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beagleboard / librobotcontrol

Robotics Focused library for embedded Linux computers. Mirror of https://git.beagleboard.org/beagleboard/librobotcontrol
https://beagleboard.org/librobotcontrol
MIT License
196 stars 158 forks source link

unable to access E1-4 for sbus input using BBBW with Robotics Cape and Ardupilot #196

Open imrj opened 3 years ago

imrj commented 3 years ago

as it says, I have a BBBW with a Robotics cape, I configured pretty much as per the ardupilot blue setup....everything works fine except I cannot receive RC SBUS input on any E1-4.....i have tried many different kernels and images, librobotcontrol, etc....nothing seems to help....copy of uEnv.txt below, neither commenting or uncommenting the PRUSS options or cape overlay options makes any difference....the receiver and wiring check out ok, no probs there.

Docs: http://elinux.org/Beagleboard:U-boot_partitioning_layout_2.0

uname_r=4.19.142-bone-rt-r56

uuid=

dtb=am335x-boneblack-wireless-roboticscape.dtb

U-Boot Overlays

Documentation: http://elinux.org/Beagleboard:BeagleBoneBlack_Debian#U-Boot_Overlays

Master Enable

enable_uboot_overlays=1

Overide capes with eeprom

uboot_overlay_addr0=/lib/firmware/.dtbo

uboot_overlay_addr1=/lib/firmware/.dtbo

uboot_overlay_addr2=/lib/firmware/.dtbo

uboot_overlay_addr3=/lib/firmware/.dtbo

Additional custom capes

uboot_overlay_addr4=/lib/firmware/.dtbo

uboot_overlay_addr5=/lib/firmware/.dtbo

uboot_overlay_addr6=/lib/firmware/.dtbo

uboot_overlay_addr7=/lib/firmware/.dtbo

Custom Cape

dtb_overlay=/lib/firmware/BB-I2C1-00A0.dtbo

dtb_overlay=/lib/firmware/BB-UART4-00A0.dtbo

dtb_overlay=/lib/firmware/BB-ADC-00A0.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 (4.14.x-ti kernel)

uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-14-TI-00A0.dtbo

pru_rproc (4.19.x-ti kernel)

uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-19-TI-00A0.dtbo

pru_uio (4.14.x-ti, 4.19.x-ti & mainline/bone kernel)

uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo

Cape Universal Enable

enable_uboot_cape_universal=1

cmdline=coherent_pool=1M net.ifnames=0 rng_core.default_quality=100 quiet

imrj commented 3 years ago

any update???

kar1150 commented 1 year ago

HI! Did you manage to solve the issue? I am also stuck here - tried many images, kernels, binaries - still nothing. Next I will probably turn to the binary file, think it had the RC port defined somewhere, idunno. Any help would be appreciated,

thanks!