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diff --git a/docs/Beaglebone.md b/docs/Beaglebone.md index 67fc9657..700da90e 100644 --- a/docs/Beaglebone.md +++ b/docs/Beaglebone.md @@ -6,23 +6,64 @@ PRU. ## Building an OS image Start by installing the -[Debian 9.9 2019-08-03 4GB SD IoT](https://beagleboard.org/latest-images) +[Debian 11.7 2023-09-02 4GB microSD IoT](https://beagleboard.org/latest-images) image. One may run the image from either a micro-SD card or from builtin eMMC. If using the eMMC, install it to eMMC now by following the instructions from the above link. Then ssh into the Beaglebone machine (`ssh debian@beaglebone` -- -password is `temppwd`) and install Klipper by running the following +password is `temppwd`). + +Before start installing Klipper you need to free-up additional space. +there are 3 options to do that: +1. remove some BeagleBone "Demo" resources +2. if you did boot from SD-Card, and it's bigger than 4Gb - you can expand +current filesystem to take whole card space +3. do option #1 and #2 together. + +To remove some BeagleBone "Demo" resources execute these commands +``` +sudo apt remove bb-node-red-installer +sudo apt remove bb-code-server +``` + +To expand filesystem to full size of your SD-Card execute this command, reboot is not required. +``` +sudo growpart /dev/mmcblk0 1 +sudo resize2fs /dev/mmcblk0p1 +``` + + +Install Klipper by running the following commands: ``` -git clone https://github.com/Klipper3d/klipper +git clone https://github.com/Klipper3d/klipper.git ./klipper/scripts/install-beaglebone.sh ``` -## Install Octoprint +After installing Klipper you need to decide what kind of deployment do you need, +but take a note that BeagleBone is 3.3v based hardware and in most cases you can't +directly connect pins to 5v or 12v based hardware without conversion boards. + +As Klipper have multimodule architecture on BeagleBone you can achieve many different use cases, +but general ones are following: + +Use case 1: Use BeagleBone only as a host system to run Klipper and additional software +like OctoPrint/Fluidd + Moonraker/... and this configuration will be driving +external micro-controllers via serial/usb/canbus connections. + +Use case 2: Use BeagleBone with extension board (cape) like CRAMPS board. +in this configuration BeagleBone will host Klipper + additional software, and +it will drive extension board with BeagleBone PRU cores (2 additional cores 200Mh, 32Bit). + +Use case 3: It's same as "Use case 1" but additionally you want to drive +BeagleBone GPIOs with high speed by utilizing PRU cores to offload main CPU. + + +## Installing Octoprint -One may then install Octoprint: +One may then install Octoprint or fully skip this section if desired other software: ``` git clone https://github.com/foosel/OctoPrint.git cd OctoPrint/ @@ -51,25 +92,89 @@ Then start the Octoprint service: ``` sudo systemctl start octoprint ``` - -Make sure the OctoPrint web server is accessible - it should be at: +Wait 1-2 minutes and make sure the OctoPrint web server is accessible - it should be at: [http://beaglebone:5000/](http://beaglebone:5000/) -## Building the micro-controller code -To compile the Klipper micro-controller code, start by configuring it -for the "Beaglebone PRU": +## Building the BeagleBone PRU micro-controller code (PRU firmware) +This section is required for "Use case 2" and "Use case 3" mentioned above, +you should skip it for "Use case 1". + +Check that required devices are present + +``` +sudo beagle-version +``` +You should check that output contains successful "remoteproc" drivers loading and presence of PRU cores, +in Kernel 5.10 they should be "remoteproc1" and "remoteproc2" (4a334000.pru, 4a338000.pru) +Also check that many GPIOs are loaded they will look like "Allocated GPIO id=0 name='P8_03'" +Usually everything is fine and no hardware configuration is required. +If something is missing - try to play with "uboot overlays" options or with cape-overlays +Just for reference some output of working BeagleBone Black configuration with CRAMPS board: +``` +model:[TI_AM335x_BeagleBone_Black] +UBOOT: Booted Device-Tree:[am335x-boneblack-uboot-univ.dts] +UBOOT: Loaded Overlay:[BB-ADC-00A0.bb.org-overlays] +UBOOT: Loaded Overlay:[BB-BONE-eMMC1-01-00A0.bb.org-overlays] +kernel:[5.10.168-ti-r71] +/boot/uEnv.txt Settings: +uboot_overlay_options:[enable_uboot_overlays=1] +uboot_overlay_options:[disable_uboot_overlay_video=0] +uboot_overlay_options:[disable_uboot_overlay_audio=1] +uboot_overlay_options:[disable_uboot_overlay_wireless=1] +uboot_overlay_options:[enable_uboot_cape_universal=1] +pkg:[bb-cape-overlays]:[4.14.20210821.0-0~bullseye+20210821] +pkg:[bb-customizations]:[1.20230720.1-0~bullseye+20230720] +pkg:[bb-usb-gadgets]:[1.20230414.0-0~bullseye+20230414] +pkg:[bb-wl18xx-firmware]:[1.20230414.0-0~bullseye+20230414] +............. +............. + +``` + +To compile the Klipper micro-controller code, start by configuring it for the "Beaglebone PRU", +for "BeagleBone Black" additionally disable options "Support GPIO Bit-banging devices" and disable "Support LCD devices" +inside the "Optional features" because they will not fit in 8Kb PRU firmware memory, +then exit and save config: ``` cd ~/klipper/ make menuconfig ``` -To build and install the new micro-controller code, run: +To build and install the new PRU micro-controller code, run: ``` sudo service klipper stop make flash sudo service klipper start ``` +After previous commands was executed your PRU firmware should be ready and started +to check if everything was fine you can execute following command +``` +dmesg +``` +and compare last messages with sample one which indicate that everything started properly: +``` +[ 71.105499] remoteproc remoteproc1: 4a334000.pru is available +[ 71.157155] remoteproc remoteproc2: 4a338000.pru is available +[ 73.256287] remoteproc remoteproc1: powering up 4a334000.pru +[ 73.279246] remoteproc remoteproc1: Booting fw image am335x-pru0-fw, size 97112 +[ 73.285807] remoteproc1#vdev0buffer: registered virtio0 (type 7) +[ 73.285836] remoteproc remoteproc1: remote processor 4a334000.pru is now up +[ 73.286322] remoteproc remoteproc2: powering up 4a338000.pru +[ 73.313717] remoteproc remoteproc2: Booting fw image am335x-pru1-fw, size 188560 +[ 73.313753] remoteproc remoteproc2: header-less resource table +[ 73.329964] remoteproc remoteproc2: header-less resource table +[ 73.348321] remoteproc remoteproc2: remote processor 4a338000.pru is now up +[ 73.443355] virtio_rpmsg_bus virtio0: creating channel rpmsg-pru addr 0x1e +[ 73.443727] virtio_rpmsg_bus virtio0: msg received with no recipient +[ 73.444352] virtio_rpmsg_bus virtio0: rpmsg host is online +[ 73.540993] rpmsg_pru virtio0.rpmsg-pru.-1.30: new rpmsg_pru device: /dev/rpmsg_pru30 +``` +take a note about "/dev/rpmsg_pru30" - it's your future serial device for main mcu configuration +this device is required to be present, if it's absent - your PRU cores did not start properly. + +## Building and installing Linux host micro-controller code +This section is required for "Use case 2" and optional for "Use case 3" mentioned above It is also necessary to compile and install the micro-controller code for a Linux host process. Configure it a second time for a "Linux process": @@ -83,12 +188,24 @@ sudo service klipper stop make flash sudo service klipper start ``` +take a note about "/tmp/klipper_host_mcu" - it will be your future serial device for "mcu host" +if that file don't exist - refer to "scripts/klipper-mcu.service" file, it was installed by +previous commands, and it's responsible for it. + + +Take a note for "Use case 2" about following: when you will define printer configuration you should always +use temperature sensors from "mcu host" because ADCs not present in default "mcu" (PRU cores). +Sample configuration of "sensor_pin" for extruder and heated bed are available in "generic-cramps.cfg" +You can use any other GPIO directly from "mcu host" by referencing them this way "host:gpiochip1/gpio17" +but that should be avoided because it will be creating additional load on main CPU and most probably +you can't use them for stepper control. + ## Remaining configuration -Complete the installation by configuring Klipper and Octoprint +Complete the installation by configuring Klipper following the instructions in -the main [Installation](Installation.md#configuring-klipper) document. +the main [Installation](Installation.md#configuring-octoprint-to-use-klipper) document. ## Printing on the Beaglebone @@ -97,4 +214,111 @@ OctoPrint well. Print stalls have been known to occur on complex prints (the printer may move faster than OctoPrint can send movement commands). If this occurs, consider using the "virtual_sdcard" feature (see [Config Reference](Config_Reference.md#virtual_sdcard) for -details) to print directly from Klipper. +details) to print directly from Klipper +and disable any DEBUG or VERBOSE logging options if you did enable them. + + +## AVR micro-controller code build +This environment have everything to build necessary micro-controller code except AVR, +AVR packages was removed because of conflict with PRU packages. +if you still want to build AVR micro-controller code in this environment you need to remove +PRU packages and install AVR packages by executing following commands + +``` +sudo apt-get remove gcc-pru +sudo apt-get install avrdude gcc-avr binutils-avr avr-libc +``` +if you need to restore PRU packages - then remove ARV packages before that +``` +sudo apt-get remove avrdude gcc-avr binutils-avr avr-libc +sudo apt-get install gcc-pru +``` + + +## Hardware Pin designation +BeagleBone is very flexible in terms of pin designation, same pin can be configured for different function +but always single function for single pin, same function can be present on different pins. +So you can't have multiple functions on single pin or have same function on multiple pins. +Example: +P9_20 - i2c2_sda/can0_tx/spi1_cs0/gpio0_12/uart1_ctsn +P9_19 - i2c2_scl/can0_rx/spi1_cs1/gpio0_13/uart1_rtsn +P9_24 - i2c1_scl/can1_rx/gpio0_15/uart1_tx +P9_26 - i2c1_sda/can1_tx/gpio0_14/uart1_rx + +Pin designation is defined by using special "overlays" which will be loaded during linux boot +they are configured by editing file /boot/uEnv.txt with elevated permissions +``` +sudo editor /boot/uEnv.txt +``` +and defining which functionality to load, for example to enable CAN1 you need to define overlay for it +``` +uboot_overlay_addr4=/lib/firmware/BB-CAN1-00A0.dtbo +``` +This overlay BB-CAN1-00A0.dtbo will reconfigure all required pins for CAN1 and create CAN device in Linux. +Any change in overlays will require system reboot to be applied. +If you need to understand which pins are involved in some overlay - you can analyze source files in +this location: /opt/sources/bb.org-overlays/src/arm/ +or search info in BeagleBone forums. + + +## Enabling hardware SPI +BeagleBone usually have multiple hardware SPI buses, for example BeagleBone Black can have 2 of them, +they can work up to 48Mhz, but usually they are limited to 16Mhz by Kernel Device-tree. +By default, in BeagleBone Black some of SPI1 pins are configured for HDMI-Audio output, +to fully enable 4-wire SPI1 you need to disable HDMI Audio and enable SPI1 +To do that edit file /boot/uEnv.txt with elevated permissions +``` +sudo editor /boot/uEnv.txt +``` +uncomment variable +``` +disable_uboot_overlay_audio=1 +``` + +next uncomment variable and define it this way +``` +uboot_overlay_addr4=/lib/firmware/BB-SPIDEV1-00A0.dtbo +``` +Save changes in /boot/uEnv.txt and reboot the board. +Now you have SPI1 Enabled, to verify its presence execute command +``` +ls /dev/spidev1.* +``` +Take a note that BeagleBone usually is 3.3v based hardware and to use 5V SPI devices +you need to add Level-Shifting chip, for example SN74CBTD3861, SN74LVC1G34 or similar. +If you are using CRAMPS board - it already contains Level-Shifting chip and SPI1 pins +will become available on P503 port, and they can accept 5v hardware, +check CRAMPS board Schematics for pin references. + +## Enabling hardware I2C +BeagleBone usually have multiple hardware I2C buses, for example BeagleBone Black can have 3 of them, +they support speed up-to 400Kbit Fast mode. +By default, in BeagleBone Black there are two of them (i2c-1 and i2c-2) usually both are already configured and +present on P9, third ic2-0 usually reserved for internal use. +If you are using CRAMPS board then i2c-2 is present on P303 port with 3.3v level, +If you want to obtain I2c-1 in CRAMPS board - you can get them on Extruder1.Step, Extruder1.Dir pins, +they also are 3.3v based, check CRAMPS board Schematics for pin references. +Related overlays, for [Hardware Pin designation](#hardware-pin-designation): +I2C1(100Kbit): BB-I2C1-00A0.dtbo +I2C1(400Kbit): BB-I2C1-FAST-00A0.dtbo +I2C2(100Kbit): BB-I2C2-00A0.dtbo +I2C2(400Kbit): BB-I2C2-FAST-00A0.dtbo + +## Enabling hardware UART(Serial)/CAN +BeagleBone have up to 6 hardware UART(Serial) buses (up to 3Mbit) +and up to 2 hardware CAN(1Mbit) buses. +UART1(RX,TX) and CAN1(TX,RX) and I2C2(SDA,SCL) are using same pins - so you need to chose what to use +UART1(CTSN,RTSN) and CAN0(TX,RX) and I2C1(SDA,SCL) are using same pins - so you need to chose what to use +All UART/CAN related pins are 3.3v based, so you will need to use Transceiver chips/boards like SN74LVC2G241DCUR (for UART), +SN65HVD230 (for CAN), TTL-RS485 (for RS-485) or something similar which can convert 3.3v signals to appropriate levels. + +Related overlays, for [Hardware Pin designation](#hardware-pin-designation) +CAN0: BB-CAN0-00A0.dtbo +CAN1: BB-CAN1-00A0.dtbo +UART0: - used for Console +UART1(RX,TX): BB-UART1-00A0.dtbo +UART1(RTS,CTS): BB-UART1-RTSCTS-00A0.dtbo +UART2(RX,TX): BB-UART2-00A0.dtbo +UART3(RX,TX): BB-UART3-00A0.dtbo +UART4(RS-485): BB-UART4-RS485-00A0.dtbo +UART5(RX,TX): BB-UART5-00A0.dtbo |