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Add support for BeagleBone AI #668

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Add support for BeagleBone AI #668

wants to merge 147 commits into from

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DhruvaG2000
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This PR aims to add support for the BeagleBone AI running Linux beaglebone 4.19.94-ti-xenomai-r64
NOTE The necessary BELA Cape overlay for BeagleBone AI can be found here: BBAI-BELA-00A1.dts

Feature List:

  • Creation of PruManager which helps migrate to using the remote processor framework on newe kernels while also maintaining backward compatibility for libprussdrv on the Am335x.
  • New workflow for building the PRU code with clpru. (Which has been integrated in the Makefile)
  • The core as well as PRU codes now decide at compile time depending on which board they are running on, which base constants are to be used by the code.
  • Add McASP configuration that works on AM572x.
  • Add GPIO support for AM572x.
  • Add SPI support for AM572x

Andrew McPherson and others added 30 commits July 2, 2021 10:21
@giuliomoro
Support TDM mode on TLV codec: now working in 256-clock mode with eit…
be75702 
…her 16 or 32 bit slots

(was 1221974f..f43f7587 and removed trailing whitespaces)
@giuliomoro
First implementation of multiple codec support. PRU code needs to be …
951cb0a 
…changed depending on whether running in DSP or TDM mode. Works with 2 channels in either case, not with more channels.

(cherry pick of commits 7101946d and 8468cfd0)
@giuliomoro
Move the multi-TLV codec to the IRQ PRU code. Probably not working at…
b5c6f47 
… this stage.

(cherry picked from commit c2a0a40bfa96f258430b9d16612a771201a2acd5,
with an edit (removing commented out lines in core/board_detect.cpp)
@giuliomoro
Multichannel audio output now mostly works, but channels are in the w…
fc5adbb 
…rong order and one of them is noise. Input is not working yet.

(cherry picked from commit c85656fc9cf8a454df8313cd641a5676c6c1b945)
@giuliomoro
Fixed erroneous TDM slot configuration. Multichannel TLV output now a…
e39376e 
…ppears to work.

(cherry picked from commit 2998ded21ed39f65f57aa005c070eb13ededff45)
@giuliomoro
Adapted registers for TLV320AIC3106 codec, which differ for the line …
247a187 
…inputs. Audio input now appears to work for multichannel. May also address an issue with spurious levels on the WCLK line.

(cherry picked from commit 5d36b099ae19abdb68ee3152e8663e91365a44bc)
@giuliomoro
Disable DC blocking for TLV320AIC3106 differential analog inputs
f4e75e1 
(cherry picked from commit 2b09584e01c9b88e7467ed111f2e251d81ff61b4)
@giuliomoro
Changed direction of frame sync so it is generated by McASP, not code…
374a004 
…c. Also added register read ability to I2c_Codec.

(cherry picked from commit e3378d1d9b417f3476e5085a7f22157cf68778b9)
@giuliomoro
An empirical set of settings that produces (mostly) stable I/O -- but…
d65162f 
… it shouldn't work according to the datasheet, and isn't 100% reliable.

(cherry picked from commit 1efa3434c2dac4acb89013e4f0db94d3f9aeb1f3)
@giuliomoro
Go back to recommended McASP settings -- looks like this is more reli…
d040fd0 
…able if the signal quality issue can be sorted

(cherry picked from commit ba6900ab9e74023a4a0bc36d4029a5ae9f5d50b6)
@giuliomoro
Updated PRU IRQ code to work on Bela Mini (with or without multi-codec)
dadd20e 
(cherry picked from commit 1281de7fff79929756c071d2972b6966036bdc48)
@giuliomoro
Add support to PRU IRQ code for Bela Mini ADC CS line. however, analo…
5322997 
…g input still does not work on this code.

(cherry picked from commit 2dda62b8baeab0cd1b8dfe376addd54252766d54)
@giuliomoro
Skip DAC CS on Bela Mini for IRQ PRU code
bfd8a9e 
(cherry picked from commit d1eb9acdf87d8b7c8f0320a390efbd37dd6bc0d1)
@giuliomoro
Fixed ADC memory location in PRU IRQ code on Bela Mini
ade1f9d 
(cherry picked from commit 9b6962954789569ce1326d9c7d924a0dd446cf1d)
@giuliomoro
Cleaned up pru_rtaudio.p
47c005d
@giuliomoro
Cleanup of stale comments and refactored
5f65dfe
@giuliomoro
multi-codec: Handling BelaMiniMultiAudio
d22e5f4
@giuliomoro
actually working pru_rtaudio.p
449baef
@giuliomoro
I2c_Codec: make transmitSyncBitDelay explicit
d6be3f6
@giuliomoro
board_detect and core: Bela_hwContains() can be used to test for the …
6d947c5 
…presence of components in a BelaHw.

Accordingly refactored/simplified codebase
@giuliomoro
BelaMiniMultiAudio: re-added support
53ee9ef
@giuliomoro
bitDelay is available as a parameter. Minor refactoring to improve re…
c5c8828 
…adability
@giuliomoro
Allow to run BelaMini as BelaMiniMultiAudio
5440b5e
@giuliomoro
PRU: Factored error codes out to PruArmCommon.h, and handling ARM_ERR…
6a31f0c 
…OR_INVALID_INIT as critical
@giuliomoro
PRU: NOP, tidying up whitespaces a bit, cleaning out stale comments
88a4285
@giuliomoro
PRU: mostly renaming things for clarity, but also adding some QBA for…
6482d16 
… safety
@giuliomoro
PRU: using IF_NOT_BELA_TLV32_JMP_TO instead of BELA_NOT_MULTI_TLV_OR_…
9cc15ae 
…JMP_TO as it is more accurate (also covers CTAG cases)
@giuliomoro
PRU: NOP Renamed macros for clarity
d9fcfe5
@giuliomoro
PRU: added QBA when done
2fb4bd1
@giuliomoro
PRU: one extra register filled with zeros for MULTI_TLV
610e129
giuliomoro and others added 24 commits July 2, 2021 17:08
@giuliomoro
pru/pru_rtaudio.p: works again
0ce65fb 
(or as much as it works on dev: at 2 analog channels audio is corrupted)
@giuliomoro
Removed compiler warnings (g++-8.3.0)
4d344fb
@giuliomoro
pru: NIT: factored out CLOCK_MCASP_VALUE
459cde0
@giuliomoro
pru: wait for a few cycles after enabling McASP module clock in order…
4c33507 
… to ensure proper initialisation
@giuliomoro
Makefile: BELA_USE_DEFINE is now ?= so it can be overridden more easi…
cc28775 
…ly in CustomMakefileTop.in
@DhruvaG2000 @giuliomoro
PruManager: factored libprussdrv out of PRU into PruManager. No funct…
c31b7a1 
…ional change.

Co-authored-by: Giulio Moro <giuliomoro@yahoo.it>
@DhruvaG2000 @giuliomoro
PruManager: added support for RPROC (though ENABLE_PRU_UIO is still d…
4ee5c20 
…efault)

Co-authored-by: Giulio Moro <giuliomoro@yahoo.it>
@giuliomoro
PruManager: refactored firwmare name. More error checks in the rproc …
601f038 
…starting process
@DhruvaG2000 @giuliomoro
rproc: create resources/rproc-build which contains helpful files for …
e2785a5 
…building PRU firmware for rproc

These files are taken from https://github.com/beagleboard/cloud9-examples@eed6500

Co-authored-by: Giulio Moro <giuliomoro@yahoo.it>
@DhruvaG2000 @giuliomoro
Added initial support for AM572x (BBAI), using rproc for PRU loading.…
a5d3bc2 
… Doesn't yet build rproc firmware.

Co-authored-by: Giulio Moro <giuliomoro@yahoo.it>
@giuliomoro
Makefile: simplified checks for IS_AM572x. Distinguished between Rpro…
66c0c82 
…c/Uio/board. Removed dependency on libprussdrv and PruBinary.o when not using UIO
@giuliomoro
Makefile: build .out file via pasm+clpru when ENABLE_PRU_RPROC==1.
637e2d4
@DhruvaG2000 @giuliomoro
Gpio: added support for AM572x
b5b205d
@giuliomoro
BBAI: updated most non-Bela GPIOs (except LED)
0131b06
@giuliomoro
Gpio: added getMask()
26d65f9
@giuliomoro
PRU: de-hard-coded UserLed name, number and triggers. Also supports BBAI
a3b3818
@giuliomoro
pru: NIT: fixed comment
5e5a042
@DhruvaG2000 @giuliomoro
pru_rtaudio.p: fix McSPI BASE for BBAI
38cc7fe
@giuliomoro
BBAI: added more than half of the Bela digitals. Currently using only…
8f2b4b6 
… GPIO4 and GPIO6 in the PRU code. More pins are on GPIO3 and GPIO5 and require significant extra work on the PRU side
@giuliomoro
pru: added support for SPI analog ADC/DAC on BBAI (data lines are swa…
551beb6 
…pped with respect to BBB)
@giuliomoro
pru: NIT: assigned real names to AM572x's MCASP and SPI peripherals.
ae52646 
Verified no changes in the built pru file
@giuliomoro
pru: factored out board-specific constants to board_specific.h
8b1e0e6 
Verified that the built pru file remains unchanged.
@giuliomoro
pru: ported changes applied to pru/pru_rtaudio.p in a5d3bc2..8b1e0e6 …
33bd719 
…to pru/pru_rtaudio_irq.p

Verified that without IS_AM572x the assembled code has not changed. Of course it does change when -DIS_AM572x
@giuliomoro
I2c_Codec: setting Mcasp serialisers in use depending on board (as us…
b5841d5 
…ual, this is only honoured by pru_rtaudio_irq.p)
@znmeb
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znmeb commented Aug 9, 2021

Cool! Will assembled units be coming with the BeagleBone AI?

@DhruvaG2000
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DhruvaG2000 commented Aug 10, 2021 •
edited
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@znmeb There are still some major limitations to using BELA on the BBAI, to name a few:

  • Xenomai patched kernel (Linux beaglebone 4.19.94-ti-xenomai-r64) crash on boot, and the board needs to be reset a couple of times to properly boot.
  • The interrupts in AM572x turned out to be much complicated than AM335x due to a new concept called IRQ_CROSSBARS which me and the Bela team have been working on for a few days. This may take some more time to implement. (however, this shouldn't be much of a deal-breaker for most users)
  • Thus, to get a proper release of BELA image for the BBAI, we really need to get the first issue of kernel crashing resolved, which again will take time.

So, at the current stage, the only option is to manually update to the xenomai patched kernel x4.19 using one of the on-board scripts, and then one can source compile BELA using some basic instructions that I have provided on my blog.

@znmeb
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znmeb commented Aug 10, 2021

Thanks! I'm not in any great hurry - I have two Belas running just fine without hitting any hardware limits. I can wait for assembled units.

@giuliomoro
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@DhruvaG2000 thanks for this, please make a new PR against the dev-next branch.

@giuliomoro giuliomoro closed this Aug 10, 2021
@DhruvaG2000 DhruvaG2000 mentioned this pull request Aug 10, 2021
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3 participants
@DhruvaG2000 @znmeb @giuliomoro