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Plans for rev B
Jason Kridner edited this page Jul 8, 2021
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- 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
- 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
- Includes SubG radio (move to Cape)
- Guaranteed to have PCIe expansion
- TI-SDK based
- Wanted.
- Using AOP.
- RPLIDAR?
- 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
- A simple 2-wheel rover
- LIDAR, though it could be added separately
- MMWAVE, though it could be added separately
- 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)
- 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.
- See P8.03.
- MMCDAT7 on BeagleBone Black.
- See P8.03.
- MMCDAT2 on BeagleBone Black.
- See P8.03.
- MMCDAT3 on BeagleBone Black.
- Expected to have a TIMER pin.
- Used as GPIO on most capes.
- Expected to have a TIMER pin.
- Used as GPIO on most capes.
- Expected to have a TIMER pin.
- Used as GPIO on most capes.
- Expected to have a TIMER pin.
- Used as GPIO on most capes.
- qep/2.b in the Cape Specification.
- Used for QEP2B on Robotics Cape.
- Expected to have PRU output.
- Provides EQEP1B.
- qep/2.a in the Cape Specification.
- Used for QEP2A on Robotics Cape.
- Expected to have PRU output.
- Provides EQEP1A.
- pwm/2.b in the Cape Specification.
- Used as PWM2B on Robotics Cape.
- ecap in the Cape Specification.
- Has ECAP2 on BBAI-A.
- 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.
- Used as QEP4A (PRU based) on Robotics Cape.
- Has QEP2I on BeagleBone Black.
- Used as GPIO on most capes.
- Used as GPIO on most capes.
- Provides LCDMCLK on BeagleBone Black.
- Provides ASP0RXFS on BeagleBone Black.
- Used as PWM2A on Robotics Cape.
- Provides PWM0A.
- See P8.03.
- MMCCMD on BeagleBone Black.
- Expected to have PRU I/O.
- See P8.03.
- MMCCLK on BeagleBone Black.
- Expected to have PRU I/O.
- See P8.03.
- MMCDAT5 on BeagleBone Black.
- See P8.03.
- MMCDAT4 on BeagleBone Black.
- See P8.03.
- MMCDAT1 on BeagleBone Black.
- See P8.03.
- MMCDAT0 on BeagleBone Black.
- Used as GPIO on most capes.
- LCDVSYNC on BeagleBone Black.
- DSI on separate header provided in lieu of Parallel LCD support on BBAI-B.
- Expected to have PRU I/O.
- LCDPCLK on BeagleBone Black.
- Expected to have PRU I/O.
- LCDHSYNC on BeagleBone Black.
- Expected to have PRU I/O.
- LCDDE on BeagleBone Black.
- Expected to have PRU I/O.
- LCDD14 on BeagleBone Black.
- Expected to have PRU I/O.
- LCDD15 on BeagleBone Black.
- Expected to have PRU I/O.
- LCDD13 on BeagleBone Black.
- Expected to have PRU I/O.
- Used as QEP1B on Robotics Cape.
- LCDD11 on BeagleBone Black.
- Expected to have PRU I/O.
- PWM1B option on BeagleBone Black (not used).
- LCDD12 on BeagleBone Black.
- Expected to have PRU I/O.
- Used as QEP1A on Robotics Cape.
- LCDD10 on BeagleBone Black.
- Expected to have PRU I/O.
- PWM1A option on BeagleBone Black (not used).
- LCDD8 on BeagleBone Black.
- Used as UART5TX on Robotics Cape.
- LCDD9 on BeagleBone Black.
- Used as UART5RX on Robotics Cape.
- LCDD6 on BeagleBone Black.
- Expected to have PRU I/O.
- EQEP2I option on BeagleBone Black (not used).
- LCDD7 on BeagleBone Black.
- Expected to have PRU I/O on same bank as P8.39.
- EQEP2S option on BeagleBone Black (not used).
- LCDD4 on BeagleBone Black.
- Expected to have PRU I/O on same bank as P8.39.
- EQEP2A option on BeagleBone Black (not used).
- LCDD5 on BeagleBone Black.
- Expected to have PRU I/O on same bank as P8.39.
- EQEP2B option on BeagleBone Black (not used).
- LCDD2 on BeagleBone Black.
- Expected to have PRU I/O on same bank as P8.39.
- LCDD3 on BeagleBone Black.
- Expected to have PRU I/O on same bank as P8.39.
- LCDD0 on BeagleBone Black.
- Expected to have PRU I/O on same bank as P8.39.
- PWM2A option on BeagleBone Black (not used).
- LCDD1 on BeagleBone Black.
- Expected to have PRU I/O on same bank as P8.39.
- PWM2B option on BeagleBone Black (not used).
- UART4RX on Robotics Cape.
- ASP0RXCLK on cTAG Face.
- UART4TX on BeagleBone Black.
- PWM1A on Robotics Cape.
- Why did Gerald add a second ball on BeagleBone Black?
- PWM1B on Robotics Cape.
- I2C1SCL on Robotics Cape.
- Provides SPI0CS0 on BeagleBone Black.
- I2C1SDA on Robotics Cape.
- Provides SPI0D1 on BeagleBone Black.
- I2C2SCL for cape EEPROM.
- UART1RTS on BeagleBone Black.
- CAN0RX on BeagleBone Black.
- I2C2SDA for cape EEPROM.
- UART1CTS on BeagleBone Black.
- CAN0TX on BeagleBone Black.
- 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).
- Alternate I2C2SDA on BeagleBone Black (unused).
- UART2RX on Robotics Cape.
- SPI0CLK on Bela Cape and SPI boot.
- PWM0A on BeagleBone Black (unused).
- Used as GPIO-based SPI CS on Robotics Cape.
- CAN1RX on Comms Cape.
- UART1TX on Robotics Cape.
- Expected to have PRU input.
- PRU UART TX on BeagleBone Black.
- Alternate I2C1SCL on BeagleBone Black.
- 12/24MHz MCLK on Bela Cape.
- Expected to have PRU I/O.
- QEP0S on BeagleBone Black.
- CAN1TX on Comms Cape.
- UART1RX on Robotics Cape.
- Alternate I2C1SDA on BeagleBone Black.
- PRU UART RX on BeagleBone Black.
- Expected to have PRU input.
- QEP0B on Robotics Cape.
- ASP0RXFS on cTAG FACE.
- Expected to have PRU I/O.
- ASP0DOUT on Bela Cape.
- Expected to have PRU I/O.
- ECAP2 on BeagleBone Black.
- SPI1CS0 on Robotics Cape.
- ASP0WCLK (ASP0TXFS) on Bela Cape.
- SPI1MISO on Robotics Cape.
- Expected to have PRU I/O.
- PWM0B on BeagleBone Black (unused).
- SPI1MOSI on Robotics Cape.
- ASP0DIN on Bela Cape.
- Expected to have PRU I/O.
- SPI1CLK on Robotics Cape.
- ASP0BCLK (ASP0TXCLK) on Bela Cape.
- PWM0A on BeagleBone Black (unused).
- Expected to have PRU I/O.
- Expected to have PRU I/O.
- CLKOUT1 on BeagleBone Black.
- QEP0A on Robotics Cape.
- SPI1CLK on BeagleBone Black (unused).
- ECAP0 on BeagleBone Black.