Plans for rev B
Jason Kridner edited this page Aug 9, 2021
·
21 revisions
- 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
- 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.
- PRG1PRU1GPx4
- TIMER3
- MCASP8AXR2/ACLKR
- qep/2.a in the Cape Specification.
- Used for QEP2A on Robotics Cape.
- Expected to have PRU output.
- Provides EQEP1A.
- PRG1PRU1GPx3
- TIMER2
- MCASP8AXR1
- MCASP3AFSR
- pwm/2.b in the Cape Specification.
- Used as PWM2B on Robotics Cape.
- PWM0B
- I2C3SCL
- MCASP11ACLKX
- GPIO89
- 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.
- PRG1PRU1GPx5
- EQEP1S
- TIMER4
- MCASP4AXR0
- MCAN6RX
- Used as QEP4A (PRU based) on Robotics Cape.
- Has QEP2I on BeagleBone Black.
- PRG1PRU1GPx11
- EQEP1I
- MCASP9ACLKX
- Used as GPIO on most capes.
- Used as GPIO on most capes.
- Provides ASP0RXFS on BeagleBone Black.
- SPI7CS1
- UART0TX
- SPI2CS2
- GPIO122
- Used as PWM2A on Robotics Cape.
- PWM0A
- MCASP10AXR1
- UART3TX
- GPIO88
- 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.
- Expected to have PRU I/O.
- Expected to have PRU I/O.
- SPI7CS3
- UART1TX
- GPIO126
- Expected to have PRU I/O.
- Expected to have PRU I/O.
- SPI7CS2
- UART1RX
- GPIO125
- Expected to have PRU I/O.
- Expected to have PRU I/O.
- Expected to have PRU I/O.
- Used as QEP1B on Robotics Cape.
- Expected to have PRU I/O.
- PWM1B option on BeagleBone Black (not used).
- Expected to have PRU I/O.
- Used as QEP1A on Robotics Cape.
- Expected to have PRU I/O.
- PWM1A option on BeagleBone Black (not used).
- Used as UART5TX on Robotics Cape.
- 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.
- MCASP0ACLKR
- UART3RX
- PRG0PRU0GPx2
- UART4TX on BeagleBone Black.
- PWM1A on Robotics Cape.
- EHRPWM2A
- UART3CTS
- UART6RX
- GPIO93
- MCASP11AXR0
- Why did Gerald add a second ball on BeagleBone Black?
- PWM1B on Robotics Cape.
- EHRPWM2B
- UART3RTS
- UART6TX
- GPIO94
- MCASP11AXR1
- I2C1SCL on Robotics Cape.
- Provides SPI0CS0 on BeagleBone Black.
- TODO: this doesn't work
- 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).
- EHRPWM1B
- GPIO91
- MCASP10AXR2
- I2C6SCL
- Alternate I2C2SDA on BeagleBone Black (unused).
- UART2RX on Robotics Cape.
- SPI0CLK on Bela Cape and SPI boot.
- PWM0A on BeagleBone Black (unused).
- EHRPWM1A
- I2C3SDA
- GPIO90
- MCASP11FSX
- Used as GPIO-based SPI CS for SPI0 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.
- EQEP0S
- SPI2D0
- UART1CTS
- MCAN3RX
- AUDIOEXTREFCLK2
- EHRPWM4B
- GPIO104
- MCASP10AXR7
- 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.
- EQEP0B
- SPI2CLK
- MCAN2TX
- SPI0CS3
- TIMER7
- UART0RTS
- MCASP0FSR
- UART3TX
- PRG0PRU0GPx3
- PRG0PWM3A2
- ASP0DOUT on Bela Cape.
- Expected to have PRU I/O.
- ECAP2 on BeagleBone Black.
- SPI1CS0 on Robotics Cape.
- ECAP0
- SPI2CS3
- SPI7CS0
- GPIO1_11
- ASP0WCLK (ASP0TXFS) on Bela Cape.
- SPI1MISO on Robotics Cape.
- Expected to have PRU I/O.
- PWM0B on BeagleBone Black (unused).
- MCASP0FSX
- SPI3CS2
- PRG0PRU0GPx10
- PRG0PWM2B1
- MCAN10RX
- PRG0UART0RTS
- GPIO53
- SPI7D1
- ECAP2
- TIMER1
- SPI1MOSI on Robotics Cape.
- ASP0DIN on Bela Cape.
- Expected to have PRU I/O.
- SPI7D0
- ECAP1
- TIMER0
- SPI1CLK on Robotics Cape.
- ASP0BCLK (ASP0TXCLK) on Bela Cape.
- PWM0A on BeagleBone Black (unused).
- Expected to have PRU I/O.
- MCASP0CLKX
- PRG0PRU0GPx9
- PRG0UART0CTS
- SPI3CS1
- MCAN10TX
- UART6TX
- GPIO52
- SPI7CLK
- Expected to have PRU I/O.
- CLKOUT1 on BeagleBone Black.
- EQEP0I
- UART1RTS
- MCAN3TX
- SPI2D1
- QEP0A on Robotics Cape.
- SPI1CLK on BeagleBone Black (unused).
- ECAP0 on BeagleBone Black.
- EQEP0A
- TIMER6
- SPI2CS0
- SPI0CS0
- UART0CTS
- MCAN2RX