diff --git a/boards/capes/cape-interface-spec.rst b/boards/capes/cape-interface-spec.rst
index beb41b18707d31cdedc1bca21ea9a0e2f33b36a7..2d168cddba9541bb503bbfd207aa864e8b5be06e 100644
--- a/boards/capes/cape-interface-spec.rst
+++ b/boards/capes/cape-interface-spec.rst
@@ -20,7 +20,7 @@ Background and overview
* See `elinux.org Cape Expansion Headers for BeagleBone page <https://elinux.org/Beagleboard:Cape_Expansion_Headers>`_
* See :ref:`BeagleBone Black System Reference Manual Connectors section <beagleboneblack-connectors>`
* See :ref:`BeagleBone AI System Reference Manual Connectors section <beaglebone-ai-connectors>`
- * See :ref:`BeagleBone AI-64 System Reference Manual Connectors section <cape-board-support-1>`
+ * See :ref:`BeagleBone AI-64 System Reference Manual Connectors section <bbai64-cape-board-support-1>`
.. note:: Below, when mentioning "Black", this is true for all AM3358-based BeagleBone boards. "AI" is AM5729-based. "AI-64" is TDA4VM-based.
@@ -584,7 +584,7 @@ SPI bone bus nodes allow creating compatible overlays for Black, AI and AI-64.
Some boards may implement CS using a GPIO.
-.. code-block::
+.. code-block:: devicetree
:linenos:
:caption: Example device tree overlay to enable SPI driver
:name: bone_cape_spec_spi_example
diff --git a/books/beaglebone-cookbook/02sensors/sensors.rst b/books/beaglebone-cookbook/02sensors/sensors.rst
index 521f9bd147ed4e8c34eafda14df666993d9a05f9..627627e47378ecae531743743da617f2dfb9145b 100644
--- a/books/beaglebone-cookbook/02sensors/sensors.rst
+++ b/books/beaglebone-cookbook/02sensors/sensors.rst
@@ -474,6 +474,7 @@ HC-SR04 to the Bone's 5 V power supply.
.. _sensors_hc-sr04_code:
.. literalinclude:: ../code/02sensors/hc-sr04-ultraSonic.js
+ :language: JavaScript
:caption: Driving a HC-SR04 ultrasound sensor (hc-sr04-ultraSonic.js)
:linenos:
@@ -656,6 +657,7 @@ will print the current location every time the GPS outputs it.
.. _digital_GPS_code:
.. literalinclude:: ../code/02sensors/GPS.js
+ :language: JavaScript
:caption: Talking to a GPS with UART 4 (GPS.js)
:linenos:
@@ -883,6 +885,7 @@ using the kernel driver. First you need to install the i2c module.
.. _js_i2ctmp101_code:
.. literalinclude:: ../code/02sensors/i2ctmp101.py
+ :language: Python
:caption: Reading an |I2C| device (i2cTemp.py)
:linenos:
diff --git a/books/beaglebone-cookbook/03displays/displays.rst b/books/beaglebone-cookbook/03displays/displays.rst
index 5fe497ff4e40ec7170276a36ae8848b4a3fc792c..fa160c28589071df7ce0d317dd7ebb7976da03ec 100644
--- a/books/beaglebone-cookbook/03displays/displays.rst
+++ b/books/beaglebone-cookbook/03displays/displays.rst
@@ -382,6 +382,7 @@ LED matrix display (matrixLEDi2c.py)
=====================================
.. literalinclude:: ../code/03displays/matrixLEDi2c.py
+ :language: Python
:caption: LED matrix display (matrixLEDi2c.py)
:linenos:
diff --git a/books/beaglebone-cookbook/04motors/motors.rst b/books/beaglebone-cookbook/04motors/motors.rst
index d28b0465c69566ceac13ec0e62edcacefb51ca27..37da5e48227c89be0da92e30500c117c00e34ff8 100644
--- a/books/beaglebone-cookbook/04motors/motors.rst
+++ b/books/beaglebone-cookbook/04motors/motors.rst
@@ -264,6 +264,7 @@ motor with a transistor (:ref:`motors_dcMotor_code`). The additional code specif
.. _motors_h-bridge_code:
.. literalinclude:: ../code/04motors/h-bridgeMotor.js
+ :language: JavaScript
:caption: Code for driving a DC motor with an H-bridge (h-bridgeMotor.js)
:linenos:
@@ -304,6 +305,7 @@ Use the code in :ref:`motors_stepperMotor_code_py` to drive the motor.
.. _motors_stepperMotor_code_py:
.. literalinclude:: ../code/04motors/bipolarStepperMotor.py
+ :language: Python
:caption: Driving a bipolar stepper motor (bipolarStepperMotor.py)
:linenos:
diff --git a/books/beaglebone-cookbook/06iot/iot.rst b/books/beaglebone-cookbook/06iot/iot.rst
index 3044fd247492093c8ae3876b454cec2bad58c810..734316c753326c3f7c339f9db689f04e3a2a6adf 100644
--- a/books/beaglebone-cookbook/06iot/iot.rst
+++ b/books/beaglebone-cookbook/06iot/iot.rst
@@ -207,6 +207,7 @@ function. Now, let’s create a new Python script. We will name it app1.py:
.. _flask_app1:
.. literalinclude:: ../code/06iot/flask/app1.py
+ :language: Python
:caption: app1.py
:linenos:
@@ -271,6 +272,7 @@ Let’s use a new Python script named *app2.py*.
.. _flask_app2:
.. literalinclude:: ../code/06iot/flask/app2.py
+ :language: Python
:caption: A simple Flask-based web server to read a GPIO (app2.py)
:linenos:
@@ -333,6 +335,7 @@ Create a new Python script and name it *app3.py*.
.. _flask_app3:
.. literalinclude:: ../code/06iot/flask/app3.py
+ :language: Python
:caption: A simple Flask-based web server to read a GPIO (app3.py)
:linenos:
@@ -477,6 +480,7 @@ plots the buffer is **analogInContinuous.py**.
.. _analog_code:
.. literalinclude:: ../code/06iot/analogInContinuous.py
+ :language: Python
:caption: Code to read and plot a continuous analog input(analogInContinuous.py)
:linenos:
@@ -629,6 +633,7 @@ Then add the code in :ref:`networking_nodemailer_code` to a file named ``emailTe
.. _networking_nodemailer_code:
.. literalinclude:: ../code/06iot/emailTest.py
+ :language: Python
:caption: Sending email using nodemailer (emailtTest.py)
:linenos:
@@ -743,6 +748,7 @@ Because your Bone is on the network, it's not hard to access the current weather
.. _networking_weather_code:
.. literalinclude:: ../code/06iot/weather.py
+ :language: Python
:caption: Code for getting current weather conditions (``weather.py``)
:linenos:
@@ -865,6 +871,7 @@ The code in :ref:`networking_pushbutton_code` sends a tweet whenever a button is
.. _networking_pushbutton_code:
.. literalinclude:: ../code/06iot/twitterPushbutton.js
+ :language: JavaScript
:caption: Tweet when a button is pushed (twitterPushbutton.js)
:linenos:
diff --git a/books/beaglebone-cookbook/07kernel/kernel.rst b/books/beaglebone-cookbook/07kernel/kernel.rst
index 25f4a90d9142713863ac5c8d5d0fcf2498d39825..3267873b129367d6e1fa30801e5ad788283f9589 100644
--- a/books/beaglebone-cookbook/07kernel/kernel.rst
+++ b/books/beaglebone-cookbook/07kernel/kernel.rst
@@ -523,6 +523,7 @@ Solution
.. _kernel_hello_patch:
.. literalinclude:: ../code/07kernel/hello.patch
+ :language: text
:caption: Simple kernel patch file (hello.patch)
:linenos:
diff --git a/books/beaglebone-cookbook/11misc/misc.rst b/books/beaglebone-cookbook/11misc/misc.rst
index a0681fecbfa14ea96b3341f6a561b4b81c9dcd2a..d6c5dce94d4417f736594209d782ee46d4157113 100644
--- a/books/beaglebone-cookbook/11misc/misc.rst
+++ b/books/beaglebone-cookbook/11misc/misc.rst
@@ -263,7 +263,7 @@ Restore the line:
and restart sshd.
-.. code-block::
+.. code-block:: bash
root@bone# systemctl restart sshd
root@bone# exit
@@ -295,7 +295,7 @@ it display on the host.
#. First ssh to the Beagle using the `-X` flag.
-.. code-block::
+.. code-block:: bash
host$ ssh -X debian@10.0.5.10
@@ -351,7 +351,7 @@ Next, create a named pipe and have wireshark read from it.
Then, run tcpdump over ssh on your remote machine and redirect the
packets to the named pipe:
-.. code-block::
+.. code-block:: bash
host$ ssh root@192.168.7.2 "tcpdump -s 0 -U -n -w - -i any not port 22" > /tmp/remote
diff --git a/books/pru-cookbook/03details/details.rst b/books/pru-cookbook/03details/details.rst
index 2a1fca7f40263c962a4e05c7e2159989366c8da0..a8152dcc6f941265b7c459c80b64b9b2384d2c17 100644
--- a/books/pru-cookbook/03details/details.rst
+++ b/books/pru-cookbook/03details/details.rst
@@ -214,6 +214,7 @@ and then configure the pins accordingly.
.. literalinclude:: ../code/06io/setup.sh
+ :language: Shell
:caption: setup.sh
:linenos:
@@ -467,6 +468,7 @@ If you are on the Black or Pocket you'll need to run the following script.
.. literalinclude:: ../code/03details/servos_setup.sh
+ :language: Shell
:caption: servos_setup.sh
:linenos:
@@ -497,6 +499,7 @@ everything is already configured for you.
If you are on the Black or Pocket you'll need to run the following script.
.. literalinclude:: ../code/03details/encoder_setup.sh
+ :language: Shell
:caption: encoder_setup.sh
:linenos:
diff --git a/books/pru-cookbook/05blocks/blocks.rst b/books/pru-cookbook/05blocks/blocks.rst
index 8ffe9acc21eb48c9ce71236e68f89d9318121992..d313229cfc17eaf73ea26bab414f171c00c3520a 100644
--- a/books/pru-cookbook/05blocks/blocks.rst
+++ b/books/pru-cookbook/05blocks/blocks.rst
@@ -313,6 +313,7 @@ the code work. Fortunately the Makefile always runs it.
.. _blocks_write_init_pins:
.. literalinclude:: ../code/05blocks/write_init_pins.sh
+ :language: Shell
:caption: write_init_pins.sh
:linenos:
@@ -863,6 +864,7 @@ Here's the code (``pwm7.pru0.c``)
Be sure to run ``pwm7_setup.sh`` to get the correct pins configured.
.. literalinclude:: ../code/05blocks/pwm7_setup.sh
+ :language: Shell
:caption: pwm7_setup.sh
:linenos:
@@ -1047,6 +1049,7 @@ These values came from :ref:`blocks_mapping_bits`.
Configure the pins with ``input_setup.sh``.
.. literalinclude:: ../code/05blocks/input_setup.sh
+ :language: Shell
:caption: input_setup.sh
:linenos:
@@ -1720,6 +1723,7 @@ high-level view of how to drive the display.
.. _blocks_rgb_python:
.. literalinclude:: ../code/05blocks/rgb_python.py
+ :language: Python
:caption: rgb_python.py - Python code for driving RGB LED matrix
:linenos:
@@ -1730,6 +1734,7 @@ Be sure to run the :ref:`blocks_rgb_setup` script before running the python code
.. _blocks_rgb_setup:
.. literalinclude:: ../code/05blocks/rgb_python_setup.sh
+ :language: Shell
:caption: rgb_python_setup.sh
:linenos:
diff --git a/books/pru-cookbook/06io/io.rst b/books/pru-cookbook/06io/io.rst
index e4a93302df9c6086f5c7c0e5972037bfe3a5408d..bd2161c2ad1e528f4727412f06984557f932fd29 100644
--- a/books/pru-cookbook/06io/io.rst
+++ b/books/pru-cookbook/06io/io.rst
@@ -98,6 +98,7 @@ GPIO pins, but it's a slower access.
This code will toggle ``P9_11`` on and off. Here's the setup file.
.. literalinclude:: ../code/06io/setup.sh
+ :language: shell
:caption: setup.sh
:linenos:
diff --git a/intro/beagle101/blinkLED.rst b/intro/beagle101/blinkLED.rst
index 8cd4077b3cf62dfc0c1499b9d54ef9046f30229c..1d66ddec45b4575021b970778d3284d3151d9e29 100644
--- a/intro/beagle101/blinkLED.rst
+++ b/intro/beagle101/blinkLED.rst
@@ -81,7 +81,7 @@ depends on which Beagle you have. Click on the tab for your board.
Board Power LED
- For more details see: :ref:`connecting-up-your-beaglebone-ai-64`
+ For more details see: :ref:`bbai64-quick-start`
.. group-tab:: Play
@@ -441,6 +441,7 @@ The following script uses evtest to wait for the USR button to be pressed and
then turns on the LED.
.. literalinclude:: buttonEvent.sh
+ :language: Shell
:caption: buttonEvent.sh
:linenos:
@@ -451,6 +452,7 @@ Try running it and pressing the USR button.
The next script polls the USR button and toggles the LED.
.. literalinclude:: buttonLED.sh
+ :language: shell
:caption: buttonLED.sh
:linenos:
diff --git a/intro/beagle101/qwiic-stemma-grove-addons.rst b/intro/beagle101/qwiic-stemma-grove-addons.rst
index 0b6e2d2faf34c51ce19b2bca26c21a70114a0ffe..f730868a340abff60f87983f991faeeb37ee0192 100644
--- a/intro/beagle101/qwiic-stemma-grove-addons.rst
+++ b/intro/beagle101/qwiic-stemma-grove-addons.rst
@@ -67,7 +67,7 @@ driver loaded. Finally, `in_illuminance0_input` comes from the
for this type of device, a light sensor. The
`Linux kernel ABI documentation for sysfs-bus-iio <https://www.kernel.org/doc/html/v5.19/admin-guide/abi-testing.html#abi-sys-iio-devicex-in-illuminance-input>`__ provides the definition of available data often provided by light sensor drivers.
-.. code-block::
+.. code-block:: bash
What: /sys/.../iio:deviceX/in_illuminance_input
What: /sys/.../iio:deviceX/in_illuminance_raw
diff --git a/intro/contribution/git-usage.rst b/intro/contribution/git-usage.rst
index 10062fb01f89d6b47fbf78524c42feff7e0d7bf1..26f24825b3ea38705d81d113891c25d30ecd4b27 100644
--- a/intro/contribution/git-usage.rst
+++ b/intro/contribution/git-usage.rst
@@ -439,13 +439,13 @@ in your local repository, type:
If Jason is adding more commits to his remote branch and you want to update
your local copy, just do:
-.. code-block::
+.. code-block:: bash
git checkout awesomebranch # if you are not already in branch awesomebranch pull
If you later want to remove the reference to this particular branch:
-.. code-block::
+.. code-block:: bash
git branch -r -d jkridner/awesomebranch
Deleted remote branch jkridner/awesomebranch (#######)
diff --git a/projects/beagleconnect/index.rst b/projects/beagleconnect/index.rst
index c9edd084a08f3fb7a0905d259f0a81e2bfb0015e..31f72fbaa94a0f9718ae04eadc0e68ee30a4cb02 100644
--- a/projects/beagleconnect/index.rst
+++ b/projects/beagleconnect/index.rst
@@ -216,7 +216,7 @@ that is required is a reliable transport.
Every 1-2 minutes, you should see something like:
-.. code-block::
+.. code-block:: bash
('fe80::3111:7a22:4b:1200%lowpan0', 52213, 0, 13) '2l:7.79;'
('fe80::3111:7a22:4b:1200%lowpan0', 52213, 0, 13) '4h:43.75;4t:23.11;'
@@ -912,7 +912,7 @@ Ping Linux
Similarly, we can ping the Linux host from the Zephyr shell.
-.. code-block::
+.. code-block:: bash
uart:~$ net ping --help
ping - Ping a network host.
diff --git a/projects/librobotcontrol b/projects/librobotcontrol
index 1606554843c2b53ab7ca0817868fb32e9f3e6b21..1974b76fd578ff9f5d1481ebd34f6801b9edeb6a 160000
--- a/projects/librobotcontrol
+++ b/projects/librobotcontrol
@@ -1 +1 @@
-Subproject commit 1606554843c2b53ab7ca0817868fb32e9f3e6b21
+Subproject commit 1974b76fd578ff9f5d1481ebd34f6801b9edeb6a