Is Robotics CAPE compatible with the BB-AI64?

General Discussion
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Is the Robotics CAPE compatible with the BB-AI64??
In the docs for the CAPE it lists BB-AI but not BB-AI64.Is this an error or is there a genuine incompatibility? Or is it untested but expected to be compatible?

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Hi @RX22,
I could use the robotics cape on the BB-AI, there was some adjustments needed once the PRUS pins are different.
While on the BB-AI64 I couldn’t enable all buses and even the PRUS to run.

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I got started moving librobotcontrol over to BeagleBone AI-64, but stopped one night 2 years ago and never got back to it.

I came back a year later and got the basics working for BeagleV-Fire, but that stopped about 11 months ago.

I’ve been asked a couple of times about it, but not enough bugging to get me actually moving on it. If it is a priority for you, there is a right amount of bugging me that’ll get it done.

The last thing I did was start to move the documentation over to docs.beagle.cc.

https://docs.beagle.cc/projects/librobotcontrol/docs/index.html

This is a project I want to work on, but I want to know it is going to get used. If no one is bugging me for it, it’ll just languish.

1 Like
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@jkridner can I bug you with TI Edge AI stuff? )))

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@jkridner Thanks for your reply. Follow up questions:
Is librobotcontrol the only roadblock to using the robots cape with the BBAI64?
Once this is working can you see potential to run PX4 on BBAI64+robotics CAPE?

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@jkridner , I checked your gitlab repository. It seems there’s no change needed on device-tree at all for either cases (BeagleV-Fire nor BB-AI64)? This doesn’t agree with my understanding although I could be completely wrong as I’m pretty new in BB world.

I’m very interested in revive the robotics cape on BBB/BBBW/BFire.

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I have a Motor Control app that uses the APWMO and EQEP1_A and B with PRU0 runing on the BBB, Trixie. I had to use a Bullseye version with kernel 5.10. The 5.10 kernel that I tried to use that came with the distribution does not work with my setup.

A year ago I ported this same setup over to the BBAI64 Bookworm for use with the PRU’s. Had to also use an older version for the kernel that had “cape-header” defined in j721e-beagleboneai64-bone-buses.dtsi. I am now trying to use port this over to debian Trixie. What I have run into is the robotics-cape.dts does not load because of missing nodes. What I have found is the “cape-header” node is no longer defined in the j721e-beagleboneai64-bone-buses.dtsi.

Any help with a solution would be helpful, Maybe port the older 5.10 Bullseye version instead of the version that came with the latest distribution?