Hello,
my pocket beagle with 5.10 bone rt Kernel, the pru, spi and pwms are working neither with Kernel 5.10.212-bone-rt-r78 nor 5.10.168-ti-rt-r77 and
Kernel 4.19.94-ti-rt-r74 w/ AM335X-PRU-UIO-00A0.dtbo the PRU not working
But with 4.19.94-ti-rt-r74 w/ AM335X-PRU-RPROC-4-19-TI-00A0.dtbo everything is fine (the last one):
Can anyone explain why? What am I doing wrong?
====================== 5.10.212-bone-rt-r78 w/ AM335X-PRU-UIO-00A0
debian@beaglebone:~$ uname -r
5.10.212-bone-rt-r78
debian@beaglebone:~$ rc_test_drivers
Kernel: 5.10.212-bone-rt-r78
BeagleBoard.org Debian Buster Console Image 2023-04-06
Debian: 10.13
PASSED: gpio 0
PASSED: gpio 1
PASSED: gpio 2
PASSED: gpio 3
ERROR: ti-pwm driver not loaded for hrpwm0
ERROR: ti-pwm driver not loaded for hrpwm1
ERROR: ti-pwm driver not loaded for hrpwm2
ERROR: ti-eqep driver not loaded for eqep0
ERROR: ti-eqep driver not loaded for eqep1
ERROR: ti-eqep driver not loaded for eqep2
ERROR: pru-rproc driver not loaded
PASSED: uart1
PASSED: uart2
PASSED: uart4
ERROR: uart5 driver not loaded
PASSED: i2c1
PASSED: i2c2
ERROR: spi driver not loaded
ERROR: LED driver not loaded
PASSED: ADC iio
Currently running on a:
MODEL_BB_POCKET
Robot Control library Version:
1.0.5
debian@beaglebone:~$ sudo /opt/scripts/tools/version.sh
git:/opt/scripts/:[1b1122751f7051bd8996f353756ba6ff30e71820]
eeprom:[A335PBGL00A22251SPB00180]
model:[TI_AM335x_PocketBeagle]
dogtag:[BeagleBoard.org Debian Buster Console Image 2023-04-06]
bootloader:[microSD]:[/dev/mmcblk0]:[U-Boot SPL 2019.04-g923f8b8 (Jan 02 2022 - 19:05:15 +0000)]:[location: dd MBR]
bootloader:[microSD]:[/dev/mmcblk0]:[U-Boot 2019.04-g923f8b8]:[location: dd MBR]
UBOOT: Booted Device-Tree:[am335x-pocketbeagle.dts]
UBOOT: Loaded Overlay:[AM335X-PRU-UIO-00A0.kernel]
UBOOT: Loaded Overlay:[BB-ADC-00A0.kernel]
kernel:[5.10.212-bone-rt-r78]
device-tree-override:[dtb=am335x-pocketbeagle.dtb]
/boot/uEnv.txt Settings:
pkg check: to individually upgrade run: [sudo apt install --only-upgrade ]
pkg:[bb-cape-overlays]:[4.14.20210821.0-0~buster+20210821]
pkg:[bb-customizations]:[1.20240119.0-0~buster+20240119]
pkg:[bb-usb-gadgets]:[1.20230414.0-0~buster+20230414]
pkg:[bb-wl18xx-firmware]:[1.20230414.0-0~buster+20230414]
pkg:[kmod]:[26-1]
pkg:[librobotcontrol]:[1.0.5-git20200715.0-0~buster+20200716]
pkg:[firmware-ti-connectivity]:[20190717-2rcnee1~buster+20200305]
groups:[debian : debian adm kmem dialout cdrom floppy audio dip video plugdev users systemd-journal input bluetooth netdev gpio admin i2c tisdk weston-launch cloud9ide]
cmdline:[console=ttyS0,115200n8 root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M net.ifnames=0 lpj=1990656 rng_core.default_quality=100 quiet]
dmesg | grep remote
dmesg | grep pru
dmesg | grep pinctrl-single
[ 2.321332] pinctrl-single 44e10800.pinmux: 142 pins, size 568
dmesg | grep gpio-of-helper
[ 3.099342] gpio-of-helper ocp:cape-universal: Allocated GPIO id=0 name=‘P1_02’
[ 3.099549] gpio-of-helper ocp:cape-universal: Allocated GPIO id=1 name=‘P1_04’
[ 3.099602] gpio-of-helper ocp:cape-universal: Failed to get gpio property of ‘P1_06’
[ 3.099612] gpio-of-helper ocp:cape-universal: Failed to create gpio entry
[ 3.174124] gpio-of-helper ocp:cape-universal: Allocated GPIO id=0 name=‘P1_02’
[ 3.174275] gpio-of-helper ocp:cape-universal: Allocated GPIO id=1 name=‘P1_04’
[ 3.174518] gpio-of-helper ocp:cape-universal: Allocated GPIO id=2 name=‘P1_06’
[ 3.174685] gpio-of-helper ocp:cape-universal: Allocated GPIO id=3 name=‘P1_08’
[ 3.174887] gpio-of-helper ocp:cape-universal: Allocated GPIO id=4 name=‘P1_10’
[ 3.175636] gpio-of-helper ocp:cape-universal: Allocated GPIO id=5 name=‘P1_12’
[ 3.175845] gpio-of-helper ocp:cape-universal: Allocated GPIO id=6 name=‘P1_20’
[ 3.176021] gpio-of-helper ocp:cape-universal: Allocated GPIO id=7 name=‘P1_26’
[ 3.176190] gpio-of-helper ocp:cape-universal: Allocated GPIO id=8 name=‘P1_28’
[ 3.176625] gpio-of-helper ocp:cape-universal: Allocated GPIO id=9 name=‘P1_29’
[ 3.176847] gpio-of-helper ocp:cape-universal: Allocated GPIO id=10 name=‘P1_30’
[ 3.177019] gpio-of-helper ocp:cape-universal: Allocated GPIO id=11 name=‘P1_31’
[ 3.177197] gpio-of-helper ocp:cape-universal: Allocated GPIO id=12 name=‘P1_32’
[ 3.177373] gpio-of-helper ocp:cape-universal: Allocated GPIO id=13 name=‘P1_33’
[ 3.177562] gpio-of-helper ocp:cape-universal: Allocated GPIO id=14 name=‘P1_34’
[ 3.177741] gpio-of-helper ocp:cape-universal: Allocated GPIO id=15 name=‘P1_35’
[ 3.177999] gpio-of-helper ocp:cape-universal: Allocated GPIO id=16 name=‘P1_36’
[ 3.178181] gpio-of-helper ocp:cape-universal: Allocated GPIO id=17 name=‘P2_01’
[ 3.178352] gpio-of-helper ocp:cape-universal: Allocated GPIO id=18 name=‘P2_02’
[ 3.178551] gpio-of-helper ocp:cape-universal: Allocated GPIO id=19 name=‘P2_03’
[ 3.178736] gpio-of-helper ocp:cape-universal: Allocated GPIO id=20 name=‘P2_04’
[ 3.178907] gpio-of-helper ocp:cape-universal: Allocated GPIO id=21 name=‘P2_05’
[ 3.180031] gpio-of-helper ocp:cape-universal: Allocated GPIO id=22 name=‘P2_06’
[ 3.180250] gpio-of-helper ocp:cape-universal: Allocated GPIO id=23 name=‘P2_07’
[ 3.180453] gpio-of-helper ocp:cape-universal: Allocated GPIO id=24 name=‘P2_08’
[ 3.180625] gpio-of-helper ocp:cape-universal: Allocated GPIO id=25 name=‘P2_09’
[ 3.180797] gpio-of-helper ocp:cape-universal: Allocated GPIO id=26 name=‘P2_10’
[ 3.180982] gpio-of-helper ocp:cape-universal: Allocated GPIO id=27 name=‘P2_11’
[ 3.181160] gpio-of-helper ocp:cape-universal: Allocated GPIO id=28 name=‘P2_17’
[ 3.181340] gpio-of-helper ocp:cape-universal: Allocated GPIO id=29 name=‘P2_18’
[ 3.181515] gpio-of-helper ocp:cape-universal: Allocated GPIO id=30 name=‘P2_19’
[ 3.181678] gpio-of-helper ocp:cape-universal: Allocated GPIO id=31 name=‘P2_20’
[ 3.181859] gpio-of-helper ocp:cape-universal: Allocated GPIO id=32 name=‘P2_22’
[ 3.182016] gpio-of-helper ocp:cape-universal: Allocated GPIO id=33 name=‘P2_24’
[ 3.182185] gpio-of-helper ocp:cape-universal: Allocated GPIO id=34 name=‘P2_25’
[ 3.182355] gpio-of-helper ocp:cape-universal: Allocated GPIO id=35 name=‘P2_27’
[ 3.182718] gpio-of-helper ocp:cape-universal: Allocated GPIO id=36 name=‘P2_28’
[ 3.182921] gpio-of-helper ocp:cape-universal: Allocated GPIO id=37 name=‘P2_29’
[ 3.183400] gpio-of-helper ocp:cape-universal: Allocated GPIO id=38 name=‘P2_30’
[ 3.183603] gpio-of-helper ocp:cape-universal: Allocated GPIO id=39 name=‘P2_31’
[ 3.183882] gpio-of-helper ocp:cape-universal: Allocated GPIO id=40 name=‘P2_32’
[ 3.184056] gpio-of-helper ocp:cape-universal: Allocated GPIO id=41 name=‘P2_33’
[ 3.184240] gpio-of-helper ocp:cape-universal: Allocated GPIO id=42 name=‘P2_34’
[ 3.184416] gpio-of-helper ocp:cape-universal: Allocated GPIO id=43 name=‘P2_35’
[ 3.184428] gpio-of-helper ocp:cape-universal: ready
END
=================5.10.212-bone-rt-r78 w/ AM335X-PRU-RPROC-4-19-TI-00A0
debian@beaglebone:~$ rc_test_drivers
Kernel: 5.10.212-bone-rt-r78
BeagleBoard.org Debian Buster Console Image 2023-04-06
Debian: 10.13
PASSED: gpio 0
PASSED: gpio 1
PASSED: gpio 2
PASSED: gpio 3
ERROR: ti-pwm driver not loaded for hrpwm0
ERROR: ti-pwm driver not loaded for hrpwm1
ERROR: ti-pwm driver not loaded for hrpwm2
ERROR: ti-eqep driver not loaded for eqep0
ERROR: ti-eqep driver not loaded for eqep1
ERROR: ti-eqep driver not loaded for eqep2
ERROR: pru-rproc driver not loaded
PASSED: uart1
PASSED: uart2
PASSED: uart4
ERROR: uart5 driver not loaded
PASSED: i2c1
PASSED: i2c2
ERROR: spi driver not loaded
ERROR: LED driver not loaded
PASSED: ADC iio
Currently running on a:
MODEL_BB_POCKET
Robot Control library Version:
1.0.5
debian@beaglebone:~$ sudo /opt/scripts/tools/version.sh
git:/opt/scripts/:[1b1122751f7051bd8996f353756ba6ff30e71820]
eeprom:[A335PBGL00A22251SPB00180]
model:[TI_AM335x_PocketBeagle]
dogtag:[BeagleBoard.org Debian Buster Console Image 2023-04-06]
bootloader:[microSD]:[/dev/mmcblk0]:[U-Boot SPL 2019.04-g923f8b8 (Jan 02 2022 - 19:05:15 +0000)]:[location: dd MBR]
bootloader:[microSD]:[/dev/mmcblk0]:[U-Boot 2019.04-g923f8b8]:[location: dd MBR]
UBOOT: Booted Device-Tree:[am335x-pocketbeagle.dts]
UBOOT: Loaded Overlay:[AM335X-PRU-RPROC-4-19-TI-00A0]
UBOOT: Loaded Overlay:[BB-ADC-00A0.kernel]
kernel:[5.10.212-bone-rt-r78]
device-tree-override:[dtb=am335x-pocketbeagle.dtb]
/boot/uEnv.txt Settings:
pkg check: to individually upgrade run: [sudo apt install --only-upgrade ]
pkg:[bb-cape-overlays]:[4.14.20210821.0-0~buster+20210821]
pkg:[bb-customizations]:[1.20240119.0-0~buster+20240119]
pkg:[bb-usb-gadgets]:[1.20230414.0-0~buster+20230414]
pkg:[bb-wl18xx-firmware]:[1.20230414.0-0~buster+20230414]
pkg:[kmod]:[26-1]
pkg:[librobotcontrol]:[1.0.5-git20200715.0-0~buster+20200716]
pkg:[firmware-ti-connectivity]:[20190717-2rcnee1~buster+20200305]
groups:[debian : debian adm kmem dialout cdrom floppy audio dip video plugdev users systemd-journal input bluetooth netdev gpio admin i2c tisdk weston-launch cloud9ide]
cmdline:[console=ttyS0,115200n8 root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M net.ifnames=0 lpj=1990656 rng_core.default_quality=100 quiet]
dmesg | grep remote
dmesg | grep pru
dmesg | grep pinctrl-single
[ 2.320482] pinctrl-single 44e10800.pinmux: 142 pins, size 568
dmesg | grep gpio-of-helper
[ 3.104512] gpio-of-helper ocp:cape-universal: Allocated GPIO id=0 name=‘P1_02’
[ 3.104712] gpio-of-helper ocp:cape-universal: Allocated GPIO id=1 name=‘P1_04’
[ 3.104762] gpio-of-helper ocp:cape-universal: Failed to get gpio property of ‘P1_06’
[ 3.104771] gpio-of-helper ocp:cape-universal: Failed to create gpio entry
[ 3.179103] gpio-of-helper ocp:cape-universal: Allocated GPIO id=0 name=‘P1_02’
[ 3.179246] gpio-of-helper ocp:cape-universal: Allocated GPIO id=1 name=‘P1_04’
[ 3.179482] gpio-of-helper ocp:cape-universal: Allocated GPIO id=2 name=‘P1_06’
[ 3.179656] gpio-of-helper ocp:cape-universal: Allocated GPIO id=3 name=‘P1_08’
[ 3.179821] gpio-of-helper ocp:cape-universal: Allocated GPIO id=4 name=‘P1_10’
[ 3.180527] gpio-of-helper ocp:cape-universal: Allocated GPIO id=5 name=‘P1_12’
[ 3.180753] gpio-of-helper ocp:cape-universal: Allocated GPIO id=6 name=‘P1_20’
[ 3.180943] gpio-of-helper ocp:cape-universal: Allocated GPIO id=7 name=‘P1_26’
[ 3.181135] gpio-of-helper ocp:cape-universal: Allocated GPIO id=8 name=‘P1_28’
[ 3.181565] gpio-of-helper ocp:cape-universal: Allocated GPIO id=9 name=‘P1_29’
[ 3.181778] gpio-of-helper ocp:cape-universal: Allocated GPIO id=10 name=‘P1_30’
[ 3.181948] gpio-of-helper ocp:cape-universal: Allocated GPIO id=11 name=‘P1_31’
[ 3.182120] gpio-of-helper ocp:cape-universal: Allocated GPIO id=12 name=‘P1_32’
[ 3.182289] gpio-of-helper ocp:cape-universal: Allocated GPIO id=13 name=‘P1_33’
[ 3.182480] gpio-of-helper ocp:cape-universal: Allocated GPIO id=14 name=‘P1_34’
[ 3.182672] gpio-of-helper ocp:cape-universal: Allocated GPIO id=15 name=‘P1_35’
[ 3.182937] gpio-of-helper ocp:cape-universal: Allocated GPIO id=16 name=‘P1_36’
[ 3.183123] gpio-of-helper ocp:cape-universal: Allocated GPIO id=17 name=‘P2_01’
[ 3.183309] gpio-of-helper ocp:cape-universal: Allocated GPIO id=18 name=‘P2_02’
[ 3.183499] gpio-of-helper ocp:cape-universal: Allocated GPIO id=19 name=‘P2_03’
[ 3.183671] gpio-of-helper ocp:cape-universal: Allocated GPIO id=20 name=‘P2_04’
[ 3.183837] gpio-of-helper ocp:cape-universal: Allocated GPIO id=21 name=‘P2_05’
[ 3.184941] gpio-of-helper ocp:cape-universal: Allocated GPIO id=22 name=‘P2_06’
[ 3.185197] gpio-of-helper ocp:cape-universal: Allocated GPIO id=23 name=‘P2_07’
[ 3.185377] gpio-of-helper ocp:cape-universal: Allocated GPIO id=24 name=‘P2_08’
[ 3.185566] gpio-of-helper ocp:cape-universal: Allocated GPIO id=25 name=‘P2_09’
[ 3.185740] gpio-of-helper ocp:cape-universal: Allocated GPIO id=26 name=‘P2_10’
[ 3.185912] gpio-of-helper ocp:cape-universal: Allocated GPIO id=27 name=‘P2_11’
[ 3.186091] gpio-of-helper ocp:cape-universal: Allocated GPIO id=28 name=‘P2_17’
[ 3.186260] gpio-of-helper ocp:cape-universal: Allocated GPIO id=29 name=‘P2_18’
[ 3.186429] gpio-of-helper ocp:cape-universal: Allocated GPIO id=30 name=‘P2_19’
[ 3.186591] gpio-of-helper ocp:cape-universal: Allocated GPIO id=31 name=‘P2_20’
[ 3.186768] gpio-of-helper ocp:cape-universal: Allocated GPIO id=32 name=‘P2_22’
[ 3.186940] gpio-of-helper ocp:cape-universal: Allocated GPIO id=33 name=‘P2_24’
[ 3.187117] gpio-of-helper ocp:cape-universal: Allocated GPIO id=34 name=‘P2_25’
[ 3.187301] gpio-of-helper ocp:cape-universal: Allocated GPIO id=35 name=‘P2_27’
[ 3.187645] gpio-of-helper ocp:cape-universal: Allocated GPIO id=36 name=‘P2_28’
[ 3.187852] gpio-of-helper ocp:cape-universal: Allocated GPIO id=37 name=‘P2_29’
[ 3.188339] gpio-of-helper ocp:cape-universal: Allocated GPIO id=38 name=‘P2_30’
[ 3.188549] gpio-of-helper ocp:cape-universal: Allocated GPIO id=39 name=‘P2_31’
[ 3.188813] gpio-of-helper ocp:cape-universal: Allocated GPIO id=40 name=‘P2_32’
[ 3.188992] gpio-of-helper ocp:cape-universal: Allocated GPIO id=41 name=‘P2_33’
[ 3.189174] gpio-of-helper ocp:cape-universal: Allocated GPIO id=42 name=‘P2_34’
[ 3.189362] gpio-of-helper ocp:cape-universal: Allocated GPIO id=43 name=‘P2_35’
[ 3.189373] gpio-of-helper ocp:cape-universal: ready
END
=================5.10.168-ti-rt-r77 w/ AM335X-PRU-UIO-00A0
debian@beaglebone:~$ rc_test_drivers
Kernel: 5.10.168-ti-rt-r77
BeagleBoard.org Debian Buster Console Image 2023-04-06
Debian: 10.13
PASSED: gpio 0
PASSED: gpio 1
PASSED: gpio 2
PASSED: gpio 3
ERROR: ti-pwm driver not loaded for hrpwm0
ERROR: ti-pwm driver not loaded for hrpwm1
ERROR: ti-pwm driver not loaded for hrpwm2
ERROR: ti-eqep driver not loaded for eqep0
ERROR: ti-eqep driver not loaded for eqep1
ERROR: ti-eqep driver not loaded for eqep2
ERROR: pru-rproc driver not loaded
PASSED: uart1
PASSED: uart2
PASSED: uart4
ERROR: uart5 driver not loaded
PASSED: i2c1
PASSED: i2c2
ERROR: spi driver not loaded
ERROR: LED driver not loaded
PASSED: ADC iio
Currently running on a:
MODEL_BB_POCKET
Robot Control library Version:
1.0.5
debian@beaglebone:~$ sudo /opt/scripts/tools/version.sh
git:/opt/scripts/:[1b1122751f7051bd8996f353756ba6ff30e71820]
eeprom:[A335PBGL00A22251SPB00180]
model:[TI_AM335x_PocketBeagle]
dogtag:[BeagleBoard.org Debian Buster Console Image 2023-04-06]
bootloader:[microSD]:[/dev/mmcblk0]:[U-Boot SPL 2019.04-g923f8b8 (Jan 02 2022 - 19:05:15 +0000)]:[location: dd MBR]
bootloader:[microSD]:[/dev/mmcblk0]:[U-Boot 2019.04-g923f8b8]:[location: dd MBR]
UBOOT: Booted Device-Tree:[am335x-pocketbeagle.dts]
UBOOT: Loaded Overlay:[AM335X-PRU-UIO-00A0.kernel]
UBOOT: Loaded Overlay:[BB-ADC-00A0.kernel]
kernel:[5.10.168-ti-rt-r77]
device-tree-override:[dtb=am335x-pocketbeagle.dtb]
/boot/uEnv.txt Settings:
pkg check: to individually upgrade run: [sudo apt install --only-upgrade ]
pkg:[bb-cape-overlays]:[4.14.20210821.0-0~buster+20210821]
pkg:[bb-customizations]:[1.20240119.0-0~buster+20240119]
pkg:[bb-usb-gadgets]:[1.20230414.0-0~buster+20230414]
pkg:[bb-wl18xx-firmware]:[1.20230414.0-0~buster+20230414]
pkg:[kmod]:[26-1]
pkg:[librobotcontrol]:[1.0.5-git20200715.0-0~buster+20200716]
pkg:[firmware-ti-connectivity]:[20190717-2rcnee1~buster+20200305]
groups:[debian : debian adm kmem dialout cdrom floppy audio dip video plugdev users systemd-journal input bluetooth netdev gpio admin i2c tisdk weston-launch cloud9ide]
cmdline:[console=ttyS0,115200n8 root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M net.ifnames=0 lpj=1990656 rng_core.default_quality=100 quiet]
dmesg | grep remote
[ 10.112998] remoteproc remoteproc0: wkup_m3 is available
[ 43.876445] remoteproc remoteproc0: powering up wkup_m3
[ 43.876492] remoteproc remoteproc0: Booting fw image am335x-pm-firmware.elf, size 217148
[ 43.876817] remoteproc remoteproc0: remote processor wkup_m3 is now up
dmesg | grep pru
dmesg | grep pinctrl-single
[ 9.736805] pinctrl-single 44e10800.pinmux: 142 pins, size 568
dmesg | grep gpio-of-helper
[ 9.738807] gpio-of-helper ocp:cape-universal: Failed to get gpio property of ‘P1_02’
[ 9.738827] gpio-of-helper ocp:cape-universal: Failed to create gpio entry
[ 10.401909] gpio-of-helper ocp:cape-universal: Allocated GPIO id=0 name=‘P1_02’
[ 10.402221] gpio-of-helper ocp:cape-universal: Allocated GPIO id=1 name=‘P1_04’
[ 10.402531] gpio-of-helper ocp:cape-universal: Allocated GPIO id=2 name=‘P1_06’
[ 10.402784] gpio-of-helper ocp:cape-universal: Allocated GPIO id=3 name=‘P1_08’
[ 10.403026] gpio-of-helper ocp:cape-universal: Allocated GPIO id=4 name=‘P1_10’
[ 10.403250] gpio-of-helper ocp:cape-universal: Allocated GPIO id=5 name=‘P1_12’
[ 10.403540] gpio-of-helper ocp:cape-universal: Allocated GPIO id=6 name=‘P1_20’
[ 10.403793] gpio-of-helper ocp:cape-universal: Allocated GPIO id=7 name=‘P1_26’
[ 10.404400] gpio-of-helper ocp:cape-universal: Allocated GPIO id=8 name=‘P1_28’
[ 10.404910] gpio-of-helper ocp:cape-universal: Allocated GPIO id=9 name=‘P1_29’
[ 10.405242] gpio-of-helper ocp:cape-universal: Allocated GPIO id=10 name=‘P1_30’
[ 10.405502] gpio-of-helper ocp:cape-universal: Allocated GPIO id=11 name=‘P1_31’
[ 10.405750] gpio-of-helper ocp:cape-universal: Allocated GPIO id=12 name=‘P1_32’
[ 10.405983] gpio-of-helper ocp:cape-universal: Allocated GPIO id=13 name=‘P1_33’
[ 10.406279] gpio-of-helper ocp:cape-universal: Allocated GPIO id=14 name=‘P1_34’
[ 10.406517] gpio-of-helper ocp:cape-universal: Allocated GPIO id=15 name=‘P1_35’
[ 10.406786] gpio-of-helper ocp:cape-universal: Allocated GPIO id=16 name=‘P1_36’
[ 10.407050] gpio-of-helper ocp:cape-universal: Allocated GPIO id=17 name=‘P2_01’
[ 10.407274] gpio-of-helper ocp:cape-universal: Allocated GPIO id=18 name=‘P2_02’
[ 10.407529] gpio-of-helper ocp:cape-universal: Allocated GPIO id=19 name=‘P2_03’
[ 10.407756] gpio-of-helper ocp:cape-universal: Allocated GPIO id=20 name=‘P2_04’
[ 10.408277] gpio-of-helper ocp:cape-universal: Allocated GPIO id=21 name=‘P2_05’
[ 10.408731] gpio-of-helper ocp:cape-universal: Allocated GPIO id=22 name=‘P2_06’
[ 10.408981] gpio-of-helper ocp:cape-universal: Allocated GPIO id=23 name=‘P2_07’
[ 10.409248] gpio-of-helper ocp:cape-universal: Allocated GPIO id=24 name=‘P2_08’
[ 10.409493] gpio-of-helper ocp:cape-universal: Allocated GPIO id=25 name=‘P2_09’
[ 10.409747] gpio-of-helper ocp:cape-universal: Allocated GPIO id=26 name=‘P2_10’
[ 10.409991] gpio-of-helper ocp:cape-universal: Allocated GPIO id=27 name=‘P2_11’
[ 10.410226] gpio-of-helper ocp:cape-universal: Allocated GPIO id=28 name=‘P2_17’
[ 10.410472] gpio-of-helper ocp:cape-universal: Allocated GPIO id=29 name=‘P2_18’
[ 10.410749] gpio-of-helper ocp:cape-universal: Allocated GPIO id=30 name=‘P2_19’
[ 10.410979] gpio-of-helper ocp:cape-universal: Allocated GPIO id=31 name=‘P2_20’
[ 10.411231] gpio-of-helper ocp:cape-universal: Allocated GPIO id=32 name=‘P2_22’
[ 10.411459] gpio-of-helper ocp:cape-universal: Allocated GPIO id=33 name=‘P2_24’
[ 10.411714] gpio-of-helper ocp:cape-universal: Allocated GPIO id=34 name=‘P2_25’
[ 10.412251] gpio-of-helper ocp:cape-universal: Allocated GPIO id=35 name=‘P2_27’
[ 10.412530] gpio-of-helper ocp:cape-universal: Allocated GPIO id=36 name=‘P2_28’
[ 10.412796] gpio-of-helper ocp:cape-universal: Allocated GPIO id=37 name=‘P2_29’
[ 10.413069] gpio-of-helper ocp:cape-universal: Allocated GPIO id=38 name=‘P2_30’
[ 10.413334] gpio-of-helper ocp:cape-universal: Allocated GPIO id=39 name=‘P2_31’
[ 10.413592] gpio-of-helper ocp:cape-universal: Allocated GPIO id=40 name=‘P2_32’
[ 10.413838] gpio-of-helper ocp:cape-universal: Allocated GPIO id=41 name=‘P2_33’
[ 10.414079] gpio-of-helper ocp:cape-universal: Allocated GPIO id=42 name=‘P2_34’
[ 10.414308] gpio-of-helper ocp:cape-universal: Allocated GPIO id=43 name=‘P2_35’
[ 10.414321] gpio-of-helper ocp:cape-universal: ready
END
======================5.10.168-ti-rt-r77 w/ AM335X-PRU-RPROC-4-19-TI-00A0
PRU loaded but Spi, PWMs, eQEPs are gone 
debian@beaglebone:~$ rc_test_drivers
Kernel: 5.10.168-ti-rt-r77
BeagleBoard.org Debian Buster Console Image 2023-04-06
Debian: 10.13
PASSED: gpio 0
PASSED: gpio 1
PASSED: gpio 2
PASSED: gpio 3
ERROR: ti-pwm driver not loaded for hrpwm0
ERROR: ti-pwm driver not loaded for hrpwm1
ERROR: ti-pwm driver not loaded for hrpwm2
ERROR: ti-eqep driver not loaded for eqep0
ERROR: ti-eqep driver not loaded for eqep1
ERROR: ti-eqep driver not loaded for eqep2
PASSED: pru-rproc
PASSED: uart1
PASSED: uart2
PASSED: uart4
ERROR: uart5 driver not loaded
PASSED: i2c1
PASSED: i2c2
ERROR: spi driver not loaded
ERROR: LED driver not loaded
PASSED: ADC iio
Currently running on a:
MODEL_BB_POCKET
Robot Control library Version:
1.0.5
debian@beaglebone:~$ sudo /opt/scripts/tools/version.sh
git:/opt/scripts/:[1b1122751f7051bd8996f353756ba6ff30e71820]
eeprom:[A335PBGL00A22251SPB00180]
model:[TI_AM335x_PocketBeagle]
dogtag:[BeagleBoard.org Debian Buster Console Image 2023-04-06]
bootloader:[microSD]:[/dev/mmcblk0]:[U-Boot SPL 2019.04-g923f8b8 (Jan 02 2022 - 19:05:15 +0000)]:[location: dd MBR]
bootloader:[microSD]:[/dev/mmcblk0]:[U-Boot 2019.04-g923f8b8]:[location: dd MBR]
UBOOT: Booted Device-Tree:[am335x-pocketbeagle.dts]
UBOOT: Loaded Overlay:[AM335X-PRU-RPROC-4-19-TI-00A0]
UBOOT: Loaded Overlay:[BB-ADC-00A0.kernel]
kernel:[5.10.168-ti-rt-r77]
device-tree-override:[dtb=am335x-pocketbeagle.dtb]
/boot/uEnv.txt Settings:
pkg check: to individually upgrade run: [sudo apt install --only-upgrade ]
pkg:[bb-cape-overlays]:[4.14.20210821.0-0~buster+20210821]
pkg:[bb-customizations]:[1.20240119.0-0~buster+20240119]
pkg:[bb-usb-gadgets]:[1.20230414.0-0~buster+20230414]
pkg:[bb-wl18xx-firmware]:[1.20230414.0-0~buster+20230414]
pkg:[kmod]:[26-1]
pkg:[librobotcontrol]:[1.0.5-git20200715.0-0~buster+20200716]
pkg:[firmware-ti-connectivity]:[20190717-2rcnee1~buster+20200305]
groups:[debian : debian adm kmem dialout cdrom floppy audio dip video plugdev users systemd-journal input bluetooth netdev gpio admin i2c tisdk weston-launch cloud9ide]
cmdline:[console=ttyS0,115200n8 root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M net.ifnames=0 lpj=1990656 rng_core.default_quality=100 quiet]
dmesg | grep remote
[ 10.209228] remoteproc remoteproc0: wkup_m3 is available
[ 43.005600] remoteproc remoteproc0: powering up wkup_m3
[ 43.005646] remoteproc remoteproc0: Booting fw image am335x-pm-firmware.elf, size 217148
[ 43.005937] remoteproc remoteproc0: remote processor wkup_m3 is now up
[ 60.608682] remoteproc remoteproc1: 4a334000.pru is available
[ 60.632809] remoteproc remoteproc2: 4a338000.pru is available
dmesg | grep pru
[ 0.210505] platform 4a326004.pruss-soc-bus: Cannot lookup hwmod ‘pruss’
[ 60.608682] remoteproc remoteproc1: 4a334000.pru is available
[ 60.632809] remoteproc remoteproc2: 4a338000.pru is available
dmesg | grep pinctrl-single
[ 9.831904] pinctrl-single 44e10800.pinmux: 142 pins, size 568
dmesg | grep gpio-of-helper
[ 9.833986] gpio-of-helper ocp:cape-universal: Failed to get gpio property of ‘P1_02’
[ 9.834008] gpio-of-helper ocp:cape-universal: Failed to create gpio entry
[ 10.501235] gpio-of-helper ocp:cape-universal: Allocated GPIO id=0 name=‘P1_02’
[ 10.501578] gpio-of-helper ocp:cape-universal: Allocated GPIO id=1 name=‘P1_04’
[ 10.501892] gpio-of-helper ocp:cape-universal: Allocated GPIO id=2 name=‘P1_06’
[ 10.502155] gpio-of-helper ocp:cape-universal: Allocated GPIO id=3 name=‘P1_08’
[ 10.502416] gpio-of-helper ocp:cape-universal: Allocated GPIO id=4 name=‘P1_10’
[ 10.502685] gpio-of-helper ocp:cape-universal: Allocated GPIO id=5 name=‘P1_12’
[ 10.502930] gpio-of-helper ocp:cape-universal: Allocated GPIO id=6 name=‘P1_20’
[ 10.503156] gpio-of-helper ocp:cape-universal: Allocated GPIO id=7 name=‘P1_26’
[ 10.503422] gpio-of-helper ocp:cape-universal: Allocated GPIO id=8 name=‘P1_28’
[ 10.503908] gpio-of-helper ocp:cape-universal: Allocated GPIO id=9 name=‘P1_29’
[ 10.504569] gpio-of-helper ocp:cape-universal: Allocated GPIO id=10 name=‘P1_30’
[ 10.504984] gpio-of-helper ocp:cape-universal: Allocated GPIO id=11 name=‘P1_31’
[ 10.505223] gpio-of-helper ocp:cape-universal: Allocated GPIO id=12 name=‘P1_32’
[ 10.505514] gpio-of-helper ocp:cape-universal: Allocated GPIO id=13 name=‘P1_33’
[ 10.505771] gpio-of-helper ocp:cape-universal: Allocated GPIO id=14 name=‘P1_34’
[ 10.506011] gpio-of-helper ocp:cape-universal: Allocated GPIO id=15 name=‘P1_35’
[ 10.506261] gpio-of-helper ocp:cape-universal: Allocated GPIO id=16 name=‘P1_36’
[ 10.506518] gpio-of-helper ocp:cape-universal: Allocated GPIO id=17 name=‘P2_01’
[ 10.506764] gpio-of-helper ocp:cape-universal: Allocated GPIO id=18 name=‘P2_02’
[ 10.507018] gpio-of-helper ocp:cape-universal: Allocated GPIO id=19 name=‘P2_03’
[ 10.507252] gpio-of-helper ocp:cape-universal: Allocated GPIO id=20 name=‘P2_04’
[ 10.507520] gpio-of-helper ocp:cape-universal: Allocated GPIO id=21 name=‘P2_05’
[ 10.507767] gpio-of-helper ocp:cape-universal: Allocated GPIO id=22 name=‘P2_06’
[ 10.508013] gpio-of-helper ocp:cape-universal: Allocated GPIO id=23 name=‘P2_07’
[ 10.508516] gpio-of-helper ocp:cape-universal: Allocated GPIO id=24 name=‘P2_08’
[ 10.508771] gpio-of-helper ocp:cape-universal: Allocated GPIO id=25 name=‘P2_09’
[ 10.509022] gpio-of-helper ocp:cape-universal: Allocated GPIO id=26 name=‘P2_10’
[ 10.509263] gpio-of-helper ocp:cape-universal: Allocated GPIO id=27 name=‘P2_11’
[ 10.509496] gpio-of-helper ocp:cape-universal: Allocated GPIO id=28 name=‘P2_17’
[ 10.509760] gpio-of-helper ocp:cape-universal: Allocated GPIO id=29 name=‘P2_18’
[ 10.509999] gpio-of-helper ocp:cape-universal: Allocated GPIO id=30 name=‘P2_19’
[ 10.510241] gpio-of-helper ocp:cape-universal: Allocated GPIO id=31 name=‘P2_20’
[ 10.510502] gpio-of-helper ocp:cape-universal: Allocated GPIO id=32 name=‘P2_22’
[ 10.510745] gpio-of-helper ocp:cape-universal: Allocated GPIO id=33 name=‘P2_24’
[ 10.510989] gpio-of-helper ocp:cape-universal: Allocated GPIO id=34 name=‘P2_25’
[ 10.511217] gpio-of-helper ocp:cape-universal: Allocated GPIO id=35 name=‘P2_27’
[ 10.511470] gpio-of-helper ocp:cape-universal: Allocated GPIO id=36 name=‘P2_28’
[ 10.511739] gpio-of-helper ocp:cape-universal: Allocated GPIO id=37 name=‘P2_29’
[ 10.511973] gpio-of-helper ocp:cape-universal: Allocated GPIO id=38 name=‘P2_30’
[ 10.512507] gpio-of-helper ocp:cape-universal: Allocated GPIO id=39 name=‘P2_31’
[ 10.512761] gpio-of-helper ocp:cape-universal: Allocated GPIO id=40 name=‘P2_32’
[ 10.513084] gpio-of-helper ocp:cape-universal: Allocated GPIO id=41 name=‘P2_33’
[ 10.513343] gpio-of-helper ocp:cape-universal: Allocated GPIO id=42 name=‘P2_34’
[ 10.513577] gpio-of-helper ocp:cape-universal: Allocated GPIO id=43 name=‘P2_35’
[ 10.513591] gpio-of-helper ocp:cape-universal: ready
END
======================= 4.19.94-ti-rt-r74 with AM335X-PRU-UIO-00A0
debian@beaglebone:~$ sudo /opt/scripts/tools/version.sh
git:/opt/scripts/:[1b1122751f7051bd8996f353756ba6ff30e71820]
eeprom:[A335PBGL00A22251SPB00180]
model:[TI_AM335x_PocketBeagle]
dogtag:[BeagleBoard.org Debian Buster Console Image 2023-04-06]
bootloader:[microSD]:[/dev/mmcblk0]:[U-Boot SPL 2019.04-g923f8b8 (Jan 02 2022 - 19:05:15 +0000)]:[location: dd MBR]
bootloader:[microSD]:[/dev/mmcblk0]:[U-Boot 2019.04-g923f8b8]:[location: dd MBR]
UBOOT: Booted Device-Tree:[am335x-pocketbeagle.dts]
UBOOT: Loaded Overlay:[AM335X-PRU-UIO-00A0]
UBOOT: Loaded Overlay:[BB-ADC-00A0.kernel]
kernel:[4.19.94-ti-rt-r74]
device-tree-override:[dtb=am335x-pocketbeagle.dtb]
/boot/uEnv.txt Settings:
pkg check: to individually upgrade run: [sudo apt install --only-upgrade ]
pkg:[bb-cape-overlays]:[4.14.20210821.0-0~buster+20210821]
pkg:[bb-customizations]:[1.20240119.0-0~buster+20240119]
pkg:[bb-usb-gadgets]:[1.20230414.0-0~buster+20230414]
pkg:[bb-wl18xx-firmware]:[1.20230414.0-0~buster+20230414]
pkg:[kmod]:[26-1]
pkg:[librobotcontrol]:[1.0.5-git20200715.0-0~buster+20200716]
pkg:[firmware-ti-connectivity]:[20190717-2rcnee1~buster+20200305]
groups:[debian : debian adm kmem dialout cdrom floppy audio dip video plugdev users systemd-journal input bluetooth netdev gpio admin i2c tisdk weston-launch cloud9ide]
cmdline:[console=ttyS0,115200n8 root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M net.ifnames=0 lpj=1990656 rng_core.default_quality=100 quiet]
dmesg | grep remote
[ 39.121760] remoteproc remoteproc0: wkup_m3 is available
[ 39.168973] remoteproc remoteproc0: powering up wkup_m3
[ 39.169008] remoteproc remoteproc0: Booting fw image am335x-pm-firmware.elf, size 217148
[ 39.169294] remoteproc remoteproc0: remote processor wkup_m3 is now up
dmesg | grep pru
dmesg | grep pinctrl-single
[ 1.155062] pinctrl-single 44e10800.pinmux: 142 pins, size 568
dmesg | grep gpio-of-helper
[ 1.167874] gpio-of-helper ocp:cape-universal: ready
END
debian@beaglebone:~$ rc_test_drivers
Kernel: 4.19.94-ti-rt-r74
BeagleBoard.org Debian Buster Console Image 2023-04-06
Debian: 10.13
PASSED: gpio 0
PASSED: gpio 1
PASSED: gpio 2
PASSED: gpio 3
PASSED: pwm0
PASSED: pwm1
PASSED: pwm2
PASSED: eqep0
ERROR: ti-eqep driver not loaded for eqep1
PASSED: eqep2
ERROR: pru-rproc driver not loaded
PASSED: uart1
PASSED: uart2
PASSED: uart4
ERROR: uart5 driver not loaded
PASSED: i2c1
PASSED: i2c2
PASSED: spi
ERROR: LED driver not loaded
PASSED: ADC iio
Currently running on a:
MODEL_BB_POCKET
Robot Control library Version:
1.0.5
debian@beaglebone:~$ uname -r
4.19.94-ti-rt-r74
======================= 4.19.94-ti-rt-r74 with AM335X-PRU-RPROC-4-19-TI-00A0.dtbo
PRU is also working with this one?? Why?
debian@beaglebone:~$ rc_test_drivers
Kernel: 4.19.94-ti-rt-r74
BeagleBoard.org Debian Buster Console Image 2023-04-06
Debian: 10.13
PASSED: gpio 0
PASSED: gpio 1
PASSED: gpio 2
PASSED: gpio 3
PASSED: pwm0
PASSED: pwm1
PASSED: pwm2
PASSED: eqep0
ERROR: ti-eqep driver not loaded for eqep1
PASSED: eqep2
PASSED: pru-rproc
PASSED: uart1
PASSED: uart2
PASSED: uart4
ERROR: uart5 driver not loaded
PASSED: i2c1
PASSED: i2c2
PASSED: spi
ERROR: LED driver not loaded
PASSED: ADC iio
Currently running on a:
MODEL_BB_POCKET
Robot Control library Version:
1.0.5
debian@beaglebone:~$ sudo /opt/scripts/tools/version.sh
git:/opt/scripts/:[1b1122751f7051bd8996f353756ba6ff30e71820]
eeprom:[A335PBGL00A22251SPB00180]
model:[TI_AM335x_PocketBeagle]
dogtag:[BeagleBoard.org Debian Buster Console Image 2023-04-06]
bootloader:[microSD]:[/dev/mmcblk0]:[U-Boot SPL 2019.04-g923f8b8 (Jan 02 2022 - 19:05:15 +0000)]:[location: dd MBR]
bootloader:[microSD]:[/dev/mmcblk0]:[U-Boot 2019.04-g923f8b8]:[location: dd MBR]
UBOOT: Booted Device-Tree:[am335x-pocketbeagle.dts]
UBOOT: Loaded Overlay:[AM335X-PRU-RPROC-4-19-TI-00A0.kernel]
UBOOT: Loaded Overlay:[BB-ADC-00A0.kernel]
kernel:[4.19.94-ti-rt-r74]
device-tree-override:[dtb=am335x-pocketbeagle.dtb]
/boot/uEnv.txt Settings:
pkg check: to individually upgrade run: [sudo apt install --only-upgrade ]
pkg:[bb-cape-overlays]:[4.14.20210821.0-0~buster+20210821]
pkg:[bb-customizations]:[1.20240119.0-0~buster+20240119]
pkg:[bb-usb-gadgets]:[1.20230414.0-0~buster+20230414]
pkg:[bb-wl18xx-firmware]:[1.20230414.0-0~buster+20230414]
pkg:[kmod]:[26-1]
pkg:[librobotcontrol]:[1.0.5-git20200715.0-0~buster+20200716]
pkg:[firmware-ti-connectivity]:[20190717-2rcnee1~buster+20200305]
groups:[debian : debian adm kmem dialout cdrom floppy audio dip video plugdev users systemd-journal input bluetooth netdev gpio admin i2c tisdk weston-launch cloud9ide]
cmdline:[console=ttyS0,115200n8 root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M net.ifnames=0 lpj=1990656 rng_core.default_quality=100 quiet]
dmesg | grep remote
[ 38.413883] remoteproc remoteproc0: wkup_m3 is available
[ 38.470557] remoteproc remoteproc0: powering up wkup_m3
[ 38.470594] remoteproc remoteproc0: Booting fw image am335x-pm-firmware.elf, size 217148
[ 38.470890] remoteproc remoteproc0: remote processor wkup_m3 is now up
[ 39.977185] remoteproc remoteproc1: 4a334000.pru is available
[ 39.989270] remoteproc remoteproc2: 4a338000.pru is available
dmesg | grep pru
[ 39.977185] remoteproc remoteproc1: 4a334000.pru is available
[ 39.977395] pru-rproc 4a334000.pru: PRU rproc node pru@4a334000 probed successfully
[ 39.989270] remoteproc remoteproc2: 4a338000.pru is available
[ 39.989454] pru-rproc 4a338000.pru: PRU rproc node pru@4a338000 probed successfully
dmesg | grep pinctrl-single
[ 1.155228] pinctrl-single 44e10800.pinmux: 142 pins, size 568
dmesg | grep gpio-of-helper
[ 1.168128] gpio-of-helper ocp:cape-universal: ready
END
