-mag
pip3 install adafruit-circuitpython-lsm303-accel
pip3 install adafruit-circuitpython-lis2mdl
pip3 install adafruit-circuitpython-mma8451


Getting addafruit Blinka to work. (blinka 8.43.0)
currently AI64 is broken in the distribution.
it tries to read the nvmem to get the id, but that doesnt quite work and the pin map is not for ai 64. 

need to fix it manually.

I suggest setting the chmod -R 777 to the dist-packages directory and sub directories
this will allow for editing of the .py files via winscp while logged in as debian.
reference instructions for setting up a "new board"

/usr/local/lib/python3.9/dist-packages

https://learn.adafruit.com/adding-a-single-board-computer-to-platformdetect-for-blinka/environment-setup

this is how i did it (its not clean, sorry its been over 30 years since i've been in a programming class)

the adafruit attempt piggybacks on DRA74X chip id (BBAI?)  to attempt to keep this open for use i created pinai64.py instead of editing the pin.py files.

Under  /usr/local/lib/python3.9/dist-packages

edit digitalio.py and add the following elif statement. (I put it under the DRA74X elif entry)

elif detector.chip.TDA4VM:
    from adafruit_blinka.microcontroller.dra74x.pinai64 import *

edit board.py and add the following elif statement. (I put it under the BBAI elif entry)

elif board_id == ap_board.BEAGLEBONE_AI64:
    from adafruit_blinka.board.beagleboard.beaglebone_ai64 import *
    print("bbai64 select") #comment to troublshoot

under /usr/local/lib/python3.9/dist-packages/adafruit_platformdetect

edit board.py and add the following elif statement. (I put it under the BBAI elif entry)

there is a a try: statement near the bottom for the ai-64, this is trying to read 2-00500/nvmem this isn't right. 
#        try:
        #            # Special Case for AI64
        #            with open("/sys/bus/nvmem/devices/2-00500/nvmem", "rb") as eeprom:
        #                eeprom_bytes = eeprom.read(16)
        #        except FileNotFoundError:
        #            return None

instead use the get_device_model() method to obtain the board. 
# beagle,j721e-beagleboneai64^@ti,j721e^@

I added following abothe the memory read try: statements.

board_value = self.detector.get_device_model()
        if "BeagleBone AI-64" in board_value:
            return boards.BEAGLEBONE_AI64
            print ("board detected: ",board_value)

under /usr/local/lib/python3.9/dist-packages/microcontroller

edit pin.py and add the following elif statement. (I put it under the DRA74X elif entry)

elif chip_id == ap_chip.TDA4VM:
    from adafruit_blinka.microcontroller.dra74x.pinai64 import *

edit __init__.py and add the following elif statement. (I put it under the DRA74X elif entry)

elif chip_id == ap_chip.TDA4VM:
    from adafruit_blinka.microcontroller.dra74x import *

under /usr/local/lib/python3.9/dist-packages/adafruit_blinka/microcontroller/dra74x create(copy) pinai64.py

https://github.com/adafruit/Adafruit_Blinka/issues/687


pinai64.py probably needs work, but it is corrected for the Ai64 gpio address (ex. 1, 20 for P8.3) refer to 
https://docs.beagleboard.io/latest/boards/beaglebone/ai-64/04-expansion.html#bbai64-expansion
I couldn't find the address for the AI64 USRx LED's so they are not used.
pin.py under dra74x is for something else and all adresses are wrong.
I will link or past ai64.py separately.


# I2C2
I2C2_SCL = P9_19  # was i2c4_scl
I2C2_SDA = P9_20  # was i2c4_sda




under /usr/local/lib/python3.9/dist-packages/adafruit_blinka/board/beagleboard 

edit beaglebone_ai64.py

change the from statement to:
from adafruit_blinka.microcontroller.dra74x import pinai64
instead of changing pin.xx_x 90 times i just added the following under the from statement: (i was tired)
pin=pinai64

I tested this for digital outputs  seems to work. i2c was created successfully but not tested yet need to check uart/spi/i2c yet.

i2c
check i2c

ls -lah /dev/bone/i2c/
should see 
lrwxrwxrwx 1 root root  11 Jun 18  2023 2 -> ../../i2c-5
scan devices
i2cdetect -r 5
 the 5 is significant.

make sure under  /usr/local/lib/python3.9/dist-packages/adafruit_blinka/microcontroller/dra74x
pinai64.py
order port for i2c2-5 has to match 5, I2C2  (not 3, i2c4)
i2cPorts = (
    (5, I2C2_SCL, I2C2_SDA),  # default config
    (5, I2C2_SCL, I2C2_SDA),  # roboticscape config
    (3, I2C5_SCL, I2C5_SDA),  # roboticscape config
)

###################SHOW-pins##################################



https://github.com/kevinacahalan/bbai64_sketch_dt_setup_5_10?tab=readme-ov-file
sudo git clone https://github.com/kevinacahalan/bbai64_sketch_dt_setup_5_10.git 

./show-pins.pl


PRU's
https://forum.beagleboard.org/t/ai64-pru-basics-very/32288

https://github.com/gitklindsayjr/Beaglebone_AI64_PRUS/blob/main/pru0_motor_control.tar.xz






state
echo 'stop' > /sys/class/remoteproc/remoteproc0/state

cp /home/debian//prumemtest.out /lib/firmware/prumemtest.out
cp /home/debian//Steppercontrolpru2.out /lib/firmware/Steppercontrolpru2.out
echo 'Steppercontrolpru2.out' > /sys/class/remoteproc/remoteproc0/firmware
echo 'prumemtest.out' > /sys/class/remoteproc/remoteproc0/firmware

echo start > /dev/remoteproc/j7-pru0_0/state
echo 'start' > /sys/class/remoteproc/remoteproc0/state
*************************************************************************overlay

need toi creat an overlay stepper.dts
cd /boot/firmware/extlinux/
add it to extlinux overlay

label BeagleBone AI-64 eMMC (default)
    kernel /Image
    append root=/dev/mmcblk0p2 ro rootfstype=ext4 rootwait net.ifnames=0 quiet
    fdtdir /
    #fdtoverlays /overlays/<file>.dtbo
    #fdtoverlays /overlays/J721E-PRU-UIO-00A0.dtbo
     fdtoverlays /overlays/steppercontrol.dtbo
    initrd /initrd.img



dmesg | grep pru
ls -l /lib/firmware
head /sys/class/remoteproc/remoteproc*/name
cat /boot/firmware/extlinux/extlinux.conf | grep fdtoverlays
to tell what kernel is running
uname -srm

find -name "uEnv.txt"


search for memory location of pru


dmesg | grep remoteproc0

0b022000-0b0220ff : b034000.pru control
0b022400-0b0224ff : b034000.pru debug
0b034000-0b036fff : b034000.pru iram

remoteproc remoteproc0: b034000.pru is available

sudo k3conf dump processor
https://github.com/loic-fejoz/beaglebone-ai64-tutorial/tree/main/example-00-pru


echo 'stop' > /sys/class/remoteproc/remoteproc0/state
cp /home/debian//squarewave.out /lib/firmware/squarewave.out
echo 'squarewave.out' > /sys/class/remoteproc/remoteproc0/firmware
echo 'start' > /sys/class/remoteproc/remoteproc0/state

echo 'stop' > /sys/class/remoteproc/remoteproc0/state
cp /home/debian//Steppercontrolpru2.out /lib/firmware/Steppercontrolpru2.out
echo 'Steppercontrolpru2.out' > /sys/class/remoteproc/remoteproc0/firmware
echo 'start' > /sys/class/remoteproc/remoteproc0/state




Steppercontrolpru2.out



echo 'stop' > /dev/remoteproc/j7-pru0_0/state
cp /home/debian//squarewave.out /lib/firmware/squarewave.out
echo 'squarewave.out' > /dev/remoteproc/j7-pru0_0/firmware
echo 'start' > /dev/remoteproc/j7-pru0_0/state


/dev/remoteproc/j7-pru0_0/state

journalctl -b -1

journalctl --list-boots
ls -l /var/log/{boot.log,dmesg,kern.log}
sudo beagle-version | grep UBOOT

indigo_server -v -v
indigo_server -b -v -C -i