Hello,
I am trying to setup my Kossel mini printer with Replicape version 0B3A on
a BBB with machinekit.
I used https://github.com/sam0737/machinekit-replicape in its
ARM.Replicape.B3 version adapted to the newest
stretch machinekit package
bone-debian-9.3-machinekit-armhf-2018-02-11-4gb.img.xz (the changes being
to adapt to the
"slotless" cape loading and to correct the .icomp components).
The BB-BONE-REPLICAP-0B3A.dtbo is loaded via u-boot load as you can see
from the attached file
giving the details on version.sh, dmesg and uEnv , where you can see that I
disabled HDMI, EMMC and
cape-universal.
Machinekit starts up fine, I can see the extruder and hotbed temperatures,
pwm working, endstops working etc.
so it seems that the cape is loaded allright. I can also read the cape
eeprom.
The only thing not working is that the output pins of the pru (like x-dir
on P8.26) do not show any signal
but stay low. I have to manually set
echo "61" > /sys/class/gpio/export
echo "out" > /sys/class/gpio/gpio61/direction
to have the pru toggle the x-direction pin on P8.26 (with kernel gpio
number 61) as an example.
pru itself (with uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo)
obviously works.
In the code of sam0737 the hpg.stepgen.00.dirpin is set to 826, and that is
confirmed with halshow.
I was expecting that the overlay would set the outputs for the pru, as in
BB-BONE-REPLICAP-0B3A.dts
pruicss_stepper_pins: pinmux_pruicss_stepper_pins{
pinctrl-single,pins = <
0x038 0x07 // P8_16 (3) = DIR_H = GPIO1_14
0x03C 0x07 // P8_15 (4) = DIR_E = GPIO1_15
0x028 0x07 // P8_14 (5) = DIR_Z = GPIO0_26
0x02C 0x07 // P8_17 (6) = STEP_X = GPIO0_27
0x034 0x07 // P8_11 (22) = step_H = GPIO1_13
0x030 0x07 // P8_12 (23) = Step_y = GPIO1_12
0x024 0x07 // P8_13 (24) = Step_z = GPIO0_23
0x020 0x07 // P8_19 (25) = Dir_y = GPIO0_22
0x07C 0x07 // P8_26 = Dir_x = GPIO1_29
0x078 0x07 // P9_12 = step E = GPIO1_28
>;
};
cat /sys/kernel/debug/pinctrl/44e10800.pinmux/pinmux-pins | grep 7C comes
up empty.
Everything described above also happens when I use the 4.9.81-bone-rt-r9
kernel on jessie (which still uses the slots).
Interestingly, the same BBB/Replicape hardware runs flawlessly with
redeem/kamikaze which
uses the same overlay, on a non-rt 4.1.38-bone24 kernel.
What am I missing?
Karl
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sudo ./version.sh
git:/opt/scripts/:[aa257709957bdaab058ef4428469b87bb2c2f19e]
eeprom:[A335BNLT00C03214BBBK0719]
model:[TI_AM335x_BeagleBone_Black]
dogtag:[Machinekit Debian Image 2018-02-11]
bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot
2018.01-00002-g9aa111a004]:[location: dd MBR]
kernel:[4.14.18-ti-rt-r33]
uboot_overlay_options:[enable_uboot_overlays=1]
uboot_overlay_options:[disable_uboot_overlay_emmc=1]
uboot_overlay_options:[disable_uboot_overlay_video=1]
uboot_overlay_options:[disable_uboot_overlay_audio=1]
uboot_overlay_options:[uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo]
pkg:[bb-cape-overlays]:[4.4.20180126.0-0rcnee0~stretch+20180126]
pkg:[bb-wl18xx-firmware]:[1.20170829-0rcnee2~stretch+20180104]
pkg:[firmware-ti-connectivity]:[20170823-1rcnee0~stretch+20170830]
cmdline:[console=ttyO0,115200n8 bone_capemgr.uboot_capemgr_enabled=1
root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait
uboot_detected_capes=BB-BONE-REPLICAP, coherent_pool=1M net.ifnames=0 quiet]
dmesg | grep pinctrl-single
[ 1.409356] pinctrl-single 44e10800.pinmux: 142 pins at pa f9e10800 size 568
dmesg | grep gpio-of-helper
[ 1.411278] gpio-of-helper ocp:cape-universal: ready
END
dmesg | grep -i cape
[ 0.000000] Kernel command line: console=ttyO0,115200n8
bone_capemgr.uboot_capemgr_enabled=1 root=/dev/mmcblk0p1 ro rootfstype=ext4
rootwait uboot_detected_capes=BB-BONE-REPLICAP, coherent_pool=1M net.ifnames=0
quiet
[ 1.411278] gpio-of-helper ocp:cape-universal: ready
uEnv.txt
name_r=4.14.18-ti-rt-r33
#uuid=
#dtb=
###U-Boot Overlays###
###Documentation:
http://elinux.org/Beagleboard:BeagleBoneBlack_Debian#U-Boot_Overla$
###Master Enable
enable_uboot_overlays=1
###
###Overide capes with eeprom
#uboot_overlay_addr0=/lib/firmware/<file0>.dtbo
#uboot_overlay_addr1=/lib/firmware/<file1>.dtbo
#uboot_overlay_addr2=/lib/firmware/<file2>.dtbo
#uboot_overlay_addr3=/lib/firmware/<file3>.dtbo
###
###Additional custom capes
#uboot_overlay_addr4=/lib/firmware/<file4>.dtbo
#uboot_overlay_addr5=/lib/firmware/<file5>.dtbo
#uboot_overlay_addr6=/lib/firmware/<file6>.dtbo
#uboot_overlay_addr7=/lib/firmware/<file7>.dtbo
###
###Custom Cape
#dtb_overlay=/lib/firmware/<file8>.dtbo
###
###Disable auto loading of virtual capes (emmc/video/wireless/adc)
disable_uboot_overlay_emmc=1
disable_uboot_overlay_video=1
disable_uboot_overlay_audio=1
#disable_uboot_overlay_wireless=1
#disable_uboot_overlay_adc=1
###
###PRUSS OPTIONS
###pru_rproc (4.4.x-ti kernel)
#uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-4-TI-00A0.dtbo
###pru_uio (4.4.x-ti & mainline/bone kernel)
uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo
##
###Cape Universal Enable
#enable_uboot_cape_universal=1
###
###Debug: disable uboot autoload of Cape
#disable_uboot_overlay_addr0=1
#disable_uboot_overlay_addr1=1
#disable_uboot_overlay_addr2=1
#disable_uboot_overlay_addr3=1
###
###U-Boot fdt tweaks... (60000 = 384KB)
#uboot_fdt_buffer=0x60000
###U-Boot Overlays###
cmdline=coherent_pool=1M net.ifnames=0 quiet
Excerpt frm BB-BONE-REPLICAP-0B3A.dts
pruicss_stepper_pins: pinmux_pruicss_stepper_pins{
pinctrl-single,pins = <
0x038 0x07 // P8_16 (3) = DIR_H = GPIO1_14
0x03C 0x07 // P8_15 (4) = DIR_E = GPIO1_15
0x028 0x07 // P8_14 (5) = DIR_Z = GPIO0_26
0x02C 0x07 // P8_17 (6) = STEP_X = GPIO0_27
0x034 0x07 // P8_11 (22) = step_H = GPIO1_13
0x030 0x07 // P8_12 (23) = Step_y = GPIO1_12
0x024 0x07 // P8_13 (24) = Step_z = GPIO0_23
0x020 0x07 // P8_19 (25) = Dir_y = GPIO0_22
0x07C 0x07 // P8_26 = Dir_x = GPIO1_29
0x078 0x07 // P9_12 = step E = GPIO1_28
>;
};
