beaglebone

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 Go to latest Published: May 22, 2019 License: Apache-2.0, Apache-2.0 Imports: 12 Imported by: 0

README

Beaglebone

The BeagleBone is an ARM based single board computer, with lots of GPIO, I2C, and analog interfaces built in.

The Gobot adaptor for the BeagleBone supports all of the various BeagleBone boards such as the BeagleBone Black, SeeedStudio BeagleBone Green, SeeedStudio BeagleBone Green Wireless, and others that use the latest Debian and standard "Cape Manager" interfaces.

For more info about the BeagleBone platform go to http://beagleboard.org/getting-started.

In addition, there is an separate Adaptor for the PocketBeagle, a USB-key-fob sized computer. The PocketBeagle has a different pin layout and somewhat different capabilities.

For more info about the PocketBeagle platform go to http://beagleboard.org/pocket.

How to Install

We recommend updating to the latest Debian OS when using the BeagleBone. The current Gobot only supports 4.x versions of the OS. If you need support for older versions of the OS, you will need to use Gobot v1.4.

You would normally install Go and Gobot on your workstation. Once installed, cross compile your program on your workstation, transfer the final executable to your BeagleBone, and run the program on the BeagleBone itself as documented here.

go get -d -u gobot.io/x/gobot/...

How to Use

The pin numbering used by your Gobot program should match the way your board is labeled right on the board itself.

Gobot also has support for the four built-in LEDs on the BeagleBone Black, by referring to them as usr0, usr1, usr2, and usr3.

package main

import (
	"time"

	"gobot.io/x/gobot"
	"gobot.io/x/gobot/drivers/gpio"
	"gobot.io/x/gobot/platforms/beaglebone"
)

func main() {
	beagleboneAdaptor := beaglebone.NewAdaptor()
	led := gpio.NewLedDriver(beagleboneAdaptor, "P9_12")

	work := func() {
		gobot.Every(1*time.Second, func() {
			led.Toggle()
		})
	}

	robot := gobot.NewRobot("blinkBot",
		[]gobot.Connection{beagleboneAdaptor},
		[]gobot.Device{led},
		work,
	)

	robot.Start()
}

To use the PocketBeagle, use beaglebone.NewPocketBeagleAdaptor() like this:

package main

import (
	"time"

	"gobot.io/x/gobot"
	"gobot.io/x/gobot/drivers/gpio"
	"gobot.io/x/gobot/platforms/beaglebone"
)

func main() {
	beagleboneAdaptor := beaglebone.NewPocketBeagleAdaptor()
	led := gpio.NewLedDriver(beagleboneAdaptor, "P1_02")

	work := func() {
		gobot.Every(1*time.Second, func() {
			led.Toggle()
		})
	}

	robot := gobot.NewRobot("pocketBeagleBot",
		[]gobot.Connection{beagleboneAdaptor},
		[]gobot.Device{led},
		work,
	)

	robot.Start()
}

How to Connect

Compiling

Compile your Gobot program on your workstation like this:

$ GOARM=7 GOARCH=arm GOOS=linux go build examples/beaglebone_blink.go

Once you have compiled your code, you can you can upload your program and execute it on the BeagleBone from your workstation using the scp and ssh commands like this:

$ scp beaglebone_blink debian@192.168.7.2:/home/debian/
$ ssh -t debian@192.168.7.2 "./beaglebone_blink"

In order to run the preceeding commands, you must be running the official Debian Linux through the usb->ethernet connection, or be connected to the board using WiFi.

You must also configure hardware settings as described below.

Updating your board to the latest OS

We recommend using your BeagleBone with the latest Debian OS. It is very easy to do this using the Etcher (https://etcher.io/) utility program.

First, download the latest BeagleBone OS from http://beagleboard.org/latest-images

Now, use Etcher to create an SD card with the OS image you have downloaded.

Once you have created the SD card, boot your BeagleBone using the new image as follows:

  • Insert SD card into your (powered-down) board, hold down the USER/BOOT button (if using Black) and apply power, either by the USB cable or 5V adapter.

  • If all you want to do it boot once from the SD card, it should now be booting.

  • If using BeagleBone Black and desire to write the image to your on-board eMMC, you'll need to follow the instructions at http://elinux.org/Beagleboard:BeagleBoneBlack_Debian#Flashing_eMMC. When the flashing is complete, all 4 USRx LEDs will be steady on or off. The latest Debian flasher images automatically power down the board upon completion. This can take up to 45 minutes. Power-down your board, remove the SD card and apply power again to be complete.

These instructions come from the Beagleboard web site's "Getting Started" page located here:

http://beagleboard.org/getting-started

Configure hardware settings

Thanks to the BeagleBone team, the new "U-Boot Overlays" system for enabling hardware and the "cape-universal", the latest Debian OS should "just work" with any GPIO, PWM, I2C, or SPI pins.

If you want to dig in and learn more about this check out:

https://elinux.org/Beagleboard:BeagleBoneBlack_Debian#U-Boot_Overlays

Upgrading from an older version

Please note that if you are upgrading a board that has already run from an older version of Debian OS, you might need to clear out your older eMMC bootloader, otherwise the new U-Boot Overlays in the newer U-Boot may not get enabled. If so, login using SSH and run the following command on your BeagleBone board:

sudo dd if=/dev/zero of=/dev/mmcblk1 count=1 seek=1 bs=128k

Thanks to @RobertCNelson for the tip on the above.

Documentation

Overview

Package beaglebone provides the Gobot adaptor for the Beaglebone Black/Green, as well as a separate Adaptor for the PocketBeagle.

Installing: 

go get gobot.io/x/gobot/platforms/beaglebone

Example: 

package main

import (
	"time"

	"gobot.io/x/gobot"
	"gobot.io/x/gobot/drivers/gpio"
	"gobot.io/x/gobot/platforms/beaglebone"
)

func main() {
	beagleboneAdaptor := beaglebone.NewAdaptor()
	led := gpio.NewLedDriver(beagleboneAdaptor, "P9_12")

	work := func() {
		gobot.Every(1*time.Second, func() {
			led.Toggle()
		})
	}

	robot := gobot.NewRobot("blinkBot",
		[]gobot.Connection{beagleboneAdaptor},
		[]gobot.Device{led},
		work,
	)

	robot.Start()
}

For more information refer to the beaglebone README: https://github.com/hybridgroup/gobot/blob/master/platforms/beaglebone/README.md

Index

Constants

This section is empty.

Variables

This section is empty.

Functions

This section is empty.

Types

type Adaptor added in v1.0.0 

type Adaptor struct {
	// contains filtered or unexported fields
}

Adaptor is the gobot.Adaptor representation for the Beaglebone Black/Green

func NewAdaptor added in v1.0.0 

func NewAdaptor() *Adaptor

NewAdaptor returns a new Beaglebone Black/Green Adaptor

func (*Adaptor) AnalogRead added in v1.0.0 

func (b *Adaptor) AnalogRead(pin string) (val int, err error)

AnalogRead returns an analog value from specified pin

func (*Adaptor) Connect added in v1.0.0 

func (b *Adaptor) Connect() error

Connect initializes the pwm and analog dts.

func (*Adaptor) DigitalPin added in v1.5.0 

func (b *Adaptor) DigitalPin(pin string, dir string) (sysfsPin sysfs.DigitalPinner, err error)

DigitalPin retrieves digital pin value by name

func (*Adaptor) DigitalRead added in v1.0.0 

func (b *Adaptor) DigitalRead(pin string) (val int, err error)

DigitalRead returns a digital value from specified pin

func (*Adaptor) DigitalWrite added in v1.0.0 

func (b *Adaptor) DigitalWrite(pin string, val byte) (err error)

DigitalWrite writes a digital value to specified pin. valid usr pin values are usr0, usr1, usr2 and usr3

func (*Adaptor) Finalize added in v1.0.0 

func (b *Adaptor) Finalize() (err error)

Finalize releases all i2c devices and exported analog, digital, pwm pins.

func (*Adaptor) GetConnection added in v1.2.0 

func (b *Adaptor) GetConnection(address int, bus int) (connection i2c.Connection, err error)

GetConnection returns a connection to a device on a specified bus. Valid bus number is either 0 or 2 which corresponds to /dev/i2c-0 or /dev/i2c-2.

func (*Adaptor) GetDefaultBus added in v1.2.0 

func (b *Adaptor) GetDefaultBus() int

GetDefaultBus returns the default i2c bus for this platform

func (*Adaptor) GetSpiConnection added in v1.8.0 

func (b *Adaptor) GetSpiConnection(busNum, chipNum, mode, bits int, maxSpeed int64) (connection spi.Connection, err error)

GetSpiConnection returns an spi connection to a device on a specified bus. Valid bus number is [0..1] which corresponds to /dev/spidev0.0 through /dev/spidev0.1.

func (*Adaptor) GetSpiDefaultBits added in v1.12.0 

func (b *Adaptor) GetSpiDefaultBits() int

GetSpiDefaultBits returns the default spi number of bits for this platform.

func (*Adaptor) GetSpiDefaultBus added in v1.8.0 

func (b *Adaptor) GetSpiDefaultBus() int

GetSpiDefaultBus returns the default spi bus for this platform.

func (*Adaptor) GetSpiDefaultChip added in v1.12.0 

func (b *Adaptor) GetSpiDefaultChip() int

GetSpiDefaultChip returns the default spi chip for this platform.

func (*Adaptor) GetSpiDefaultMaxSpeed added in v1.8.0 

func (b *Adaptor) GetSpiDefaultMaxSpeed() int64

GetSpiDefaultMaxSpeed returns the default spi bus for this platform.

func (*Adaptor) GetSpiDefaultMode added in v1.8.0 

func (b *Adaptor) GetSpiDefaultMode() int

GetSpiDefaultMode returns the default spi mode for this platform.

func (*Adaptor) Name added in v1.0.0 

func (b *Adaptor) Name() string

Name returns the Adaptor name

func (*Adaptor) PWMPin added in v1.5.0 

func (b *Adaptor) PWMPin(pin string) (sysfsPin sysfs.PWMPinner, err error)

PWMPin returns matched pwmPin for specified pin number

func (*Adaptor) PwmWrite added in v1.0.0 

func (b *Adaptor) PwmWrite(pin string, val byte) (err error)

PwmWrite writes the 0-254 value to the specified pin

func (*Adaptor) ServoWrite added in v1.0.0 

func (b *Adaptor) ServoWrite(pin string, angle byte) (err error)

ServoWrite writes a servo signal to the specified pin

func (*Adaptor) SetName added in v1.0.0 

func (b *Adaptor) SetName(n string)

SetName sets the Adaptor name

type PocketBeagleAdaptor added in v1.8.0 

type PocketBeagleAdaptor struct {
	*Adaptor
}

PocketBeagleAdaptor is the Gobot Adaptor for the PocketBeagle For more information check out: 

http://beagleboard.org/pocket

func NewPocketBeagleAdaptor added in v1.8.0 

func NewPocketBeagleAdaptor() *PocketBeagleAdaptor

NewPocketBeagleAdaptor creates a new Adaptor for the PocketBeagle

Source Files

View all Source files

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