You basically have 2 options regarding pinmuxing on a bb.... the config-pin 
utility requires the universal cape to be loaded as the only dtbo, you then use 
configure-pin to setup the pins you want.

2nd option, specify the overlays for the actual hardware you want to use, e.g 
robotics cape, bone-eqep2 etc. You can’t load the specific overlays and the 
universal cape together, they conflict, and you can’t use confit-pin without 
the universal overlay being loaded.

Personally, given I’m using a ton of pins for various things, I use the 
universal overlay then have a script that runs from init.d to configure all the 
pins at boot time. I preferred the convenience of using the config-pin utility 
as apposed to writing my own device overlay for the pins I’m using.

-- 
For more options, visit http://beagleboard.org/discuss
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