Plans for rev B

Rev B

Is

• Derived from BeagleBone AI rev A2
• BeagleBone form-factor
• Gigabit Ethernet
• mini Display Port output
• 8GB LPDDR4 (was 2GB)
• USB Type-C HighSpeed (dual-role)
• 2x USB Type-A SuperSpeed (host-only)
• Debian-based
• Roadmap to TI SDK
• 2x 4-lane CSI ribbon header (Pi-compatible or breakout to 2x 2-lane)
• 4-lane DSI ribbon header (Pi-compatible)
• Power connector
• Considers Robotics Cape add-on with
  • 4x HS USB hub for 4x mmWAVE RADAR

Is Not

• Includes SubG radio (move to Cape)
• Guaranteed to have PCIe expansion
• TI-SDK based

Accessories

MMWAVE Grove sensor:

• Wanted.
• Using AOP.

LIDAR sensor:

• RPLIDAR?

Robo Kit:

Is

• Sold into distribution
• Attractive to DIY Robocars groups
• Updated Robotics Cape https://github.com/beagleboard/capes/wiki/Robotics-Cape-rev-B-priorities
• Supports 3S1P battery
• Chassis
  • Core (CPU+base sensors) unified in a module that can be connected to 8020.net build system others
  • Likely based on https://www.seeedstudio.com/Robot-car-Kit-RC-Smart-Car-Chassis-p-4226.html
  • 2 mount points for 2 CSI cameras, one forward, one back, same time as LIDAR, not same time as stereo camera
  • Mount point for forward facing stereo camera, USB3 connected, not same time as 2 CSI camera, about 8-12" above ground?
  • Central top mount point for LIDAR, 360° motorized scan, roughly 10-14" from ground???, same time as cameras, need to be slightly above cameras
  • MMWAVE RADAR mount position forward-facing, 40-50° horizontal, 8-10° elevation, slightly upward adjustable mount to reduce ground reflections, clear line-of-sight
  • Determine how high we can put the cameras/LIDAR and still be stable?
• Able to add Grove/Click sensors
• Includes
  • At least a wide-view camera
  • BeagleConnect remote control add-on
• Target under $299

Is Not

• A simple 2-wheel rover
• LIDAR, though it could be added separately
• MMWAVE, though it could be added separately

Use cases (demo)

2x Camera, 1 LIDAR, 1 MMWAVE

• 2x Camera over CSI
• LIDAR over 3.3V UART add connector for a popular one on the Robotics Cape
• How to connect MMWAVE?

Build 4-wheel warehouse rover using 8020.net (https://github.com/mxet/scuttle)

Headers

P8.03

• Originally an eMMC signal (MMCDAT6) on BeagleBone Black.
• MMC signals included on M.2 connector in lieu of MMC signals on cape header.
• Unlikely to be used by most capes.

AA6

P8.04

• See P8.03.
• MMCDAT7 on BeagleBone Black.

Y6

P8.05

• See P8.03.
• MMCDAT2 on BeagleBone Black.

AA29

P8.06

• See P8.03.
• MMCDAT3 on BeagleBone Black.

AA26

P8.07

• Expected to have a TIMER pin.
• Used as GPIO on most capes.

AJ20

P8.08

• Expected to have a TIMER pin.
• Used as GPIO on most capes.

AE20

AE23

P8.09

• Expected to have a TIMER pin.
• Used as GPIO on most capes.

H27

P8.10

• Expected to have a TIMER pin.
• Used as GPIO on most capes.

G26

P8.11

• qep/2.b in the Cape Specification.
• Used for QEP2B on Robotics Cape.
• Expected to have PRU output.

AH24

• Provides EQEP1B.
• PRG1PRU1GPx4
• TIMER3
• MCASP8AXR2/ACLKR

P8.12

• qep/2.a in the Cape Specification.
• Used for QEP2A on Robotics Cape.
• Expected to have PRU output.

AD23

• Provides EQEP1A.
• PRG1PRU1GPx3
• TIMER2
• MCASP8AXR1
• MCASP3AFSR

P8.13

• pwm/2.b in the Cape Specification.
• Used as PWM2B on Robotics Cape.

V27

• PWM0B
• I2C3SCL
• MCASP11ACLKX
• GPIO89

P8.14

• ecap in the Cape Specification.
• Has ECAP2 on BBAI-A.

U26

P8.15

• ecap in the Cape Specification.
• Used as QEP4B (PRU based) on Robotics Cape.
• Used by Ardupilot for radio input using PRU ECAP.
• Has ECAP1 on BBAI-A.
• Has QEP2S on BeagleBone Black.

AG21

• PRG1PRU1GPx5
• EQEP1S
• TIMER4
• MCASP4AXR0
• MCAN6RX

AB29

AC28

P8.16

• Used as QEP4A (PRU based) on Robotics Cape.
• Has QEP2I on BeagleBone Black.

AJ25

• PRG1PRU1GPx11
• EQEP1I
• MCASP9ACLKX

P8.17

• Used as GPIO on most capes.

V26

P8.18

• Used as GPIO on most capes.
• Provides ASP0RXFS on BeagleBone Black.

AB3

• SPI7CS1
• UART0TX
• SPI2CS2
• GPIO122

P8.19

• Used as PWM2A on Robotics Cape.

V29

• PWM0A
• MCASP10AXR1
• UART3TX
• GPIO88

P8.20

• See P8.03.
• MMCCMD on BeagleBone Black.
• Expected to have PRU I/O.

AB2

P8.21

• See P8.03.
• MMCCLK on BeagleBone Black.
• Expected to have PRU I/O.

AH25

P8.22

• See P8.03.
• MMCDAT5 on BeagleBone Black.

U23

P8.23

• See P8.03.
• MMCDAT4 on BeagleBone Black.

AG25

P8.24

• See P8.03.
• MMCDAT1 on BeagleBone Black.

Y27

P8.25

• See P8.03.
• MMCDAT0 on BeagleBone Black.

AH26

P8.26

• Used as GPIO on most capes.

Y29

P8.27

• Expected to have PRU I/O.

AJ27

P8.28

• Expected to have PRU I/O.

AB4

• SPI7CS3
• UART1TX
• GPIO126

P8.29

• Expected to have PRU I/O.

P8.30

• Expected to have PRU I/O.

AA4

• SPI7CS2
• UART1RX
• GPIO125

P8.31

• Expected to have PRU I/O.

P8.32

• Expected to have PRU I/O.

P8.33

• Expected to have PRU I/O.
• Used as QEP1B on Robotics Cape.

P8.34

• Expected to have PRU I/O.
• PWM1B option on BeagleBone Black (not used).

P8.35

• Expected to have PRU I/O.
• Used as QEP1A on Robotics Cape.

P8.36

• Expected to have PRU I/O.
• PWM1A option on BeagleBone Black (not used).

P8.37

• Used as UART5TX on Robotics Cape.

P8.38

• Used as UART5RX on Robotics Cape.

P8.39

• LCDD6 on BeagleBone Black.
• Expected to have PRU I/O.
• EQEP2I option on BeagleBone Black (not used).

P8.40

• LCDD7 on BeagleBone Black.
• Expected to have PRU I/O on same bank as P8.39.
• EQEP2S option on BeagleBone Black (not used).

P8.41

• LCDD4 on BeagleBone Black.
• Expected to have PRU I/O on same bank as P8.39.
• EQEP2A option on BeagleBone Black (not used).

P8.42

• LCDD5 on BeagleBone Black.
• Expected to have PRU I/O on same bank as P8.39.
• EQEP2B option on BeagleBone Black (not used).

P8.43

• LCDD2 on BeagleBone Black.
• Expected to have PRU I/O on same bank as P8.39.

P8.44

• LCDD3 on BeagleBone Black.
• Expected to have PRU I/O on same bank as P8.39.

P8.45

• LCDD0 on BeagleBone Black.
• Expected to have PRU I/O on same bank as P8.39.
• PWM2A option on BeagleBone Black (not used).

P8.46

• LCDD1 on BeagleBone Black.
• Expected to have PRU I/O on same bank as P8.39.
• PWM2B option on BeagleBone Black (not used).

P9.11

• UART4RX on Robotics Cape.

P9.12

• ASP0RXCLK on cTAG Face.

AE27

• MCASP0ACLKR
• UART3RX
• PRG0PRU0GPx2

P9.13

• UART4TX on BeagleBone Black.

P9.14

• PWM1A on Robotics Cape.

U27

• EHRPWM2A
• UART3CTS
• UART6RX
• GPIO93
• MCASP11AXR0

P9.15

• Why did Gerald add a second ball on BeagleBone Black?

P9.16

• PWM1B on Robotics Cape.

U24

• EHRPWM2B
• UART3RTS
• UART6TX
• GPIO94
• MCASP11AXR1

P9.17

• I2C1SCL on Robotics Cape.
• Provides SPI0CS0 on BeagleBone Black.

V27

• TODO: this doesn't work

P9.18

• I2C1SDA on Robotics Cape.
• Provides SPI0D1 on BeagleBone Black.

P9.19

• I2C2SCL for cape EEPROM.
• UART1RTS on BeagleBone Black.
• CAN0RX on BeagleBone Black.

P9.20

• I2C2SDA for cape EEPROM.
• UART1CTS on BeagleBone Black.
• CAN0TX on BeagleBone Black.

P9.21

• Alternate I2C2SCL on BeagleBone Black (unused).
• SPI0D0 used as MISO on Bela Cape and SPI boot.
• UART2TX on Robotics Cape.
• PWM0B on BeagleBone Black (unused).

U29

• EHRPWM1B
• GPIO91
• MCASP10AXR2
• I2C6SCL

P9.22

• Alternate I2C2SDA on BeagleBone Black (unused).
• UART2RX on Robotics Cape.
• SPI0CLK on Bela Cape and SPI boot.
• PWM0A on BeagleBone Black (unused).

U28

• EHRPWM1A
• I2C3SDA
• GPIO90
• MCASP11FSX

P9.23

• Used as GPIO-based SPI CS for SPI0 on Robotics Cape.

P9.24

• CAN1RX on Comms Cape.
• UART1TX on Robotics Cape.
• Expected to have PRU input.
• PRU UART TX on BeagleBone Black.
• Alternate I2C1SCL on BeagleBone Black.

P9.25

• 12/24MHz MCLK on Bela Cape.
• Expected to have PRU I/O.
• QEP0S on BeagleBone Black.

AC4

• EQEP0S
• SPI2D0
• UART1CTS
• MCAN3RX

W26

• AUDIOEXTREFCLK2
• EHRPWM4B
• GPIO104
• MCASP10AXR7

P9.26

• CAN1TX on Comms Cape.
• UART1RX on Robotics Cape.
• Alternate I2C1SDA on BeagleBone Black.
• PRU UART RX on BeagleBone Black.
• Expected to have PRU input.

P9.27

• QEP0B on Robotics Cape.
• ASP0RXFS on cTAG FACE.
• Expected to have PRU I/O.

AB1

• EQEP0B
• SPI2CLK
• MCAN2TX
• SPI0CS3
• TIMER7
• UART0RTS

AD26

• MCASP0FSR
• UART3TX
• PRG0PRU0GPx3
• PRG0PWM3A2

P9.28

• ASP0DOUT on Bela Cape.
• Expected to have PRU I/O.
• ECAP2 on BeagleBone Black.
• SPI1CS0 on Robotics Cape.

U2

• ECAP0
• SPI2CS3
• SPI7CS0
• GPIO1_11

AG28??

P9.29

• ASP0WCLK (ASP0TXFS) on Bela Cape.
• SPI1MISO on Robotics Cape.
• Expected to have PRU I/O.
• PWM0B on BeagleBone Black (unused).

AB25

• MCASP0FSX
• SPI3CS2
• PRG0PRU0GPx10
• PRG0PWM2B1
• MCAN10RX
• PRG0UART0RTS
• GPIO53

V5

• SPI7D1
• ECAP2
• TIMER1

P9.30

• SPI1MOSI on Robotics Cape.
• ASP0DIN on Bela Cape.
• Expected to have PRU I/O.

V6

• SPI7D0
• ECAP1
• TIMER0

P9.31

• SPI1CLK on Robotics Cape.
• ASP0BCLK (ASP0TXCLK) on Bela Cape.
• PWM0A on BeagleBone Black (unused).
• Expected to have PRU I/O.

AB26

• MCASP0CLKX
• PRG0PRU0GPx9
• PRG0UART0CTS
• SPI3CS1
• MCAN10TX
• UART6TX
• GPIO52

U3

• SPI7CLK

P9.41

• Expected to have PRU I/O.
• CLKOUT1 on BeagleBone Black.

AD5

• EQEP0I
• UART1RTS
• MCAN3TX
• SPI2D1

P9.42

• QEP0A on Robotics Cape.
• SPI1CLK on BeagleBone Black (unused).
• ECAP0 on BeagleBone Black.

AC2

• EQEP0A
• TIMER6
• SPI2CS0
• SPI0CS0
• UART0CTS
• MCAN2RX