Dear,
I'm struggling with eqep2 on BBB, After one week of attempts nothing
works...
Here my situation:
- I compiled this dts file (generating *bone_eqep2-new-00A0.dtbo*):
/dts-v1/;
/plugin/;
#include <dt-bindings/board/am335x-bbw-bbb-base.h>
#include <dt-bindings/gpio/gpio.h>
#include <dt-bindings/pinctrl/am33xx.h>
/ {
compatible = "ti,beaglebone", "ti,beaglebone-black";
// identification
part-number = "bone_eqep2b";
version = "00A0";
// resources this cape uses
exclusive-use =
"P8.12", // EQEP2A_in
"P8.11", // EQEP2B_in
"P8.16", // EQEP2_index
"P8.15", // EQEP2_strobe
"eqep2"; // hardware ip used
/*
* Helper to show loaded overlays under: /proc/device-tree/chosen/overlays/
*/
fragment@0 {
target-path="/";
__overlay__ {
chosen {
overlays {
bone_eqep2b-00A0 = __TIMESTAMP__;
};
};
};
};
/*
* Free up the pins used by the cape from the pinmux helpers.
*/
fragment@1 {
target = <&ocp>;
__overlay__ {
P8_12_pinmux { status = "disabled"; }; /* P8_12: GPIO1_12 = EQEP2A_in */
P8_11_pinmux { status = "disabled"; }; /* P8_11: GPIO1_13 = EQEP2B_in */
P8_16_pinmux { status = "disabled"; }; /* P8_16: GPIO1_14 = EQEP2_index */
P8_15_pinmux { status = "disabled"; }; /* P8_15: GPIO1_15 = EQEP2_strobe */
};
};
fragment@2 {
target = <&am33xx_pinmux>;
__overlay__ {
pinctrl_eqep2: pinctrl_eqep2_pins {
pinctrl-single,pins = <
BONE_P8_12 (*PIN_INPUT_PULLUP* | MUX_MODE4) /* P8_12: GPIO1_12 = EQEP2A_in
*/
BONE_P8_11 (*PIN_INPUT_PULLUP* | MUX_MODE4) /* P8_11: GPIO1_13 = EQEP2B_in
*/
BONE_P8_16 (PIN_INPUT | MUX_MODE4) /* P8_16: GPIO1_14 = EQEP2_index */
BONE_P8_15 (PIN_INPUT | MUX_MODE4) /* P8_15: GPIO1_15 = EQEP2_strobe */
// From:
https://groups.google.com/forum/#!searchin/beagleboard/eQep/beagleboard/Orp3tFcNgCc/mYacP_GkCQQJ
>;
};
};
};
fragment@3 {
target = <&epwmss2>;
__overlay__ {
status = "okay";
};
};
fragment@4 {
target = <&eqep2>;
__overlay__ {
pinctrl-names = "default";
pinctrl-0 = <&pinctrl_eqep2>;
count_mode = <0>; // count_mode is not userspace op_mode
// 0 -> Quadrature mode, normal 90 phase offset cha & chb.
// 1 -> Direction mode. cha input = clock, chb input = direction
// 2 -> UP count mode for frequency measurement QDIR=1, ignore direction
input
// 3 -> DOWN count mode for frequency measurement QDIR=0, ignore direction
input
swap_inputs = <0>; // swap channel A and B? (0 - no, 1 - yes)
invert_qa = <0>; // invert channel A input?
invert_qb = <0>; // invert channel B input?
invert_qi = <0>; // invert index input?
invert_qs = <0>; // invert strobe input?
omit_interrupt = <0>; // 1 -> do not install interrupt handler, 0 -> do
install
status = "okay";
};
};
};
- Moved file to /lib/firmware
- Modified /boot/uEnv.txt:
#Docs: http://elinux.org/Beagleboard:U-boot_partitioning_layout_2.0
enable_uboot_overlays=1
enable_uboot_cape_universal=1
disable_uboot_overlay_video=1
uname_r=4.14.108-ti-r127
#uuid=
#dtb=
cmdline=coherent_pool=1M net.ifnames=0 rng_core.default_quality=100 quiet
#In the event of edid real failures, uncomment this next line:
#cmdline=coherent_pool=1M net.ifnames=0 rng_core.default_quality=100 quiet
video=HDMI-A-1:1024x768@60e
#Use an overlayfs on top of a read-only root filesystem:
#cmdline=coherent_pool=1M net.ifnames=0 rng_core.default_quality=100 quiet
overlayroot=tmpfs
##enable x15: eMMC Flasher:
##make sure, these tools are installed: dosfstools rsync
#cmdline=init=/opt/scripts/tools/eMMC/init-eMMC-flasher-v3-no-eeprom.sh
#uboot_overlay_addr0=/lib/firmware/PRU_BlinkLed-00A0.dtbo
uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo
*uboot_overlay_eqep2=/lib/firmware/bone_eqep2-new-00A0.dtbo*
- Reboot BBB
- cd /sys/devices/platform/ocp/48304000.epwmss/48304180.eqeps
- cat enabled --> 1
- cat mode --> 0
- cat position --> 0
- Connnect the encoder.
- cat position --> 0 *ALWAYS*
- /opt/scripts/tool/version.sh:
git:/opt/scripts/:[e457c010efc76c4e6fecccb7a5f7ff9b0597c4c0]
eeprom:[A335BNLT00C01020BBBK2003]
model:[TI_AM335x_BeagleBone_Black]
dogtag:[BeagleBoard.org Debian Image 2020-02-01]
bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot
2018.09-00002-g0b54a51eee]:[location: dd MBR]
UBOOT: Booted Device-Tree:[am335x-boneblack-uboot-univ.dts]
UBOOT: Loaded Overlay:[AM335X-PRU-UIO-00A0]
UBOOT: Loaded Overlay:[BB-ADC-00A0]
UBOOT: Loaded Overlay:[BB-BONE-eMMC1-01-00A0]
kernel:[4.14.108-ti-r127]
nodejs:[v6.17.0]
/boot/uEnv.txt Settings:
uboot_overlay_options:[enable_uboot_overlays=1]
uboot_overlay_options:[enable_uboot_cape_universal=1]
uboot_overlay_options:[disable_uboot_overlay_video=1]
uboot_overlay_options:[uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo]
uboot_overlay_options:[uboot_overlay_eqep2=/lib/firmware/bone_eqep2-new-00A0.dtbo]
pkg check: to individually upgrade run: [sudo apt install --only-upgrade
<pkg>]
pkg:[bb-cape-overlays]:[4.14.20200430.0-0~stretch+20200430]
pkg:[bb-wl18xx-firmware]:[1.20190227.1-0rcnee0~stretch+20190227]
pkg:[kmod]:[23-2rcnee1~stretch+20171005]
pkg:[librobotcontrol]:[1.0.4-git20190227.1-0rcnee0~stretch+20190327]
pkg:[firmware-ti-connectivity]:[20180825+dfsg-1rcnee1~stretch+20181217]
groups:[debian : debian adm kmem dialout cdrom floppy audio dip video
plugdev users systemd-journal i2c bluetooth netdev gpio pwm eqep remoteproc
admin spi iio docker tisdk weston-launch xenomai cloud9ide]
cmdline:[console=ttyO0,115200n8 bone_capemgr.uboot_capemgr_enabled=1
root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M
net.ifnames=0 rng_core.default_quality=100 quiet]
dmesg | grep remote
[ 1.306013] remoteproc remoteproc0: wkup_m3 is available
[ 1.394865] remoteproc remoteproc0: powering up wkup_m3
[ 1.394975] remoteproc remoteproc0: Booting fw image
am335x-pm-firmware.elf, size 217168
[ 1.399517] remoteproc remoteproc0: remote processor wkup_m3 is now up
dmesg | grep pru
dmesg | grep pinctrl-single
[ 0.948952] pinctrl-single 44e10800.pinmux: 142 pins at pa f9e10800 size
568
dmesg | grep gpio-of-helper
[ 0.961540] gpio-of-helper ocp:cape-universal: ready
lsusb
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
END
- dmesg doesn't give any info regarding the overlay.
- I don't know where I'm wrong.
Let me know if you can help me.
Regards.
--
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