Missing device tree am335x-boneblack-uboot-univ.dts in kernel version 6.17.x

General Discussion
1

Device tree doesn’t exist in /opt/source/dtb-6.17.x/src/arm for “am335x-boneblack-uboot-univ.dts” for kernel 6.17.x. Does exist for kernel 5.10-ti.

Trying to load the dtb by enabling the uEvn.txt switch, see boot log:

U-Boot 2022.04-gb4b56c73 (Oct 28 2025 - 17:45:28 +0000)

CPU : AM335X-GP rev 2.1
Model: TI AM335x BeagleBone Blackdebug: [enable_uboot_overlays=1] …

.

.
debug: [enable_uboot_cape_universal=1] …
debug: [uboot_base_dtb_univ=am335x-boneblack-uboot-univ.dtb] …
uboot_overlays: [uboot_base_dtb=am335x-boneblack-uboot-univ.dtb] …
debug: unable to find [am335x-boneblack-uboot-univ.dtb] using [am335x-boneblack-uboot.dtb] instead …
debug: [uboot_base_dtb_univ=am335x-boneblack-uboot.dtb] …
uboot_overlays: [uboot_base_dtb=am335x-boneblack-uboot.dtb] …
uboot_overlays: Switching too: dtb=am335x-boneblack-uboot.dtb …
loading /boot/dtbs/6.17.8-bone16/am335x-boneblack-uboot.dtb …

2

Yeah it’s fine.. right now we don’t have a drop in replacement for cape universal from 3.8 → 5.10 eras… I’ve elected to let the logic run as is in u-boot as nothing is broken, and leave room for future openings in that u-boot path..

Usually if your digging this path… Something has broken in your pin setup what peripheral where you using in 5.10?

3

I used to use config-pin to set the gpio pins and pru pins for my “motor control” that used P8_33 and P8_35 eQEP1B, P8_33 eQEP1A for my encoder. For direction control I used P8_11 r30_15 as pruout. For PWM I used P9_42A pru_apwm. In additon I used the gpio P8_14 amd P8_16 for diagnostics.

I am struggleing with trying to write my own overlay. Your help would be appreciated

Thanks

4

Which PRU do you use? RemoteProc or UIO?

For v6.17.x, i added the eqep’s last night:

eqep: Commits · beagleboard/BeagleBoard-DeviceTrees · GitHub

Yeah, the pru answer you give will point to what kernel..

Regards,

5

I used both prus and used these commands:

  • $ echo ‘pru-code’ > /dev/remoteproc/pruss-core0/firmware
  • $ echo start > /dev/remoteproc/pruss-core0/state
  • $ echo stop > /dev/remoteproc/pruss-core0/state
  • $ echo ‘pru-code’ > /dev/remoteproc/pruss-core1/firmware
  • $ echo start > /remoteproc/pruss-core1/state
  • $ echo stop > /dev/remoteproc/pruss-core1/state
6

Are you using TI’s PRU library, and what kernel version was your PRU code written for?

TI PRU library: Gitweb @ Texas Instruments - Open Source Git Repositories - git.TI.com/gitweb - pru-software-support-package/pru-software-support-package.git/summary

TI had patches for specific kernel release’s, today mainline should work with the latest TI for am335x as everyting should be mainline.. but if you built on a specific ti kernel release… yeah..

Regards,

7

Linux Beaglebone 5.10.168-ti-r61 bullseye.

Not sure what library you are refering to. My app used code composer studio, uploaded to the beaglebone. Created my own PRU_LIbrary. The code used direct register writes to the system/pru registers. My control software from the Linux side emulated the command lines through C++ read and writes.

The link below is a zipped file, for my project.

8

My library was created originally from a “pru-software-support-package” Oct 21 and updated around Sept 2024 when working on the BBAI64. Probably used version 6.0.0.

9

Yeap, this is what i was worried about… Use the 5.10.x image for Debian 12 or Debian 13 and your pru library will work just fine..

image
image680×964 118 KB

The 5.10.x image will be available for a long time..

Regards,

10

Thanks got two BBB’s use 5.10 on one and 6.17 on the other. Debian 13 works well with my Ubuntu PC where I use CCS and Eclipse for cross compiling.

11

What is the significance of these device tree statements in a overlay?

&ocp {
	P9_27_pinmux { status = "disabled"; };	// P9_27: mcasp0_fsr, OMAP_MUX_MODE6 | AM33XX_PIN_INPUT, PRU CAPE SW1
	P9_25_pinmux { status = "disabled"; };	// P9_25: mcasp0_ahclkx, OMAP_MUX_MODE6 | AM33XX_PIN_INPUT, PRU CAPE SW2

I want to use P8_33 & P8_35 as PRU0 inputs ase QEP1B & QEP1A mode 2 connected to a quadrature encoder. Are they enabled in am335x_boneblack.dtb or do I need to with an overlay.

12

Those are used when you want to disable the “cape universal” default and hardcode you own pinmux values in the overlay..

Regards,

13

This is what I am propossing to use for an overlay. I use my pru0 for direct register access to the eqep periphereal, example – count = PWMSS1.EQEP_QPOSCNT_bit.QPOSCNT;

&ocp {
	P8_11_pinmux { status = "disabled"; };  // P8_11
	P8_12_pinmux { status = "disabled"; };	// P8_12
	P8_35_pinmux { status = "disabled"; };  // P8_35 \[lcd d12\]
	P8_33_pinmux { status = "disabled"; };  // P8_33 \[lcd d13\]
	// This pin is enabled in: am335x-boneblack.dts
//	P9_42_pinmux { status = "disabled"; }; // P9_42A \[ecappwm0\]
};

&am33xx_pinmux {
	pru_cape_bone_pins: pru_cape_bone_pins {
		pinctrl-single,pins = <
			0x030 0x06  // P8_12: pruout bit14
			0x034 0x06  // P9_11: pruout bit15
			0x0d0 0x02  // P8_35: eqep1A
			0x0d4 0x02  // P8_33: eqep1b
			0x164 0x00  // P9_42: ecappwm0
	};
};
14

that Looks fine

15

Great I will get my PRU PID motor controller working with Trixie using 5.10

1 Like
16

Shucks I am getting this error from the above device tree.

[ 74.676017] pvrsrvkm: loading out-of-tree module taints kernel.
[ 74.725951] pinctrl-single 44e10800.pinmux: pin PIN52 already requested by 0-0070; cannot claim for 4a300000.pruss
[ 74.874763] pinctrl-single 44e10800.pinmux: pin-52 (4a300000.pruss) status -22
[ 74.951509] pinctrl-single 44e10800.pinmux: could not request pin 52 (PIN52) from group pru_cape_bone_pins on device pinctrl-single
[ 75.042922] [drm] Initialized pvr 1.17.4948957 20110701 for 56000000.gpu on minor 1
[ 75.111246] pruss 4a300000.pruss: Error applying setting, reverse things back
[ 75.246027] pruss: probe of 4a300000.pruss failed with error -22

17

show full version of:

sudo beagle-version

52 is probally HDMI/AUDIO still enabled..

Regards,

18

How do I interpret pin 52 is it by gpiochip offsets?

19

in v5.10.x 52 should just be 52… P8_35 which you used for eqep1A, which is hdmi/audio..

so..

disable_uboot_overlay_video=1

Should fix it..

20

Yes that worked thanks again for your patient Robert