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Plans for rev B

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Jason Kridner edited this page Jul 14, 2021 · 21 revisions

Rev B

Is

  • Derived from BeagleBone AI rev A2
  • BeagleBone form-factor
  • Gigabit Ethernet
  • microHDMI 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.

P8.12

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

AD23

  • Provides EQEP1A.

P8.13

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

AJ28

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.

AG21

AB29

AC28

P8.16

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

AJ25

P8.17

  • Used as GPIO on most capes.

V26

P8.18

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

AB3

P8.19

  • Used as PWM2A on Robotics Cape.

AB2

  • Provides PWM0A.

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

  • LCDVSYNC on BeagleBone Black.
  • DSI on separate header provided in lieu of Parallel LCD support on BBAI-B.
  • Expected to have PRU I/O.

AJ27

P8.28

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

AB4

P8.29

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

P8.30

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

P8.31

  • LCDD14 on BeagleBone Black.
  • Expected to have PRU I/O.

P8.32

  • LCDD15 on BeagleBone Black.
  • Expected to have PRU I/O.

P8.33

  • LCDD13 on BeagleBone Black.
  • Expected to have PRU I/O.
  • Used as QEP1B on Robotics Cape.

P8.34

  • LCDD11 on BeagleBone Black.
  • Expected to have PRU I/O.
  • PWM1B option on BeagleBone Black (not used).

P8.35

  • LCDD12 on BeagleBone Black.
  • Expected to have PRU I/O.
  • Used as QEP1A on Robotics Cape.

P8.36

  • LCDD10 on BeagleBone Black.
  • Expected to have PRU I/O.
  • PWM1A option on BeagleBone Black (not used).

P8.37

  • LCDD8 on BeagleBone Black.
  • Used as UART5TX on Robotics Cape.

P8.38

  • LCDD9 on BeagleBone Black.
  • 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.

P9.13

  • UART4TX on BeagleBone Black.

P9.14

  • PWM1A on Robotics Cape.

P9.15

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

P9.16

  • PWM1B on Robotics Cape.

P9.17

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

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).

P9.22

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

P9.23

  • Used as GPIO-based SPI CS 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.

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.

P9.28

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

P9.29

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

P9.30

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

P9.31

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

P9.41

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

P9.42

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