BBBlue battery charging

GoogleGroups
1

Does the roboticscape service need to be running in order for the bbbl to charge a connected battery?

Reason I ask is systemctl shows roboticscape status as failed.

2

Does the roboticscape service need to be running in order for the bbbl to charge a connected battery?

No, it happens in hardware, even if the software services don’t provide the notification. battery_monitor.service normally “strokes” the BATx LEDs during charging, but the bright green LED closest to the battery connector will indicate if charging is currently active and is not software controlled.

Reason I ask is systemctl shows roboticscape status as failed.

Do you have a report of the service failure? The output of ‘journalctl -a’ is helpful.

3

Output from journalctl -a, and then contents of /etc/roboticscape below:

debian@beaglebone:~$ journalctl -a | grep robot
Mar 22 01:37:35 beaglebone systemd[1]: Starting roboticscape…
Mar 22 01:37:36 beaglebone rc_startup_routine[809]: roboticscape startup routine complete
Mar 22 01:37:38 beaglebone systemd[1]: Started roboticscape.
Mar 22 01:37:38 beaglebone systemd[919]: roboticscape.service: Failed at step EXEC spawning /etc/roboticscape/link_to_startup_program: No such file or directory
Mar 22 01:37:38 beaglebone systemd[1]: roboticscape.service: Main process exited, code=exited, status=203/EXEC
Mar 22 01:37:38 beaglebone systemd[938]: roboticscape.service: Failed at step EXEC spawning /usr/bin/rc_kill_robot: No such file or directory
Mar 22 01:37:38 beaglebone systemd[1]: roboticscape.service: Control process exited, code=exited status=203
Mar 22 01:37:38 beaglebone systemd[1]: roboticscape.service: Unit entered failed state.
Mar 22 01:37:38 beaglebone systemd[1]: roboticscape.service: Failed with result ‘exit-code’.

debian@beaglebone:~$ ls -l /etc/roboticscape/
total 0
lrwxrwxrwx 1 root root 24 Feb 19 14:57 link_to_startup_program → /usr/bin/rc_bare_minimum
debian@beaglebone:~$

4

And here are rc_ programs in /usr/bin:

debian@beaglebone:/usr/bin$ ls rc_*
rc_balance rc_calibrate_gyro rc_spi_loopback rc_test_dmp rc_test_polynomial
rc_battery_monitor rc_calibrate_mag rc_startup_routine rc_test_drivers rc_test_servos
rc_benchmark_algebra rc_check_battery rc_test_adc rc_test_dsm rc_test_time
rc_bind_dsm rc_check_model rc_test_algebra rc_test_encoders rc_test_vector
rc_blink rc_cpu_freq rc_test_barometer rc_test_filters rc_uart_loopback
rc_calibrate_dsm rc_dsm_passthrough rc_test_buttons rc_test_imu rc_version
rc_calibrate_escs rc_kill rc_test_cape rc_test_motors
debian@beaglebone:/usr/bin$

5

I was able to remove both errors by:

  1. changing rc_kill_robot to rc_kill in /lib/systemd/system/roboticscape.service

  2. creating valid link (for example to rc_blink) for /etc/roboticscape/link_to_startup_program

6

Thanks Adam!

I've setup a pull request and will push an updated apt package momentary.

https://github.com/StrawsonDesign/Robotics_Cape_Installer/pull/34

Regards,