BeagleBoard/GSoC/2020 Projects/Cape Compatibility

= Proposal for Cape compatibility layer for BeagleBone Black and BeagleBone AI=

Student: Deepak Khatri Mentors: Jason Kridner Code: https://github.com/deepaklorkhatri007/linux/tree/4.14 Wiki: https://elinux.org/BeagleBoard/GSoC/2020Proposal/DeepakKhatri GSoC: [N/A]

=Status= This project is currently just a proposal.

=Proposal= Completed all the requirements listed on the ideas page. the code for the cross-compilation task can be found here submitted through the pull request #130.

About you
IRC: lorforlinux Github: Deepak Khatri School: Netaji Subhas Univerity of Technology (NSUT) formely NSIT Country: India Primary language(s): Hindi,English Typical work hours: 9AM - 7PM IST Previous GSoC participation: I participated in GSoC2019 but i was not selected for the project. The project was to make a jekyll website for AIMA organization, Discussion on the project can be found here and the prototype i made can be found here. From the GSoC2019 I learnt the importance of communication.

About your project
Project name: Cape compatibility layer for BeagleBone Black and BeagleBone AI

Making P8 and P9 header compatible:
The idea of this project is to make the same user-space examples work with both BeagleBone Black and AI, using the same references to drivers for peripherals assigned to the same pins between Black and AI. Main things to do for achieving that are assigning the same pin names and same aliases for both the boards. Changes will be done in the file am5729-beaglebone.dts of BeagleBoard-DeviceTrees repo.


 * 1) For making the boards pin to pin compatible as in pin names, a new node will be created called cape-universal {...} which will hold child nodes like P8_03{...} for pin name assignment. Included the code for through pull request #13.
 * 2) Setting up the same default pin configuration in pin muxing nodes of board device tree files is required which will be achieved using nodes that use DRA7XX_CORE_IOPAD functions along with pinctrl-single driver. I have included the required code through pull requests #8 #9 #10.
 * 3) We also require to assign the same aliases which is the easiest part after achieving the above goals. We need some assignments under aliases {...} nodes similar to what we have in the BeagleBone Black device tree file. We might also want to use symlinks for the peripherals as discussed with rcn over pull requests #11 #12.

After testing we may require to create new device tree sources include (dtsi) files. The file 335x-bone-common-univ.dtsi for BeagleBone Black and am335x-pocketbeagle.dts provides all the information for pinmuxing and pin naming. The project will enable us to use serial ports and user space I2C/spidev. In device trees, the aliases node can be seen as a quick lookup table, an index of another node. We can use find_node_by_aliases function to find a node by its alias. Aliases provided by the device trees would match for both the boards. Interface buses like I2C, SPI, UART, CAN will be aliases according to the BeagleBone cape interface spec. All the aliases defined in the device tree can be found in /sys/firmware/devicetree/base/aliases as files containing the full name/path for the peripheral device. For GPIOs, examples would work using pin names under libgpiod.

Cape compatibility:
Pin muxing, pin naming and aliasing of P8 and P9 headers of BeagleBone AI will enable us to use different peripherals like I2C, SPI, UART, CAN, ADC, PWM/TIMER etc on the exact pin required by the cape. BeagleBone cape interface spec shows all the details on that. We have many peripherals available to use on AM5729 SoC but with different MUX_MODExx than AM3358. First let's see an example for /dev/bone/i2c/1 specs for which are :

AM3358 I2C1 AM5729 I2C5

P9.17 - SCL P9.18 - SDA

Let's see this code from my pull requests #8 #9 #10 in BeagleBoard-DeviceTrees repo. It is for the I2C peripiral on AM5729 based BeagleBone AI. The pin P9.17 has 2 GPIO pins of SoC attached to it and the code configures the pin to use the 2nd GPIO in MUX_MODE10 that enables the I2C on that pin. You see all that information and more insde the System Reference Manual for BeagleBone AI, info on P9.17 can be cound here.

P9_17_i2c_pin: pinmux_P9_17_i2c_pin { pinctrl-single,pins = < DRA7XX_CORE_IOPAD(0x36B8, PIN_OUTPUT_PULLUP | INPUT_EN | MUX_MODE10) >; };

Looking on the code for AM3358 for the same P9.17 pin on BeagleBone Black which can be found here. We see that it is using the MUX_MODE2 and only one GPIO pin of SoC is attached to this header pin.

P9_17_i2c_pin: pinmux_P9_17_i2c_pin { pinctrl-single,pins = < AM33XX_IOPAD(0x095c, PIN_OUTPUT_PULLUP | INPUT_EN | MUX_MODE2) >; };	/* spi0_cs0.i2c1_scl */

For making the capes entirely compatible. I will have to include the code for pin-muxing names, pin naming and aliases. I am working on some of that at the moment. Also, the code requires testing on the real hardware and that part will be done only during the GSoC coding period.

Software required and Programming Languages:
The project requires the use of the device tree compiler (dtc) for compiling the device tree source (ex. *.dts, *.dtsi) files. The c programming language will be used for kernel-level programming and the gcc compiler along with other build tools will be used for compiling the C source code (*.c).

Hardware required:

 * 1) BeagleBone Black.
 * 2) BeagleBone AI.
 * 3) BeagleBone capes:
 * 4) Load Cape.
 * 5) Motor Cape.
 * 6) Relay Cape.
 * 7) Robotics Cape
 * 8) Servo Cape.
 * 9) 4.3"Display Cape
 * 10) 7.0" Primary gen4 Display CAPE
 * 11) Additional hardware for using capes:
 * 12) JST SH Jumper 4 Wire and 6 Wire.
 * 13) Grove Universal 4 Pin to Beaglebone® 6 Pin Female.
 * 14) Grove Universal 4 Pin to Beaglebone® Blue 4 Pin Female.
 * 15) Servo motor.
 * 16) DC Motor.
 * 17) Groove Modules.
 * 18) Grove - Servo
 * 19) Grove - Vibration Motor
 * 20) Grove - Line Finder v1.1
 * 21) Grove - I2C Color Sensor V2
 * 22) Grove - Rotary Angle Sensor
 * 23) Grove - Adjustable PIR Motion Sensor
 * 24) Grove - 6-Position DIP Switch
 * 25) Grove - 16x2 LCD (White on Blue)
 * 26) Grove - Speaker
 * 27) Grove - Buzzer
 * 28) Grove - GPS Module
 * 29) Grove - Digital Light Sensor - TSL2561
 * 30) Grove - Temperature Humidity Sensor (High-Accuracy & Mini)
 * 31) FTDI Serial TTL-232 USB Cable
 * 32) Must have lab tools like:
 * 33) Solder, flux and soldering iron.
 * 34) Screwdriver set.
 * 35) Tweezers and pliers.

Experience and approach
I have a good understanding of C, C++, and python. I have done an internship on Embedded Electronics using BeagleBoneBlack. I completed this project called "Mausam national" during my internship. Mausam national is an air quality cum multiple gases ppm level acquisition system. The interesting part of the project is that it can connect to the internet and fetch the air quality data from my university's pollution center that they provide for everyone to use. we used that data for the calibration of the MQ sensors on-board.

I was one of the quarter-finalists in IICDC2017 and during that period I worked with ARM cortex M4 based MSP432. I participated in Electronics Maker contest '17 there I presented a low-cost biopotential amplifier based on TL074 and won Ti's C2000 DSP for the project. I have worked on both hardware and software-based projects, hardware projects can be found on my youtube channel here and software projects can be found on my GitHub here.

Contingency
I believe that if I get stuck on my project and my mentor isn’t around, I will use the resources that are available to me. Some of those information portals are listed below.


 * 1) Derek Molly's beagle bone guide provides all the information needed for getting up and running with my beagle.
 * 2) Content on e-ALE.org is very useful for information that ranges from tutorials and walkthroughs to the level of very advanced stuff.
 * 3) BeagleBone cookbook from Mark A. Yoder & Jason Kridner is the best source for test projects during the prototyping period.
 * 4) The technical reference manuals provided by TI on am3358 and am5729 are the best source for getting the insights on the SoC used in Black and Ai.

Benefit
I believe that the project is very important for the adoption of the BeagleBone AI. It will bring support for BeagleBone Black capes on BeagleBone AI and also for the execution of same user space examples written for BeagleBone black. - Deepak Khatri aka lorforlinux

Quotes from BeagleBone community member(s): Me, personally, I would find this very interesting. I love add-ons, Capes, sensors, and actuators. Making an Upward Working Cape would be successful for many people looking to use the AI. Now, easy? I do not know. It is like upward mobility in life. Instead of making things updated, one makes the old work w/ the new. That is a success. - Set_ on #beagle

Suggestions
Is there anything else we should have asked you?