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Setting Up the BBB
Pin Layout
Auxilary

GeckoBot Code Manual

Lars Schiller

June 21, 2018

Contents

1 Setting Up the BBB 1

1.1 InstallOSonBBB ............................................ 1

1.2 LoginBBBfortheﬁrsttime ...................................... 2

1.3 Set LAN connection on BBB at AmP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.4 ConﬁgureSSHConnectiontoBBB................................... 3

1.5 ConﬁgureBBBDeviceTree....................................... 4

1.6 InstallingSoftwareonBBB ....................................... 4

1.7 RunningtheCode ............................................ 5

2 Pin Layout 5

3 Auxilary 5

3.1 FormattingSDCardwithdebian.................................... 5

3.2 SetWiFiconnection ........................................... 6

3.3 Setupforanaloginputs ......................................... 6

1 Setting Up the BBB

1.1 Install OS on BBB

The developers of BBB embedded linux systems decided to change the device tree structure from kernel overlay

(till version 8.7), to uboot overlay (9.1+). (Don’t ask me to explain). However, the PWM setup for all pins is

only possible with kernel overlay (or at least I’m not able to conﬁgure it in version 9.1+). Therefore you have

to use the following image:

bone-debian-8.7-iot-armhf-2017-03-19-4gb.img (Download: http://beagleboard.org/latest-images)

To install it on a 8GB Micro-SD Card follow the instructions:

•You can use Etcher (https://etcher.io/).

OR (on debian):

•Instructions from: http://derekmolloy.ie/write-a-new-image-to-the-beaglebone-black/

and from: https://learn.adafruit.com/beaglebone-black-installing-operating-systems?view=

all#copying-the-image-to-a-microsd

•Decompress and write on SD card (need to be su and make sure the security locker of SD Adapter is in

writing mode):

1$ xz −dbone−debian −∗∗.img . xz

2$ dd i f =./bone−debi an −∗∗. img o f =/dev /sdX

(Here, sdX is the mounted empty uSD Card. It can be found with multiple use of the command mount or

df.)

•Obsolete:

–In order to turn these images into eMMC ﬂasher images, edit the /boot/uEnv.txt ﬁle on the BBB and remove the #

on the line with

cmdline=init=/opt/scripts/tools/eMMC/init-eMMC-flasher-v3.sh.

Enabling this will cause booting the microSD card to ﬂash the eMMC. Images are no longer provided here to avoid

people accidentally overwriting their eMMC ﬂash.

–Insert the SD Card in the unpowered BBB, and power it by plugging in the USB or the 5VDC supply. Wait until all

4 LED have solid lights. This can take up to 45 minutes.

–Flash MicroSD 4 with: Debian 8.7 2017-03-19 4GB SD IoT from http://beagleboard.org/latest-images (MicroSD

3 is weird ...).

–Insert MicroSD in (unpowered) BBB, press the USER Button, and apply power.

–It will take 30-45 minutes to ﬂash the image onto the on-board chip. Once it is done, the bank of 4 LEDs to the right

of the Ethernet port will all turn oﬀ. You can then power down your BBB.

1.2 Log in BBB for the ﬁrst time

Assuming you are called bianca and your PC is also called bianca, your BBB is called beaglebone and the

default user on BBB is called debian, then the following sythax is correct.

•Connect your PC with a MicroUSB cable to the BBB.

•Open a terminal and ssh into BBB as debian and then get superuser to conﬁgure the Board.

1bianc a@b ianc a : ˜ ssh debian@192 . 1 6 8 . 7 . 2

2temppwd

3de bi an@ bea gl ebo ne : ˜ su

4root

5ro ot@beaglebo ne :˜#

•Note that the default passwords are: temppwd for debian

root for root

1.3 Set LAN connection on BBB at AmP

This is from:

https://groups.google.com/forum/#!msg/beaglebone/AS2US9rtNd4/8y0mZ3LxAwAJ

•You have to conﬁgure eth0 like this:

address 134.28.136.51 (ask administrator for your personal IP)

netmask 255.255.255.0

dns-nameservers 134.28.205.14

gateway 134.28.136.1

•Plug in LAN cable.

•Get the name of the LAN connection:

1su

2ro ot @b ea gl eb on e : / e t c / network# connmanctl s e r v i c e s

3∗Ac Wired e t h e r n e t 6 8 9 e 1 9 b 5 0 5 4 3 c a b l e

•Using the appropriate ethernet service, tell connman to setup a static IP address for this service.

Syntax:

1connmanctl c o n f i g <service>−−ip v4 manual <i p a dd r > <netmask> <gateway>−−na me se rvers <

dns server>

In our case:

1con nma nc tl c o n f i g e t h e r n e t 6 8 9 e 1 9 b 5 0 5 4 3 c a b l e −−ipv4 manual 134.28.136.51 255.255.255.0

1 3 4 . 2 8 . 1 3 6 . 1 −−n ames erve rs 1 3 4 . 2 8 . 2 0 5 . 1 4

•Reboot and you are done.

•You can revert back to a DHCP conﬁguration simply as follows:

1$ sudo conn man ct l c o n f i g e t h e r n e t 6 8 9 e 1 9 b 5 0 5 4 3 c a b l e −−ip v4 dhcp

1.4 Conﬁgure SSH Connection to BBB

•Source: https://askubuntu.com/questions/115151/how-to-set-up-passwordless-ssh-access-for-

root-user

•If your Board crashed, and you were forced to reinstall the OS, there already exist a ssh-key. This you

have to remove ﬁrst (this is for USB cable):

1bianca@bianca :˜ ssh−keygen −f ”/home/ bi anca / . ssh / kno wn hosts ” −R 1 9 2 . 1 6 8 . 7 . 2

•Generate a new key:

1bianca@bianca :˜ ssh−keygen −f ”/home/ b i a n c a / . s s h / k e y b i a n c a ”

When you are prompted for a password, just hit the enter key and you will generate a key with no

password.

•Allow to log in as root with a password on the server, in aim to transfer the created key to it:

1ro ot@beaglebone:# nano / e t c / s sh / s s h d c o n f i g

Make sure you allow root to log in with the following syntax

1PermitRootLogin yes

2PasswordAuthentication yes

Restart the ssh-server:

1ro ot @b ea gl eb on e :# s e r v i c e ssh r e s t a r t

•Now you are able to transfer the key to the server:

1bianca@bianca :˜ ssh−copy−i d −i /home/ b i a n c a / . s s h / k e y b i a n c a ro ot @1 92 . 1 6 8 . 7 . 2

•Check if its work:

1bianc a@b ianc a : ˜ ssh root@192 . 1 6 8 . 7 . 2

•Now disable root login with password on server (for saftey):

1ro ot@beaglebone:# nano / e t c / s sh / s s h d c o n f i g

And modify the Line:

1PermitRootLogin without−password

2PasswordAuthentication yes

This will allow to login as root with valid key, but not with a password. All other users can further login

with a password. Restart the ssh-server and you are done:

1ro ot @b ea gl eb on e :# s e r v i c e ssh r e s t a r t

1.5 Conﬁgure BBB Device Tree

In order to enable P9.28 as pwm pin, you have to load cape-universala. This you gonna do in /boot/uEnv.txt:

•source: https://groups.google.com/forum/#!topic/beagleboard/EYSwmyxYjdM

•/boot/uEnv.txt should be looking something like this:

1ro ot @beagle bo ne :# c at / boo t /uEnv . t x t |gr ep −v ”#”

3uname r =4.4.54 −t i −r93

4cm dl ine=c o h e r e n t p o o l =1M q u i e t c a p e u n i v e r s a l=e na b le

Edit it with:

1ro ot @beagle bo ne :# nano / bo ot /uEnv . tx t

Add the following lines, such that /boot/uEnv.txt looks like:

1ro ot @beagle bo ne :# c at / boo t /uEnv . t x t |gr ep −v ”#”

3uname r =4.4.54 −t i −r93

4dtb=am335x−boneblack−o v e r l a y . dt b

5cm dl ine=c o h e r e n t p o o l =1M q u i e t c a p e u n i v e r s a l=e na b le

6c a p e e n a b l e=bone ca pe mg r . e n a b l e p a r t n o=ca pe−universala

•Reboot and you should be able to conﬁgure with:

1r oo t@ be ag le bo n e :# c o n f i g −p in P9 28 pwm

Note:

•In debian-elinux-version-9.1+ the /boot/uEnv.txt looks like:

1ro ot @beagle bo ne :# c at / boo t /uEnv . t x t |gr ep −v ”#”

3uname r =4.9.82 −t i −r 10 2

4enable uboot overlays=1

5enable uboot cape universal=1

6cm dl ine=c o h e r e n t p o o l =1M n et . i fn a me s=0 q u i e t

If you see this, you may want to ﬁnd a way to enable all the pins. I failed.

Robert C Nelson seems to be the only one, who has an idea whats going on... https://elinux.org/Beagleboard:BeagleBo

neBlack Debian#U-Boot Overlays

1.6 Installing Software on BBB

In order to run the GeckoBot software on the BBB install following packages:

•on BBB as su

1r oo t@ be ag le bo ne :# apt−get update

2r oo t@ be ag le bo ne :# apt−get i n s t a l l n tpdate

3ro ot @b ea gl eb on e :# ntpda te poo l . ntp . or g

4r oo t@ be ag le bo ne :# apt−get i n s t a l l bu il d −essential python−dev python−pip −y

5ro ot @b ea gl eb on e :# pip i n s t a l l −−upgrade p ip

6ro ot @b ea gl eb on e :# pip i n s t a l l Adafruit BBIO

7ro ot @b ea gl eb on e :# pip i n s t a l l Adafruit GPIO

8r oo t@ b ea gl eb o ne :# p ip i n s t a l l t e r m c o l o r

9ro ot @b ea gl eb on e :# pip i n s t a l l numpy

11 ro ot@beaglebo ne :˜# mkdir Git

12 ro ot@beaglebo ne :˜# cd Git

13 ro ot @b ea gl eb on e : ˜ / Git/# g i t c lo ne htt p s : / / g ith ub . com/ l a r s l e v i t y /GeckoBot . g i t

1.7 Running the Code

To run the geckobot code:

•on BBB as su

1ro ot@beaglebo ne :˜# cd Git / GeckoBot /Code

2ro ot @be aglebone : ˜ Git /GeckoBot/Code/# python s e r v e r h a r d w a r e c o n t r o l l e d . py

2 Pin Layout

Figure 1: Pin layout of BBB

The following pins were used, where Fx means foot x and y means leg or belly y:

Table 1: Used pins (Outdated)

P8-7 P8-8 P8-9 P8-10 P8-13 P8-19

F1 F2 F3 F4 2 1

P9-1 P9-5 P9-14 P9-16 P9-19 P9-20 P9-21 P9-22

VDD GND 6 5 I2C-SCL I2C-SDA 4 3

3 Auxilary

3.1 Formatting SD Card with debian

•Source: https://www.techwalla.com/articles/how-to-format-an-sd-card-in-debian-linux

•Determine location of SDCard (in the following called: /dev/mmcblk0p2) and directory where it is mounted

(in the following called: /media/SDCard):

1su

2df

•Unmount, format, and remount:

1umount / dev / mmcblk0p2

2mk do sf s / de v /mmcblk0p2 −F16

3mount / dev / mmcblk0p2 / media /SDCard

•For formatting SD with more than one partition, use:

1c f d i s k /dev /mmcblk0

and follow the instructions.

3.2 Set WiFi connection

•Order WiFi Antenna TP-LINK WLAN LITEN HI.G USB ADA. WN722N from somewhere.

•Complete this tuturial ...

3.3 Setup for analog inputs

•https://groups.google.com/forum/#!topic/beagleboard/Lk3vWNIExiQ

•Insert in command line on BBB:

1su apt−get i n s t a l l bb−cape−overlays

3cd / op t /sourc e /bb . org−overlays

5. / dtc−o v e r l a y . sh

7. / i n s t a l l . sh

9sudo sh −c ” echo ’BB−ADC’ >/ s y s / d e v i c e s / p l at fo r m / bone ca pemg r / s l o t s ”

•Reboot.

•For readout the ADC input Pins from python: https://learn.adafruit.com/setting-up-io-python-

library-on-beaglebone-black/adc

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