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+.. _bone-cook-book-basics:
+
+Basics
+#######
+
+Introduction
+=============
+
+When you buy BeagleBone Black, pretty much everything you need to get going comes with it.
+You can just plug it into the USB of a host computer, and it works. The goal of this
+chapter is to show what you can do with your Bone, right out of the box. It has enough
+information to carry through the next three chapters on sensors (:ref:`sensors <bone-cook-book-sensors>`),
+displays (:ref:`display <bone-cook-book-display>`), and motors (:ref:`motors <bone-cook-book-motors>`).
+
+Picking Your Beagle
+---------------------
+
+Problem
+*********
+
+There are many different BeagleBoards. How do you pick which one to use?
+
+Solution
+*********
+
+.. todo:: Current list of boards: https://git.beagleboard.org/explore/projects/topics/boards
+
+Discussion
+************
+
+.. _basics_out_of_the_box:
+
+Getting Started, Out of the Box
+---------------------------------
+
+Problem
+**********
+You just got your Bone, and you want to know what to do with it.
+
+Solution
+**********
+Fortunately, you have all you need to get running: your Bone and a USB cable.
+Plug the USB cable into your host computer (Mac, Windows, or Linux) and plug the
+mini-USB connector side into the USB connector near the Ethernet connector on
+the Bone, as shown in :ref:`figure below <basics_pluggingIn_fig>`.
+
+.. _basics_pluggingIn_fig:
+
+.. figure:: figures/pluggingIn.jpg
+ :align: center
+ :alt: Plugging BeagleBone Black into a USB port
+
+ Plugging BeagleBone Black into a USB port
+
+The four blue +USER+ LEDs will begin to blink, and in 10 or 15 seconds, you'll see
+a new USB drive appear on your host computer. :ref:`figure below <basics_01gettingStarted_fig>`
+shows how it will appear on a Windows host, and Linux and Mac hosts will look similar.
+The Bone acting like a USB drive and the files you see are located on the Bone.
+
+.. todo:: Update
+
+.. _basics_01gettingStarted_fig:
+
+The Bone appears as a USB drive
+
+.. figure:: figures/01GettingStarted.png
+ :align: center
+ :alt: A new USB drive
+
+ A new USB drive
+
+
+.. _basics_open_vsc:
+
+Browse to http://192.168.7.2:3000 from your
+host computer (:ref:`figure below <basics_05gettingStarted_fig>`).
+
+.. _basics_05gettingStarted_fig:
+
+.. figure:: figures/05GettingStartedVScode.png
+ :align: center
+ :alt: Visual Studio Code
+
+ Visual Studio Code
+
+Here, you'll find *Visual Studio Code*, a web-based integrated development environment (IDE)
+that lets you edit and run code on your Bone! See :ref: `basics vsc<basics_vsc>`` for more details.
+
+.. WARNING::
+ Make sure you turn off your Bone properly. It's best to run the +halt+ command:
+
+.. code-block:: bash
+
+ bone$ sudo halt
+
+ The system is going down for system halt NOW! (pts/0)
+
+ This will ensure that the Bone shuts down correctly. If you just pull the power,
+ it is possible that open files would not close properly and might become corrupt.
+
+Discussion
+***********
+
+The rest of this book goes into the details behind this quick out-of-the-box demo.
+Explore your Bone and then start exploring the book.
+
+.. _basics_latest_os:
+
+Verifying You Have the Latest Version of the OS on Your Bone
+---------------------------------------------------------------
+
+Problem
+********
+
+You just got BeagleBone Black, and you want to know which version of the operating system it's running.
+
+Solution
+*********
+
+.. todo:: update version
+
+This book uses https://www.debian.org[Debian], the Linux distribution that currently ships on the Bone.
+However this book is based on a newer version (BeagleBoard.org Debian Bullseye IoT Image 2022-07-01)
+than what is shipping at the time of this writing. You can see which version your Bone is running by
+following the instructions in `basics out of the box<basics_out_of_the_box>` to log into the Bone. Then run:
+
+.. code-block:: bash
+
+ bone$ cat /ID.txt
+ BeagleBoard.org Debian Bullseye IoT Image 2022-07-01
+
+I'm running the 2022-07-01 version.
+
+Discussion
+***********
+
+.. _basics_repo:
+
+Cloning the Cookbook Repository
+----------------------------------
+
+Problem
+********
+
+You want to run the Cookbook examples.
+
+Solution
+**********
+
+Connect your Bone to the Internet and log into it. From the command line run:
+
+.. code-block::
+
+ bone$ git clone git@github.com:MarkAYoder/BoneCookbook.git
+ bone$ cd BoneCookbook/docs
+ bone$ ls
+
+You can look around from the command line, or explore from Visual Sudio Code.
+If you ar using VSC, go to the *File* menu and select *Open Folder ...* and
+select BoneCookbook/docs. Then explore. You'll find there is a directory
+for each chapter and most chapters have a *code* directory for the sample
+scripts and a *figures* directory for the figures.
+
+Running the Python and JavaScript Examples
+--------------------------------------------
+
+Problem
+**********
+
+You'd like to learn Python and JavaScript interact with the Bone to
+perform physical computing tasks without first learning Linux.
+
+Solution
+***********
+Plug your board into the USB of your host computer and browse to
+http://192.168.7.2:3000 using Google Chrome or Firefox (as shown in
+:ref:`basics of out of the box <basics_out_of_the_box>`). In the left
+column, click on *EXAMPLES*, then *BeagleBone* and then *Black*.
+Several sample scripts will appear. Go and explore them.
+
+.. tip::
+
+ Explore the various demonstrations of Python and JavaScript. These are what come with the Bone.
+ In :ref:`basics repo <basics_repo>` you see how to load the examples for the Cookbook.
+
+Discussion
+************
+
+.. _basics_wire_breadboard
+
+Wiring a Breadboard
+---------------------
+
+Problem
+********
+
+You would like to use a breadboard to wire things to the Bone.
+
+Solution
+*********
+
+Many of the projects in this book involve interfacing things to the Bone.
+Some plug in directly, like the USB port. Others need to be wired. If it's simple,
+you might be able to plug the wires directly into the +P8+ or +P9+ headers.
+Nevertheless, many require a breadboard for the fastest and simplest wiring.
+
+To make this recipe, you will need:
+
+- Breadboard and jumper wires (see :ref:`app proto <app_proto>`)
+
+:ref:`Basic breadboard template <basics_breadboard_template>` shows a breadboard wired to the Bone.
+All the diagrams in this book assume that the ground pin (+P9_1+ on the Bone) is wired to the
+negative rail and 3.3 V (+P9_3+) is wired to the positive rail.
+
+.. _basics_breadboard_template:
+
+.. figure::figures/template_bb.png
+ :align: center
+ :alt: Breadboard wired to BeagleBone Black
+
+ Breadboard wired to BeagleBone Black
+
+Discussion
+***********
+
+.. _basics_vsc:
+
+Editing Code Using Visual Studio Code
+--------------------------------------
+
+Problem
+********
+
+You want to edit and debug files on the Bone.
+
+Solution
+*********
+
+Plug your Bone into a host computer via the USB cable. Open a browser
+(either Google Chrome or FireFox will work) on your host computer
+(as shown in :ref:`basics out of box <basics_out_of_the_box>`). After the Bone has booted up,
+browse to http://192.168.7.2:3000 on your host. You will see something
+like :ref:`basic getting started <basics_05gettingStarted_fig>`.
+
+Click the *EXAMPLES* folder on the left and then click *BeagleBoard* and then *Black*,
+finally double-click *seqLEDs.py*. You can now edit the file.
+
+.. note::
+
+ If you edit lines 33 and 37 of the _seqLEDs.py_ file (time.sleep(0.25)),
+ changing +0.25+ to +0.1+, the LEDs next to the Ethernet port on your
+ Bone will flash roughly twice as fast.
+
+Discussion
+************
+
+.. _basics_vsc_IDE:
+
+Running Python and JavaScript Applications from Visual Studio Code
+-------------------------------------------------------------------
+
+Problem
+*********
+
+You have a file edited in VS Code, and you want to run it.
+
+Solution
+**********
+
+VS Code has a +bash+ command window built in at the bottom of the window.
+If it's not there, hit Ctrl-Shift-P and then type *terminal create new*
+then hit *Enter*. The terminal will appear at the bottom of the screen.
+You can run your code from this window. To do so, add
+*#!/usr/bin/env python* at the top of the file that you want to run and save.
+
+.. tip:: If you are running JavaScript, replace the word +python+ in the line with *node*.
+
+At the bottom of the VS Code window are a series of tabs (:ref:`basic bsc bash <basics_vscBash_fig>`).
+Click the +TERMINAL+ tab. Here, you have a command prompt.
+
+.. _basics_vscBash_fig:
+
+.. figure:: figures/vscBash.png
+ :align: center
+ :alt: Visual Studio Code showing bash terminal
+
+ Visual Studio Code showing bash terminal
+
+Change to the directory that contains your file, make it executable, and then run it:
+
+.. code-block:: bash
+
+ bone$ cd ~/examples/BeagleBone/Black/
+ bone$ <strong>./seqLEDs.py
+
+
+The *cd* is the change directory command. After you *cd*,
+you are in a new directory. Finally, *./seqLEDs.py* instructs the
+python script to run. You will need to press ^C (Ctrl-C) to stop your program.
+
+Discussion
+************
+
+.. _basics_find_image:
+
+Finding the Latest Version of the OS for Your Bone
+----------------------------------------------------
+
+Problem
+************
+
+You want to find out the latest version of Debian that is available for your Bone.
+
+Solution
+************
+
+On your host computer, open a browser and go to https://forum.beagleboard.org/tag/latest-images
+This shows you a list of dates of the most recent Debian images (:ref:`basic deb <basics_deb1>`).
+
+.. _basics_deb1:
+
+.. figure:: figures/deb1.png
+ :align: center
+ :alt: Latest Debian images
+
+At the time of writing, we are using the *Bullseye* image.
+Click on it's link. Scrolling up you'll find :ref:`basic deb<basics_deb2>`.
+There are three types of snapshots, Minimal, IoT and Xfce Desktop.
+IoT is the one we are running.
+
+.. _basics_deb2:
+
+.Latest Debian images
+
+.. figure:: figures/deb2.png
+ :align: center
+ :alt: Latest Debian images
+
+These are the images you want to use if you are flashing a Rev C BeagleBone Black
+onboard flash, or flashing a 4 GB or bigger miscroSD card. The image beginning
+with *am335x-debian-11.3-iot-* is used for the non-AI boards. The one beginning
+with *am57xx-debian-* is for programming the Beagle AI's.
+
+.. note::
+
+ The onboard flash is often called the *eMMC* memory. We just call it *onboard flash*, but you'll
+ often see *eMMC* appearing in filenames of images used to update the onboard flash.
+
+Click the image you want to use and it will download. The images are some 500M, so it might take a while.
+
+Discussion
+************
+
+.. _basics_install_os:
+
+Running the Latest Version of the OS on Your Bone
+--------------------------------------------------
+
+Problem
+************
+
+You want to run the latest version of the operating system on your
+Bone without changing the onboard flash.
+
+Solution
+************
+
+This solution is to flash an external microSD card and run the Bone from it.
+If you boot the Bone with a microSD card inserted with a valid boot image,
+it will boot from the microSD card. If you boot without the microSD card
+installed, it will boot from the onboard flash.
+
+.. tip:: If you want to reflash the onboard flash memory, see :ref:`basic onboard flash <basics_onboard_flash>`.
+
+.. note:: I instruct my students to use the microSD for booting. I suggest they keep an extra microSD flashed with the current OS. If they mess up the one on the Bone, it takes only a moment to swap in the extra microSD, boot up, and continue running. If they are running off the onboard flash, it will take much longer to reflash and boot from it.
+
+Download the image you found in :ref:`basic find image <basics_find_image>`. It's more than 500 MB,
+so be sure to have a fast Internet connection. Then go to http://beagleboard.org/getting-started#update and
+follow the instructions there to install the image you downloaded.
+
+Discussion
+************
+
+Updating the OS on Your Bone
+-----------------------------
+
+Problem
+************
+You've installed the latest version of Debian on your Bone
+(:ref:`basic istall os <basics_install_os>``), and you
+want to be sure it's up-to-date.
+
+Solution
+************
+Ensure that your Bone is on the network and then run the following command on the Bone:
+
+.. code-block:: bash
+
+ bone$ sudo apt update
+ bone$ sudo apt upgrade
+
+If there are any new updates, they will be installed.
+
+.. note::
+
+ If you get the error +The following signatures were invalid: KEYEXPIRED 1418840246+,
+ see `eLinux support page http://bit.ly/1EXocb6` for advice on how to fix it.
+
+Discussion
+************
+
+After you have a current image running on the Bone, it's not at all difficult to keep it upgraded.
+
+Backing Up the Onboard Flash
+-----------------------------
+
+.. todo:: keep?
+
+Problem
+************
+
+You've modified the state of your Bone in a way that you'd like to preserve or share.
+
+Solution
+************
+
+The `eLinux wiki <The http://elinux.org/Beagleboard>`_ page on `BeagleBone Black Extracting eMMC contents <http://bit.ly/1C57I0a>`
+provides some simple steps for copying the contents of the onboard flash to a file on a microSD card:
+
+- Get a 4 GB or larger microSD card that is FAT formatted.
+- If you create a FAT-formatted microSD card, you must edit the partition and ensure that it is a bootable partition.
+- Download `beagleboneblack-save-emmc.zip <http://bit.ly/1wtXwNP>`_ and uncompress and copy the contents onto your microSD card.
+- Eject the microSD card from your computer, insert it into the powered-off BeagleBone Black, and apply power to your board.
+- You'll notice +USER0+ (the LED closest to the S1 button in the corner) will (after about 20 seconds) begin to blink steadily, rather than the double-pulse "heartbeat" pattern that is typical when your BeagleBone Black is running the standard Linux kernel configuration.
+- It will run for a bit under 10 minutes and then +USER0+ will stay on steady. That's your cue to remove power, remove the microSD card, and put it back into your computer.
+- You will see a file called *BeagleBoneBlack-eMMC-image-XXXXX.img*, where *XXXXX* is a set of random numbers. Save this file to use for restoring your image later.
+
+.. note:: Because the date won't be set on your board, you might want to adjust the date on the file to remember when you made it. For storage on your computer, these images will typically compress very well, so use your favorite compression tool.
+
+.. tip:: `eLinux wiki <The http://elinux.org/Beagleboard>`_ is the definitive place for the BeagleBoard.org community to share information about the Beagles. Spend some time looking around for other helpful information.
+
+Discussion
+************
+
+.. _basics_onboard_flash:
+
+Updating the Onboard Flash
+---------------------------
+
+Problem
+************
+You want to copy the microSD card to the onboard flash.
+
+Solution
+************
+
+If you want to update the onboard flash with the contents of the microSD card,
+
+- Repeat the steps in :ref:`basics install os<basics_install_os>` to update the OS.
+- Attach to an external 5 V source. *you must be powered from an external 5 V source*. The flashing process requires more current than what typically can be pulled from USB.
+- Boot from the microSD card.
+- Log on to the bone and edit +/boot/uEnv.txt+.
+- Uncomment out the last line +cmdline=init=/usr/sbin/init-beagle-flasher+.
+- Save the file and reboot.
+- The USR LEDs will flash back and forth for a few minutes.
+- When they stop flashing, remove the SD card and reboot.
+- You are now running from the newly flashed onboard flash.
+
+.. warning:: If you write the onboard flash, _be sure to power the Bone from an external 5 V source_. The USB might not supply enough current.
+
+When you boot from the microSD card, it will copy the image to the onboard flash.
+When all four *USER* LEDs turn off (in some versions, they all turn on), you can
+power down the Bone and remove the microSD card. The next time you power up, the
+Bone will boot from the onboard flash.
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index 0000000000000000000000000000000000000000..1aa1fb710ae97cce41e34ea2d8ac52924a75b3cb
Binary files /dev/null and b/bone-cook-book/01basics/figures/vscBash.png differ
diff --git a/bone-cook-book/02sensors/code/GPS.js b/bone-cook-book/02sensors/code/GPS.js
new file mode 100755
index 0000000000000000000000000000000000000000..fd81970d017f8f6ce1f6bf7c6943a9f8ce4a02fb
--- /dev/null
+++ b/bone-cook-book/02sensors/code/GPS.js
@@ -0,0 +1,29 @@
+#!/usr/bin/env node
+// Install with: npm install nmea
+
+// Need to add exports.serialParsers = m.module.parsers;
+// to the end of /usr/local/lib/node_modules/bonescript/serial.js
+
+var b = require('bonescript');
+var nmea = require('nmea');
+
+var port = '/dev/ttyO4';
+var options = {
+ baudrate: 9600,
+ parser: b.serialParsers.readline("\n")
+};
+
+b.serialOpen(port, options, onSerial);
+
+function onSerial(x) {
+ if (x.err) {
+ console.log('***ERROR*** ' + JSON.stringify(x));
+ }
+ if (x.event == 'open') {
+ console.log('***OPENED***');
+ }
+ if (x.event == 'data') {
+ console.log(String(x.data));
+ console.log(nmea.parse(x.data));
+ }
+}
diff --git a/bone-cook-book/02sensors/code/analogIn.js b/bone-cook-book/02sensors/code/analogIn.js
new file mode 100755
index 0000000000000000000000000000000000000000..62136407952ab7a0aab8ec7ad935d62170f18506
--- /dev/null
+++ b/bone-cook-book/02sensors/code/analogIn.js
@@ -0,0 +1,30 @@
+#!/usr/bin/env node
+//////////////////////////////////////
+// analogin.js
+// Reads the analog value of the light sensor.
+//////////////////////////////////////
+const fs = require("fs");
+const ms = 500; // Time in milliseconds
+
+const pin = "2"; // light sensor, A2, P9_37
+
+const IIOPATH='/sys/bus/iio/devices/iio:device0/in_voltage'+pin+'_raw';
+
+console.log('Hit ^C to stop');
+
+// Read every 500ms
+setInterval(readPin, ms);
+
+function readPin() {
+ var data = fs.readFileSync(IIOPATH).slice(0, -1);
+ console.log('data = ' + data);
+ }
+// Bone | Pocket | AIN
+// ----- | ------ | ---
+// P9_39 | P1_19 | 0
+// P9_40 | P1_21 | 1
+// P9_37 | P1_23 | 2
+// P9_38 | P1_25 | 3
+// P9_33 | P1_27 | 4
+// P9_36 | P2_35 | 5
+// P9_35 | P1_02 | 6
diff --git a/bone-cook-book/02sensors/code/analogIn.py b/bone-cook-book/02sensors/code/analogIn.py
new file mode 100644
index 0000000000000000000000000000000000000000..c62abd1b71e7f29cc986667382f255d7703a810a
--- /dev/null
+++ b/bone-cook-book/02sensors/code/analogIn.py
@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+#//////////////////////////////////////
+# analogin.py
+# Reads the analog value of the light sensor.
+#//////////////////////////////////////
+import time
+import os
+
+pin = "2" # light sensor, A2, P9_37
+
+IIOPATH='/sys/bus/iio/devices/iio:device0/in_voltage'+pin+'_raw'
+
+print('Hit ^C to stop')
+
+f = open(IIOPATH, "r")
+
+while True:
+ f.seek(0)
+ x = float(f.read())/4096
+ print('{}: {:.1f}%, {:.3f} V'.format(pin, 100*x, 1.8*x), end = '\r')
+ time.sleep(0.1)
+
+# // Bone | Pocket | AIN
+# // ----- | ------ | ---
+# // P9_39 | P1_19 | 0
+# // P9_40 | P1_21 | 1
+# // P9_37 | P1_23 | 2
+# // P9_38 | P1_25 | 3
+# // P9_33 | P1_27 | 4
+# // P9_36 | P2_35 | 5
+# // P9_35 | P1_02 | 6
diff --git a/bone-cook-book/02sensors/code/audio.asoundrc b/bone-cook-book/02sensors/code/audio.asoundrc
new file mode 100644
index 0000000000000000000000000000000000000000..8fcc9b97184440ddfa39d75341e1bf4ae7ec80c2
--- /dev/null
+++ b/bone-cook-book/02sensors/code/audio.asoundrc
@@ -0,0 +1,10 @@
+pcm.!default {
+ type plug
+ slave {
+ pcm "hw:1,0"
+ }
+}
+ctl.!default {
+ type hw
+ card 1
+}
diff --git a/bone-cook-book/02sensors/code/audio.js b/bone-cook-book/02sensors/code/audio.js
new file mode 100755
index 0000000000000000000000000000000000000000..eeca6ca30c36dd904a5c0d1742e4fba284646400
--- /dev/null
+++ b/bone-cook-book/02sensors/code/audio.js
@@ -0,0 +1,46 @@
+#!/usr/bin/node
+// 'childprocess' help at:
+// http://nodejs.org/api/child_process.html\
+// #child_process_child_process_spawn_command_args_options
+"use strict";
+
+var b = require('bonescript'),
+ spawn = require('child_process').spawn;
+
+var audioRate = 48000,
+ bufferSize = 4800,
+ format = "S16_LE"; // 16-bit signed, little endian
+
+var audioIn = spawn(
+ "/usr/bin/arecord",
+ [
+ "-c2", "-r"+audioRate, "-f"+format, "-traw",
+ "--buffer-size="+bufferSize, "--period-size="+bufferSize, "-N"
+ ]
+ );
+
+ var audioOut = spawn(
+ "/usr/bin/aplay",
+ [
+ "-c2", "-r"+audioRate, "-f"+format, "-traw",
+ "--buffer-size="+bufferSize, "--period-size="+bufferSize, "-N"
+ ]
+ );
+
+ audioIn.stdout.on('data', function(data) {
+ audioOut.stdin.write(data);
+ });
+
+ audioIn.on('close', function(code) {
+ if(code !== 0) {
+ console.log('arecord process exited with code: ' + code);
+ audioOut.stdin.end();
+ }
+ })
+
+ audioOut.on('close', function(code) {
+ if(code !== 0) {
+ console.log('aplay process exited with code: ' + code);
+ }
+ })
+
\ No newline at end of file
diff --git a/bone-cook-book/02sensors/code/bone_eqep2b.dts b/bone-cook-book/02sensors/code/bone_eqep2b.dts
new file mode 100644
index 0000000000000000000000000000000000000000..036cdcd3204cc182309060d40560daae2db2be0f
--- /dev/null
+++ b/bone-cook-book/02sensors/code/bone_eqep2b.dts
@@ -0,0 +1,61 @@
+/*
+ * Copyright (C) 2013 Nathaniel R. Lewis - http://nathanielrlewis.com/
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * Enable eQEP2 on the Beaglebone White and Black
+ * These pins don't conflict with the HDMI
+ */
+/dts-v1/;
+/plugin/;
+
+/ {
+ compatible = "ti,beaglebone", "ti,beaglebone-black";
+
+ /* identification */
+ part-number = "bone_eqep2";
+ version = "00A0";
+
+ fragment@0 {
+ target = <&am33xx_pinmux>;
+ __overlay__ {
+ pinctrl_eqep2: pinctrl_eqep2_pins {
+ pinctrl-single,pins = <
+ 0x038 0x24 /* P8_16 = GPIO2_12 = EQEP2_index, MODE4 */
+ 0x03C 0x24 /* P8_15 = GPIO2_13 = EQEP2_strobe, MODE4 */
+ 0x030 0x34 /* P8_12 = GPIO2_10 = EQEP2A_in, MODE4 */
+ 0x034 0x34 /* P8_11 = GPIO2_11 = EQEP2B_in, MODE4 */
+ >;
+ };
+ };
+ };
+
+ fragment@1 {
+ target = <&epwmss2>;
+ __overlay__ {
+ status = "okay";
+ };
+ };
+
+ fragment@2 {
+ target = <&eqep2>;
+ __overlay__ {
+ pinctrl-names = "default";
+ pinctrl-0 = <&pinctrl_eqep2>;
+ count_mode = < 0 >;
+ /* 0 - Quadrature mode, normal 90 phase offset cha & chb.
+ 1 - Direction mode. cha input = clock, chb input = direction */
+ swap_inputs = < 0 >; /* Are chan A & chan B swapped? (0-no,1-yes) */
+ invert_qa = < 1 >; /* Should we invert the channel A input? */
+ invert_qb = < 1 >; /* Should we invert the channel B input?
+ These are inverted because my encoder outputs drive transistors
+ that pull down the pins */
+ invert_qi = < 0 >; /* Should we invert the index input? */
+ invert_qs = < 0 >; /* Should we invert the strobe input? */
+
+ status = "okay";
+ };
+ };
+};
diff --git a/bone-cook-book/02sensors/code/encoder.js b/bone-cook-book/02sensors/code/encoder.js
new file mode 100644
index 0000000000000000000000000000000000000000..7ad2f4d4b12beab7812a1e62b6f70c3836226d82
--- /dev/null
+++ b/bone-cook-book/02sensors/code/encoder.js
@@ -0,0 +1,17 @@
+#!/usr/bin/env node
+// Test this
+var b = require('bonescript');
+var encoder = '';
+
+function printStatus(x) {
+ console.log('x.value = ' + x.value);
+ console.log('x.err = ' + x.err);
+}
+
+function onEncoderReady(e) {
+ if(e.event == 'return') {
+ b.encoderRead(encoder, printStatus);
+ }
+}
+
+b.encoderOpen(encoder, {}, onEncoderReady);
diff --git a/bone-cook-book/02sensors/code/gpiod/.gitignore b/bone-cook-book/02sensors/code/gpiod/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..fecb0575772aafdbd64d7b707fd034a19a7a56e8
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/.gitignore
@@ -0,0 +1,6 @@
+toggle1
+toggle2
+get
+getset
+getsetEvent
+toggleLED
diff --git a/bone-cook-book/02sensors/code/gpiod/Makefile b/bone-cook-book/02sensors/code/gpiod/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..b5267491fc4e67162a3dd81626851c5cd7badf6a
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/Makefile
@@ -0,0 +1,32 @@
+#
+# Programs
+#
+all: toggle1 toggle2 get getset getsetEvent toggleLED
+
+toggle1: toggle1.c
+ $(CC) $(LDFLAGS) -o $@ $^ -lgpiod
+
+toggle2: toggle2.c
+ $(CC) $(LDFLAGS) -o $@ $^ -lgpiod
+
+get: get.c
+ $(CC) $(LDFLAGS) -o $@ $^ -lgpiod
+
+getset: getset.c
+ $(CC) $(LDFLAGS) -o $@ $^ -lgpiod
+
+getsetEvent: getsetEvent.c
+ $(CC) $(LDFLAGS) -o $@ $^ -lgpiod
+
+toggleLED: toggleLED.c
+ $(CC) $(LDFLAGS) -o $@ $^ -lgpiod
+
+#
+# Objects
+#
+
+%.o: %.c
+ $(CC) $(CFLAGS) -c $< -o $@
+
+clean:
+ rm toggle1 toggle2 get getset getsetEvent toggleLED
diff --git a/bone-cook-book/02sensors/code/gpiod/ReadMe.md b/bone-cook-book/02sensors/code/gpiod/ReadMe.md
new file mode 100644
index 0000000000000000000000000000000000000000..4a8d2212ebb69178a26786709c41ea4a1cb5c25d
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/ReadMe.md
@@ -0,0 +1,23 @@
+libgpiod is a new C library and tools for interacting with the linux GPIO
+character device.
+Detailed information is
+[here](https://git.kernel.org/pub/scm/libs/libgpiod/libgpiod.git/tree/README)
+and [Adafruit](https://blog.adafruit.com/2018/11/26/sysfs-is-dead-long-live-libgpiod-libgpiod-for-linux-circuitpython/)
+also has information.
+
+One of the advantages of gpiod is that it can toggle multiple bits on the same
+gpio chip at the same time. The toggle2 examples show how it's done.
+
+The directory contains examples of using gpiod with **C** and **python** to read/write
+a gpio pin.
+
+File | Description
+---- | -----------
+[toggle1](toggle1.c) | Toggles one pin as fast as possible. (300KHz in C, 57KHz in python)
+[toggle2](toggle2.c) | Toggles two pins as fast as possible. (280KHz in C, 55KHz in python)
+[get](get.c) | Reads an input pin and prints its value.
+[getset](getset.c) | Reads an input pin and writes its value to an output pin. (5us delay in C, 20 us Delay in python)
+[getsetEvent](getset.c) | Like **getset**, but uses events. (40 us delay in C, 75 us delay in python)
+[toggleLED](toggleLED.c) | Toggles the four built in USR LEDs.
+
+> Tip: Use **gpioinfo** to lookup chip and line numbers for various pins.
diff --git a/bone-cook-book/02sensors/code/gpiod/aggregatorSetup.sh b/bone-cook-book/02sensors/code/gpiod/aggregatorSetup.sh
new file mode 100644
index 0000000000000000000000000000000000000000..edc4d387417a72741922ddf2daa48d44fcb25163
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/aggregatorSetup.sh
@@ -0,0 +1,47 @@
+# See: https://elinux.org/EBC_Exercise_51_GPIO_aggregator
+
+# Insert the module
+sudo modprobe gpio-aggregator
+# Go to the aggregator
+cd /sys/bus/platform/drivers/gpio-aggregator
+# Fix the modes
+sudo chgrp gpio *
+sudo chmod g+w *
+# See what's there before adding a new chip
+gpiodetect
+# gpiochip0 [gpio-0-31] (32 lines)
+# gpiochip1 [gpio-32-63] (32 lines)
+# gpiochip2 [gpio-64-95] (32 lines)
+# gpiochip3 [gpio-96-127] (32 lines)
+
+# Add a new chip mapping P9_14, P9_16, P9_18 and P9_22
+gpioinfo | grep -e chip -e P9_1[468] -e P9_22
+# gpiochip0 - 32 lines:
+# line 2: "P9_22 [spi0_sclk]" "gpio-aggregator.0" input active-high [used]
+# line 4: "P9_18 [spi0_d1]" "gpio-aggregator.0" output active-high [used]
+# gpiochip1 - 32 lines:
+# line 18: "P9_14 [ehrpwm1a]" "gpio-aggregator.0" output active-high [used]
+# line 19: "P9_16 [ehrpwm1b]" "gpio-aggregator.0" input active-high [used]
+# gpiochip2 - 32 lines:
+# gpiochip3 - 32 lines:
+
+echo "gpio-32-63 18,19 gpio-0-31 4,2" > new_device
+# Check to see if they are there
+gpiodetect
+# gpiochip0 [gpio-0-31] (32 lines)
+# gpiochip1 [gpio-32-63] (32 lines)
+# gpiochip2 [gpio-64-95] (32 lines)
+# gpiochip3 [gpio-96-127] (32 lines)
+# gpiochip4 [gpio-aggregator.0] (4 lines)
+
+gpioinfo | tail -6
+# line 31: "NC" unused input active-high
+# gpiochip4 - 4 lines:
+# line 0: unnamed unused output active-high
+# line 1: unnamed unused input active-high
+# line 2: unnamed unused input active-high
+# line 3: unnamed unused output active-high
+
+# Turn them all on, then off
+gpioset gpiochip4 0=1 1=1 2=1 3=1
+gpioset gpiochip4 0=0 1=0 2=0 3=0
diff --git a/bone-cook-book/02sensors/code/gpiod/bulk_blink.py b/bone-cook-book/02sensors/code/gpiod/bulk_blink.py
new file mode 100755
index 0000000000000000000000000000000000000000..7599325cf76c02fd1debb7541e4e6e2ecea1fecf
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/bulk_blink.py
@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+# //////////////////////////////////////
+# bulk_blink.py
+# Toggles given pins as fast as it can.
+# Given pins must be on the same gpiochip
+# P9_14 is line 18 P9_16 is line 19.
+# Run gpioinfo to see which pins are where.
+# Wiring: Attach an oscilloscope to P9_14 and P9_16 to see the squarewave or
+# uncomment the sleep and attach an LED.
+# Setup: sudo apt update; pip install gpiod
+# See: https://git.kernel.org/pub/scm/libs/libgpiod/libgpiod.git/tree/bindings/python/examples
+# //////////////////////////////////////
+import sys
+import time
+import gpiod
+
+try:
+ if len(sys.argv) > 2:
+ LED_CHIP = sys.argv[1]
+ LED_LINE_OFFSETS = []
+ for i in range(len(sys.argv) - 2):
+ LED_LINE_OFFSETS.append(int(sys.argv[i + 2]))
+ else:
+ raise Exception()
+# pylint: disable=broad-except
+except Exception:
+ print(
+ "Usage:"
+ + " python3 -m gpiod.test.bulk_blink <chip> <line offset1>"
+ + " [<line offset2> ...]"
+ )
+ sys.exit()
+
+chip = gpiod.Chip(LED_CHIP)
+lines = chip.get_lines(LED_LINE_OFFSETS)
+
+lines.request(consumer='Bulk Blink', type=gpiod.LINE_REQ_DIR_OUT)
+
+off = [0] * len(LED_LINE_OFFSETS)
+on = [1] * len(LED_LINE_OFFSETS)
+
+while True:
+ lines.set_values(off)
+ time.sleep(0.25)
+ lines.set_values(on)
+ time.sleep(0.25)
diff --git a/bone-cook-book/02sensors/code/gpiod/get.c b/bone-cook-book/02sensors/code/gpiod/get.c
new file mode 100644
index 0000000000000000000000000000000000000000..4aeefe0435631e6c2c863216fef11f1870a69f56
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/get.c
@@ -0,0 +1,52 @@
+// //////////////////////////////////////
+// get.c
+// Get the value of P8_13. P8_13 is line 23 on chip 0.
+// Wiring: Attach a switch to P8_13 and 3.3V
+// Setup: sudo apt update; sudo apt install libgpiod-dev
+// See: https://github.com/starnight/libgpiod-example/blob/master/libgpiod-led/main.c
+// //////////////////////////////////////
+#include <gpiod.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#define CONSUMER "Consumer"
+
+int main(int argc, char **argv)
+{
+ int chipnumber = 0;
+ unsigned int line_num = 23; // GPIO Pin P8_13
+ struct gpiod_chip *chip;
+ struct gpiod_line *line;
+ int i, ret;
+
+ chip = gpiod_chip_open_by_number(chipnumber);
+ if (!chip) {
+ perror("Open chip failed\n");
+ goto end;
+ }
+
+ line = gpiod_chip_get_line(chip, line_num);
+ if (!line) {
+ perror("Get line failed\n");
+ goto close_chip;
+ }
+
+ ret = gpiod_line_request_input(line, CONSUMER);
+ if (ret < 0) {
+ perror("Request line as intput failed\n");
+ goto release_line;
+ }
+
+ /* Get */
+ while(1) {
+ printf("%d\r", gpiod_line_get_value(line));
+ usleep(1000);
+ }
+
+release_line:
+ gpiod_line_release(line);
+close_chip:
+ gpiod_chip_close(chip);
+end:
+ return 0;
+}
diff --git a/bone-cook-book/02sensors/code/gpiod/get.py b/bone-cook-book/02sensors/code/gpiod/get.py
new file mode 100755
index 0000000000000000000000000000000000000000..05820068f6cbc9e2cf504063ddf19f0da11fe163
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/get.py
@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+# //////////////////////////////////////
+# get.py
+# Get the value of P8_13. P8_13 is line 23 on chip 0.
+# Wiring: Attach a switch to P8_13 and 3.3V
+# Setup: sudo apt uupdate; sudo apt install libgpiod-dev
+# See: https://github.com/starnight/libgpiod-example/blob/master/libgpiod-led/main.c
+# //////////////////////////////////////
+
+import gpiod
+import sys
+
+if len(sys.argv) < 3: # Use P8_13 if not given
+ CHIP='0'
+ offsets=[13]
+else:
+ CHIP=sys.argv[1]
+ offsets = []
+ for off in sys.argv[2:]:
+ offsets.append(int(off))
+
+chip = gpiod.Chip(CHIP)
+
+lines = chip.get_lines(offsets)
+lines.request(consumer=sys.argv[0], type=gpiod.LINE_REQ_DIR_IN)
+
+print("Hit ^C to stop")
+
+while True:
+ vals = lines.get_values()
+
+ for val in vals:
+ print(val, end=' ')
+ print('\r', end='')
diff --git a/bone-cook-book/02sensors/code/gpiod/get.sh b/bone-cook-book/02sensors/code/gpiod/get.sh
new file mode 100755
index 0000000000000000000000000000000000000000..54cc18ba6de10b802529c8e4ddb9c2f8bb05f573
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/get.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+# Reads P8_13 via gpiod. P8_13 is chip 0 line 23
+
+echo Hit ^c to stop
+
+while true; do
+ gpioget 0 23 | tr \\n \\r
+done
\ No newline at end of file
diff --git a/bone-cook-book/02sensors/code/gpiod/getset.c b/bone-cook-book/02sensors/code/gpiod/getset.c
new file mode 100644
index 0000000000000000000000000000000000000000..207c7689db6140c5edab7695daa011f266573ac4
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/getset.c
@@ -0,0 +1,70 @@
+// //////////////////////////////////////
+// getset.c
+// Get the value of P8_16 and write it to P9_14.
+// P8_16 is line 14 on chip 1. P9_14 is line 18 of chip 1.
+// Wiring: Attach a switch to P8_16 and 3.3V and an LED to P9_14.
+// Setup: sudo apt uupdate; sudo apt install libgpiod-dev
+// See: https://github.com/starnight/libgpiod-example/blob/master/libgpiod-led/main.c
+// //////////////////////////////////////
+#include <gpiod.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#define CONSUMER "Consumer"
+
+int main(int argc, char **argv)
+{
+ int chipnumber = 1;
+ unsigned int getline_num = 14; // GPIO Pin P8_16
+ unsigned int setline_num = 18; // GPIO Pin P9_14
+ unsigned int val;
+ struct gpiod_chip *chip;
+ struct gpiod_line *getline, *setline;
+ int i, ret;
+
+ chip = gpiod_chip_open_by_number(chipnumber);
+ if (!chip) {
+ perror("Open chip failed\n");
+ goto end;
+ }
+
+ getline = gpiod_chip_get_line(chip, getline_num);
+ if (!getline) {
+ perror("Get line failed\n");
+ goto close_chip;
+ }
+
+ setline = gpiod_chip_get_line(chip, setline_num);
+ if (!setline) {
+ perror("Set line failed\n");
+ goto close_chip;
+ }
+
+ ret = gpiod_line_request_input(getline, CONSUMER);
+ if (ret < 0) {
+ perror("Request line as input failed\n");
+ goto release_line;
+ }
+
+ ret = gpiod_line_request_output(setline, CONSUMER, 0);
+ if (ret < 0) {
+ perror("Request line as output failed\n");
+ goto release_line;
+ }
+
+ /* Get */
+ while(1) {
+ val = gpiod_line_get_value(getline);
+ gpiod_line_set_value(setline, val);
+ // printf("%d\r", val);
+ // usleep(1000);
+ }
+
+release_line:
+ gpiod_line_release(getline);
+ gpiod_line_release(setline);
+close_chip:
+ gpiod_chip_close(chip);
+end:
+ return 0;
+}
diff --git a/bone-cook-book/02sensors/code/gpiod/getset.py b/bone-cook-book/02sensors/code/gpiod/getset.py
new file mode 100755
index 0000000000000000000000000000000000000000..335807a91aaf8e611254886617834ffb920115e0
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/getset.py
@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+# //////////////////////////////////////
+# getset.py
+# Get the value of P8_16 and write it to P9_14.
+# P8_16 is line 14 on chip 1. P9_14 is line 18 of chip 1.
+# Wiring: Attach a switch to P8_16 and 3.3V and an LED to P9_14.
+# Setup: sudo apt uupdate; sudo apt install libgpiod-dev
+# See: https://github.com/starnight/libgpiod-example/blob/master/libgpiod-led/main.c
+# //////////////////////////////////////
+# Based on https://git.kernel.org/pub/scm/libs/libgpiod/libgpiod.git/tree/bindings/python/examples
+
+import gpiod
+import sys
+
+CONSUMER='getset'
+CHIP='1'
+getoffsets=[14] # P8_16
+setoffests=[18] # P9_14
+
+chip = gpiod.Chip(CHIP)
+
+getlines = chip.get_lines(getoffsets)
+getlines.request(consumer=CONSUMER, type=gpiod.LINE_REQ_DIR_IN)
+
+setlines = chip.get_lines(setoffests)
+setlines.request(consumer=CONSUMER, type=gpiod.LINE_REQ_DIR_OUT)
+
+print("Hit ^C to stop")
+
+while True:
+ vals = getlines.get_values()
+
+ # for val in vals:
+ # print(val, end=' ')
+ # print('\r', end='')
+
+ setlines.set_values(vals)
diff --git a/bone-cook-book/02sensors/code/gpiod/getsetEvent.c b/bone-cook-book/02sensors/code/gpiod/getsetEvent.c
new file mode 100644
index 0000000000000000000000000000000000000000..b49ab2dfea3e7b723ded6461aa65f22a5ebabcf0
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/getsetEvent.c
@@ -0,0 +1,85 @@
+// //////////////////////////////////////
+// getsetEvent.c
+// Like setset.c, but uses events
+// Get the value of P8_16 and write it to P9_14.
+// P8_16 is line 14 on chip 1. P9_14 is line 18 of chip 1.
+// Wiring: Attach a switch to P8_16 and 3.3V and an LED to P9_14.
+// Setup: sudo apt uupdate; sudo apt install libgpiod-dev
+// See: https://github.com/starnight/libgpiod-example/blob/master/libgpiod-led/main.c
+// //////////////////////////////////////
+#include <gpiod.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#define CONSUMER "Consumer"
+
+int main(int argc, char **argv)
+{
+ int chipnumber = 1;
+ struct timespec ts = { 0, 1000000 }; // 1s Timeout for event
+ struct gpiod_line_event event;
+ unsigned int getline_num = 14; // GPIO Pin P8_16
+ unsigned int setline_num = 18; // GPIO Pin P9_14
+ unsigned int val;
+ struct gpiod_chip *chip;
+ struct gpiod_line *getline, *setline;
+ int i, ret;
+
+ chip = gpiod_chip_open_by_number(chipnumber);
+ if (!chip) {
+ perror("Open chip failed\n");
+ goto end;
+ }
+
+ getline = gpiod_chip_get_line(chip, getline_num);
+ if (!getline) {
+ perror("Get line failed\n");
+ goto close_chip;
+ }
+
+ setline = gpiod_chip_get_line(chip, setline_num);
+ if (!setline) {
+ perror("Set line failed\n");
+ goto close_chip;
+ }
+
+ ret = gpiod_line_request_both_edges_events(getline, CONSUMER);
+ if (ret < 0) {
+ perror("Request line as input failed\n");
+ goto release_line;
+ }
+
+ ret = gpiod_line_request_output(setline, CONSUMER, 0);
+ if (ret < 0) {
+ perror("Request line as output failed\n");
+ goto release_line;
+ }
+
+ /* Get */
+ while(1) {
+ do {
+ // printf("waiting...\n");
+ ret = gpiod_line_event_wait(getline, &ts);
+ } while (ret <= 0);
+
+ // I'm getting a Segment failt. event isn't correct.
+ // ret = gpiod_line_event_read(getline, &event);
+ // printf("ret: %d, event: %d\n", ret, event);
+ // if (!ret)
+ // printf("event: %s timestamp: [%8ld.%09ld]\n",
+ // event.event_type, event.ts.tv_sec, event.ts.tv_nsec);
+
+ val = gpiod_line_get_value(getline);
+ gpiod_line_set_value(setline, val);
+ // printf("%d\n", val);
+ // usleep(1000);
+ }
+
+release_line:
+ gpiod_line_release(getline);
+ gpiod_line_release(setline);
+close_chip:
+ gpiod_chip_close(chip);
+end:
+ return 0;
+}
diff --git a/bone-cook-book/02sensors/code/gpiod/getsetEvent.py b/bone-cook-book/02sensors/code/gpiod/getsetEvent.py
new file mode 100755
index 0000000000000000000000000000000000000000..9240220fd5b4ab6bda1cb172c7ad0c6dc6bdc8d0
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/getsetEvent.py
@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+# //////////////////////////////////////
+# getsetEvent.py
+# Like getset.py but uses events.
+# Get the value of P8_16 and write it to P9_14.
+# P8_16 is line 14 on chip 1. P9_14 is line 18 of chip 1.
+# Wiring: Attach a switch to P8_16 and 3.3V and an LED to P9_14.
+# Setup: sudo apt uupdate; sudo apt install libgpiod-dev
+# See: https://github.com/starnight/libgpiod-example/blob/master/libgpiod-led/main.c
+# //////////////////////////////////////
+# Based on https://git.kernel.org/pub/scm/libs/libgpiod/libgpiod.git/tree/bindings/python/examples
+
+import gpiod
+import sys
+
+CONSUMER='getset'
+CHIP='1'
+getoffsets=[14] # P8_16
+setoffests=[18] # P9_14
+
+def print_event(event):
+ if event.type == gpiod.LineEvent.RISING_EDGE:
+ evstr = ' RISING EDGE'
+ elif event.type == gpiod.LineEvent.FALLING_EDGE:
+ evstr = 'FALLING EDGE'
+ else:
+ raise TypeError('Invalid event type')
+
+ print('event: {} offset: {} timestamp: [{}.{}]'.format(evstr,
+ event.source.offset(),
+ event.sec, event.nsec))
+
+chip = gpiod.Chip(CHIP)
+
+getlines = chip.get_lines(getoffsets)
+getlines.request(consumer=CONSUMER, type=gpiod.LINE_REQ_EV_BOTH_EDGES)
+
+setlines = chip.get_lines(setoffests)
+setlines.request(consumer=CONSUMER, type=gpiod.LINE_REQ_DIR_OUT)
+
+print("Hit ^C to stop")
+
+while True:
+ ev_lines = getlines.event_wait(sec=1)
+ if ev_lines:
+ for line in ev_lines:
+ event = line.event_read()
+ print_event(event)
+ vals = getlines.get_values()
+
+ # for val in vals:
+ # print(val, end=' ')
+ # print('\r', end='')
+
+ setlines.set_values(vals)
diff --git a/bone-cook-book/02sensors/code/gpiod/toggle1.c b/bone-cook-book/02sensors/code/gpiod/toggle1.c
new file mode 100644
index 0000000000000000000000000000000000000000..1ff8c1cb7cac717f0f094fa2ae481a0291492fde
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/toggle1.c
@@ -0,0 +1,61 @@
+// //////////////////////////////////////
+// toggle1.c
+// Toggles the P9_14 pin as fast as it can. P9_14 is line 18 on chip 1.
+// Wiring: Attach an oscilloscope to P9_14 to see the squarewave or
+// uncomment the usleep and attach an LED.
+// Setup: sudo apt update; sudo apt install libgpiod-dev
+// See: https://github.com/starnight/libgpiod-example/blob/master/libgpiod-led/main.c
+// //////////////////////////////////////
+#include <gpiod.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#define CONSUMER "Consumer"
+
+int main(int argc, char **argv)
+{
+ int chipnumber = 1;
+ unsigned int line_num = 18; // GPIO Pin P9_14
+ unsigned int val;
+ struct gpiod_chip *chip;
+ struct gpiod_line *line;
+ int i, ret;
+
+ chip = gpiod_chip_open_by_number(chipnumber);
+ if (!chip) {
+ perror("Open chip failed\n");
+ goto end;
+ }
+
+ line = gpiod_chip_get_line(chip, line_num);
+ if (!line) {
+ perror("Get line failed\n");
+ goto close_chip;
+ }
+
+ ret = gpiod_line_request_output(line, CONSUMER, 0);
+ if (ret < 0) {
+ perror("Request line as output failed\n");
+ goto release_line;
+ }
+
+ /* Blink */
+ val = 0;
+ while(1) {
+ ret = gpiod_line_set_value(line, val);
+ if (ret < 0) {
+ perror("Set line output failed\n");
+ goto release_line;
+ }
+ // printf("Output %u on line #%u\n", val, line_num);
+ usleep(100000); // Number of microseconds to sleep
+ val = !val;
+ }
+
+release_line:
+ gpiod_line_release(line);
+close_chip:
+ gpiod_chip_close(chip);
+end:
+ return 0;
+}
diff --git a/bone-cook-book/02sensors/code/gpiod/toggle1.py b/bone-cook-book/02sensors/code/gpiod/toggle1.py
new file mode 100755
index 0000000000000000000000000000000000000000..d8b6d5d4edef7531771c3ab947a5766fd9c608f0
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/toggle1.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+# //////////////////////////////////////
+# toggle1.py
+# Toggles the P9_14 pin as fast as it can. P9_14 is line 18 on chip 1.
+# Wiring: Attach an oscilloscope to P9_14 to see the squarewave or
+# uncomment the sleep and attach an LED.
+# Setup: sudo apt update; pip install gpiod
+# See: https://git.kernel.org/pub/scm/libs/libgpiod/libgpiod.git/tree/bindings/python/examples
+# //////////////////////////////////////
+
+import gpiod
+import time
+
+LED_CHIP = 'gpiochip1'
+LED_LINE_OFFSET = [18] # P9_14
+
+chip = gpiod.Chip(LED_CHIP)
+
+lines = chip.get_lines(LED_LINE_OFFSET)
+lines.request(consumer='blink', type=gpiod.LINE_REQ_DIR_OUT)
+
+while True:
+ lines.set_values([0])
+ time.sleep(0.1)
+ lines.set_values([1])
+ time.sleep(0.1)
+
\ No newline at end of file
diff --git a/bone-cook-book/02sensors/code/gpiod/toggle1.sh b/bone-cook-book/02sensors/code/gpiod/toggle1.sh
new file mode 100755
index 0000000000000000000000000000000000000000..b27f9824818f1f17446b7a1512b9cd99fb93ddbd
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/toggle1.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+# gpio chip=1 line 18=P9_14 line19=P9_16
+
+while true; do
+ gpioset 1 18=0 19=0
+ gpioset 1 18=1 19=1
+done
\ No newline at end of file
diff --git a/bone-cook-book/02sensors/code/gpiod/toggle2.c b/bone-cook-book/02sensors/code/gpiod/toggle2.c
new file mode 100644
index 0000000000000000000000000000000000000000..ad6b77f05e4a00cea320324465a3dc2c6e944c56
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/toggle2.c
@@ -0,0 +1,66 @@
+// //////////////////////////////////////
+// toggle2.c
+// Toggles P9_14 and P9_16 pins as fast as it can.
+// P9_14 and P9_16 are both on chip 1 so they can be toggled together.
+// P9_14 is line 18 P9_16 is line 18.
+// Wiring: Attach an oscilloscope to P9_14 and P9_16 to see the squarewave or
+// uncomment the usleep and attach an LED.
+// Setup: sudo apt uupdate; sudo apt install libgpiod-dev
+// See: https://github.com/starnight/libgpiod-example/blob/master/libgpiod-led/main.c
+// //////////////////////////////////////
+#include <gpiod.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#define CONSUMER "Consumer"
+#define NUMLINES 2
+
+int main(int argc, char **argv)
+{
+ int chipnumber = 1;
+ unsigned int line_num[NUMLINES] = {18, 19}; // GPIO Pins P9_14 and P9_16
+ unsigned int val;
+ struct gpiod_chip *chip;
+ struct gpiod_line_bulk line[NUMLINES];
+ int i, ret;
+
+ chip = gpiod_chip_open_by_number(chipnumber);
+ if (!chip) {
+ perror("Open chip failed\n");
+ goto end;
+ }
+
+ int err = gpiod_chip_get_lines(chip, line_num, NUMLINES, line);
+ if (err) {
+ perror("Get line failed\n");
+ goto close_chip;
+ }
+
+ int off_values[NUMLINES] = {0, 0};
+ int on_values[NUMLINES] = {1, 1};
+ ret = gpiod_line_request_bulk_output(line, CONSUMER, off_values);
+ if (ret < 0) {
+ perror("Request line as output failed\n");
+ goto release_line;
+ }
+
+ /* Blink */
+ val = 0;
+ while(1) {
+ ret = gpiod_line_set_value_bulk(line, val ? on_values : off_values);
+ if (ret < 0) {
+ perror("Set line output failed\n");
+ goto release_line;
+ }
+ // printf("Output %u on line #%u\n", val, line_num);
+ usleep(100000);
+ val = !val;
+ }
+
+release_line:
+ gpiod_line_release_bulk(line);
+close_chip:
+ gpiod_chip_close(chip);
+end:
+ return 0;
+}
diff --git a/bone-cook-book/02sensors/code/gpiod/toggle2.py b/bone-cook-book/02sensors/code/gpiod/toggle2.py
new file mode 100755
index 0000000000000000000000000000000000000000..1e7badc26164badc1a2a9c86bfc1dd91e447aa53
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/toggle2.py
@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+# //////////////////////////////////////
+# toggle2.py
+# Toggles P9_14 and P9_16 pins as fast as it can.
+# P9_14 and P9_16 are both on chip 1 so they can be toggled together.
+# P9_14 is line 18 P9_16 is line 19.
+# Wiring: Attach an oscilloscope to P9_14 and P9_16 to see the squarewave or
+# uncomment the sleep and attach an LED.
+# Setup: sudo apt update; pip install gpiod
+# See: https://git.kernel.org/pub/scm/libs/libgpiod/libgpiod.git/tree/bindings/python/examples
+# //////////////////////////////////////
+
+import gpiod
+import time
+
+LED_CHIP = 'gpiochip1'
+LED_LINE_OFFSET = [18, 19] # P9_14 and P9_16
+
+chip = gpiod.Chip(LED_CHIP)
+
+lines = chip.get_lines(LED_LINE_OFFSET)
+lines.request(consumer='blink', type=gpiod.LINE_REQ_DIR_OUT)
+
+while True:
+ lines.set_values([0, 0])
+ time.sleep(0.1)
+ lines.set_values([1, 1])
+ time.sleep(0.1)
diff --git a/bone-cook-book/02sensors/code/gpiod/toggleLED.c b/bone-cook-book/02sensors/code/gpiod/toggleLED.c
new file mode 100644
index 0000000000000000000000000000000000000000..cc79b49ba5867ef6601bb4ef6775bc0d3dafb532
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/toggleLED.c
@@ -0,0 +1,66 @@
+// //////////////////////////////////////
+// toggle2.c
+// Toggles P9_14 and P9_16 pins as fast as it can.
+// P9_14 and P9_16 are both on chip 1 so they can be toggled together.
+// P9_14 is line 18 P9_16 is line 18.
+// Wiring: Attach an oscilloscope to P9_14 and P9_16 to see the squarewave or
+// uncomment the usleep and attach an LED.
+// Setup: sudo apt uupdate; sudo apt install libgpiod-dev
+// See: https://github.com/starnight/libgpiod-example/blob/master/libgpiod-led/main.c
+// //////////////////////////////////////
+#include <gpiod.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#define CONSUMER "Consumer"
+#define NUMLINES 4
+
+int main(int argc, char **argv)
+{
+ int chipnumber = 1;
+ unsigned int line_num[NUMLINES] = {21, 22, 23, 24}; // USR LEDS 1-4
+ unsigned int val;
+ struct gpiod_chip *chip;
+ struct gpiod_line_bulk line[NUMLINES];
+ int i, ret;
+
+ chip = gpiod_chip_open_by_number(chipnumber);
+ if (!chip) {
+ perror("Open chip failed\n");
+ goto end;
+ }
+
+ int err = gpiod_chip_get_lines(chip, line_num, NUMLINES, line);
+ if (err) {
+ perror("Get line failed\n");
+ goto close_chip;
+ }
+
+ int off_values[NUMLINES] = {0, 0, 0, 0};
+ int on_values[NUMLINES] = {1, 1, 1 ,1} ;
+ ret = gpiod_line_request_bulk_output(line, CONSUMER, off_values);
+ if (ret < 0) {
+ perror("Request line as output failed\n");
+ goto release_line;
+ }
+
+ /* Blink */
+ val = 0;
+ while(1) {
+ ret = gpiod_line_set_value_bulk(line, val ? on_values : off_values);
+ if (ret < 0) {
+ perror("Set line output failed\n");
+ goto release_line;
+ }
+ // printf("Output %u on line #%u\n", val, line_num);
+ usleep(100000);
+ val = !val;
+ }
+
+release_line:
+ gpiod_line_release_bulk(line);
+close_chip:
+ gpiod_chip_close(chip);
+end:
+ return 0;
+}
diff --git a/bone-cook-book/02sensors/code/gpiod/toggleLED.py b/bone-cook-book/02sensors/code/gpiod/toggleLED.py
new file mode 100755
index 0000000000000000000000000000000000000000..ffca05a5d7129633a9a34b9a9b705d4dbb119827
--- /dev/null
+++ b/bone-cook-book/02sensors/code/gpiod/toggleLED.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python3
+# //////////////////////////////////////
+# toggleLED.py
+# Toggles the four built in USR LEDs
+# They are all on chip 1 so they can be toggled together.
+# Setup: sudo apt uupdate; pip3 install gpiod
+# See: https://git.kernel.org/pub/scm/libs/libgpiod/libgpiod.git/tree/bindings/python/examples
+# //////////////////////////////////////
+import gpiod
+import time
+
+LED_CHIP = 'gpiochip1'
+LED_LINE_OFFSET = [21, 22, 23, 24] # USR LEDS 1-4
+
+chip = gpiod.Chip(LED_CHIP)
+
+lines = chip.get_lines(LED_LINE_OFFSET)
+lines.request(consumer='blink LEDs', type=gpiod.LINE_REQ_DIR_OUT)
+
+while True:
+ lines.set_values([0, 0, 0, 0])
+ time.sleep(0.25)
+ lines.set_values([1, 1, 1, 1])
+ time.sleep(0.25)
diff --git a/bone-cook-book/02sensors/code/hc-sr04-ultraSonic.js b/bone-cook-book/02sensors/code/hc-sr04-ultraSonic.js
new file mode 100755
index 0000000000000000000000000000000000000000..8d1592e5a2c7905fa13333d9ad0e3b529e2f3fdd
--- /dev/null
+++ b/bone-cook-book/02sensors/code/hc-sr04-ultraSonic.js
@@ -0,0 +1,51 @@
+#!/usr/bin/env node
+
+// This is an example of reading HC-SR04 Ultrasonic Range Finder
+// This version measures from the fall of the Trigger pulse
+// to the end of the Echo pulse
+
+var b = require('bonescript');
+
+var trigger = 'P9_16', // Pin to trigger the ultrasonic pulse
+ echo = 'P9_41', // Pin to measure to pulse width related to the distance
+ ms = 250; // Trigger period in ms
+
+var startTime, pulseTime;
+
+b.pinMode(echo, b.INPUT, 7, 'pulldown', 'fast', doAttach);
+function doAttach(x) {
+ if(x.err) {
+ console.log('x.err = ' + x.err);
+ return;
+ }
+ // Call pingEnd when the pulse ends
+ b.attachInterrupt(echo, true, b.FALLING, pingEnd);
+}
+
+b.pinMode(trigger, b.OUTPUT);
+
+b.digitalWrite(trigger, 1); // Unit triggers on a falling edge.
+ // Set trigger to high so we call pull it low later
+
+// Pull the trigger low at a regular interval.
+setInterval(ping, ms);
+
+// Pull trigger low and start timing.
+function ping() {
+ // console.log('ping');
+ b.digitalWrite(trigger, 0);
+ startTime = process.hrtime();
+}
+
+// Compute the total time and get ready to trigger again.
+function pingEnd(x) {
+ if(x.attached) {
+ console.log("Interrupt handler attached");
+ return;
+ }
+ if(startTime) {
+ pulseTime = process.hrtime(startTime);
+ b.digitalWrite(trigger, 1);
+ console.log('pulseTime = ' + (pulseTime[1]/1000000-0.8).toFixed(3));
+ }
+}
diff --git a/bone-cook-book/02sensors/code/i2c-scan.js b/bone-cook-book/02sensors/code/i2c-scan.js
new file mode 100755
index 0000000000000000000000000000000000000000..245a8386be63e6714db9c5232d42d69a9f44c88c
--- /dev/null
+++ b/bone-cook-book/02sensors/code/i2c-scan.js
@@ -0,0 +1,19 @@
+#!/usr/bin/env node
+// Not working as for 28-Mar-2014
+var b = require('bonescript');
+var port = '/dev/i2c-2'
+
+b.i2cOpen(port, null, {}, onI2C);
+
+function onI2C(x) {
+ console.log('onI2C: ' + JSON.stringify(x));
+ if (x.event == 'return') {
+ b.i2cScan(port, onScan);
+ }
+}
+
+function onScan(x) {
+ if (x.event == 'callback') {
+ console.log('scan data: ' + JSON.stringify(x));
+ }
+}
diff --git a/bone-cook-book/02sensors/code/i2c-test.js b/bone-cook-book/02sensors/code/i2c-test.js
new file mode 100755
index 0000000000000000000000000000000000000000..183e1f5a5978cb0908385c629566390c4f0de7f1
--- /dev/null
+++ b/bone-cook-book/02sensors/code/i2c-test.js
@@ -0,0 +1,29 @@
+#!/usr/bin/env node
+# This uses the i2c method from npm what bonescript builds on
+var i2c = require('i2c');
+var address = 0x49;
+var wire = new i2c(address, {device: '/dev/i2c-1', debug: false}); // point to your i2c address, debug provides REPL interface
+
+wire.scan(function(err, data) {
+ // result contains an array of addresses
+ console.log(data);
+});
+
+// wire.writeByte(byte, function(err) {});
+
+// wire.writeBytes(command, [byte0, byte1], function(err) {});
+
+wire.readByte(function(err, res) { // result is single byte })
+ console.log(err);
+ console.log(res);
+});
+
+// wire.readBytes(command, length, function(err, res) {
+// // result contains a buffer of bytes
+// });
+
+// wire.on('data', function(data) {
+// // result for continuous stream contains data buffer, address, length, timestamp
+// });
+
+// wire.stream(command, length, delay); // continuous stream, delay in ms
diff --git a/bone-cook-book/02sensors/code/i2cTemp.js b/bone-cook-book/02sensors/code/i2cTemp.js
new file mode 100755
index 0000000000000000000000000000000000000000..9839340c84fa64b9c7717074b0dc238fb7828163
--- /dev/null
+++ b/bone-cook-book/02sensors/code/i2cTemp.js
@@ -0,0 +1,22 @@
+#!/usr/bin/env node
+////////////////////////////////////////
+// i2cTemp.js
+// Read at TMP101 sensor on i2c bus 2, address 0x49
+// Wiring: Attach to i2c as shown in text.
+// Setup: echo tmp101 0x49 > /sys/class/i2c-adapter/i2c-2/new_device
+// See:
+////////////////////////////////////////
+const fs = require("fs");
+
+const ms = 1000; // Read time in ms
+const bus = '2';
+const addr = '49';
+I2CPATH='/sys/class/i2c-adapter/i2c-'+bus+'/'+bus+'-00'+addr+'/hwmon/hwmon0';
+
+// Read every ms
+setInterval(readTMP, ms);
+
+function readTMP() {
+ var data = fs.readFileSync(I2CPATH+"/temp1_input").slice(0, -1);
+ console.log('data (C) = ' + data/1000);
+ }
diff --git a/bone-cook-book/02sensors/code/i2cTemp.py b/bone-cook-book/02sensors/code/i2cTemp.py
new file mode 100755
index 0000000000000000000000000000000000000000..2649262fbe7fff0942c442dc0bb58798a2015083
--- /dev/null
+++ b/bone-cook-book/02sensors/code/i2cTemp.py
@@ -0,0 +1,22 @@
+#!/usr/bin/env python
+# ////////////////////////////////////////
+# // i2cTemp.py
+# // Read a TMP101 sensor on i2c bus 2, address 0x49
+# // Wiring: Attach to i2c as shown in text.
+# // Setup: echo tmp101 0x49 > /sys/class/i2c-adapter/i2c-2/new_device
+# // See:
+# ////////////////////////////////////////
+import time
+
+ms = 1000 # Read time in ms
+bus = '2'
+addr = '49'
+I2CPATH='/sys/class/i2c-adapter/i2c-'+bus+'/'+bus+'-00'+addr+'/hwmon/hwmon0';
+
+f = open(I2CPATH+"/temp1_input", "r")
+
+while True:
+ f.seek(0)
+ data = f.read()[:-1] # returns mili-degrees C
+ print("data (C) = " + str(int(data)/1000))
+ time.sleep(ms/1000)
\ No newline at end of file
diff --git a/bone-cook-book/02sensors/code/i2ctmp101.py b/bone-cook-book/02sensors/code/i2ctmp101.py
new file mode 100755
index 0000000000000000000000000000000000000000..21b29fceb6c70f0935b9401376a9f78afa838c48
--- /dev/null
+++ b/bone-cook-book/02sensors/code/i2ctmp101.py
@@ -0,0 +1,19 @@
+#!/usr/bin/env python
+# ////////////////////////////////////////
+# // i2ctmp101.py
+# // Read at TMP101 sensor on i2c bus 2, address 0x49
+# // Wiring: Attach to i2c as shown in text.
+# // Setup: pip install smbus
+# // See:
+# ////////////////////////////////////////
+import smbus
+import time
+
+ms = 1000 # Read time in ms
+bus = smbus.SMBus(2) # Using i2c bus 2
+addr = 0x49 # TMP101 is at address 0x49
+
+while True:
+ data = bus.read_byte_data(addr, 0)
+ print("temp (C) = " + str(data))
+ time.sleep(ms/1000)
diff --git a/bone-cook-book/02sensors/code/pushbutton.js b/bone-cook-book/02sensors/code/pushbutton.js
new file mode 100755
index 0000000000000000000000000000000000000000..4c852c27680d956c93fe19add576a9ad7321be85
--- /dev/null
+++ b/bone-cook-book/02sensors/code/pushbutton.js
@@ -0,0 +1,28 @@
+#!/usr/bin/env node
+////////////////////////////////////////
+// pushbutton.js
+// Reads P9_42 and prints its value.
+// Wiring: Connect a switch between P9_42 and 3.3V
+// Setup:
+// See:
+////////////////////////////////////////
+const fs = require("fs");
+
+const ms = 500 // Read time in ms
+const pin = '7'; // P9_42 is gpio 7
+const GPIOPATH="/sys/class/gpio/";
+
+// Make sure pin is exported
+if(!fs.existsSync(GPIOPATH+"gpio"+pin)) {
+ fs.writeFileSync(GPIOPATH+"export", pin);
+}
+// Make it an input pin
+fs.writeFileSync(GPIOPATH+"gpio"+pin+"/direction", "in");
+
+// Read every ms
+setInterval(readPin, ms);
+
+function readPin() {
+ var data = fs.readFileSync(GPIOPATH+"gpio"+pin+"/value").slice(0, -1);
+ console.log('data = ' + data);
+ }
diff --git a/bone-cook-book/02sensors/code/pushbutton.py b/bone-cook-book/02sensors/code/pushbutton.py
new file mode 100755
index 0000000000000000000000000000000000000000..2bb133858d5ef8d15f58e002048af10b4a154ab1
--- /dev/null
+++ b/bone-cook-book/02sensors/code/pushbutton.py
@@ -0,0 +1,33 @@
+#!/usr/bin/env python
+# ////////////////////////////////////////
+# // pushbutton.py
+# // Reads P9_42 and prints its value.
+# // Wiring: Connect a switch between P9_42 and 3.3V
+# // Setup:
+# // See:
+# ////////////////////////////////////////
+import time
+import os
+
+ms = 500 # Read time in ms
+pin = '7' # P9_42 is gpio 7
+GPIOPATH="/sys/class/gpio"
+
+# Make sure pin is exported
+if (not os.path.exists(GPIOPATH+"/gpio"+pin)):
+ f = open(GPIOPATH+"/export", "w")
+ f.write(pin)
+ f.close()
+
+# Make it an input pin
+f = open(GPIOPATH+"/gpio"+pin+"/direction", "w")
+f.write("in")
+f.close()
+
+f = open(GPIOPATH+"/gpio"+pin+"/value", "r")
+
+while True:
+ f.seek(0)
+ data = f.read()[:-1]
+ print("data = " + data)
+ time.sleep(ms/1000)
diff --git a/bone-cook-book/02sensors/code/pushbutton2.js b/bone-cook-book/02sensors/code/pushbutton2.js
new file mode 100755
index 0000000000000000000000000000000000000000..f54307a594701eb709edaa80581c33ee4380f2f8
--- /dev/null
+++ b/bone-cook-book/02sensors/code/pushbutton2.js
@@ -0,0 +1,10 @@
+#!/usr/bin/env node
+var b = require('bonescript');
+var button = 'P9_42';
+var state; // State of pushbutton
+
+b.pinMode(button, b.INPUT, 7, 'pulldown');
+
+state = b.digitalRead(button);
+console.log('button state = ' + state);
+
diff --git a/bone-cook-book/02sensors/code/pushbuttonPullup.js b/bone-cook-book/02sensors/code/pushbuttonPullup.js
new file mode 100755
index 0000000000000000000000000000000000000000..bee1ce82391cd73156f19d1122e1245f412b86a6
--- /dev/null
+++ b/bone-cook-book/02sensors/code/pushbuttonPullup.js
@@ -0,0 +1,34 @@
+#!/usr/bin/env node
+var b = require('bonescript');
+var buttonTop = 'P9_26';
+
+b.pinMode(buttonTop, b.INPUT, 7, 'pullup', 'fast', doAttachTop);
+
+function doAttachTop(x) {
+ if(x.err) {
+ console.log('x.err = ' + x.err);
+ return;
+ }
+ b.attachInterrupt(buttonTop, true, b.CHANGE, printStatus);
+}
+
+var buttonBot = 'P9_42';
+b.pinMode(buttonBot, b.INPUT, 7, 'pulldown', 'fast', doAttachBot);
+
+function doAttachBot(x) {
+ if(x.err) {
+ console.log('x.err = ' + x.err);
+ return;
+ }
+ b.attachInterrupt(buttonBot, true, b.CHANGE, printStatus);
+}
+
+function printStatus(x) {
+ if(x.attached) {
+ console.log("Interrupt handler attached");
+ return;
+ }
+
+ console.log('x.value = ' + x.value);
+ console.log('x.err = ' + x.err);
+}
diff --git a/bone-cook-book/02sensors/code/pushbutton_digitalRead.js b/bone-cook-book/02sensors/code/pushbutton_digitalRead.js
new file mode 100755
index 0000000000000000000000000000000000000000..59f1f14df2c652f8b62c6721b9ab2b1a6eb2a4c5
--- /dev/null
+++ b/bone-cook-book/02sensors/code/pushbutton_digitalRead.js
@@ -0,0 +1,11 @@
+#!/usr/bin/env node
+var b = require('bonescript');
+var button = 'P9_42';
+
+b.pinMode(button, b.INPUT, 7, 'pulldown');
+b.digitalRead(button, printStatus);
+
+function printStatus(x) {
+ console.log('x.value = ' + x.value);
+ console.log('x.err = ' + x.err);
+}
diff --git a/bone-cook-book/02sensors/code/rotaryEncoder.js b/bone-cook-book/02sensors/code/rotaryEncoder.js
new file mode 100755
index 0000000000000000000000000000000000000000..3390a817d41ff4f12a182ca5aaf326f3b11f11fd
--- /dev/null
+++ b/bone-cook-book/02sensors/code/rotaryEncoder.js
@@ -0,0 +1,39 @@
+#!/usr/bin/env node
+// This uses the eQEP hardware to read a rotary encoder
+// bone$ config-pin P8_11 eqep
+// bone$ config-pin P8_12 eqep
+const fs = require("fs");
+
+const eQEP = "2";
+const COUNTERPATH = '/dev/bone/counter/counter'+eQEP+'/count0';
+
+const ms = 100; // Time between samples in ms
+const maxCount = '1000000';
+
+// Set the eEQP maximum count
+fs.writeFileSync(COUNTERPATH+'/ceiling', maxCount);
+
+// Enable
+fs.writeFileSync(COUNTERPATH+'/enable', '1');
+
+setInterval(readEncoder, ms); // Check state every ms
+
+var olddata = -1;
+function readEncoder() {
+ var data = parseInt(fs.readFileSync(COUNTERPATH+'/count'));
+ if(data != olddata) {
+ // Print only if data changes
+ console.log('data = ' + data);
+ olddata = data;
+ }
+}
+
+// Black OR Pocket
+// eQEP0: P9.27 and P9.42 OR P1_33 and P2_34
+// eQEP1: P9.33 and P9.35
+// eQEP2: P8.11 and P8.12 OR P2_24 and P2_33
+
+// AI
+// eQEP1: P8.33 and P8.35
+// eQEP2: P8.11 and P8.12 or P9.19 and P9.41
+// eQEP3: P8.24 abd P8.25 or P9.27 and P9.42
\ No newline at end of file
diff --git a/bone-cook-book/02sensors/code/rotaryEncoder.py b/bone-cook-book/02sensors/code/rotaryEncoder.py
new file mode 100755
index 0000000000000000000000000000000000000000..04eb3735f2b02769cc526d562bbb725f0dced64a
--- /dev/null
+++ b/bone-cook-book/02sensors/code/rotaryEncoder.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python
+# // This uses the eQEP hardware to read a rotary encoder
+# // bone$ config-pin P8_11 eqep
+# // bone$ config-pin P8_12 eqep
+import time
+
+eQEP = '2'
+COUNTERPATH = '/dev/bone/counter/counter'+eQEP+'/count0'
+
+ms = 100 # Time between samples in ms
+maxCount = '1000000'
+
+# Set the eEQP maximum count
+f = open(COUNTERPATH+'/ceiling', 'w')
+f.write(maxCount)
+f.close()
+
+# Enable
+f = open(COUNTERPATH+'/enable', 'w')
+f.write('1')
+f.close()
+
+f = open(COUNTERPATH+'/count', 'r')
+
+olddata = -1
+while True:
+ f.seek(0)
+ data = f.read()[:-1]
+ # Print only if data changes
+ if data != olddata:
+ olddata = data
+ print("data = " + data)
+ time.sleep(ms/1000)
+
+# Black OR Pocket
+# eQEP0: P9.27 and P9.42 OR P1_33 and P2_34
+# eQEP1: P9.33 and P9.35
+# eQEP2: P8.11 and P8.12 OR P2_24 and P2_33
+
+# AI
+# eQEP1: P8.33 and P8.35
+# eQEP2: P8.11 and P8.12 or P9.19 and P9.41
+# eQEP3: P8.24 abd P8.25 or P9.27 and P9.42
\ No newline at end of file
diff --git a/bone-cook-book/02sensors/code/sensorTag.js b/bone-cook-book/02sensors/code/sensorTag.js
new file mode 100755
index 0000000000000000000000000000000000000000..9b3eed155098927949592b29e2852712bc65af03
--- /dev/null
+++ b/bone-cook-book/02sensors/code/sensorTag.js
@@ -0,0 +1,103 @@
+#!/usr/bin/env node
+// From: https://github.com/sandeepmistry/node-sensortag
+
+// Reads temperature
+
+var util = require('util'); // <1>
+var async = require('async');
+var SensorTag = require('sensortag');
+var fs = require('fs');
+
+console.log("Be sure sensorTag is on");
+
+SensorTag.discover(function(sensorTag) { // <2>
+ console.log('sensorTag = ' + sensorTag);
+ sensorTag.on('disconnect', function() { // <3>
+ console.log('disconnected!');
+ process.exit(0);
+ });
+
+ async.series([ // <4>
+ function(callback) {
+ console.log('connect'); // <5>
+ sensorTag.connect(callback);
+ },
+ function(callback) { // <6>
+ console.log('discoverServicesAndCharacteristics');
+ sensorTag.discoverServicesAndCharacteristics(callback);
+ },
+ function(callback) {
+ console.log('enableIrTemperature'); // <7>
+ sensorTag.enableIrTemperature(callback);
+ },
+ function(callback) {
+ setTimeout(callback, 100); // <8>
+ },
+ function(callback) {
+ console.log('readIrTemperature'); // <9>
+ sensorTag.readIrTemperature(
+ function(objectTemperature, ambientTemperature) {
+ console.log('\tobject temperature = %d °C',
+ objectTemperature.toFixed(1));
+ console.log('\tambient temperature = %d °C',
+ ambientTemperature.toFixed(1));
+ callback();
+ });
+
+ sensorTag.on('irTemperatureChange', // <10>
+ function(objectTemperature, ambientTemperature) {
+ console.log('\tobject temperature = %d °C',
+ objectTemperature.toFixed(1));
+ console.log('\tambient temperature = %d °C\n',
+ ambientTemperature.toFixed(1));
+ });
+
+ sensorTag.notifyIrTemperature(function() {
+ console.log('notifyIrTemperature');
+ });
+ },
+ // function(callback) {
+ // console.log('disableIrTemperature'); // <11>
+ // sensorTag.disableIrTemperature(callback);
+ // },
+
+ function(callback) {
+ console.log('readSimpleRead'); // <12>
+ sensorTag.on('simpleKeyChange', function(left, right) {
+ console.log('left: ' + left + ' right: ' + right);
+ if (left && right) {
+ sensorTag.notifySimpleKey(callback); // <13>
+ }
+ });
+
+ sensorTag.notifySimpleKey(function() { // <14>
+ });
+ },
+ function(callback) {
+ console.log('disconnect');
+ sensorTag.disconnect(callback); // <15>
+ }
+ ]
+ );
+});
+
+// The MIT License (MIT)
+
+// Copyright (c) 2013 Sandeep Mistry
+
+// Permission is hereby granted, free of charge, to any person obtaining a copy of
+// this software and associated documentation files (the "Software"), to deal in
+// the Software without restriction, including without limitation the rights to
+// use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+// the Software, and to permit persons to whom the Software is furnished to do so,
+// subject to the following conditions:
+
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+// FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+// COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+// IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+// CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
diff --git a/bone-cook-book/02sensors/code/stop.js b/bone-cook-book/02sensors/code/stop.js
new file mode 100755
index 0000000000000000000000000000000000000000..0c3ec1b622d17e45abf9aedbd8734ecf70093872
--- /dev/null
+++ b/bone-cook-book/02sensors/code/stop.js
@@ -0,0 +1,10 @@
+#!/usr/bin/env node
+// Used for turning everything off.
+var b = require('bonescript');
+var gpio = ['P9_11', 'P9_13', 'P9_15', 'P9_16', 'P9_21'];
+var i;
+
+for(i=0; i<gpio.length; i++) {
+ b.pinMode(gpio[i], b.OUTPUT);
+ b.digitalWrite(gpio[i], b.LOW);
+}
diff --git a/bone-cook-book/02sensors/code/testHC-SR04.js b/bone-cook-book/02sensors/code/testHC-SR04.js
new file mode 100755
index 0000000000000000000000000000000000000000..452fd8afb66386b5e817b0517dff710173a201e8
--- /dev/null
+++ b/bone-cook-book/02sensors/code/testHC-SR04.js
@@ -0,0 +1,37 @@
+#!/usr/bin/env node
+
+// This is an example of reading HC-SR04 Ultrasonic Range Finder
+
+var b = require('bonescript');
+
+var motor = 'P9_16',// Pin to drive transistor
+ range = 'P9_41',
+ min = 0.05, // Slowest speed (duty cycle)
+ max = 1, // Fastest (always on)
+ ms = 100, // How often to change speed, in ms
+ width = 10, // Pulse width in us
+ freq = 100, // Frequency in Hz
+ step = 0.05; // Change in speed
+
+b.pinMode(range, b.INPUT); // Make sure there is on pull-up/down
+b.pinMode(motor, b.ANALOG_OUTPUT);
+var dutyCycle = width/1000000*freq;
+b.analogWrite(motor, dutyCycle, freq);
+
+
+// var timer = setInterval(sweep, ms);
+
+// function sweep() {
+// speed += step;
+// if(speed > max || speed < min) {
+// step *= -1;
+// }
+// b.analogWrite(motor, speed);
+// console.log('speed = ' + speed);
+// }
+
+process.on('SIGINT', function() {
+ console.log('Got SIGINT, turning motor off');
+ clearInterval(timer); // Stop the timer
+ b.analogWrite(motor, 0); // Turn motor off
+});
\ No newline at end of file
diff --git a/bone-cook-book/02sensors/code/ultrasonicRange.js b/bone-cook-book/02sensors/code/ultrasonicRange.js
new file mode 100755
index 0000000000000000000000000000000000000000..0d00de89a29e80613085e4a135da7a5b973c7cda
--- /dev/null
+++ b/bone-cook-book/02sensors/code/ultrasonicRange.js
@@ -0,0 +1,30 @@
+#!/usr/bin/env node
+//////////////////////////////////////
+// ultrasonicRange.js
+// Reads the analog value of the sensor.
+//////////////////////////////////////
+const fs = require("fs");
+const ms = 250; // Time in milliseconds
+
+const pin = "0"; // sensor, A0, P9_39
+
+const IIOPATH='/sys/bus/iio/devices/iio:device0/in_voltage'+pin+'_raw';
+
+console.log('Hit ^C to stop');
+
+// Read every ms
+setInterval(readPin, ms);
+
+function readPin() {
+ var data = fs.readFileSync(IIOPATH);
+ console.log('data= ' + data);
+ }
+// Bone | Pocket | AIN
+// ----- | ------ | ---
+// P9_39 | P1_19 | 0
+// P9_40 | P1_21 | 1
+// P9_37 | P1_23 | 2
+// P9_38 | P1_25 | 3
+// P9_33 | P1_27 | 4
+// P9_36 | P2_35 | 5
+// P9_35 | P1_02 | 6
diff --git a/bone-cook-book/02sensors/code/ultrasonicRange.py b/bone-cook-book/02sensors/code/ultrasonicRange.py
new file mode 100755
index 0000000000000000000000000000000000000000..d02bf7511d8be90833b7b26c94d176496cfe6685
--- /dev/null
+++ b/bone-cook-book/02sensors/code/ultrasonicRange.py
@@ -0,0 +1,30 @@
+#!/usr/bin/env python
+# //////////////////////////////////////
+# // ultrasonicRange.js
+# // Reads the analog value of the sensor.
+# //////////////////////////////////////
+import time
+ms = 250; # Time in milliseconds
+
+pin = "0" # sensor, A0, P9_39
+
+IIOPATH='/sys/bus/iio/devices/iio:device0/in_voltage'+pin+'_raw'
+
+print('Hit ^C to stop');
+
+f = open(IIOPATH, "r")
+while True:
+ f.seek(0)
+ data = f.read()[:-1]
+ print('data= ' + data)
+ time.sleep(ms/1000)
+
+# // Bone | Pocket | AIN
+# // ----- | ------ | ---
+# // P9_39 | P1_19 | 0
+# // P9_40 | P1_21 | 1
+# // P9_37 | P1_23 | 2
+# // P9_38 | P1_25 | 3
+# // P9_33 | P1_27 | 4
+# // P9_36 | P2_35 | 5
+# // P9_35 | P1_02 | 6
diff --git a/bone-cook-book/02sensors/code/w1.js b/bone-cook-book/02sensors/code/w1.js
new file mode 100755
index 0000000000000000000000000000000000000000..187023af3c0430a2d825be6193cfce0fc58f06a7
--- /dev/null
+++ b/bone-cook-book/02sensors/code/w1.js
@@ -0,0 +1,23 @@
+#!/usr/bin/env node
+////////////////////////////////////////
+// w1.js
+// Read a Dallas 1-wire device on P9_12
+// Wiring: Attach gnd and 3.3V and data to P9_12
+// Setup: Edit /boot/uEnv.txt to include:
+// uboot_overlay_addr4=BB-W1-P9.12-00A0.dtbo
+// See:
+////////////////////////////////////////
+const fs = require("fs");
+
+const ms = 500 // Read time in ms
+// Do ls /sys/bus/w1/devices and find the address of your device
+const addr = '28-00000d459c2c'; // Must be changed for your device.
+const W1PATH ='/sys/bus/w1/devices/' + addr;
+
+// Read every ms
+setInterval(readW1, ms);
+
+function readW1() {
+ var data = fs.readFileSync(W1PATH+'/temperature').slice(0, -1);
+ console.log('temp (C) = ' + data/1000);
+ }
diff --git a/bone-cook-book/02sensors/code/w1.py b/bone-cook-book/02sensors/code/w1.py
new file mode 100755
index 0000000000000000000000000000000000000000..8a0a62f6deae22059e26f9770dce3dd6348bb794
--- /dev/null
+++ b/bone-cook-book/02sensors/code/w1.py
@@ -0,0 +1,23 @@
+#!/usr/bin/env python
+# ////////////////////////////////////////
+# // w1.js
+# // Read a Dallas 1-wire device on P9_12
+# // Wiring: Attach gnd and 3.3V and data to P9_12
+# // Setup: Edit /boot/uEnv.txt to include:
+# // uboot_overlay_addr4=BB-W1-P9.12-00A0.dtbo
+# // See:
+# ////////////////////////////////////////
+import time
+
+ms = 500 # Read time in ms
+# Do ls /sys/bus/w1/devices and find the address of your device
+addr = '28-00000d459c2c' # Must be changed for your device.
+W1PATH ='/sys/bus/w1/devices/' + addr
+
+f = open(W1PATH+'/temperature')
+
+while True:
+ f.seek(0)
+ data = f.read()[:-1]
+ print("temp (C) = " + str(int(data)/1000))
+ time.sleep(ms/1000)
diff --git a/bone-cook-book/02sensors/figures/Adafruit Xbee Adapter v1.1.fzpz b/bone-cook-book/02sensors/figures/Adafruit Xbee Adapter v1.1.fzpz
new file mode 100644
index 0000000000000000000000000000000000000000..9c62d38ed0f142dcbc471e66e66bc72323c23ffb
Binary files /dev/null and b/bone-cook-book/02sensors/figures/Adafruit Xbee Adapter v1.1.fzpz differ
diff --git a/bone-cook-book/02sensors/figures/Adafruit Xbee Adapter v1.1.txt b/bone-cook-book/02sensors/figures/Adafruit Xbee Adapter v1.1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..07ca7587e2b2eb44454509ee35e16940a5924359
--- /dev/null
+++ b/bone-cook-book/02sensors/figures/Adafruit Xbee Adapter v1.1.txt
@@ -0,0 +1 @@
+http://arduino.isnot.tv/post/74785594543/fritzing-part-adafruit-xbee-adapter
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index 0000000000000000000000000000000000000000..412fce1a416109bb139bacdc042aba0e43e2d0f3
--- /dev/null
+++ b/bone-cook-book/02sensors/figures/audioDongle.txt
@@ -0,0 +1 @@
+http://www.amazon.com/Syba-SD-CM-UAUD-Adapter-C-Media-Chipset/dp/B001MSS6CS
diff --git a/bone-cook-book/02sensors/figures/black_hardware_details.png b/bone-cook-book/02sensors/figures/black_hardware_details.png
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diff --git a/bone-cook-book/02sensors/figures/i2cTemp.js.old b/bone-cook-book/02sensors/figures/i2cTemp.js.old
new file mode 100755
index 0000000000000000000000000000000000000000..edee7876818af401c39ed40317467ecb19738fe2
--- /dev/null
+++ b/bone-cook-book/02sensors/figures/i2cTemp.js.old
@@ -0,0 +1,53 @@
+#!/usr/bin/env node
+// Get this working.
+// Not working as for 28-Mar-2014
+// From
+// https://github.com/kelly/node-i2c
+// npm install -g i2c
+
+// To use the latest BoneScript:
+// cd /usr/local/lib/node_modules
+// rm -r bonescript
+// git clone git://github.com/jadonk/bonescript
+// cd bonescript
+// npm install
+
+var b = require('bonescript');
+// var i2c = require('i2c');
+var port = '/dev/i2c-2'
+var TMP102 = 0x49;
+
+// var wire = new i2c(TMP102, {
+// device: '/dev/i2c-1',
+// debug: true
+// }); // point to your i2c address, debug provides REPL interface
+
+b.i2cOpen(port, TMP102, {}, onI2C);
+
+function onI2C(x) {
+ console.log(x);
+ if (x.event == 'return') {
+ b.i2cScan(port, onScan);
+ }
+}
+
+function onScan(x) {
+ console.log('scan: ' + JSON.stringify(x));
+ console.log('scan data: ' + x.data);
+ b.i2cReadBytes(port, 0, 1, onReadByte);
+}
+
+function onReadByte(x) {
+ console.log('onReadByte: ' + JSON.stringify(x));
+ console.log('res: ' + JSON.stringify(x.res));
+}
+
+// wire.scan(function(err, data) {
+// console.log('scan:' + data);
+// console.log('err:' + err);
+// });
+
+// wire.readByte(function(err, res) {
+// console.log('temp:' + data);
+// console.log('err:' + err);
+// });
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new file mode 100755
index 0000000000000000000000000000000000000000..6b086b8d46012ad70050ef7a2d9868781e37d14d
--- /dev/null
+++ b/bone-cook-book/02sensors/figures/onewire_setup.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+# Compile it
+dtc -O dtb -o BB-W1-00A0.dtbo -b 0 -@ BB-W1-00A0.dts
+# Copy it
+cp BB-W1-00A0.dtbo /lib/firmware/
+# Enable it:
+echo BB-W1 > /sys/devices/bone_capemgr.*/slots
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index 0000000000000000000000000000000000000000..a3407c8c1c58e0fdb907be91d101fad8b0529728
--- /dev/null
+++ b/bone-cook-book/02sensors/figures/rotaryEncoder.js.orig
@@ -0,0 +1,43 @@
+#!/usr/bin/env node
+// This reads a rotary encoder
+// The encoder has two outputs, A and B. Both are pulled normally high.
+// When turned clockwise, A is pulled low first, then B.
+// When turned counter clockwise, B is pulled low first.
+// Seems to make too many mistakes.
+
+var b = require('bonescript');
+var pinA = 'P9_42',
+ pinB = 'P9_41';
+var sawA = false,
+ sawB = false;
+
+ b.pinMode(pinA, b.INPUT, 7, 'pullup');
+ b.pinMode(pinB, b.INPUT, 7, 'pullup');
+
+ b.attachInterrupt(pinA, true, b.RISING, interruptCallbackA1);
+ b.attachInterrupt(pinB, true, b.RISING, interruptCallbackB1);
+ console.log("Ready");
+
+ function interruptCallbackA1(x) {
+ // console.log('A:', countA, x.value);
+ if (parseInt(x.value, 10) === 0) {
+ if (sawB) {
+ sawB = false;
+ console.log("Turned CCW");
+ } else {
+ sawA = true; // A has been pulled low before B
+ }
+ }
+ }
+
+ function interruptCallbackB1(x) {
+ // console.log('B:', countB, x.value);
+ if (parseInt(x.value, 10) === 0) {
+ if (sawA) {
+ sawA = false;
+ console.log("Turned CC");
+ } else {
+ sawB = true;
+ }
+ }
+ }
\ No newline at end of file
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diff --git a/bone-cook-book/02sensors/sensors.rst b/bone-cook-book/02sensors/sensors.rst
new file mode 100644
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--- /dev/null
+++ b/bone-cook-book/02sensors/sensors.rst
@@ -0,0 +1,1183 @@
+.. _bone-cook-book-sensors:
+
+Sensors
+########
+
+Introduction
+=============
+
+In this chapter, you will learn how to sense the physical world with BeagleBone Black.
+Various types of electronic sensors, such as cameras and microphones, can be connected
+to the Bone using one or more interfaces provided by the standard USB 2.0 host port,
+as shown in :ref:`sensor host port <sensors_host_port>`.
+
+.. note::
+ All the examples in the book assume you have cloned the Cookbook
+ repository on www.github.com. Go here :ref:`basic repo <basics_repo>` for instructions.
+
+.. _sensors_host_port:
+
+The USB 2.0 host port
+
+.. figure:: figures/black_hardware_details.png
+ :align: center
+ :alt: USB Host Port
+
+The two 46-pin cape headers (called +P8+ and +P9+) along the long edges of the
+board (:ref:`sensors P8 & P9 <sensors_P8P9_fig>`) provide connections for
+cape add-on boards, digital and analog sensors, and more.
+
+.. _sensors_P8P9_fig:
+
+.. figure:: figures/P8P9_bb.png
+ :align: center
+ :alt: Cape Headers P8 and P9
+
+ Cape Headers P8 and P9
+
+The simplest kind of sensor provides a single digital status, such as off or on,
+and can be handled by an *input mode* of one of the Bone's 65 general-purpose input/output
+(GPIO) pins. More complex sensors can be connected by using one of the Bone's seven
+analog-to-digital converter (ADC) inputs or several I^2^C buses.
+
+:ref:`display <displays>` discusses some of the *output mode* usages of the GPIO pins.
+
+All these examples assume that you know how to edit a file (:ref:`basic vsc <basics_vsc>`) and run
+it, either within the Visual Studio Code (VSC) integrated development environment (IDE) or from
+the command line (:ref:`shell tips <tips_shell>`).
+
+Choosing a Method to Connect Your Sensor
+----------------------------------------
+
+Problem
+********
+
+You want to acquire and attach a sensor and need to understand your basic options.
+
+Solution
+*********
+
+:ref:`sensor cape headers<sensors_cape_headers>` shows many of the possibilities for connecting a sensor.
+
+.. _sensors_cape_headers:
+
+.. figure:: figures/cape-headers.png
+ :align: center
+ :alt: Some of the many sensor connection options on the Bone
+
+ Sensor Connection Modes
+
+Choosing the simplest solution available enables you to move on quickly to
+addressing other system aspects. By exploring each connection type, you can
+make more informed decisions as you seek to optimize and troubleshoot your design.
+
+Discussion
+***********
+
+.. _sensors_getting_started:
+
+Input and Run a Python or JavaScript Application for Talking to Sensors
+------------------------------------------------------------------------
+
+Problem
+*********
+
+You have your sensors all wired up and your Bone booted up, and you need to know how to enter and run your code.
+
+Solution
+*********
+
+You are just a few simple steps from running any of the recipes in this book.
+
+- Plug your Bone into a host computer via the USB cable (:ref:`basic out of the box<basics_out_of_the_box>`).
+- Start Visual Studio Code (:ref:`basic vsc <basics_vsc>`).
+- In the +bash+ tab (as shown in :ref:`sensors vsc bash <sensors_vsc_bash>`), run the following commands:
+
+.. code-block:: bash
+
+ bone$ cd
+
+ bone$ cd BoneCookbook/docs/02sensors/code
+
+.. _sensors_vsc_bash:
+
+.. figure:: figures/vsc-bash-tab.png
+ :align: center
+ :alt: Entering commands in the VSC bash tab
+
+ VSC bash tab
+
+Here, we issued the *change directory* (+cd+) command without specifying a target directory.
+By default, it takes you to your home directory. Notice that the prompt has changed to reflect the change.
+
+.. note::
+ If you log in as +debian+, your home is */home/debian*. If you were to create a new user
+ called *newuser*, that user's home would be */home/newuser*. By default, all non-root
+ (non-superuser) users have their home directories in */home*.
+
+.. note::
+ All the examples in the book assume you have cloned the
+ Cookbook repository on www.github.com. Go here
+ :ref:`basic repo <basics_repo>` for instructions.
+
+- Double-click the *pushbutton.py* file to open it.
+- Press ^S (Ctrl-S) to save the file. (You can also go to the File menu in VSC and select Save to save the file, but Ctrl-S is easier.) Even easier, VSC can be configured to autosave every so many seconds.
+- In the +bash+ tab, enter the following commands:
+
+.. code-block::
+
+ root@beaglebone:~/boneSensors# ./pushbutton.js
+ data= 0
+ data= 0
+ data= 1
+ data= 1
+ ^C
+
+This process will work for any script in this book.
+
+Discussion
+***********
+
+.. _sensors_pushbutton:
+
+Reading the Status of a Pushbutton or Magnetic Switch (Passive On/Off Sensor)
+------------------------------------------------------------------------------
+
+Problem
+********
+
+You want to read a pushbutton, a magnetic switch, or other sensor that is electrically open or closed.
+
+Solution
+*********
+
+Connect the switch to a GPIO pin and read from the proper place in */sys/class/gpio*.
+
+To make this recipe, you will need:
+
+* Breadboard and jumper wires (see :ref:`app proto <app_proto>`)
+* Pushbutton switch (see :ref:`app misc <app_misc>`)
+* Magnetic reed switch (optional, see :ref:`<app misc app_misc>`)
+
+You can wire up either a pushbutton, a magnetic reed switch,
+or both on the Bone, as shown in :ref:`figure below <js_pushbutton_fig>`.
+
+.. _js_pushbutton_fig:
+
+.. figure:: figures/pushbutton_bb.png
+ :align: center
+ :alt: Diagram for wiring a pushbutton and magnetic reed switch input
+
+ Bone with pushbutton
+
+The code in :ref:`js pushbutton code<js_pushbutton_code>` reads GPIO port *P9_42*, which is attached to the pushbutton.
+
+.. _py_pushbutton_code:
+
+Monitoring a pushbutton (pushbutton.py)
+
+.. code-block:: python
+
+ include::code/pushbutton.py
+
+
+.. _js_pushbutton_code:
+
+Monitoring a pushbutton (pushbutton.js)
+
+.. code-block:: javascript
+
+ include::code/pushbutton.js
+
+Put this code in a file called *pushbutton.js* following the steps in
+:ref:`sensor getting started <sensors_getting_started>`.
+In the VSC *bash* tab, run it by using the following commands:
+
+.. code-block:: bash
+
+ bone$ ./pushbutton.js
+ data = 0
+ data = 0
+ data = 1
+ data = 1
+ ^C
+
+The command runs it. Try pushing the button. The code reads the pin and prints its current value.
+
+You will have to press ^C (Ctrl-C) to stop the code.
+
+If you want to use the magnetic reed switch wired as shown in :ref:`javascript pushbutton <js_pushbutton_fig>`, change +P9_42+ to +P9_26+ which is gpio +14+.
+
+Discussion
+***********
+
+Mapping Header Numbers to gpio Numbers
+---------------------------------------
+
+Problem
+********
+
+You have a sensor attached to the P8 or P9 header and need to know which gpio pin it's using.
+
+Solution
+**********
+
+The +gpioinfo+ command displays information about all the P8 and P9 header pins. To see the info for just one pin, use +grep+.
+
+.. code-block:: bash
+
+ bone$ gpioinfo | grep -e chip -e P9.42
+ gpiochip0 - 32 lines:
+ line 7: "P8_42A [ecappwm0]" "P9_42" input active-high [used]
+ gpiochip1 - 32 lines:
+ gpiochip2 - 32 lines:
+ gpiochip3 - 32 lines:
+
+This shows P9_42 is on chip 0 and pin 7. To find the gpio number multiply
+the chip number by 32 and add it to the pin number. This gives 0*32+7=7.
+
+For P9_26 you get:
+
+.. code-block:: bash
+
+ bone$ gpioinfo | grep -e chip -e P9.26
+ gpiochip0 - 32 lines:
+ line 14: "P9_26 [uart1_rxd]" "P9_26" input active-high [used]
+ gpiochip1 - 32 lines:
+ gpiochip2 - 32 lines:
+ gpiochip3 - 32 lines:
+
+0*32+14=14, so the P9_26 pin is gpio 14.
+
+Reading a Position, Light, or Force Sensor (Variable Resistance Sensor)
+-------------------------------------------------------------------------
+
+Problem
+*********
+
+You have a variable resistor, force-sensitive resistor, flex sensor, or any of a
+number of other sensors that output their value as a variable resistance,
+and you want to read their value with the Bone.
+
+Solution
+*********
+
+Use the Bone's analog-to-digital converters (ADCs) and a resistor
+divider circuit to detect the resistance in the sensor.
+
+The Bone has seven built-in analog inputs that can easily read a
+resistive value. :ref:`cape header analog sensors <sensors_cape_headers_analog>` shows them
+on the lower part of the +P9+ header.
+
+.. _sensors_cape_headers_analog:
+
+.. figure:: figures/cape-headers-analog.png
+ :align: center
+ :alt: Seven analog inputs on the +P9+ header
+
+ Seven analog inputs on P9 header
+
+To make this recipe, you will need:
+
+- Breadboard and jumper wires (see :ref:`app proto <app_proto>`)
+- 10 kΩ trimpot (see :ref:`app resistor <app_resistor>`) or
+- Flex resistor (optional, see :ref:`app resistor <app_resistor>`)
+- 22 kΩ resistor (see :ref:`app resistor<app_resistor>`)
+
+A variable resistor with three terminals
+
+:ref:`sensor analogIn<sensors_analogIn_fig>` shows a simple variable resistor (trimpot)
+wired to the Bone. One end terminal is wired to the ADC 1.8 V power supply on pin *P9_32*,
+and the other end terminal is attached to the ADC ground (*P9_34*). The middle terminal
+is wired to one of the seven analog-in ports (*P9_36*).
+
+.. _sensors_analogIn_fig:
+
+.. figure:: figures/analogIn_bb.png
+ :align: center
+ :alt: Wiring a 10k variable resistor (trimpot) to an ADC port
+
+ Wiring a 10k variable resistor (trimpot) to an ADC port
+
+:ref:`sensor analogIn code <sensors_analogIn_code>` shows the BoneScript code used to read the variable resistor.
+Add the code to a file called _analogIn.js_ and run it; then change the resistor and run it again. The voltage read will change.
+
+.. _py_analogIn_code:
+
+Reading an analog voltage (analogIn.py)
+
+.. code-block:: python
+
+ include::code/analogIn.py
+
+.. _sensors_analogIn_code:
+
+Reading an analog voltage (analogIn.js)
+
+.. code-block:: javascript
+
+ include::code/analogIn.js[]
+
+.. note::
+ The code in :ref:`sensor analogIn code<sensors_analogIn_code>`
+ outputs a value between 0 and 4096.
+
+A variable resistor with two terminals
+
+Some resistive sensors have only two terminals, such as the flex sensor in
+:ref:`sensor flex resistor<sensors_flexResistor_fig>`
+The resistance between its two terminals changes when it is flexed.
+In this case, we need to add a fixed resistor in series with the flex sensor.
+:ref:`sensor flex resistor <sensors_flexResistor_fig>`
+shows how to wire in a 22 kΩ resistor to give a voltage to measure
+across the flex sensor.
+
+.. _sensors_flexResistor_fig:
+
+.. figure:: figures/flexResistor_bb.png
+ :align: center
+ :alt: Reading a two-terminal flex resistor
+
+ Flex Resistor
+
+The code in :ref:`py analogIn code <py_analogIn_code>` and
+:ref:`sensors analogIn code <sensors_analogIn_code>` also works for this setup.
+
+Discussion
+************
+
+Reading a Distance Sensor (Analog or Variable Voltage Sensor)
+--------------------------------------------------------------
+
+Problem
+********
+
+You want to measure distance with a `LV-MaxSonar-EZ1 Sonar Range Finder <http://bit.ly/1Mt5Elr>`_,
+which outputs a voltage in proportion to the distance.
+
+Solution
+*********
+
+To make this recipe, you will need:
+
+* Breadboard and jumper wires (see :ref:`app proto <app_proto>`)
+* LV-MaxSonar-EZ1 Sonar Range Finder (see :ref:`app musc <app_misc>`)
+
+All you have to do is wire the EZ1 to one of the Bone's *analog-in* pins,
+as shown in `this figure<sensors_ultrasonic_fig>`. The device outputs ~6.4 mV/in when powered from 3.3 V.
+
+.. _WARNING:
+ Make sure not to apply more than 1.8 V to the Bone's *analog-in*
+ pins, or you will likely damage them. In practice, this circuit should follow that rule.
+
+.. _sensors_ultrasonic_fig:
+
+.. figure:: figures/ultrasonicRange_bb.png
+ :align: center
+ :alt: Wiring the LV-MaxSonar-EZ1 Sonar Range Finder to the *P9_33* analog-in port
+
+ Wiring the LV-MaxSonar-EZ1 Sonar Range Finder to the *P9_33* analog-in port
+
+:ref:`Ultrasonic sensor range code <sensors_ultrasonicRange_code>`
+shows the code that reads the sensor at a fixed interval.
+
+.. _py_ultrasonicRange_code:
+
+Reading an analog voltage (ultrasonicRange.py)
+
+.. code-block:: python
+
+ include::code/ultrasonicRange.py[]
+
+.. _sensors_ultrasonicRange_code:
+
+Reading an analog voltage (ultrasonicRange.js)
+
+.. code-block:: javascript
+
+ include::code/ultrasonicRange.js[]
+
+Discussion
+***********
+
+.. _sensors_hc-sr04:
+
+Reading a Distance Sensor (Variable Pulse Width Sensor)
+--------------------------------------------------------
+
+// TODO
+
+Problem
+**********
+
+You want to use a HC-SR04 Ultrasonic Range Sensor with BeagleBone Black.
+
+Solution
+**********
+The HC-SR04 Ultrasonic Range Sensor (shown in `hc sr04 sensor image <sensors_hc_sr04_image_fig>`)
+works by sending a trigger pulse to the *Trigger* input and then measuring the
+pulse width on the *Echo* output. The width of the pulse tells you the distance.
+
+.. _sensors_hc_sr04_image_fig:
+
+.. figure:: figures/hc-sr04.jpg
+ :align: center
+ :alt: HC-SR04 Ultrasonic Sensor
+
+ HC-SR04 Ultrasonic range sensor
+
+To make this recipe, you will need:
+
+* Breadboard and jumper wires (see :ref:`app proto <app_proto>`)
+* 10 kΩ and 20 kΩ resistors (see :ref:`app resistor <app_resistor>`)
+* HC-SR04 Ultrsonic Range Sensor (see :ref:`app misc <app_misc>`)
+
+Wire the sensor as shown in :ref:`hc sr04 sensor<sensors_hc-sr04_fig>`.
+Note that the HC-SR04 is a 5 V device, so the *banded* wire (running from
+*P9_7* on the Bone to VCC on the range finder) attaches the
+HC-SR04 to the Bone's 5 V power supply.
+
+.. _sensors_hc-sr04_fig:
+
+.. figure:: figures/hc-sr04-ultraSonic_bb.png
+ :align: center
+ :alt: Wiring an HC-SR04 Ultrasonic Sensor
+
+ Wiring an HC-SR04 Ultrasonic Sensor
+
+:ref:`hc sr04 <sensors_hc-sr04_code>` shows
+BoneScript code used to drive the HC-SR04.
+
+.. _sensors_hc-sr04_code:
+
+Driving a HC-SR04 ultrasound sensor (hc-sr04-ultraSonic.js)
+
+.. code-block:: javascript
+
+ include::code/hc-sr04-ultraSonic.js[]
+
+This code is more complex than others in this chapter,
+because we have to tell the device when to start
+measuring and time the return pulse.
+
+Discussion
+**********
+
+Accurately Reading the Position of a Motor or Dial
+----------------------------------------------------
+
+Problem
+**********
+
+You have a motor or dial and want to detect rotation using a rotary encoder.
+
+Solution
+**********
+
+Use a rotary encoder (also called a *quadrature encoder*) connected to one of
+the Bone's eQEP ports, as shown in :ref:`digital rotary encoder figure<digital_rotaryEncoder_fig>`.
+
+.. _digital_rotaryEncoder_fig:
+
+.. figure:: figures/rotaryEncoder_bb.png
+ :align: center
+ :alt: Wiring a rotary encoder using eQEP2
+
+ Wiring a rotary encoder using eQEP2
+
+On the BeagleBone and PocketBeage the three encoders are:
+
+.. table::
+
+ +-------------+------------------------------------+
+ | eQEP0 | P9.27 and P9.42 OR P1_33 and P2_34 |
+ +-------------+------------------------------------+
+ |eQEP | P9.33 and P9.35 |
+ +-------------+------------------------------------+
+ |eQEP2 | P8.11 and P8.12 OR P2_24 and P2_33 |
+ +-------------+------------------------------------+
+
+On the AI it's:
+
+.. table::
+
+ +-------------+------------------------------------+
+ |eQEP1 | P8.33 and P8.35 |
+ +-------------+------------------------------------+
+ |eQEP2 | P8.11 and P8.12 or P9.19 and P9.41 |
+ +-------------+------------------------------------+
+ |eQEP3 | P8.24 and P8.25 or P9.27 and P9.42 |
+ +-------------+------------------------------------+
+
+To make this recipe, you will need:
+
+* Breadboard and jumper wires (see :ref:`app proto <app_proto>`)
+* Rotary encoder (see :ref:`app misc <app_misc>`)
+
+We are using a quadrature rotary encoder, which has two switches inside
+that open and close in such a manner that you can tell which way the shaft
+is turning. In this particular encoder, the two switches have a common lead,
+which is wired to ground. It also has a pushbutton switch wired to the other
+side of the device, which we aren't using.
+
+Wire the encoder to +P8_11+ and +P8_12+, as shown in
+:ref:`digital rotary encoder <digital_rotaryEncoder_fig>`.
+
+BeagleBone Black has built-in hardware for reading up to three encoders.
+Here, we'll use the *eQEP2* encoder via the Linux +count+ subsystem.
+
+
+Then run the following commands:
+.. code-block:: bash
+
+ bone$ config-pin P8_11 qep
+ bone$ config-pin P8_12 qep
+ bone$ show-pins | grep qep
+ P8.12 12 fast rx up 4 qep 2 in A ocp/P8_12_pinmux (pinmux_P8_12_qep_pin)
+ P8.11 13 fast rx up 4 qep 2 in B ocp/P8_11_pinmux (pinmux_P8_11_qep_pin)
+
+This will enable *eQEP2* on pins +P8_11+ and *P8_12*.
+The *2* after the +qep+ returned by *show-pins* shows it's *eQEP2*.
+
+Finally, add the code in :ref:`digital rotary encoder<digital_rotaryEncoder_js>`
+to a file named *rotaryEncoder.js* and run it.
+
+.. _digital_rotaryEncoder_py:
+
+Reading a rotary encoder (rotaryEncoder.py)
+
+.. code-block:: bash
+
+ include::code/rotaryEncoder.py
+
+.. _digital_rotaryEncoder_js:
+
+Reading a rotary encoder (rotaryEncoder.js)
+
+.. code-block::javascript
+
+ include::code/rotaryEncoder.js
+
+Try rotating the encoder clockwise and counter-clockwise. You'll see an output like this:
+
+.. code-block::bash
+
+ data = 32
+ data = 40
+ data = 44
+ data = 48
+ data = 39
+ data = 22
+ data = 0
+ data = 999989
+ data = 999973
+ data = 999972
+ ^C
+
+
+The values you get for +data+ will depend on which way you are
+turning the device and how quickly. You will need to press ^C (Ctrl-C) to end.
+
+Discussion
+**********
+
+See Also
+**********
+
+You can also measure rotation by using a variable resistor (see :ref:`sensors analogIn <sensors_analogIn_fig>`).
+
+.. _sensors_GPS:
+
+Acquiring Data by Using a Smart Sensor over a Serial Connection
+-----------------------------------------------------------------
+
+// TODO
+
+Problem
+**********
+
+You want to connect a smart sensor that uses a built-in microcontroller to stream data,
+such as a global positioning system (GPS), to the Bone and read the data from it.
+
+Solution
+**********
+
+The Bone has several serial ports (UARTs) that you can use to read data from an external
+microcontroller included in smart sensors, such as a GPS. Just wire one up, and you'll
+soon be gathering useful data, such as your own location.
+
+Here's what you'll need:
+
+* Breadboard and jumper wires (see :ref:`app proto <app_proto>`)
+* GPS receiver (see :ref:`app musc <app_misc>`)
+
+Wire your GPS, as shown in :ref:`digital GPS<digital_GPS_fig>`.
+
+.. _digital_GPS_fig:
+
+.. figure:: figures/GPS_bb.png
+ :align: center
+ :alt: Wiring a GPS to UART 4
+
+ Wiring a GPS to UART 4
+
+The GPS will produce raw National Marine Electronics Association (NMEA)
+data that's easy for a computer to read, but not for a human.
+There are many utilities to help convert such sensor data into a
+human-readable form. For this GPS, run the following command to load a NMEA parser:
+
+.. code-block:: bash
+
+ bone$ npm install -g nmea
+
+Running the code in :ref:`digital GPD code <digital_GPS_code>`
+will print the current location every time the GPS outputs it.
+
+.. _digital_GPS_code:
+
+Talking to a GPS with UART 4 (GPS.js)
+
+.. code-block:: javascript
+
+ include::code/GPS.js[]
+
+If you don't need the NMEA formatting, you can skip the *npm* part and remove the lines in the code that refer to it.
+
+.. note:: If you get an error like this
+
+.. TypeError:: Cannot call method 'readline' of undefined+
+
+add this line to the end of file */usr/local/lib/node_modules/bonescript/serial.js*:
+
+*exports.serialParsers = m.module.parsers;*
+
+Discussion
+**********
+
+
+.. _cape-headers-serial_fig:
+
+.. figure:: figures/cape-headers-serial.png
+ :align: center
+ :alt: UART outputs
+
+ Table of UART outputs
+
+.. _sensors_i2c_temp:
+
+Measuring a Temperature
+---------------------------
+
+Problem
+**********
+
+You want to measure a temperature using a digital temperature sensor.
+
+Solution
+**********
+
+The TMP101 sensor is a common digital temperature
+sensor that uses a standard I^2^C-based serial protocol.
+
+To make this recipe, you will need:
+
+* Breadboard and jumper wires (see :ref:`app proto <app_proto>`)
+* Two 4.7 kΩ resistors (see :ref:`app resistor <app_resistor>`)
+* TMP101 temperature sensor (see :ref:`app ic<app_ic>`)
+
+Wire the TMP101, as shown in :ref:`i2c temprature sensor<sensors_i2cTemp_fig>`.
+
+.. _sensors_i2cTemp_fig:
+
+.. figure:: figures/i2cTemp_bb.png
+ :align: center
+ :alt: Wiring an I^2^C TMP101 temperature sensor
+
+ Wiring an I^2^C TMP101 temperature sensor
+
+There are two I^2^C buses brought out to the headers.
+:ref:`sensor cap headers i2c <sensors_cape_headers_i2c>`
+shows that you have wired your device to I^2^C bus +2+.
+
+.. _sensors_cape_headers_i2c:
+
+.. figure:: figures/cape-headers-i2c.png
+ :align: center
+ :alt: Table of I^2^C outputs
+
+ Table of I^2^C outputs
+
+
+Once the I^2^C device is wired up, you can use a couple handy I^2^C
+tools to test the device. Because these are Linux command-line tools,
+you have to use +2+ as the bus number. +i2cdetect+, shown in `javascript I2C tools <js_i2cTools>`,
+shows which I^2^C devices are on the bus. The +-r+ flag indicates which bus to use.
+Our TMP101 is appearing at address *0x498. You can use the +i2cget+ command to read
+the value. It returns the temperature in hexidecimal and degrees C.
+In this example, 0x18 = 24{deg}C, which is 75.2{deg}F. (Hmmm, the office is a bit warm today.)
+Try warming up the TMP101 with your finger and running *i2cget* again.
+
+.. _js_i2cTools:
+
+I^2^C tools
+
+.. code-block:: bash
+
+ bone$ i2cdetect -y -r 2
+ 0 1 2 3 4 5 6 7 8 9 a b c d e f
+ 00: -- -- -- -- -- -- -- -- -- -- -- -- --
+ 10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
+ 20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
+ 30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
+ 40: -- -- -- -- -- -- -- -- -- 49 -- -- -- -- -- --
+ 50: -- -- -- -- UU UU UU UU -- -- -- -- -- -- -- --
+ 60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
+ 70: -- -- -- -- -- -- -- --
+
+ bone$ i2cget -y 2 0x49
+ 0x18
+
+
+Reading the temperature via the kernel driver
+**********************************************
+
+The cleanest way to read the temperature from at TMP101 sensor is to use the kernel drive.
+
+Assuming the TMP101 is on bus 2 (the last digit is the bus number)
+
+.. _js_i2cKernel:
+
+I^2^C TMP101 via Kernel
+
+.. code-block:: bash
+
+ bone$ cd /sys/class/i2c-adapter/
+ bone$ ls
+ i2c-0 i2c-1 i2c-2 # Three i2c busses (bus 0 is internal)
+ bone$ cd i2c-2 # Pick bus 2
+ bone$ ls -ls
+ 0 --w--w---- 1 root gpio 4096 Jul 1 09:24 delete_device
+ 0 lrwxrwxrwx 1 root gpio 0 Jun 30 16:25 device -> ../../4819c000.i2c
+ 0 drwxrwxr-x 3 root gpio 0 Dec 31 1999 i2c-dev
+ 0 -r--r--r-- 1 root gpio 4096 Dec 31 1999 name
+ 0 --w--w---- 1 root gpio 4096 Jul 1 09:24 new_device
+ 0 lrwxrwxrwx 1 root gpio 0 Jun 30 16:25 of_node -> ../../../../../../../../firmware/devicetree/base/ocp/interconnect@48000000/segment@100000/target-module@9c000/i2c@0
+ 0 drwxrwxr-x 2 root gpio 0 Dec 31 1999 power
+ 0 lrwxrwxrwx 1 root gpio 0 Jun 30 16:25 subsystem -> ../../../../../../../../bus/i2c
+ 0 -rw-rw-r-- 1 root gpio 4096 Dec 31 1999 uevent
+
+
+Assuming the TMP101 is at address 0x48:
+
+.. code-block:: bash
+
+ bone$ echo tmp101 0x49 > new_device
+
+
+This tells the kernel you have a TMP101 sensor at address 0x49. Check the log to be sure.
+
+.. code-block:: bash
+
+ bone$ dmesg -H | tail -3
+ [ +13.571823] i2c i2c-2: new_device: Instantiated device tmp101 at 0x49
+ [ +0.043362] lm75 2-0049: supply vs not found, using dummy regulator
+ [ +0.009976] lm75 2-0049: hwmon0: sensor 'tmp101'
+
+Yes, it's there, now see what happened.
+
+.. code-block:: bash
+
+ bone$ ls
+ 2-0049 delete_device device i2c-dev name
+ new_device of_node power subsystem uevent
+
+
+Notice a new directory has appeared. It's for i2c bus 2, address 0x49. Look into it.
+
+.. code-block:: bash
+
+ bone$ cd 2-0048/hwmon/hwmon0
+ bone$ ls -F
+ device@ name power/ subsystem@ temp1_input temp1_max
+ temp1_max_hyst uevent update_interval
+ bone$ cat temp1_input
+ 24250
+
+There is the temperature in milli-degrees C.
+
+Other i2c devices are supported by the kernel.
+You can try the Linux Kernel Driver Database,
+https://cateee.net/lkddb/ to see them.
+
+Once the driver is in place, you can read it via code.
+:ref:`i2c temprature python code <py_i2cTemp_code>`
+shows how to read the TMP101 from BoneScript.
+
+.. _py_i2cTemp_code:
+
+Reading an I^2^C device (i2cTemp.py)
+
+.. code-block:: python
+
+ include::code/i2cTemp.py[]
+
+
+.. _js_i2cTemp_code:
+
+.Reading an I^2^C device (i2cTemp.js)
+
+.. code-block:: javascript
+
+ include::code/i2cTemp.js[]
+
+Run the code by using the following command:
+
+.. code-block:: bash
+
+ bone$ ./i2cTemp.js
+ data (C) = 25.625
+ data (C) = 27.312
+ data (C) = 28.187
+ data (C) = 28.375
+ ^C
+
+
+Notice using the kernel interface gets you more digits of accuracy.
+
+Reading i2c device directly
+*******************************
+
+The TMP102 sensor can be read directly with i2c commands rather than using the kernel driver. First you need to install the i2c module.
+
+.. code-block:: bash
+
+ bone$ pip install smbus
+
+
+.. _js_i2ctmp101_code:
+
+Reading an I^2^C device (i2cTemp.py)
+.. code-block:: python
+
+ include::code/i2ctmp101.py[]
+
+This gets only 8 bits for the temperature. See the TMP101 datasheet for details on how to get up to 12 bits.
+
+Discussion
+**********
+
+
+Reading Temperature via a Dallas 1-Wire Device
+----------------------------------------------------
+
+Problem
+**********
+
+You want to measure a temperature using a Dallas Semiconductor DS18B20 temperature sensor.
+
+Solution
+**********
+
+I need to double-check how we provide attribution for recipes, but we'll need to have
+something more than "From" followed by a link. For now, we should at least do
+something like what I've changed it to. --BS
+
+--may A bigger question is, when do we need attribution?
+I pull bits and pieces from everywhere and try to keep good records of sources.
+
+The DS18B20 is an interesting temperature sensor that uses Dallas
+Semiconductor's 1-wire interface. The data communication requires only
+one wire! (However, you still need wires from ground and 3.3 V.)
+You can wire it to any GPIO port.
+
+To make this recipe, you will need:
+
+* Breadboard and jumper wires (see :ref:`app proto <app_proto>`)
+* 4.7 kΩ resistor (see :ref:`app resistor <app_resistor>`)
+* DS18B20 1-wire temperature sensor (see :ref:`app ic<app_ic>`)
+
+Wire up as shown in :ref:`1 wire sensor <sensors_1-wire_fig>`.
+
+.. _sensors_1-wire_fig:
+
+.. note:: This solution, written by Elias Bakken (@AgentBrum), originally appeared on`Hipstercircuits http://bit.ly/1FaRbbK`_.
+
+.. figure:: figures/onewire_bb.png
+ :align: center
+ :alt: 1-wire
+
+ Wiring a Dallas 1-Wire temperature sensor
+
+Edit the file +/boot/uEnt.txt+.
+Go to about line 19 and edit as shown:
+
+.. code-block:: bash
+
+ 17 ###
+ 18 ###Additional custom capes
+ 19 uboot_overlay_addr4=BB-W1-P9.12-00A0.dtbo
+ 20 #uboot_overlay_addr5=<file5>.dtbo
+
+Be sure to remove the +#+ at the beginning of the line.
+
+Reboot the bone:
+
+.. code-block:: bash
+
+ bone$ reboot
+
+
+Now run the following command to discover the serial number on your device:
+
+.. code-block:: bash
+
+ bone$ ls /sys/bus/w1/devices/
+ 28-00000114ef1b 28-00000128197d w1_bus_master1
+
+
+I have two devices wired in parallel on the same P9_12 input.
+This shows the serial numbers for all the devices.
+
+Finally, add the code in
+:ref:`onewire sensor code <sensors_onewire__code>` in to a
+file named *w1.py*, edit the path assigned to +w1+ so
+that the path points to your device, and then run it.
+
+.. _py_onewire__code:
+
+Reading a temperature with a DS18B20 (w1.py)
+
+.. code-block:: python
+
+ include::code/w1.py[]
+
+.. _sensors_onewire__code:
+
+Reading a temperature with a DS18B20 (w1.js)
+
+.. code-block:: javascript
+
+ include::code/w1.js[]
+
+
+.. code-block:: bash
+
+ bone$ ./w1.js
+ temp (C) = 28.625
+ temp (C) = 29.625
+ temp (C) = 30.5
+ temp (C) = 31.0
+ ^C
+
+
+Discussion
+**********
+
+Each temperature sensor has a unique serial number, so you can have several all sharing the same data line.
+
+.. // .. _sensors_sensortag:
+
+.. // Sensing All Sorts of Things with SensorTag via Bluetooth v4.0
+.. ----------------------------------------------------
+.. // // TODO Remove
+.. // Problem
+.. **********
+.. // ((("sensors", "Bluetooth 4.0 interface for")))((("Bluetooth Low Energy (BLE)")))((("TI SensorTag")))((("SensorTag")))((("environmental sensors", "TI SensorTag")))((("temperature sensors", "Sensor Tag")))((("humidity sensor")))((("accelerometers")))((("pressure sensors")))((("magnetometers")))((("gyroscopes")))((("motion sensors")))You have a TI SensorTag, and you want to interface it to BeagleBone Black via Bluetooth Low Energy (BLE).
+
+.. // Solution
+.. **********
+.. // TI's http://bit.ly/1C58WIN[SensorTag] (shown in <<sensors_sensortag_fig>>) combines six sensors (temperature, humidity, accelerometer, pressure, magnetometer, and gyroscope) in one package that interfaces via http://bit.ly/1EzMo4x[Bluetooth Low Energy].
+
+.. // .. _sensors_sensortag_fig:
+
+.. // .SensorTag
+.. // .. figure:: figures/sensorTag.jpg[SensorTag]
+
+.. // To make this recipe, you will need:
+
+.. // * BLE USB dongle (see :ref:`app musc <app_misc>`)
+.. // * SensorTag (see :ref:`app musc <app_misc>`)
+.. // * 5 V adapter for the Bone
+
+.. // Power up your Bone using the 5 V adapter. You need the adapter because the BLE dongle needs extra power for the radios it contains. After it is booted up, log in (:ref:`shell tips <tips_shell>`) and run the following commands:
+
+.. // ++++
+.. // <pre data-type="programlisting">
+.. // bone$ sudo apt install libbluetooth-dev
+.. // bone$ npm install -g sensortag
+.. // </pre>
+.. // ++++
+
+.. // This installs the Bluetooth tools and the JavaScript library to talk to it.
+
+.. // Add the code in <<sensors_sensorTag_code>> to a file called _sensorTag.js_ and run it.
+
+.. // .. _sensors_sensorTag_code:
+
+.. // .Code for reading the temperature from a SensorTag (sensorTag.js)
+.. // ====
+.. // [source, js]
+.. // ----
+
+.. // include::code/sensorTag.js[sensorTag.js]
+
+.. // ----
+.. // ====
+.. // <1> Read in the various packages that are needed.
+
+.. // <2> +SensorTag.discover+ checks what SensorTags are out there. When found, it calls the inline function that follows.
+
+.. // <3> pass:[<span id="callout_list_item_3">This</span>] function is called when the SensorTag is disconnected.
+
+.. // <4> Normally JavaScript does everything synchronously. Here, we want to do the following asynchronously--that is, step-by-step, one after the other. We are passing an array to +async.series()+, which contains the functions to run in the order in which they appear in the array.
+
+.. // <5> Connect to the SensorTag.
+
+.. // <6> Discover what the SensorTag can do. This is necessary before we can give it any commands.
+
+.. // <7> Enable temperatures. We don't get a temperature reading yet. Rather, we're instructing it to begin reading and report back when they are ready.
+
+.. // <8> Wait a bit for the first temperatures to be read.
+
+.. // <9> This specifies the function to call every time a temperature is ready. The callback is passed +objectTemperature+ (what's read by the touchless IR sensors) and +ambientTemperature+ (the temperature inside the SensorTag). Try putting your hand in front of the device; the +objectTemperature+ should go up.
+
+.. // <10> Define the callback for when the temperature changes.
+
+.. // <11> This commented-out code is used when you want to turn off the temperature readings.
+
+.. // <12> Assign a callback to respond to the +left+ and +right+ button pushes.
+
+.. // <13> If both buttons are pushed, pass the +callback+ function to +sensorTag.notifySimpleKey()+.
+
+.. // <14> +sensorTag.notifySimpleKey()+ doesn't do anything in this case, but it does evaluate +callback+, allowing it to progress to the next and final state.
+
+.. // <15> When we get to here, we disconnect from the SensorTag, which causes the code to exit (see pass:[<a href="#callout_list_item_3"><img src="callouts/3.png" alt="3"/></a>]).
+
+.. // [role="pagebreak-before"]
+.. // Here's some output from the code:
+
+.. // [source, console]
+.. // ----
+.. // Be sure sensorTag is on
+.. // sensorTag = {"uuid":"9059af0b8457"}
+.. // connect
+.. // discoverServicesAndCharacteristics
+.. // enableIrTemperature
+.. // readIrTemperature
+.. // object temperature = 2.8 °C
+.. // ambient temperature = 0 °C
+.. // readSimpleRead
+.. // notifyIrTemperature
+.. // object temperature = 31.8 °C
+.. // ambient temperature = 24.8 °C
+
+.. // object temperature = 25.9 °C
+.. // ambient temperature = 24.8 °C
+
+.. // object temperature = 27.4 °C
+.. // ambient temperature = 24.8 °C
+
+.. // object temperature = 32.2 °C
+.. // ambient temperature = 24.8 °C
+
+.. // left: false right: true
+.. // left: true right: true
+.. // left: false right: false
+.. // disconnect
+.. // disconnected!
+.. // ----
+
+.. // Discussion
+.. **********
+
+
+.. // Here, you see examples of how to read all the sensors. Look in _index.js_ (in the same directory) to see all the methods that are defined.
+
+.. _sensors_audio:
+
+Playing and Recording Audio
+------------------------------
+
+.. TODO:: Remove?
+
+Problem
+**********
+
+BeagleBone doesn't have audio built in, but you want to play and record files.
+
+Solution
+**********
+
+One approach is to buy an audio cape (:ref:`app capes <app_capes>`), but another, possibly cheaper approach is to buy a USB audio adapter,
+such as the one shown in :ref:`usb audio dongle<usb_audio_dongle>`. Some adapters that I've tested are provided in :ref:`app musc <app_misc>`.
+
+.. _usb_audio_dongle:
+
+A USB audio dongle
+
+.. figure:: figures/audioDongle.jpg
+ :align: center
+ :alt: Audio Dongle
+
+Drivers for the `Advanced Linux Sound Architecture http://bit.ly/1MrAJUR`_ (ALSA)
+are already installed on the Bone. You can list the recording and playing devices on
+your Bone by using +aplay+ and +arecord+, as shown in :ref:`alsa sensors <sensors_alsa>`. BeagleBone Black
+has audio-out on the HDMI interface. It's listed as *card 0* in
+:ref:`also sensor <sensors_alsa>`. *card 1* is my USB audio adapter's audio out.
+
+.. _sensors_alsa:
+
+Listing the ALSA audio output and input devices on the Bone
+
+.. code-block:: bash
+
+ bone$ aplay -l
+ **** List of PLAYBACK Hardware Devices ****
+ card 0: Black [TI BeagleBone Black], device 0: HDMI nxp-hdmi-hifi-0 []
+ Subdevices: 1/1
+ Subdevice #0: subdevice #0
+ card 1: Device [C-Media USB Audio Device], device 0: USB Audio [USB Audio]
+ Subdevices: 1/1
+ Subdevice #0: subdevice #0
+
+ bone$ arecord -l
+ **** List of CAPTURE Hardware Devices ****
+ card 1: Device [C-Media USB Audio Device], device 0: USB Audio [USB Audio]
+ Subdevices: 1/1
+ Subdevice #0: subdevice #0
+
+
+In the *aplay* output shown in :ref:`alsa sensor <sensors_alsa>`, you can see the
+USB adapter's audio out. By default, the Bone will send audio to the HDMI. You
+can change that default by creating a file in your home directory called
+*~/.asoundrc* and adding the code in :ref:`asoundrc <sensors_asoundrc>` to it.
+
+.. _sensors_asoundrc:
+
+Change the default audio out by putting this in ~/.asoundrc (audio.asoundrc)
+
+.. code-block:: javascript
+
+ include::code/audio.asoundrc
+
+
+You can easily play _.wav_ files with +aplay+:
+
+.. code-block:: bash
+
+ bone$ aplay test.wav
+
+
+You can play other files in other formats by installing +mplayer+:
+
+.. code-block:: bash
+
+ bone$ sudo apt update
+ bone$ sudo apt install mplayer
+ bone$ mplayer test.mp3
+
+
+Discussion
+**********
+
+Adding the simple USB audio adapter opens up a world of audio I/O on the Bone.
diff --git a/bone-cook-book/03displays/code/externLED.js b/bone-cook-book/03displays/code/externLED.js
new file mode 100755
index 0000000000000000000000000000000000000000..40ad5dabb9bd79d2b43c29c29e4c021f06b3e842
--- /dev/null
+++ b/bone-cook-book/03displays/code/externLED.js
@@ -0,0 +1,33 @@
+#!/usr/bin/env node
+////////////////////////////////////////
+// externalLED.js
+// Blinks the P9_14 pin
+// Wiring:
+// Setup:
+// See:
+////////////////////////////////////////
+const fs = require("fs");
+
+// Look up P9.14 using gpioinfo | grep -e chip -e P9.14. chip 1, line 18 maps to 50
+pin="50";
+
+GPIOPATH="/sys/class/gpio/";
+// Make sure pin is exported
+if(!fs.existsSync(GPIOPATH+"gpio"+pin)) {
+ fs.writeFileSync(GPIOPATH+"export", pin);
+}
+// Make it an output pin
+fs.writeFileSync(GPIOPATH+"gpio"+pin+"/direction", "out");
+
+// Blink every 500ms
+setInterval(toggle, 500);
+
+state="1";
+function toggle() {
+ fs.writeFileSync(GPIOPATH+"gpio"+pin+"/value", state);
+ if(state == "0") {
+ state = "1";
+ } else {
+ state = "0";
+ }
+}
diff --git a/bone-cook-book/03displays/code/externLED.py b/bone-cook-book/03displays/code/externLED.py
new file mode 100755
index 0000000000000000000000000000000000000000..786d3217dbd0c53dccc668d215c0442a69feb860
--- /dev/null
+++ b/bone-cook-book/03displays/code/externLED.py
@@ -0,0 +1,40 @@
+#!/usr/bin/env python
+# ////////////////////////////////////////
+# // externalLED.py
+# // Blinks an external LED wired to P9_14.
+# // Wiring: P9_14 connects to the plus lead of an LED. The negative lead of the
+# LED goes to a 220 Ohm resistor. The other lead of the resistor goes
+# to ground.
+# // Setup:
+# // See:
+# ////////////////////////////////////////
+import time
+import os
+
+ms = 250 # Time to blink in ms
+# Look up P9.14 using gpioinfo | grep -e chip -e P9.14. chip 1, line 18 maps to 50
+pin = '50'
+
+GPIOPATH='/sys/class/gpio/'
+# Make sure pin is exported
+if (not os.path.exists(GPIOPATH+"gpio"+pin)):
+ f = open(GPIOPATH+"export", "w")
+ f.write(pin)
+ f.close()
+
+# Make it an output pin
+f = open(GPIOPATH+"gpio"+pin+"/direction", "w")
+f.write("out")
+f.close()
+
+f = open(GPIOPATH+"gpio"+pin+"/value", "w")
+# Blink
+while True:
+ f.seek(0)
+ f.write("1")
+ time.sleep(ms/1000)
+
+ f.seek(0)
+ f.write("0")
+ time.sleep(ms/1000)
+f.close()
diff --git a/bone-cook-book/03displays/code/fadeLED.js b/bone-cook-book/03displays/code/fadeLED.js
new file mode 100755
index 0000000000000000000000000000000000000000..49db7ecd7a6839f3952e9090af1572cf0346b22d
--- /dev/null
+++ b/bone-cook-book/03displays/code/fadeLED.js
@@ -0,0 +1,44 @@
+#!/usr/bin/env node
+////////////////////////////////////////
+// fadeLED.js
+// Blinks the P9_14 pin
+// Wiring:
+// Setup: config-pin P9_14 pwm
+// See:
+////////////////////////////////////////
+const fs = require("fs");
+const ms = '20'; // Fade time in ms
+
+const pwmPeriod = '1000000'; // Period in ns
+const pwm = '1'; // pwm to use
+const channel = 'a'; // channel to use
+const PWMPATH='/dev/bone/pwm/'+pwm+'/'+channel;
+var step = 0.02; // Step size
+const min = 0.02, // dimmest value
+ max = 1; // brightest value
+var brightness = min; // Current brightness;
+
+
+// Set the period in ns
+fs.writeFileSync(PWMPATH+'/period', pwmPeriod);
+fs.writeFileSync(PWMPATH+'/duty_cycle', pwmPeriod/2);
+fs.writeFileSync(PWMPATH+'/enable', '1');
+
+setInterval(fade, ms); // Step every ms
+
+function fade() {
+ fs.writeFileSync(PWMPATH+'/duty_cycle',
+ parseInt(pwmPeriod*brightness));
+ brightness += step;
+ if(brightness >= max || brightness <= min) {
+ step = -1 * step;
+ }
+}
+
+// | Pin | pwm | channel
+// | P9_31 | 0 | a
+// | P9_29 | 0 | b
+// | P9_14 | 1 | a
+// | P9_16 | 1 | b
+// | P8_19 | 2 | a
+// | P8_13 | 2 | b
\ No newline at end of file
diff --git a/bone-cook-book/03displays/code/fadeLED.py b/bone-cook-book/03displays/code/fadeLED.py
new file mode 100755
index 0000000000000000000000000000000000000000..bd2016d1f80a8fc21f02387909824236fd16a9d7
--- /dev/null
+++ b/bone-cook-book/03displays/code/fadeLED.py
@@ -0,0 +1,44 @@
+#!/usr/bin/env python
+# ////////////////////////////////////////
+# // fadeLED.py
+# // Blinks the P9_14 pin
+# // Wiring:
+# // Setup: config-pin P9_14 pwm
+# // See:
+# ////////////////////////////////////////
+import time
+ms = 20; # Fade time in ms
+
+pwmPeriod = 1000000 # Period in ns
+pwm = '1' # pwm to use
+channel = 'a' # channel to use
+PWMPATH='/dev/bone/pwm/'+pwm+'/'+channel
+step = 0.02 # Step size
+min = 0.02 # dimmest value
+max = 1 # brightest value
+brightness = min # Current brightness
+
+f = open(PWMPATH+'/period', 'w')
+f.write(str(pwmPeriod))
+f.close()
+
+f = open(PWMPATH+'/enable', 'w')
+f.write('1')
+f.close()
+
+f = open(PWMPATH+'/duty_cycle', 'w')
+while True:
+ f.seek(0)
+ f.write(str(round(pwmPeriod*brightness)))
+ brightness += step
+ if(brightness >= max or brightness <= min):
+ step = -1 * step
+ time.sleep(ms/1000)
+
+# | Pin | pwm | channel
+# | P9_31 | 0 | a
+# | P9_29 | 0 | b
+# | P9_14 | 1 | a
+# | P9_16 | 1 | b
+# | P8_19 | 2 | a
+# | P8_13 | 2 | b
\ No newline at end of file
diff --git a/bone-cook-book/03displays/code/internLED.js b/bone-cook-book/03displays/code/internLED.js
new file mode 100755
index 0000000000000000000000000000000000000000..b6545f219cedf856089757c75cee29675792692f
--- /dev/null
+++ b/bone-cook-book/03displays/code/internLED.js
@@ -0,0 +1,25 @@
+#!/usr/bin/env node
+// //////////////////////////////////////
+// internalLED.js
+// Blinks the USR LEDs.
+// Wiring:
+// Setup:
+// See:
+// //////////////////////////////////////
+const fs = require('fs');
+const ms = 250; // Blink time in ms
+const LED = 'usr0'; // LED to blink
+const LEDPATH = '/sys/class/leds/beaglebone:green:'+LED+'/brightness';
+
+var state = '1'; // Initial state
+
+setInterval(flash, ms); // Change state every ms
+
+function flash() {
+ fs.writeFileSync(LEDPATH, state)
+ if(state === '1') {
+ state = '0';
+ } else {
+ state = '1';
+ }
+}
diff --git a/bone-cook-book/03displays/code/internLED.py b/bone-cook-book/03displays/code/internLED.py
new file mode 100755
index 0000000000000000000000000000000000000000..11db5efcfa129cc05a7b8871ce9fc32489dedcb6
--- /dev/null
+++ b/bone-cook-book/03displays/code/internLED.py
@@ -0,0 +1,26 @@
+#!/usr/bin/env python
+# //////////////////////////////////////
+# internalLED.py
+# Blinks A USR LED.
+# Wiring:
+# Setup:
+# See:
+# //////////////////////////////////////
+import time
+
+ms = 250 # Blink time in ms
+LED = 'usr0'; # LED to blink
+LEDPATH = '/sys/class/leds/beaglebone:green:'+LED+'/brightness'
+
+state = '1' # Initial state
+
+f = open(LEDPATH, "w")
+
+while True:
+ f.seek(0)
+ f.write(state)
+ if (state == '1'):
+ state = '0'
+ else:
+ state = '1'
+ time.sleep(ms/1000)
\ No newline at end of file
diff --git a/bone-cook-book/03displays/code/matrixLEDi2c.js b/bone-cook-book/03displays/code/matrixLEDi2c.js
new file mode 100755
index 0000000000000000000000000000000000000000..405419b7b0d1339af1ebae20b02d3f663677d4cf
--- /dev/null
+++ b/bone-cook-book/03displays/code/matrixLEDi2c.js
@@ -0,0 +1,45 @@
+#!/usr/bin/env node
+// npm install -g sleep
+
+var b = require('bonescript');
+var sleep = require('sleep');
+var port = '/dev/i2c-2' // <1>
+var matrix = 0x70; // <2>
+var time = 1000000; // Delay between images in us
+
+// The first btye is GREEN, the second is RED. <3>
+var smile =
+ [0x00, 0x3c, 0x00, 0x42, 0x28, 0x89, 0x04, 0x85,
+ 0x04, 0x85, 0x28, 0x89, 0x00, 0x42, 0x00, 0x3c];
+var frown =
+ [0x3c, 0x00, 0x42, 0x00, 0x85, 0x20, 0x89, 0x00,
+ 0x89, 0x00, 0x85, 0x20, 0x42, 0x00, 0x3c, 0x00];
+var neutral =
+ [0x3c, 0x3c, 0x42, 0x42, 0xa9, 0xa9, 0x89, 0x89,
+ 0x89, 0x89, 0xa9, 0xa9, 0x42, 0x42, 0x3c, 0x3c];
+var blank = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
+
+b.i2cOpen(port, matrix); // <4>
+
+b.i2cWriteByte(port, 0x21); // Start oscillator (p10) <5>
+b.i2cWriteByte(port, 0x81); // Disp on, blink off (p11)
+b.i2cWriteByte(port, 0xe7); // Full brightness (page 15)
+
+b.i2cWriteBytes(port, 0x00, frown); // <6>
+sleep.usleep(time);
+
+b.i2cWriteBytes(port, 0x00, neutral);
+sleep.usleep(time);
+
+b.i2cWriteBytes(port, 0x00, smile);
+// Fade the display
+var fade;
+for(fade = 0xef; fade >= 0xe0; fade--) { // <7>
+ b.i2cWriteByte(port, fade);
+ sleep.usleep(time/10);
+}
+for(fade = 0xe1; fade <= 0xef; fade++) {
+ b.i2cWriteByte(port, fade);
+ sleep.usleep(time/10);
+}
+b.i2cWriteBytes(port, 0x04, [0xff]);
\ No newline at end of file
diff --git a/bone-cook-book/03displays/code/matrixLEDi2c.py b/bone-cook-book/03displays/code/matrixLEDi2c.py
new file mode 100755
index 0000000000000000000000000000000000000000..311714c04bcfc5f25ab140d1bd928c1153ae4238
--- /dev/null
+++ b/bone-cook-book/03displays/code/matrixLEDi2c.py
@@ -0,0 +1,41 @@
+#!/usr/bin/env python
+# ////////////////////////////////////////
+# // i2cTemp.py
+# // Write an 8x8 Red/Green LED matrix.
+# // Wiring: Attach to i2c as shown in text.
+# // Setup: echo tmp101 0x49 > /sys/class/i2c-adapter/i2c-2/new_device
+# // See: https://www.adafruit.com/product/902
+# ////////////////////////////////////////
+import smbus
+import time
+
+bus = smbus.SMBus(2) # Use i2c bus 2 <1>
+matrix = 0x70 # Use address 0x70 <2>
+ms = 1; # Delay between images in ms
+
+# The first byte is GREEN, the second is RED. <3>
+smile = [0x00, 0x3c, 0x00, 0x42, 0x28, 0x89, 0x04, 0x85,
+ 0x04, 0x85, 0x28, 0x89, 0x00, 0x42, 0x00, 0x3c
+]
+frown = [0x3c, 0x00, 0x42, 0x00, 0x85, 0x20, 0x89, 0x00,
+ 0x89, 0x00, 0x85, 0x20, 0x42, 0x00, 0x3c, 0x00
+]
+neutral = [0x3c, 0x3c, 0x42, 0x42, 0xa9, 0xa9, 0x89, 0x89,
+ 0x89, 0x89, 0xa9, 0xa9, 0x42, 0x42, 0x3c, 0x3c
+]
+
+bus.write_byte_data(matrix, 0x21, 0) # Start oscillator (p10) <4>
+bus.write_byte_data(matrix, 0x81, 0) # Disp on, blink off (p11)
+bus.write_byte_data(matrix, 0xe7, 0) # Full brightness (page 15)
+
+bus.write_i2c_block_data(matrix, 0, frown) # <5>
+for fade in range(0xef, 0xe0, -1): # <6>
+ bus.write_byte_data(matrix, fade, 0)
+ time.sleep(ms/10)
+
+bus.write_i2c_block_data(matrix, 0, neutral)
+for fade in range(0xe0, 0xef, 1):
+ bus.write_byte_data(matrix, fade, 0)
+ time.sleep(ms/10)
+
+bus.write_i2c_block_data(matrix, 0, smile)
diff --git a/bone-cook-book/03displays/code/neoPixel.sh b/bone-cook-book/03displays/code/neoPixel.sh
new file mode 100755
index 0000000000000000000000000000000000000000..0e213f4b4fc8dddaf5001536e3073513a7b41564
--- /dev/null
+++ b/bone-cook-book/03displays/code/neoPixel.sh
@@ -0,0 +1,19 @@
+#!/bin/sh
+# Here's what you do to install the neoPixel driver
+# Disable the HDMI to gain access to the PRU pins
+sed -i '/cape_disable=capemgr.disable_partno=BB-BONELT-HDMI,BB-BONELT-HDMIN$/ \
+ s/^#//' /boot/uEnv.txt
+reboot
+# Clone and build the code
+cd
+git clone -b opc-server https://github.com/jadonk/LEDscape.git
+cd LEDscape
+make
+cd
+git clone https://github.com/jadonk/openpixelcontrol.git
+# Load and configure the kernel module, pins and LEDscape daemon
+config-pin overlay BB-OPC-EX
+modprobe uio_pruss
+./LEDscape/run-ledscape &
+# Run an example Python script
+./openpixelcontrol/python_clients/example.py
diff --git a/bone-cook-book/03displays/code/nokia5110.js b/bone-cook-book/03displays/code/nokia5110.js
new file mode 100644
index 0000000000000000000000000000000000000000..9a43c98bd1f8093b00268d84e768b9398a1c9874
--- /dev/null
+++ b/bone-cook-book/03displays/code/nokia5110.js
@@ -0,0 +1,18 @@
+#!/usr/bin/env node
+//
+// Copyright (C) 2012 - Cabin Programs, Ken Keller
+//
+
+var lcd = require('nokia5110');
+var b = require('bonescript');
+var timeout = 0;
+var inverseIndex;
+
+//
+// Must define the following outputs
+//
+lcd.PIN_SDIN = "P9_17";
+lcd.PIN_SCLK = "P9_21";
+lcd.PIN_SCE = "P9_11";
+lcd.PIN_DC = "P9_15";
+lcd.PIN_RESET= "P9_13";
\ No newline at end of file
diff --git a/bone-cook-book/03displays/code/nokia5110Test.js b/bone-cook-book/03displays/code/nokia5110Test.js
new file mode 100755
index 0000000000000000000000000000000000000000..a823f8193780b615cb73f9c475a19ef6df74686d
--- /dev/null
+++ b/bone-cook-book/03displays/code/nokia5110Test.js
@@ -0,0 +1,231 @@
+#!/usr/bin/env node
+//
+// Copyright (C) 2012 - Cabin Programs, Ken Keller
+//
+
+var lcd = require('nokia5110');
+var b = require('bonescript');
+var timeout = 0;
+var inverseIndex;
+
+//
+// Must define the following outputs to use LCD_5110.js
+//
+lcd.PIN_SDIN = "P9_17";
+lcd.PIN_SCLK = "P9_21";
+lcd.PIN_SCE = "P9_11";
+lcd.PIN_DC = "P9_15";
+lcd.PIN_RESET= "P9_13";
+
+lcd.setup();
+setTimeout(loop, 0);
+// loop();
+
+function loop() {
+// test bitmap write
+ console.log("test bitmap write");
+// lcd.clear();
+ lcd.gotoXY(0, 0);
+ lcd.bitmap(beagle);
+
+ inverseIndex = 0;
+ setTimeout(loop0, 1000*timeout);
+}
+
+function loop0() {
+// test inverse video
+ console.log("test inverse video");
+ if(inverseIndex % 2) {
+ lcd.inverse(lcd.LCD_INVERSE);
+ } else {
+ lcd.inverse(lcd.LCD_NORMAL);
+ }
+
+ inverseIndex++;
+
+ if(inverseIndex < 19) {
+ setTimeout(loop0, 50*timeout);
+ } else {
+ setTimeout(loop1, 50*timeout);
+ }
+}
+
+function loop1() {
+// test normal character write
+ console.log("test normal character write");
+ // lcd.clear();
+ lcd.gotoXY(0, 0);
+ for ( index = 0x41 ; index < 0x7b ; index++)
+ lcd.character(String.fromCharCode(index));
+
+ setTimeout(loop2, 2000*timeout);
+}
+
+function loop2() {
+// test bitmap and string write
+ console.log("test bitmap and string write");
+ // lcd.clear();
+ lcd.gotoXY(0, 0);
+ lcd.bitmap(world_map);
+
+ setTimeout(loop3, 1000*timeout);
+}
+
+function loop3() {
+ var index;
+
+ for (index=0; index<5; index++)
+ {
+ lcd.gotoXY(0, 3);
+ lcd.string('HELLO WORLD!');
+ lcd.gotoXY(0, 3);
+ lcd.string('hello world!');
+ }
+
+ setTimeout(loop4, 0);
+}
+
+function loop4() {
+ var index;
+
+// test solid block character
+ console.log("test solid block character");
+ // lcd.clear();
+ lcd.gotoXY(0, 0);
+ for ( index = 0 ; index < 72 ; index++)
+ lcd.character(String.fromCharCode(0x7f));
+
+// Scrolling text test
+ console.log("Scrolling text test");
+ // lcd.clear();
+ var theTEXT = "Scroll text...";
+ var numScrolls = lcd.scrollLength(theTEXT) * 2;
+
+ lcd.scrollInit(3);
+ for (index=0; index<numScrolls; index++)
+ {
+ lcd.scroll(3,theTEXT);
+ }
+ lcd.scrollInit(3); // used to clear row
+
+ setTimeout(loop5, 2000*timeout);
+}
+
+function loop5() {
+ var index;
+
+// Progress Bar test
+ console.log("Progress Bar test");
+ lcd.gotoXY(0,0);
+ lcd.string("Progress Bar");
+
+ lcd.progressInit(2);
+ for (index=0; index<101; index+=2)
+ lcd.progressBar(2,index);
+
+ for (index=100; index>=0; index-=2)
+ lcd.progressBar(2,index);
+
+ lcd.progressInit(2);
+ for (index=100; index>=0; index-=6)
+ lcd.progressBar(2,index);
+
+ if(timeout) setTimeout(loop, 2000);
+}
+
+var beagle = [
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xC0, 0x60, 0x60, 0x60, 0x60, 0x60, 0x70, 0xF8, 0xFC,
+0x9C, 0x0C, 0x07, 0x07, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x07, 0x06, 0x0C,
+0x1C, 0x18, 0x30, 0xE0, 0xC0, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xE0, 0x70, 0x1E, 0x07, 0x01, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x03, 0x7F, 0xF8, 0xE0, 0x00, 0x00, 0xE0, 0xB0, 0x90, 0xF0, 0xE0, 0xE0,
+0xC0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x38, 0x6D, 0x6D, 0x77, 0xFF, 0xEE, 0xF8, 0xC0, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xE0, 0x38, 0x1E, 0x0F, 0x01, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x3F, 0xFF, 0xF8, 0x81, 0x02,
+0x02, 0x03, 0x03, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x03, 0x03, 0x02, 0x02, 0x06, 0x06, 0x84, 0xCC, 0x9C, 0xF8, 0x70, 0x70, 0x60, 0xC0, 0xC0,
+0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0xF0, 0xFE, 0xF7, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x07, 0x1F, 0xFC, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x1F, 0x7F, 0x78, 0xF8, 0xFC, 0xFC,
+0xFE, 0xFE, 0x7E, 0x7F, 0x7F, 0xE2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x07, 0x3F, 0xFF, 0xC0,
+0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xC0, 0xFF, 0x7F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0xC0, 0xC0, 0xE0, 0xE0, 0x60,
+0x20, 0x30, 0x30, 0xD0, 0x98, 0x08, 0x1C, 0x3E, 0x63, 0xC1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0xE0, 0x30, 0x31, 0x33, 0xF7, 0xEF, 0x0E, 0x0C, 0x1C, 0x38, 0xF8, 0xF8, 0x18, 0x18, 0x18,
+0x18, 0x18, 0x18, 0x18, 0x1C, 0x1C, 0x0E, 0x0E, 0x07, 0x03, 0x01, 0x00, 0x00, 0x00, 0x10, 0x10,
+0x30, 0x30, 0x60, 0x60, 0x60, 0x60, 0x40, 0x45, 0x43, 0x43, 0x47, 0x47, 0x7F, 0x7F, 0xFF, 0xFF,
+0x0F, 0x0F, 0x0F, 0x0E, 0x1D, 0x38, 0x30, 0x30, 0x21, 0x23, 0x24, 0x24, 0x38, 0x0F, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0xFA, 0xF0, 0xE0, 0x8F, 0x3F, 0x7E, 0xD8, 0x30, 0xF0, 0xFF,
+0xFF, 0x00, 0x00, 0x00, 0xC0, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0xC0, 0x00,
+0x00, 0x02, 0x06, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x03, 0x0F, 0x3F, 0xFC, 0xF0,
+0xE0, 0x01, 0x03, 0x03, 0x01, 0x00, 0x00, 0x00, 0x1F, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0xF0,
+0xF0, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xF0, 0x00, 0x00, 0x00, 0x00,
+0x70, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x01, 0x03, 0x87, 0xFE, 0x7C, 0x60, 0x00, 0x00, 0x00, 0xC0, 0xFF, 0x3F, 0x00,
+0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0xFF, 0x0F,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0x3F, 0xFE, 0x00, 0x00, 0x3C, 0x7F, 0xFF, 0xE0, 0xC0, 0x80,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0E, 0x3F, 0xFF, 0xE1, 0xC0, 0xC0, 0x80, 0xE0, 0x78, 0x0E,
+0x03, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xDF, 0x31, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x70, 0xF1, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0x0D, 0x30, 0xE0, 0x80, 0x80,
+0x80, 0x81, 0xFF, 0xFF, 0x1C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00,
+0x20, 0x00, 0x00, 0x00, 0x50, 0x00, 0x00, 0x00, 0x90, 0x00, 0x00, 0x00, 0xC0, 0x20, 0x20, 0x00,
+0xF7, 0x5E, 0x5E, 0x0C, 0xEC, 0x8C, 0x84, 0x0E, 0xBE, 0x9E, 0x9F, 0x0F, 0x87, 0x91, 0x80, 0x00,
+0x90, 0x90 ];
+
+var world_map = [
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x80, 0x00, 0x60, 0xC0, 0xF0, 0xDC, 0x7C, 0X3C, 0x1C, 0xF0, 0xF8, 0xF0, 0xF0,
+ 0xF8, 0xF8, 0xFE, 0xFE, 0xE6, 0xD4, 0x00, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x80,
+ 0x40, 0x00, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x00, 0x00, 0x00, 0xB0, 0x70,
+ 0xC0, 0x60, 0x00, 0xB0, 0x90, 0x28, 0xE3, 0x41, 0xC0, 0x81, 0x01, 0x03, 0x0F, 0x3F, 0xFF,
+ 0xFF, 0xFF, 0xFF, 0xBF, 0x0F, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x81, 0x81,
+ 0x80, 0x80, 0x00, 0x00, 0x00, 0x00, 0x70, 0x08, 0x84, 0x40, 0x00, 0xE0, 0x80, 0xF0, 0xF8,
+ 0xF8, 0xFC, 0xFC, 0xEC, 0xE0, 0xE0, 0xE0, 0xE0, 0xC0, 0xC0, 0xE0, 0xC0, 0xC0, 0x80, 0x00,
+ 0x80, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x0B, 0x3F, 0x0F, 0x0F, 0x0F, 0x0F, 0x1F, 0x3F, 0xFF, 0xFF, 0xFF,
+ 0xFE, 0xFF, 0xFE, 0xFE, 0xE7, 0xC1, 0xC1, 0x00, 0xF8, 0xF7, 0xE5, 0xC0, 0x00, 0x03, 0x0F,
+ 0x07, 0x01, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x80, 0x00, 0x98, 0xBC, 0xD7, 0xE9,
+ 0xEF, 0xFF, 0xFD, 0xFC, 0xFE, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xFE, 0xFF, 0xFF, 0xFF,
+ 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xBF, 0x0F, 0x0F, 0x0F, 0x0F, 0x3F,
+ 0x0F, 0x0F, 0x07, 0x03, 0x02, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0x1F,
+ 0x3F, 0x7F, 0xFF, 0x7F, 0x3F, 0x3E, 0x3D, 0x1B, 0x07, 0x03, 0x01, 0x00, 0x01, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xC0, 0xEC, 0xED, 0xF3, 0xF3, 0xE5, 0xC3, 0xEF,
+ 0xE7, 0xE9, 0x29, 0xFB, 0xFF, 0xB1, 0xBD, 0x7F, 0x7F, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F,
+ 0xFF, 0xFF, 0xFF, 0xFF, 0x7F, 0x67, 0x07, 0x07, 0x13, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x01, 0x00, 0x03, 0x02, 0x30, 0xFC, 0xFC, 0xFC, 0xF8, 0xF8, 0xE0, 0xE0,
+ 0xE0, 0x40, 0x00, 0x00, 0x00, 0x00, 0x03, 0x07, 0x07, 0x07, 0x07, 0x07, 0xBF, 0xFF, 0xFF,
+ 0xFF, 0xFF, 0xFF, 0x1E, 0x0F, 0x05, 0x01, 0x00, 0x00, 0x00, 0x00, 0x07, 0x01, 0x00, 0x00,
+ 0x01, 0x11, 0x23, 0x10, 0x10, 0x00, 0x00, 0x00, 0x80, 0x20, 0xA0, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFC, 0x7F, 0x3F, 0x0F, 0x0F, 0x03,
+ 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x07, 0x0F,
+ 0x0F, 0x07, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x06, 0x0E, 0x0F, 0x0F, 0x0F, 0x0F, 0x1F, 0x5E, 0x0C, 0x00, 0x00,
+ 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 ];
+
diff --git a/bone-cook-book/03displays/code/pwmTest.sh b/bone-cook-book/03displays/code/pwmTest.sh
new file mode 100755
index 0000000000000000000000000000000000000000..188ef6ffc665d6f2561667af8ce9bbcc57277bc3
--- /dev/null
+++ b/bone-cook-book/03displays/code/pwmTest.sh
@@ -0,0 +1,22 @@
+#!/usr/bin/env bash
+
+# config-pin P9_14 pwm
+
+PWMPATH=/sys/class/pwm
+
+echo Testing pwmchip$1 pwm$2 in
+echo $PWMPATH/pwmchip$1
+
+
+cd $PWMPATH/pwmchip$1
+sudo chgrp gpio *
+sudo chmod g+w *
+echo $2 > export
+
+cd pwm$2
+sudo chgrp gpio *
+sudo chmod g+w *
+ls -ls
+echo 1000000000 > period
+echo 500000000 > duty_cycle
+echo 1 > enable
\ No newline at end of file
diff --git a/bone-cook-book/03displays/code/speak.js b/bone-cook-book/03displays/code/speak.js
new file mode 100755
index 0000000000000000000000000000000000000000..9ee797de6499cd8495a8f1ac33bd621e6ba1598d
--- /dev/null
+++ b/bone-cook-book/03displays/code/speak.js
@@ -0,0 +1,27 @@
+#!/usr/bin/env node
+
+var exec = require('child_process').exec;
+
+function speakForSelf(phrase) {
+{
+ exec('flite -t "' + phrase + '"', function (error, stdout, stderr) {
+ console.log(stdout);
+ if(error) {
+ console.log('error: ' + error);
+ }
+ if(stderr) {
+ console.log('stderr: ' + stderr);
+ }
+ });
+}
+
+speakForSelf("Hello, My name is Borris. " +
+ "I am a BeagleBone Black, " +
+ "a true open hardware, " +
+ "community-supported embedded computer for developers and hobbyists. " +
+ "I am powered by a 1 Giga Hertz Sitara™ ARM® Cortex-A8 processor. " +
+ "I boot Linux in under 10 seconds. " +
+ "You can get started on development in " +
+ "less than 5 minutes with just a single USB cable." +
+ "Bark, bark!"
+ );
\ No newline at end of file
diff --git a/bone-cook-book/03displays/displays.rst b/bone-cook-book/03displays/displays.rst
new file mode 100644
index 0000000000000000000000000000000000000000..1078ffb476c72eb6333e781b2298982d62af73c3
--- /dev/null
+++ b/bone-cook-book/03displays/displays.rst
@@ -0,0 +1,495 @@
+.. _bone-cook-book-displays:
+
+Displays and Other Outputs
+###########################
+
+Introduction
+--------------------------
+
+In this chapter, you will learn how to control physical hardware via
+BeagleBone Black's general-purpose input/output (GPIO) pins. The Bone has
+65 GPIO pins that are brought out on two 46-pin headers, called +P8+ and +P9+, as shown in :ref:`<js_P8P9_fig>>.
+
+.. note::
+ All the examples in the book assume you have cloned the
+ Cookbook repository on www.github.com. Go here :ref:`<basics_repo>` for instructions.
+
+
+.. _js_P8P9_fig:
+
+.. figure:: figures/P8P9_bb.png
+ :align: center
+ :alt: Headers P8 and P9
+
+ The P8 and P9 GPIO headers
+
+The purpose of this chapter is to give simple examples that show how to use
+various methods of output. Most solutions require a breadboard and some jumper wires.
+
+All these examples assume that you know how to edit a file (:ref:`basic vsc<basics_vsc>`) and
+run it, either within Visual Studio Code (VSC) integrated development
+environment (IDE) or from the command line (:ref:`<tips_shell>>).
+
+.. _displays_onboardLED:
+
+Toggling an Onboard LED
+--------------------------
+
+Problem
+*************
+
+You want to know how to flash the four LEDs that are next to the Ethernet port on the Bone.
+
+Solution
+*************
+Locate the four onboard LEDs shown in :ref:`<js_internLED_fig>>.
+They are labeled +USR0+ through +USR3+, but we'll refer to them as the +USER+ LEDs.
+
+.. _js_internLED_fig:
+
+The four +USER+ LEDs
+
+.. figure:: figures/internLED.png
+ :align: center
+ :alt: USER LEDs
+
+Place the code shown in :ref:`<js_internLED_code>` in a file called _internLED.js_.
+You can do this using VSC to edit files (as shown in :ref:`basic vsc<basics_vsc>`) or with
+a more traditional editor (as shown in :ref:`<tips_editing_files>>).
+
+.. _py_internLED_code:
+
+Using an internal LED (internLED.py)
+
+.. code-block:: python
+
+ include::code/internLED.py
+
+
+
+.. _js_internLED_code:
+
+Using an internal LED (internLED.js)
+
+.. code-block:: JavaScript
+
+ include::code/internLED.js
+
+
+
+In the +bash+ command window, enter the following commands:
+
+.. code-block:: bash
+ bone$ cd ~/BoneCookbook/docs/03displays/code
+bone$ ./internLED.js
+
+
+The +USER0+ LED should now be flashing.
+
+Discussion
+*************
+
+
+.. _displays_externalLED:
+
+Toggling an External LED
+--------------------------
+
+Problem
+*************
+
+You want to connect your own external LED to the Bone.
+
+Solution
+*************
+Connect an LED to one of the GPIO pins using a series resistor to limit the current. To make this recipe, you will need:
+
+* Breadboard and jumper wires (see :ref:`app proto <app_proto>`)
+* 220 Ω to 470 Ω resistor (see :ref:`app resistor <app_resistor>`)
+* LED (see :ref:`app opto <app_opto>`)
+
+.. WARNING:: The value of the current limiting resistor depends on the LED you are using. The Bone can drive only 4 to 6 mA, so you might need a larger resistor to keep from pulling too much current. A 330 Ω or 470 Ω resistor might be better.
+
+
+:ref:`<displays_externLED_fig>` shows how you can wire the LED to pin 14 of the +P9+ header (+P9_14+). Every circuit in this book (:ref:`<basics_wire_breadboard>>) assumes you have already wired the rightmost bus to ground (+P9_1+) and the next bus to the left to the 3.3 V (+P9_3+) pins on the header. Be sure to get the polarity right on the LED. The _short_ lead always goes to ground.
+
+.. _displays_externLED_fig:
+
+Diagram for using an external LED
+
+.. figure:: figures/externLED_bb.png
+ :align: center
+ :alt: External LED
+
+After you've wired it, start VSC (see :ref:`basic vsc<basics_vsc>`) and find the code shown in :ref:`<py_externLED_code>>.
+
+.. _py_externLED_code:
+
+Code for using an external LED (externLED.py)
+
+.. code-block:: python
+
+ include::code/externLED.py
+
+
+.. _js_externLED_code:
+
+Code for using an external LED (externLED.js)
+
+.. code-block:: JavaScript
+
+ include::code/externLED.js
+
+
+Save your file and run the code as before (:ref:`<displays_onboardLED>>).
+
+Discussion
+*************
+
+.. _displays_powerSwitch:
+
+Toggling a High-Voltage External Device
+-----------------------------------------
+
+Problem
+*************
+
+You want to control a device that runs at 120 V.
+
+Solution
+*************
+
+Working with 120 V can be tricky--even dangerous--if you aren't careful. Here's a safe way to do it.
+
+To make this recipe, you will need:
+
+* PowerSwitch Tail II (see :ref:`<app_misc>>)
+
+:ref:`<displays_powerSwitch_fig>` shows how you can wire the PowerSwitch Tail II to pin +P9_14+.
+
+.. _displays_powerSwitch_fig:
+
+Diagram for wiring PowerSwitch Tail II
+
+.. figure:: figures/powerSwitch_bb.png
+ :align: center
+ :alt: Power Switch Tail II
+
+After you've wired it, because this uses the same output pin as
+:ref:`<displays_externalLED>>, you can run the same code (:ref:`<py_externLED_code>>).
+
+Discussion
+*************
+
+.. _displays_PWMdiscussion:
+
+Fading an External LED
+--------------------------
+
+Problem
+*************
+You want to change the brightness of an LED from the Bone.
+
+Solution
+*************
+
+Use the Bone's pulse width modulation (PWM) hardware to fade an LED. We'll use
+the same circuit as before (:ref:`<displays_externLED_fig>>). Find the code in
+:ref:`<py_fadeLED_code>>Next configure the pins. We are using P9_14 so run:
+
+.. code-block:: bash
+ bone$ config-pin P9_14 pwm
+
+
+Then run it as before.
+
+.. _py_fadeLED_code:
+
+Code for using an external LED (fadeLED.py)
+
+.. code-block:: python
+
+ include::code/fadeLED.py
+
+.. _js_fadeLED_code:
+
+Code for using an external LED (fadeLED.js)
+
+.. code-block:: JavaScript
+
+ include::code/fadeLED.js
+
+Discussion
+*************
+The Bone has several outputs that can be use as pwm's as shown in :ref:`<cape-headers-pwm_fig>>.
+There are three +EHRPWM+'s which each has a pair of pwm channels. Each pair must have the same period.
+
+.. _cape-headers-pwm_fig:
+
+Table of PWM outputs
+
+.. figure:: figures/cape-headers-pwm.png
+ :align: center
+ :alt: PWM outputs
+
+The pwm's are accessed through +/dev/bone/pwm+
+
+.. todo:: Should this be /dev/bone/pwm?
+
+.. code-block:: bash
+ bone$ cd /dev/bone/pwm
+ bone$ ls
+ 0 1 2
+
+Here we see six pwmchips that can be used, each has two channels. Explore one.
+
+.. code-block:: bash
+ bone$ cd 1
+ bone$ ls
+ a b
+ bone$ cd a
+ bone$ ls
+ capture duty_cycle enable period polarity power uevent
+
+ Here is where you can set the period and duty_cycle (in ns) and enable the pwm.
+ Attach in LED to P9_14 and if you set the period long enough you can see the LED flash.
+
+.. code-block:: bash
+ bone$ echo 1000000000 > period
+ bone$ echo 500000000 > duty_cycle
+ bone$ echo 1 > enable
+
+Your LED should now be flashing.
+
+:ref:`<display_pwm_mapping>` are the mapping I've figured out so far. I don't know how to get to the timers.
+
+.. _display_pwm_mapping:
+
+Headers to pwm channel mapping.
+
+.. table::
+
+ +-------+-----+-----------+
+ | Pin | pwm | channel |
+ +-------+-----+-----------+
+ | P9_31 | 0 | a |
+ +-------+-----+-----------+
+ | P9_29 | 0 | b |
+ +-------+-----+-----------+
+ | P9_14 | 1 | a |
+ +-------+-----+-----------+
+ | P9_16 | 1 | b |
+ +-------+-----+-----------+
+ | P8_19 | 2 | a |
+ +-------+-----+-----------+
+ | P8_13 | 2 | b |
+ +-------+-----+-----------+
+
+
+Writing to an LED Matrix
+--------------------------
+
+Problem
+*************
+
+You have an I^2^C-based LED matrix to interface.
+
+Solution
+*************
+There are a number of nice LED matrices that allow you to control several LEDs via one interface.
+This solution uses an `Adafruit Bicolor 8x8 LED Square Pixel Matrix w/I^2^C Backpack <http://www.adafruit.com/products/902>`_.
+
+To make this recipe, you will need:
+
+* Breadboard and jumper wires (see :ref:`app proto <app_proto>`)
+* Two 4.7 kΩ resistors (see :ref:`app resistor <app_resistor>`)
+* I^2^C LED matrix (see :ref:`app opto <app_opto>`)
+
+The LED matrix is a 5 V device, but you can drive it from 3.3 V. Wire, as shown in :ref:`<displays_i2cMatrix_fig>>.
+
+.. _displays_i2cMatrix_fig:
+
+Wiring an I^2^C LED matrix
+
+.. figure:: figures/i2cMatrix_bb.png
+ :align: center
+ :alt: I^2^C LED matrix
+
+:ref:`<sensors_i2c_temp>` shows how to use +i2cdetect+ to discover the address of an I^2^C device.
+
+Run the +i2cdetect -y -r 2+ command to discover the address of the display on I^2^C bus 2, as shown in :ref:`<displays_i2cdetect>>.
+
+.. _displays_i2cdetect:
+
+Using I^2^C command-line tools to discover the address of the display
+
+.. code-block:: bash
+
+ bone$ i2cdetect -y -r 2
+ 0 1 2 3 4 5 6 7 8 9 a b c d e f
+ 00: -- -- -- -- -- -- -- -- -- -- -- -- --
+ 10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
+ 20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
+ 30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
+ 40: -- -- -- -- -- -- -- -- -- 49 -- -- -- -- -- --
+ 50: -- -- -- -- UU UU UU UU -- -- -- -- -- -- -- --
+ 60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
+ 70: 70 -- -- -- -- -- -- --
+
+Here, you can see a device at +0x49+ and +0x70+. I know I have a temperature sensor at +0x49+, so the LED matrix must be at +0.70+.
+
+Find the code in :ref:`<displays_matrix_i2c>` and run it by using the following command:
+
+.. code-block:: bash
+ bone$ pip install smbus # (Do this only once.)
+ bone$ ./matrixLEDi2c.py
+
+.. _displays_matrix_i2c:
+
+LED matrix display (matrixLEDi2c.py)
+
+.. code-block:: C
+
+ include::code/matrixLEDi2c.py
+
+
+<1> This line states which bus to use. The last digit gives the BoneScript bus number.
+
+<2> This specifies the address of the LED matrix, +0x70+ in our case.
+
+<3> This indicates which LEDs to turn on. The first byte is for the first column of _green_ LEDs. In this case, all are turned off. The next byte is for the first column of _red_ LEDs. The hex +0x3c+ number is +0b00111100+ in binary. This means the first two red LEDs are off, the next four are on, and the last two are off. The next byte (+0x00+) says the second column of _green_ LEDs are all off, the fourth byte (+0x42+ = +0b01000010+) says just two +red+ LEDs are on, and so on. Declarations define four different patterns to display on the LED matrix, the last being all turned off.
+
+<4> Send three commands to the matrix to get it ready to display.
+
+<5> Now, we are ready to display the various patterns. After each pattern is displayed, we sleep a certain amount of time so that the pattern can be seen.
+
+<6> Finally, send commands to the LED matrix to set the brightness. This makes the disply fade out and back in again.
+
+Discussion
+*************
+
+.. _displays_drive5V:
+
+Driving a 5 V Device
+--------------------------
+
+Problem
+*************
+You have a 5 V device to drive, and the Bone has 3.3 V outputs.
+
+Solution
+*************
+If you are lucky, you might be able to drive a 5 V device from the Bone's 3.3 V output. Try it and see if it works. If not, you need a level translator.
+
+What you will need for this recipe:
+
+* A PCA9306 level translator (see :ref:`app ic<app_ic>`)
+* A 5 V power supply (if the Bone's 5 V power supply isn't enough)
+
+The PCA9306 translates signals at 3.3 V to 5 V in both directions. It's meant to work with I^2^C devices that have a pull-up resistor, but it can work with anything needing translation.
+
+:ref:`<displays_i2cMatrixLevelTrans_fig>` shows how to wire a PCA9306 to an LED matrix. The left is the 3.3 V side and the right is the 5 V side. Notice that we are using the Bone's built-in 5 V power supply.
+
+.. _displays_i2cMatrixLevelTrans_fig:
+
+Wiring a PCA9306 level translator to an LED matrix
+
+.. figure:: figures/i2cMatrixLevelTrans_bb.png
+ :align: center
+ :alt: PCA9306 level translator
+
+.. note:: If your device needs more current than the Bone's 5 V power supply provides, you can wire in an external power supply.
+
+
+Discussion
+*************
+
+Writing to a NeoPixel LED String Using the PRUs
+--------------------------
+
+Problem
+*************
+
+You have an :ref:`Adafruit NeoPixel LED string <http://www.adafruit.com/products/1138>`_ or `Adafruit NeoPixel LED matrix <http://www.adafruit.com/products/1487>`_ and want to light it up.
+
+Solution
+*************
+
+The PRU Cookbook has a nice discussion (https://markayoder.github.io/PRUCookbook/05blocks/blocks.html#blocks_ws2812[WS2812 (NeoPixel) driver]) on driving NeoPixels.
+
+.. _py_neoPixelMatrix_fig:
+
+Wiring an Adafruit NeoPixel LED matrix to +P9_29+
+
+.. figure:: figures/neo_bb.png
+ :align: center
+ :alt: NeoPixel Ring
+
+Writing to a NeoPixel LED String Using LEDscape
+------------------------------------------------
+
+.. // .. todo:: Remove?
+.. // Problem
+.. *************
+.. // ((("displays", "NeoPixel LED strings")))((("outputs", "NeoPixel LED strings")))((("Adafruit Neopixel LED strings")))((("Neopixel LED strings")))((("LEDs", "Adafruit Neopixel LED strings")))You have an http://www.adafruit.com/products/1138[Adafruit NeoPixel LED string] or http://www.adafruit.com/products/1487[Adafruit NeoPixel LED matrix] and want to light it up.
+
+.. // Solution
+.. *************
+
+.. // Wire up an Adafruit NeoPixel LED 8-by-8 matrix as shown in :ref:`<js_neoPixelMatrix_fig>>.
+
+.. // .. _js_neoPixelMatrix_fig:
+
+.. // .Wiring an Adafruit NeoPixel LED matrix to +P8_30+
+.. // .. figure:: figures/neoPixelMatrix_bb.png
+.. :align: center
+.. :alt: NeoPixel Matrix
+
+.. // :ref:`<js_neoPixel_code>` shows how to install LEDscape and run the LEDs.
+
+.. // .. _js_neoPixel_code:
+
+.. // .Installing and running LEDscape and OpenPixelControl (neoPixel.sh)
+.. // ====
+.. // [source, bash]
+.. // ----
+
+.. // include::code/neoPixel.sh
+
+.. // ----
+.. // ====
+
+.. // Discussion
+.. *************
+
+Making Your Bone Speak
+--------------------------
+
+Problem
+*************
+Your Bone wants to talk.
+
+Solution
+*************
+Just install the _flite_ text-to-speech program:
+
+.. code-block:: bash
+ bone$ sudo apt install flite
+
+
+Then add the code from :ref:`<speak_code>` in a file called _speak.js_ and run.
+
+.. _speak_code:
+
+A program that talks (speak.js)
+
+.. code-block:: JavaScript
+
+ include::code/speak.js
+
+
+
+See :ref:`<sensors_audio>` to see how to use a USB audio dongle and set your default audio out.
+
+Discussion
+*************
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diff --git a/bone-cook-book/04motors/code/bipolarStepperMotor.py b/bone-cook-book/04motors/code/bipolarStepperMotor.py
new file mode 100755
index 0000000000000000000000000000000000000000..2b0b2cafd00d3621f67f52a67902d1fb02093bf7
--- /dev/null
+++ b/bone-cook-book/04motors/code/bipolarStepperMotor.py
@@ -0,0 +1,91 @@
+#!/usr/bin/env python
+import time
+import os
+import signal
+import sys
+
+# Motor is attached here
+# controller = ["P9_11", "P9_13", "P9_15", "P9_17"];
+# controller = ["30", "31", "48", "5"]
+# controller = ["P9_14", "P9_16", "P9_18", "P9_22"];
+controller = ["50", "51", "4", "2"]
+states = [[1,0,0,0], [0,1,0,0], [0,0,1,0], [0,0,0,1]]
+statesHiTorque = [[1,1,0,0], [0,1,1,0], [0,0,1,1], [1,0,0,1]]
+statesHalfStep = [[1,0,0,0], [1,1,0,0], [0,1,0,0], [0,1,1,0],
+ [0,0,1,0], [0,0,1,1], [0,0,0,1], [1,0,0,1]]
+
+curState = 0 # Current state
+ms = 100 # Time between steps, in ms
+maxStep = 22 # Number of steps to turn before turning around
+minStep = 0 # minimum step to turn back around on
+
+CW = 1 # Clockwise
+CCW = -1
+pos = 0 # current position and direction
+direction = CW
+GPIOPATH="/sys/class/gpio"
+
+def signal_handler(sig, frame):
+ print('Got SIGINT, turning motor off')
+ for i in range(len(controller)) :
+ f = open(GPIOPATH+"/gpio"+controller[i]+"/value", "w")
+ f.write('0')
+ f.close()
+ sys.exit(0)
+signal.signal(signal.SIGINT, signal_handler)
+print('Hit ^C to stop')
+
+def move():
+ global pos
+ global direction
+ global minStep
+ global maxStep
+ pos += direction
+ print("pos: " + str(pos))
+ # Switch directions if at end.
+ if (pos >= maxStep or pos <= minStep) :
+ direction *= -1
+ rotate(direction)
+
+# This is the general rotate
+def rotate(direction) :
+ global curState
+ global states
+ # print("rotate(%d)", direction);
+ # Rotate the state acording to the direction of rotation
+ curState += direction
+ if(curState >= len(states)) :
+ curState = 0;
+ elif(curState<0) :
+ curState = len(states)-1
+ updateState(states[curState])
+
+# Write the current input state to the controller
+def updateState(state) :
+ global controller
+ print(state)
+ for i in range(len(controller)) :
+ f = open(GPIOPATH+"/gpio"+controller[i]+"/value", "w")
+ f.write(str(state[i]))
+ f.close()
+
+# Initialize motor control pins to be OUTPUTs
+for i in range(len(controller)) :
+ # Make sure pin is exported
+ if (not os.path.exists(GPIOPATH+"/gpio"+controller[i])):
+ f = open(GPIOPATH+"/export", "w")
+ f.write(pin)
+ f.close()
+ # Make it an output pin
+ f = open(GPIOPATH+"/gpio"+controller[i]+"/direction", "w")
+ f.write("out")
+ f.close()
+
+# Put the motor into a known state
+updateState(states[0])
+rotate(direction)
+
+# Rotate
+while True:
+ move()
+ time.sleep(ms/1000)
diff --git a/bone-cook-book/04motors/code/dcMotor.js b/bone-cook-book/04motors/code/dcMotor.js
new file mode 100755
index 0000000000000000000000000000000000000000..09c798c94a8a6d497373db17f34201b9125c44bf
--- /dev/null
+++ b/bone-cook-book/04motors/code/dcMotor.js
@@ -0,0 +1,44 @@
+#!/usr/bin/env node
+////////////////////////////////////////
+// dcMotor.js
+// This is an example of driving a DC motor
+// Wiring:
+// Setup: config-pin P9_16 pwm
+// See:
+////////////////////////////////////////
+const fs = require("fs");
+
+const pwmPeriod = '1000000'; // Period in ns
+const pwm = '1'; // pwm to use
+const channel = 'b'; // channel to use
+const PWMPATH='/dev/bone/pwm/'+pwm+'/'+channel;
+
+const low = 0.05, // Slowest speed (duty cycle)
+ hi = 1, // Fastest (always on)
+ ms = 100; // How often to change speed, in ms
+var speed = 0.5, // Current speed;
+ step = 0.05; // Change in speed
+
+// fs.writeFileSync(PWMPATH+'/export', pwm); // Export the pwm channel
+// Set the period in ns, first 0 duty_cycle,
+fs.writeFileSync(PWMPATH+'/duty_cycle', '0');
+fs.writeFileSync(PWMPATH+'/period', pwmPeriod);
+fs.writeFileSync(PWMPATH+'/duty_cycle', pwmPeriod/2);
+fs.writeFileSync(PWMPATH+'/enable', '1');
+
+timer = setInterval(sweep, ms);
+
+function sweep() {
+ speed += step;
+ if(speed > hi || speed < low) {
+ step *= -1;
+ }
+ fs.writeFileSync(PWMPATH+'/duty_cycle', parseInt(pwmPeriod*speed));
+ // console.log('speed = ' + speed);
+}
+
+process.on('SIGINT', function() {
+ console.log('Got SIGINT, turning motor off');
+ clearInterval(timer); // Stop the timer
+ fs.writeFileSync(PWMPATH+'/enable', '0');
+});
\ No newline at end of file
diff --git a/bone-cook-book/04motors/code/dcMotor.py b/bone-cook-book/04motors/code/dcMotor.py
new file mode 100755
index 0000000000000000000000000000000000000000..755eaf8481c6d35a523ed5ecd20ec40ceed16a10
--- /dev/null
+++ b/bone-cook-book/04motors/code/dcMotor.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python
+# ////////////////////////////////////////
+# // dcMotor.js
+# // This is an example of driving a DC motor
+# // Wiring:
+# // Setup: config-pin P9_16 pwm
+# // See:
+# ////////////////////////////////////////
+import time
+import signal
+import sys
+
+def signal_handler(sig, frame):
+ print('Got SIGINT, turning motor off')
+ f = open(PWMPATH+'/enable', 'w')
+ f.write('0')
+ f.close()
+ sys.exit(0)
+signal.signal(signal.SIGINT, signal_handler)
+
+pwmPeriod = '1000000' # Period in ns
+pwm = '1' # pwm to use
+channel = 'b' # channel to use
+PWMPATH='/dev/bone/pwm/'+pwm+'/'+channel
+
+low = 0.05 # Slowest speed (duty cycle)
+hi = 1 # Fastest (always on)
+ms = 100 # How often to change speed, in ms
+speed = 0.5 # Current speed
+step = 0.05 # Change in speed
+
+f = open(PWMPATH+'/duty_cycle', 'w')
+f.write('0')
+f.close()
+f = open(PWMPATH+'/period', 'w')
+f.write(pwmPeriod)
+f.close()
+f = open(PWMPATH+'/enable', 'w')
+f.write('1')
+f.close()
+
+f = open(PWMPATH+'/duty_cycle', 'w')
+while True:
+ speed += step
+ if(speed > hi or speed < low):
+ step *= -1
+ duty_cycle = str(round(speed*1000000)) # Convert ms to ns
+ f.seek(0)
+ f.write(duty_cycle)
+ time.sleep(ms/1000)
diff --git a/bone-cook-book/04motors/code/h-bridgeMotor.js b/bone-cook-book/04motors/code/h-bridgeMotor.js
new file mode 100755
index 0000000000000000000000000000000000000000..239418dd7237b6483231fd5944f237bc5f38e1da
--- /dev/null
+++ b/bone-cook-book/04motors/code/h-bridgeMotor.js
@@ -0,0 +1,54 @@
+#!/usr/bin/env node
+
+// This example uses an H-bridge to drive a DC motor in two directions
+
+var b = require('bonescript');
+
+var enable = 'P9_21'; // Pin to use for PWM speed control
+ in1 = 'P9_15',
+ in2 = 'P9_16',
+ step = 0.05, // Change in speed
+ min = 0.05, // Min duty cycle
+ max = 1.0, // Max duty cycle
+ ms = 100, // Update time, in ms
+ speed = min; // Current speed;
+
+b.pinMode(enable, b.ANALOG_OUTPUT, 6, 0, 0, doInterval);
+b.pinMode(in1, b.OUTPUT);
+b.pinMode(in2, b.OUTPUT);
+
+function doInterval(x) {
+ if(x.err) {
+ console.log('x.err = ' + x.err);
+ return;
+ }
+ timer = setInterval(sweep, ms);
+}
+
+clockwise(); // Start by going clockwise
+
+function sweep() {
+ speed += step;
+ if(speed > max || speed < min) {
+ step *= -1;
+ step>0 ? clockwise() : counterClockwise();
+ }
+ b.analogWrite(enable, speed);
+ console.log('speed = ' + speed);
+}
+
+function clockwise() {
+ b.digitalWrite(in1, b.HIGH);
+ b.digitalWrite(in2, b.LOW);
+}
+
+function counterClockwise() {
+ b.digitalWrite(in1, b.LOW);
+ b.digitalWrite(in2, b.HIGH);
+}
+
+process.on('SIGINT', function() {
+ console.log('Got SIGINT, turning motor off');
+ clearInterval(timer); // Stop the timer
+ b.analogWrite(enable, 0); // Turn motor off
+});
\ No newline at end of file
diff --git a/bone-cook-book/04motors/code/ring.js b/bone-cook-book/04motors/code/ring.js
new file mode 100755
index 0000000000000000000000000000000000000000..a383eae4dc7d5639da22ea7623fb5f0927ae1c38
--- /dev/null
+++ b/bone-cook-book/04motors/code/ring.js
@@ -0,0 +1,40 @@
+#!/usr/bin/env node
+
+// Drive a simple servo motor back and forth
+
+var b = require('bonescript');
+
+var motor = 'P9_21', // Pin to control servo
+ freq = 50, // Servo frequency (20 ms)
+ min = 0.8, // Smallest angle (in ms)
+ max = 2.5, // Largest angle (in ms)
+ ms = 500, // How often to change position, in ms
+ pos = 1.5, // Current position, about middle
+ step = 0.1; // Step size to next position
+var timer;
+
+console.log('Hit ^C to stop');
+b.pinMode(motor, b.ANALOG_OUTPUT);
+
+pos1();
+
+function pos1() {
+ move(0.9);
+ timer = setTimeout(pos2, ms);
+}
+function pos2() {
+ move(2.1); // Start in the middle
+ timer = setTimeout(pos1, ms);
+}
+
+function move(pos) {
+ var dutyCycle = pos/1000*freq;
+ b.analogWrite(motor, dutyCycle, freq);
+ console.log('pos = ' + pos.toFixed(3) + ' duty cycle = ' + dutyCycle.toFixed(3));
+}
+
+process.on('SIGINT', function() {
+ console.log('Got SIGINT, turning motor off');
+ clearTimeout(timer); // Stop the timer
+ b.analogWrite(motor, 0, 0); // Turn motor off
+});
\ No newline at end of file
diff --git a/bone-cook-book/04motors/code/servoBird.js b/bone-cook-book/04motors/code/servoBird.js
new file mode 100755
index 0000000000000000000000000000000000000000..29466b949aac459f027b5466a8a9cc4700d6f23e
--- /dev/null
+++ b/bone-cook-book/04motors/code/servoBird.js
@@ -0,0 +1,22 @@
+#!/usr/bin/env node
+var b = require('bonescript');
+var motor = 'P9_14'; // Pin to use
+var freq = 80; // Servo frequency
+var dir = 0.001, // Direction
+ min = 0.05,
+ max = 0.15,
+ ms = 50,
+ pos = min; // Current position;
+
+b.pinMode(motor, b.ANALOG_OUTPUT);
+
+setInterval(move, ms);
+
+function move() {
+ pos += dir;
+ if(pos > max || pos < min) {
+ dir = -1 * dir;
+ }
+ b.analogWrite(motor, pos, freq);
+ console.log('pos = ' + pos);
+}
diff --git a/bone-cook-book/04motors/code/servoEncoder.py b/bone-cook-book/04motors/code/servoEncoder.py
new file mode 100755
index 0000000000000000000000000000000000000000..70724954dbd51f50483a5a225834ebe84f3f6d1f
--- /dev/null
+++ b/bone-cook-book/04motors/code/servoEncoder.py
@@ -0,0 +1,98 @@
+#!/usr/bin/env python
+# ////////////////////////////////////////
+# // servoEncoder.py
+# // Drive a simple servo motor using rotary encoder viq eQEP
+# // Wiring: Servo on P9_16, rotary encoder on P8_11 and P8_12
+# // Setup: config-pin P9_16 pwm
+# // config-pin P8_11 eqep
+# // config-pin P8_12 eqep
+# // See:
+# ////////////////////////////////////////
+import time
+import signal
+import sys
+
+# Set up encoder
+eQEP = '2'
+COUNTERPATH = '/dev/bone/counter/counter'+eQEP+'/count0'
+maxCount = '180'
+
+ms = 100 # Time between samples in ms
+
+# Set the eEQP maximum count
+fQEP = open(COUNTERPATH+'/ceiling', 'w')
+fQEP.write(maxCount)
+fQEP.close()
+
+# Enable
+fQEP = open(COUNTERPATH+'/enable', 'w')
+fQEP.write('1')
+fQEP.close()
+
+fQEP = open(COUNTERPATH+'/count', 'r')
+
+# Set up servo
+pwmPeriod = '20000000' # Period in ns, (20 ms)
+pwm = '1' # pwm to use
+channel = 'b' # channel to use
+PWMPATH='/dev/bone/pwm/'+pwm+'/'+channel
+low = 0.6 # Smallest angle (in ms)
+hi = 2.5 # Largest angle (in ms)
+ms = 250 # How often to change position, in ms
+pos = 1.5 # Current position, about middle ms)
+step = 0.1 # Step size to next position
+
+def signal_handler(sig, frame):
+ print('Got SIGINT, turning motor off')
+ f = open(PWMPATH+'/enable', 'w')
+ f.write('0')
+ f.close()
+ sys.exit(0)
+signal.signal(signal.SIGINT, signal_handler)
+
+f = open(PWMPATH+'/period', 'w')
+f.write(pwmPeriod)
+f.close()
+f = open(PWMPATH+'/duty_cycle', 'w')
+f.write(str(round(int(pwmPeriod)/2)))
+f.close()
+f = open(PWMPATH+'/enable', 'w')
+f.write('1')
+f.close()
+
+print('Hit ^C to stop')
+
+olddata = -1
+while True:
+ fQEP.seek(0)
+ data = fQEP.read()[:-1]
+ # Print only if data changes
+ if data != olddata:
+ olddata = data
+ # print("data = " + data)
+ # # map 0-180 to low-hi
+ duty_cycle = -1*int(data)*(hi-low)/180.0 + hi
+ duty_cycle = str(int(duty_cycle*1000000)) # Convert from ms to ns
+ # print('duty_cycle = ' + duty_cycle)
+ f = open(PWMPATH+'/duty_cycle', 'w')
+ f.write(duty_cycle)
+ f.close()
+ time.sleep(ms/1000)
+
+# Black OR Pocket
+# eQEP0: P9.27 and P9.42 OR P1_33 and P2_34
+# eQEP1: P9.33 and P9.35
+# eQEP2: P8.11 and P8.12 OR P2_24 and P2_33
+
+# AI
+# eQEP1: P8.33 and P8.35
+# eQEP2: P8.11 and P8.12 or P9.19 and P9.41
+# eQEP3: P8.24 abd P8.25 or P9.27 and P9.42
+
+# | Pin | pwm | channel
+# | P9_31 | 0 | a
+# | P9_29 | 0 | b
+# | P9_14 | 1 | a
+# | P9_16 | 1 | b
+# | P8_19 | 2 | a
+# | P8_13 | 2 | b
diff --git a/bone-cook-book/04motors/code/servoMotor.js b/bone-cook-book/04motors/code/servoMotor.js
new file mode 100755
index 0000000000000000000000000000000000000000..efe028801d442bd273f65fddf04d14daa4ab6c2d
--- /dev/null
+++ b/bone-cook-book/04motors/code/servoMotor.js
@@ -0,0 +1,50 @@
+#!/usr/bin/env node
+////////////////////////////////////////
+// servoMotor.js
+// Drive a simple servo motor back and forth on P9_16 pin
+// Wiring:
+// Setup: config-pin P9_16 pwm
+// See:
+////////////////////////////////////////
+const fs = require("fs");
+
+const pwmPeriod = '20000000'; // Period in ns, (20 ms)
+const pwm = '1'; // pwm to use
+const channel = 'b'; // channel to use
+const PWMPATH='/dev/bone/pwm/'+pwm+'/'+channel;
+const low = 0.8, // Smallest angle (in ms)
+ hi = 2.4, // Largest angle (in ms)
+ ms = 250; // How often to change position, in ms
+var pos = 1.5, // Current position, about middle ms)
+ step = 0.1; // Step size to next position
+
+console.log('Hit ^C to stop');
+fs.writeFileSync(PWMPATH+'/period', pwmPeriod);
+fs.writeFileSync(PWMPATH+'/enable', '1');
+
+var timer = setInterval(sweep, ms);
+
+// Sweep from low to hi position and back again
+function sweep() {
+ pos += step; // Take a step
+ if(pos > hi || pos < low) {
+ step *= -1;
+ }
+ var dutyCycle = parseInt(pos*1000000); // Convert ms to ns
+ // console.log('pos = ' + pos + ' duty cycle = ' + dutyCycle);
+ fs.writeFileSync(PWMPATH+'/duty_cycle', dutyCycle);
+}
+
+process.on('SIGINT', function() {
+ console.log('Got SIGINT, turning motor off');
+ clearInterval(timer); // Stop the timer
+ fs.writeFileSync(PWMPATH+'/enable', '0');
+});
+
+// | Pin | pwm | channel
+// | P9_31 | 0 | a
+// | P9_29 | 0 | b
+// | P9_14 | 1 | a
+// | P9_16 | 1 | b
+// | P8_19 | 2 | a
+// | P8_13 | 2 | b
\ No newline at end of file
diff --git a/bone-cook-book/04motors/code/servoMotor.py b/bone-cook-book/04motors/code/servoMotor.py
new file mode 100755
index 0000000000000000000000000000000000000000..324bc7be5570eb30b29592cd3813f5cd270889c3
--- /dev/null
+++ b/bone-cook-book/04motors/code/servoMotor.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python
+# ////////////////////////////////////////
+# // servoMotor.py
+# // Drive a simple servo motor back and forth on P9_16 pin
+# // Wiring:
+# // Setup: config-pin P9_16 pwm
+# // See:
+# ////////////////////////////////////////
+import time
+import signal
+import sys
+
+pwmPeriod = '20000000' # Period in ns, (20 ms)
+pwm = '1' # pwm to use
+channel = 'b' # channel to use
+PWMPATH='/dev/bone/pwm/'+pwm+'/'+channel
+low = 0.8 # Smallest angle (in ms)
+hi = 2.4 # Largest angle (in ms)
+ms = 250 # How often to change position, in ms
+pos = 1.5 # Current position, about middle ms)
+step = 0.1 # Step size to next position
+
+def signal_handler(sig, frame):
+ print('Got SIGINT, turning motor off')
+ f = open(PWMPATH+'/enable', 'w')
+ f.write('0')
+ f.close()
+ sys.exit(0)
+signal.signal(signal.SIGINT, signal_handler)
+print('Hit ^C to stop')
+
+f = open(PWMPATH+'/period', 'w')
+f.write(pwmPeriod)
+f.close()
+f = open(PWMPATH+'/enable', 'w')
+f.write('1')
+f.close()
+
+f = open(PWMPATH+'/duty_cycle', 'w')
+while True:
+ pos += step # Take a step
+ if(pos > hi or pos < low):
+ step *= -1
+ duty_cycle = str(round(pos*1000000)) # Convert ms to ns
+ # print('pos = ' + str(pos) + ' duty_cycle = ' + duty_cycle)
+ f.seek(0)
+ f.write(duty_cycle)
+ time.sleep(ms/1000)
+
+# | Pin | pwm | channel
+# | P9_31 | 0 | a
+# | P9_29 | 0 | b
+# | P9_14 | 1 | a
+# | P9_16 | 1 | b
+# | P8_19 | 2 | a
+# | P8_13 | 2 | b
\ No newline at end of file
diff --git a/bone-cook-book/04motors/code/servoSense.js b/bone-cook-book/04motors/code/servoSense.js
new file mode 100755
index 0000000000000000000000000000000000000000..3dfe2f1fbdf8195bc5929616e430c7a3a5b31bbf
--- /dev/null
+++ b/bone-cook-book/04motors/code/servoSense.js
@@ -0,0 +1,46 @@
+#!/usr/bin/env node
+
+// Bird will bow when there is a change in the sersor distance.
+
+var b = require('bonescript');
+var motor = 'P9_14'; // Pin to use
+var freq = 50; // Servo frequency (20 ms)
+var up = 0.6, // Smallest angle (in ms)
+ down = 2.0, // Largest angle (in ms)
+ dutyCycle,
+ ms = 250, // How often to change position, in ms
+ oldPos = 0;
+
+b.pinMode(motor, b.ANALOG_OUTPUT, 6, 0, 0, doInterval);
+
+function doInterval(x) {
+ if(x.err) {
+ console.log('x.err = ' + x.err);
+ return;
+ }
+ setInterval(readRange, ms);
+}
+
+move(2.0);
+
+function readRange() {
+ b.analogRead('P9_37', printStatus);
+}
+function printStatus(x) {
+ var pos = x.value;
+ console.log('pos = ' + pos);
+ if (pos-oldPos>0.5) {
+ move(up);
+ }
+ if (oldPos-pos>0.5) {
+ move(down);
+ }
+ oldPos = pos;
+}
+
+function move(pos) {
+
+ dutyCycle = pos/1000*freq
+ b.analogWrite(motor, dutyCycle, freq);
+ console.log('pos = ' + pos + ' duty cycle = ' + dutyCycle);
+}
diff --git a/bone-cook-book/04motors/code/stop.js b/bone-cook-book/04motors/code/stop.js
new file mode 100755
index 0000000000000000000000000000000000000000..ff06655adfa9123a032b114742cbd5ad280b6314
--- /dev/null
+++ b/bone-cook-book/04motors/code/stop.js
@@ -0,0 +1,10 @@
+#!/usr/bin/env node
+// Used for turning everything off.
+var b = require('bonescript');
+var gpio = ['P9_11', 'P9_13', 'P9_14', 'P9_15', 'P9_16'];
+var i;
+
+for(i=0; i<gpio.length; i++) {
+ b.pinMode(gpio[i], b.OUTPUT);
+ b.digitalWrite(gpio[i], b.LOW);
+}
diff --git a/bone-cook-book/04motors/code/unipolarStepperMotor.js b/bone-cook-book/04motors/code/unipolarStepperMotor.js
new file mode 100755
index 0000000000000000000000000000000000000000..26032442241ed60c973a6e126a78df2078c42a68
--- /dev/null
+++ b/bone-cook-book/04motors/code/unipolarStepperMotor.js
@@ -0,0 +1,72 @@
+#!/usr/bin/env node
+var fs = require('fs');
+
+// Motor is attached here
+// var controller = ["P9_11", "P9_13", "P9_15", "P9_17"];
+// var controller = ["P9_14", "P9_16", "P9_18", "P9_22"];
+var controller = ["50", "51", "4", "2"];
+var states = [[1,1,0,0], [0,1,1,0], [0,0,1,1], [1,0,0,1]];
+
+var curState = 0; // Current state
+var ms = 100, // Time between steps, in ms
+ max = 22, // Number of steps to turn before turning around
+ min = 0; // Minimum step to turn back around on
+
+var CW = 1, // Clockwise
+ CCW = -1,
+ pos = 0, // current position and direction
+ direction = CW;
+const GPIOPATH="/sys/class/gpio";
+
+// Initialize motor control pins to be OUTPUTs
+var i;
+for(i=0; i<controller.length; i++) {
+ // Make sure pins are exported
+ if(!fs.existsSync(GPIOPATH+"/gpio"+controller[i])) {
+ fs.writeFileSync(GPIOPATH+"/export", controller[i]);
+ // Make it an output pin
+ fs.writeFileSync(GPIOPATH+"/gpio"+controller[i]+"/direction", "in");
+ }
+}
+
+// Put the motor into a known state
+updateState(states[0]);
+rotate(direction);
+
+var timer = setInterval(move, ms);
+
+// Rotate back and forth once
+function move() {
+ pos += direction;
+ console.log("pos: " + pos);
+ // Switch directions if at end.
+ if (pos >= max || pos <= min) {
+ direction *= -1;
+ }
+ rotate(direction);
+}
+
+// This is the general rotate
+function rotate(direction) {
+ // console.log("rotate(%d)", direction);
+ // Rotate the state acording to the direction of rotation
+ curState += direction;
+ if(curState >= states.length) {
+ curState = 0;
+ } else if(curState<0) {
+ curState = states.length-1;
+ }
+ updateState(states[curState]);
+}
+
+// Write the current input state to the controller
+function updateState(state) {
+ console.log("state: " + state);
+ for (i=0; i<controller.length; i++) {
+ fs.writeFileSync(GPIOPATH+"/gpio"+controller[i]+"/value", state[i])
+ }
+}
+
+process.on('exit', function() {
+ updateState([0,0,0,0]); // Turn motor off
+});
\ No newline at end of file
diff --git a/bone-cook-book/04motors/code/unipolarStepperMotor.js.diff b/bone-cook-book/04motors/code/unipolarStepperMotor.js.diff
new file mode 100644
index 0000000000000000000000000000000000000000..4a34a7768fec3f608bd6cfe0ee6bd6a77118a90e
--- /dev/null
+++ b/bone-cook-book/04motors/code/unipolarStepperMotor.js.diff
@@ -0,0 +1,6 @@
+# var controller = ["P9_11", "P9_13", "P9_15", "P9_17"];
+controller = ["30", "31", "48", "5"]
+var states = [[1,1,0,0], [0,1,1,0], [0,0,1,1], [1,0,0,1]];
+var curState = 0; // Current state
+var ms = 100, // Time between steps, in ms
+ max = 200, // Number of steps to turn before turning around
\ No newline at end of file
diff --git a/bone-cook-book/04motors/code/unipolarStepperMotor.py b/bone-cook-book/04motors/code/unipolarStepperMotor.py
new file mode 100755
index 0000000000000000000000000000000000000000..1d13e416a39279865195067ada3840a887854373
--- /dev/null
+++ b/bone-cook-book/04motors/code/unipolarStepperMotor.py
@@ -0,0 +1,91 @@
+#!/usr/bin/env python
+import time
+import os
+import signal
+import sys
+
+# Motor is attached here
+# controller = ["P9_11", "P9_13", "P9_15", "P9_17"];
+# controller = ["30", "31", "48", "5"]
+# controller = ["P9_14", "P9_16", "P9_18", "P9_22"];
+controller = ["50", "51", "4", "2"]
+states = [[1,1,0,0], [0,1,1,0], [0,0,1,1], [1,0,0,1]]
+statesHiTorque = [[1,1,0,0], [0,1,1,0], [0,0,1,1], [1,0,0,1]]
+statesHalfStep = [[1,0,0,0], [1,1,0,0], [0,1,0,0], [0,1,1,0],
+ [0,0,1,0], [0,0,1,1], [0,0,0,1], [1,0,0,1]]
+
+curState = 0 # Current state
+ms = 250 # Time between steps, in ms
+maxStep = 22 # Number of steps to turn before turning around
+minStep = 0 # minimum step to turn back around on
+
+CW = 1 # Clockwise
+CCW = -1
+pos = 0 # current position and direction
+direction = CW
+GPIOPATH="/sys/class/gpio"
+
+def signal_handler(sig, frame):
+ print('Got SIGINT, turning motor off')
+ for i in range(len(controller)) :
+ f = open(GPIOPATH+"/gpio"+controller[i]+"/value", "w")
+ f.write('0')
+ f.close()
+ sys.exit(0)
+signal.signal(signal.SIGINT, signal_handler)
+print('Hit ^C to stop')
+
+def move():
+ global pos
+ global direction
+ global minStep
+ global maxStep
+ pos += direction
+ print("pos: " + str(pos))
+ # Switch directions if at end.
+ if (pos >= maxStep or pos <= minStep) :
+ direction *= -1
+ rotate(direction)
+
+# This is the general rotate
+def rotate(direction) :
+ global curState
+ global states
+ # print("rotate(%d)", direction);
+ # Rotate the state acording to the direction of rotation
+ curState += direction
+ if(curState >= len(states)) :
+ curState = 0;
+ elif(curState<0) :
+ curState = len(states)-1
+ updateState(states[curState])
+
+# Write the current input state to the controller
+def updateState(state) :
+ global controller
+ print(state)
+ for i in range(len(controller)) :
+ f = open(GPIOPATH+"/gpio"+controller[i]+"/value", "w")
+ f.write(str(state[i]))
+ f.close()
+
+# Initialize motor control pins to be OUTPUTs
+for i in range(len(controller)) :
+ # Make sure pin is exported
+ if (not os.path.exists(GPIOPATH+"/gpio"+controller[i])):
+ f = open(GPIOPATH+"/export", "w")
+ f.write(pin)
+ f.close()
+ # Make it an output pin
+ f = open(GPIOPATH+"/gpio"+controller[i]+"/direction", "w")
+ f.write("out")
+ f.close()
+
+# Put the motor into a known state
+updateState(states[0])
+rotate(direction)
+
+# Rotate
+while True:
+ move()
+ time.sleep(ms/1000)
diff --git a/bone-cook-book/04motors/code/unipolarStepperMotor.py.diff b/bone-cook-book/04motors/code/unipolarStepperMotor.py.diff
new file mode 100644
index 0000000000000000000000000000000000000000..af91b7cd35747a466a872de88c04b32ea78c03fd
--- /dev/null
+++ b/bone-cook-book/04motors/code/unipolarStepperMotor.py.diff
@@ -0,0 +1,6 @@
+# controller = ["P9_11", "P9_13", "P9_15", "P9_17"]
+controller = ["30", "31", "48", "5"]
+states = [[1,1,0,0], [0,1,1,0], [0,0,1,1], [1,0,0,1]]
+curState = 0 // Current state
+ms = 100 // Time between steps, in ms
+max = 200 // Number of steps to turn before turning around
\ No newline at end of file
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diff --git a/bone-cook-book/04motors/motors.rst b/bone-cook-book/04motors/motors.rst
new file mode 100644
index 0000000000000000000000000000000000000000..78f6e23c60fa380a0df7539c33c0d3fa49bf5a6b
--- /dev/null
+++ b/bone-cook-book/04motors/motors.rst
@@ -0,0 +1,368 @@
+.. _bone-cook-book-motors:
+
+Motors
+########
+
+Introduction
+--------------
+
+One of the many fun things about embedded computers is that you can move physical things with motors.
+But there are so many different kinds of motors (_servo_, _stepper_, _DC_), so how do you select the right one?
+
+The type of motor you use depends on the type of motion you want:
+
+- R/C or hobby servo motor
+ Can be quickly positioned at various absolute angles, but some don't spin. In fact, many can turn only about 180{deg}.
+
+ - Stepper motor
+ Spins and can also rotate in precise relative angles, such as turning 45{deg}. Stepper motors come in two types: _bipolar_ (which has four wires) and _unipolar_ (which has five or six wires).
+ - DC motor
+ Spins either clockwise or counter-clockwise and can have the greatest speed of the three. But a DC motor can't easily be made to turn to a given angle.
+
+When you know which type of motor to use, interfacing is easy. This chapter shows how to interface with each of these motors.
+
+.. note:: Motors come in many sizes and types. This chapter presents some of the more popular types and shows how they can interface easily to the Bone. If you need to turn on and off a 120 V motor, consider using something like the PowerSwitch presented in :ref:`<displays_powerSwitch>`.
+
+.. note:: The Bone has built-in 3.3 V and 5 V supplies, which can supply enough current to drive some small motors. Many motors, however, draw enough current that an external power supply is needed. Therefore, an external 5 V power supply is listed as optional in many of the recipes.
+
+.. note:: All the examples in the book assume you have cloned the Cookbook repository on www.github.com. Go here :ref:`<basics_repo>` for instructions.
+
+.. _motors_servo:
+
+Controlling a Servo Motor
+----------------------------
+
+Problem
+**************
+
+You want to use BeagleBone to control the absolute position of a servo motor.
+
+Solution
+**************
+
+We'll use the pulse width modulation (PWM) hardware of the Bone to control a
+servo motor.
+
+To make the recipe, you will need:
+
+* Servo motor (see :ref:`<app_misc>`)
+* Breadboard and jumper wires (see :ref:`<app_proto>`)
+* 1 kΩ resistor (optional, see :ref:`<app_resistor>`)
+* 5 V power supply (optional, see :ref:`<app_misc>`)
+
+The 1 kΩ resistor isn't required, but it provides some protection to the general-purpose input/output (GPIO) pin in case the servo fails and draws a large current.
+
+Wire up your servo, as shown in :ref:`<motors_servoMotor>`.
+
+.. note:: There is no standard for how servo motor wires are colored. One of my servos is wired like :ref:`<motors_servoMotor>`: red is 3.3 V, black is ground, and yellow is the control line. I have another servo that has red as 3.3 V and ground is brown, with the control line being orange. Generally, though, the 3.3 V is in the middle. Check the datasheet for your servo before wiring.
+
+.. _motors_servoMotor:
+
+.. figure:: figures/servoMotor_bb.png
+ :align: center
+ :alt: Servo Motor
+
+Driving a servo motor with the 3.3 V power supply
+
+The code for controlling the servo motor is in _servoMotor.py_, shown in :ref:`<py_servoMotor_code>`. You need to configure the pin for PWM.
+
+.. code-block:: bash
+
+ bone$ <strong>cd ~/BoneCookbook/docs/04motors/code</strong>
+ bone$ <strong>config-pin P9_16 pwm</strong>
+ bone$ <strong>./servoMotor.py</strong>
+
+
+
+.. _py_servoMotor_code:
+
+Code for driving a servo motor (servoMotor.py)
+.. code-block:: python
+
+ include::code/servoMotor.py[]
+
+
+.. _motors_servoMotor_code:
+Code for driving a servo motor (servoMotor.js)
+
+.. code-block:: JavaScript
+
+ include::code/servoMotor.js[]
+
+
+Running the code causes the motor to move back and forth, progressing to successive
+positions between the two extremes. You will need to press ^C (Ctrl-C) to stop the script.
+
+Discussion
+**************
+
+Controlling a Servo with an Rotary Encoder
+--------------------------------------------
+
+Problem
+**************
+
+You have a rotary encoder from :ref:`<digital_rotaryEncoder_js>` that you want to control a servo motor.
+
+Solution
+**************
+
+Combine the code from :ref:`<digital_rotaryEncoder_js>` and :ref:`<motors_servo>`.
+
+
+.. code-block:: bash
+ bone$ <strong>config-pin P9_16 pwm</strong>
+ bone$ <strong>config-pin P8_11 eqep</strong>
+ bone$ <strong>config-pin P8_12 eqep</strong>
+ bone$ <strong>./servoEncoder.py</strong>
+
+.. _py_servoEncoder_code:
+
+Code for driving a servo motor with a rotary encorder(servoEncoder.py)
+
+.. code-block:: python
+
+ include::code/servoEncoder.py[]
+
+.. _motors_dcSpeed:
+
+Controlling the Speed of a DC Motor
+--------------------------------------------
+
+Problem
+**************
+
+You have a DC motor (or a solenoid) and want a simple way to control its speed, but not the direction.
+
+Solution
+**********
+
+It would be nice if you could just wire the DC motor to BeagleBone Black and have it work, but it won't. Most motors require more current than the GPIO ports on the Bone can supply. Our solution is to use a transistor to control the current to the bone.
+
+Here we configure the encoder to returns value between 0 and 180 inclusive. This value is then mapped to a value between +min+ (0.6 ma) and +max+ (2.5 ms). This number is converted from milliseconds and nanoseconds (time 1000000) and sent to the servo motor via the pwm.
+
+
+Here's what you will need:
+
+* 3 V to 5 V DC motor
+* Breadboard and jumper wires (see :ref:`<app_proto>`)
+* 1 kΩ resistor (see :ref:`<app_resistor>`)
+* Transistor 2N3904 (see :ref:`<app_transistor>`)
+* Diode 1N4001 (see :ref:`<app_transistor>`)
+* Power supply for the motor (optional)
+
+If you are using a larger motor (more current),
+you will need to use a larger transistor.
+
+Wire your breadboard as shown in :ref:`<motors_dcMotor_fig>`.
+
+.. _motors_dcMotor_fig:
+
+.. figure:: figures/dcMotor_bb.png
+ :align: center
+ :alt: DC Motor
+
+Wiring a DC motor to spin one direction
+
+Use the code in :ref:`<motors_dcMotor_code>`
+(_dcMotor.js_) to run the motor.
+
+
+.. _py_dcMotor_code:
+
+Driving a DC motor in one direction (dcMotor.py)
+
+.. code-block:: python
+
+ include::code/dcMotor.py[]
+
+.. _motors_dcMotor_code:
+
+Driving a DC motor in one direction (dcMotor.js)
+
+.. code-block:: JavaScript
+
+ include::code/dcMotor.js[]
+
+Discussion
+**************
+
+
+See Also
+**************
+
+How do you change the direction of the motor? See :ref:`<motors_dcDirection>`.
+
+.. _motors_dcDirection:
+
+Controlling the Speed and Direction of a DC Motor
+--------------------------------------------------
+
+// TODO
+
+Problem
+**************
+
+You would like your DC motor to go forward and backward.
+
+Solution
+**************
+
+Use an H-bridge to switch the terminals on the motor so that it will run both backward
+and forward. We'll use the _L293D_: a common, single-chip H-bridge.
+
+Here's what you will need:
+
+* 3 V to 5 V motor (see :ref:`<app_misc>`)
+* Breadboard and jumper wires (see :ref:`<app_proto>`)
+* L293D H-Bridge IC (see :ref:`<app_ic>`)
+* Power supply for the motor (optional)
+
+Lay out your breadboard as shown in :ref:`<motors_h-bridge_fig>`. Ensure that the L293D is positioned correctly.
+There is a notch on one end that should be pointed up.
+
+.. _motors_h-bridge_fig:
+
+.. figure:: figures/h-bridgeMotor_bb.png
+ :align: center
+ :alt: H-bridge Motor
+
+Driving a DC motor with an H-bridge
+
+The code in :ref:`<motors_h-bridge_code>` (_h-bridgeMotor.js_) looks much like the code for driving the DC
+motor with a transistor (:ref:`<motors_dcMotor_code>`).
+The additional code specifies which direction to spin the motor.
+
+.. _motors_h-bridge_code:
+
+Code for driving a DC motor with an H-bridge (h-bridgeMotor.js)
+
+.. code-block:: JavaScript
+
+ include::code/h-bridgeMotor.js[]
+
+
+Discussion
+**************
+
+Driving a Bipolar Stepper Motor
+---------------------------------
+
+Problem
+**************
+
+You want to drive a stepper motor that has four wires.
+
+Solution
+**************
+
+Use an L293D H-bridge. The bipolar stepper motor requires
+us to reverse the coils, so we need to use an H-bridge.
+
+Here's what you will need:
+
+* Breadboard and jumper wires (see :ref:`<app_proto>`)
+* 3 V to 5 V bipolar stepper motor (see :ref:`<app_misc>`)
+* L293D H-Bridge IC (see :ref:`<app_ic>`)
+
+Wire as shown in :ref:`<motors_bipolar_fig>`.
+
+.. _motors_bipolar_fig:
+
+.. figure:: figures/bipolarStepperMotor_bb.png
+ :align: center
+ :alt: Bipolar Stepper Motor
+
+Bipolar stepper motor wiring
+
+Use the code in :ref:`<motors_stepperMotor_code>` to drive the motor.
+
+.. _motors_stepperMotor_code_py:
+
+Driving a bipolar stepper motor (bipolarStepperMotor.py)
+
+.. code-block:: python
+
+ include::code/bipolarStepperMotor.py[]
+
+.. _motors_stepperMotor_code:
+
+Driving a bipolar stepper motor (bipolarStepperMotor.js)
+
+.. code-block:: JavaScript
+
+ include::code/bipolarStepperMotor.js[]
+
+
+
+When you run the code, the stepper motor will rotate back and forth.
+
+Discussion
+**************
+
+
+Driving a Unipolar Stepper Motor
+-----------------------------------
+
+Problem
+**************
+
+You want to drive a stepper motor that has five or six wires.
+
+Solution
+**************
+
+If your stepper motor has five or six wires, it's a _unipolar_ stepper and
+is wired differently than the bipolar. Here, we'll use
+a _ULN2003 Darlington Transistor Array IC_ to drive the motor.
+
+Here's what you will need:
+
+* Breadboard and jumper wires (see :ref:`<app_proto>`)
+* 3 V to 5 V unipolar stepper motor (see :ref:`<app_misc>`)
+* ULN2003 Darlington Transistor Array IC (see :ref:`<app_ic>`)
+
+Wire, as shown in :ref:`<motors_unipolar_fig>`.
+
+.. note:: The IC in :ref:`<motors_unipolar_fig>` is illustrated upside down from the way it is usually displayed.
+
+That is, the notch for pin 1 is on the bottom. This made drawing the diagram much cleaner.
+
+Also, notice the _banded_ wire running the +P9_7+ (5 V) to the UL2003A.
+The stepper motor I'm using runs better at 5 V, so I'm using the Bone's 5 V power supply.
+The signal coming from the GPIO pins is 3.3 V, but the U2003A will step them up to 5 V to drive the motor.
+
+.. _motors_unipolar_fig:
+
+.. figure:: figures/unipolarStepperMotor_bb.png
+ :align: center
+ :alt: Unipolar Stepper Motor
+
+ Unipolar stepper motor wiring
+
+The code for driving the motor is in _unipolarStepperMotor.js_; however, it is almost identical to the bipolar stepper code (:ref:`<motors_stepperMotor_code>`), so :ref:`<motors_unistepperMotor_code>` shows only the lines that you need to change.
+
+.. _motors_unistepperMotor_js_code:
+
+Changes to bipolar code to drive a unipolar stepper motor (unipolarStepperMotor.py.diff)
+
+.. code-block:: python
+
+ include::code/unipolarStepperMotor.py.diff[]
+
+.. _motors_unistepperMotor_code:
+
+Changes to bipolar code to drive a unipolar stepper motor (unipolarStepperMotor.js.diff)
+
+.. code-block:: JavaScript
+
+ include::code/unipolarStepperMotor.js.diff[]
+
+
+The code in this example makes the following changes:
+
+* The +states+ are different. Here, we have two pins high at a time.
+* The time between steps (+ms+) is shorter, and the number of steps per direction (+max+) is bigger. The unipolar stepper I'm using has many more steps per rotation, so I need more steps to make it go around.
+
+Discussion
+**************
diff --git a/bone-cook-book/05tips/code/blinkLED.c b/bone-cook-book/05tips/code/blinkLED.c
new file mode 100755
index 0000000000000000000000000000000000000000..1863c1ef9a8637f1e46d06fafcaf848324ef1e26
--- /dev/null
+++ b/bone-cook-book/05tips/code/blinkLED.c
@@ -0,0 +1,48 @@
+////////////////////////////////////////
+// blinkLED.c
+// Blinks the P9_14 pin
+// Wiring:
+// Setup:
+// See:
+////////////////////////////////////////
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+#define MAXSTR 100
+// Look up P9.14 using gpioinfo | grep -e chip -e P9.14. chip 1, line 18 maps to 50
+int main() {
+ FILE *fp;
+ char pin[] = "50";
+ char GPIOPATH[] = "/sys/class/gpio";
+ char path[MAXSTR] = "";
+
+ // Make sure pin is exported
+ snprintf(path, MAXSTR, "%s%s%s", GPIOPATH, "/gpio", pin);
+ if (!access(path, F_OK) == 0) {
+ snprintf(path, MAXSTR, "%s%s", GPIOPATH, "/export");
+ fp = fopen(path, "w");
+ fprintf(fp, "%s", pin);
+ fclose(fp);
+ }
+
+ // Make it an output pin
+ snprintf(path, MAXSTR, "%s%s%s%s", GPIOPATH, "/gpio", pin, "/direction");
+ fp = fopen(path, "w");
+ fprintf(fp, "out");
+ fclose(fp);
+
+ // Blink every .25 sec
+ int state = 0;
+ snprintf(path, MAXSTR, "%s%s%s%s", GPIOPATH, "/gpio", pin, "/value");
+ fp = fopen(path, "w");
+ while (1) {
+ fseek(fp, 0, SEEK_SET);
+ if (state) {
+ fprintf(fp, "1");
+ } else {
+ fprintf(fp, "0");
+ }
+ state = ~state;
+ usleep(250000); // sleep time in microseconds
+ }
+}
\ No newline at end of file
diff --git a/bone-cook-book/05tips/code/blinkLED.py b/bone-cook-book/05tips/code/blinkLED.py
new file mode 100755
index 0000000000000000000000000000000000000000..2b15ebd35f2dfcaffdf06c50791961dac06e5d03
--- /dev/null
+++ b/bone-cook-book/05tips/code/blinkLED.py
@@ -0,0 +1,13 @@
+#!/usr/bin/env python
+import Adafruit_BBIO.GPIO as GPIO
+import time
+
+pin = "P9_14"
+
+GPIO.setup(pin, GPIO.OUT)
+
+while True:
+ GPIO.output(pin, GPIO.HIGH)
+ time.sleep(0.5)
+ GPIO.output(pin, GPIO.LOW)
+ time.sleep(0.5)
diff --git a/bone-cook-book/05tips/code/ipMasquerade.sh b/bone-cook-book/05tips/code/ipMasquerade.sh
new file mode 100755
index 0000000000000000000000000000000000000000..524fb338a895212bcace7d5e116bab90b9ef1d11
--- /dev/null
+++ b/bone-cook-book/05tips/code/ipMasquerade.sh
@@ -0,0 +1,31 @@
+#!/bin/bash
+# These are the commands to run on the host to set up IP
+# masquerading so the Bone can access the Internet through
+# the USB connection.
+# This configures the host, run ./setDNS.sh to configure the Bone.
+# Inspired by http://thoughtshubham.blogspot.com/2010/03/
+# internet-over-usb-otg-on-beagleboard.html
+
+if [ $# -eq 0 ] ; then
+echo "Usage: $0 interface (such as eth0 or wlan0)"
+exit 1
+fi
+
+interface=$1
+hostAddr=192.168.7.1
+beagleAddr=192.168.7.2
+ip_forward=/proc/sys/net/ipv4/ip_forward
+
+if [ `cat $ip_forward` == 0 ]
+ then
+ echo "You need to set IP forwarding. Edit /etc/sysctl.conf using:"
+ echo "$ sudo nano /etc/sysctl.conf"
+ echo "and uncomment the line \"net.ipv4.ip_forward=1\""
+ echo "to enable forwarding of packets. Then run the following:"
+ echo "$ sudo sysctl -p"
+ exit 1
+ else
+ echo "IP forwarding is set on host."
+fi
+# Set up IP masquerading on the host so the bone can reach the outside world
+sudo iptables -t nat -A POSTROUTING -s $beagleAddr -o $interface -j MASQUERADE
diff --git a/bone-cook-book/05tips/code/setDNS.sh b/bone-cook-book/05tips/code/setDNS.sh
new file mode 100755
index 0000000000000000000000000000000000000000..a73f1b51b881f3753c5b15af290a322ea49e5a26
--- /dev/null
+++ b/bone-cook-book/05tips/code/setDNS.sh
@@ -0,0 +1,40 @@
+#!/bin/bash
+# These are the commands to run on the host so the Bone
+# can access the Internet through the USB connection.
+# Run ./ipMasquerade.sh the first time. It will set up the host.
+# Run this script if the host is already set up.
+# Inspired by http://thoughtshubham.blogspot.com/2010/03/internet-over-usb-otg-on-beagleboard.html
+
+hostAddr=192.168.7.1
+beagleAddr=${1:-192.168.7.2}
+
+# Save the /etc/resolv.conf on the Beagle in case we mess things up.
+ssh root@$beagleAddr "mv -n /etc/resolv.conf /etc/resolv.conf.orig"
+# Create our own resolv.conf
+cat - << EOF > /tmp/resolv.conf
+# This is installed by ./setDNS.sh on the host
+
+EOF
+
+TMP=/tmp/nmcli
+# Look up the nameserver of the host and add it to our resolv.conf
+# From: http://askubuntu.com/questions/197036/how-to-know-what-dns-am-i-using-in-ubuntu-12-04
+# Use nmcli dev list for older version nmcli
+# Use nmcli dev show for newer version nmcli
+nmcli dev show > $TMP
+if [ $? -ne 0 ]; then # $? is the return code, if not 0 something bad happened.
+ echo "nmcli failed, trying older 'list' instead of 'show'"
+ nmcli dev list > $TMP
+ if [ $? -ne 0 ]; then
+ echo "nmcli failed again, giving up..."
+ exit 1
+ fi
+fi
+
+grep IP4.DNS $TMP | sed 's/IP4.DNS\[.\]:/nameserver/' >> /tmp/resolv.conf
+
+scp /tmp/resolv.conf root@$beagleAddr:/etc
+
+# Tell the beagle to use the host as the gateway.
+ssh root@$beagleAddr "/sbin/route add default gw $hostAddr" || true
+
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diff --git a/bone-cook-book/05tips/tips.rst b/bone-cook-book/05tips/tips.rst
new file mode 100644
index 0000000000000000000000000000000000000000..d78d3c7ffe2539a0aa0eab3f36201e836627a81a
--- /dev/null
+++ b/bone-cook-book/05tips/tips.rst
@@ -0,0 +1,1337 @@
+.. _bone-cook-book-tips:
+
+Beyond the Basics
+##################
+
+Introduction
+------------------------
+In :ref:`<basics>`, you learned how to set up BeagleBone Black, and :ref:`<sensors>`, :ref:`<displays>`, and :ref:`<motors>` showed how to interface to the physical world. The remainder of the book moves into some more exciting advanced topics, and this chapter gets you ready for them.
+
+The recipes in this chapter assume that you are running Linux on your host computer (:ref:`<tips_pick_os>`) and are comfortable with using Linux. We continue to assume that you are logged in as +debian+ on your Bone.
+
+.. _tips_hdmi:
+
+Running Your Bone Standalone
+------------------------
+
+Problem
+*************
+
+You want to use BeagleBone Black as a desktop computer with keyboard, mouse, and an HDMI display.
+
+Solution
+*************
+
+The Bone comes with USB and a microHDMI output. All you need to do is connect your keyboard, mouse, and HDMI display to it.
+
+To make this recipe, you will need:
+
+* Standard HDMI cable and female HDMI-to-male microHDMI adapter (see :ref:`<app_misc>`), or
+* MicroHDMI-to-HDMI adapter cable (see :ref:`<app_misc>`)
+* HDMI monitor (see :ref:`<app_misc>`)
+* USB keyboard and mouse
+* Powered USB hub (see :ref:`<app_misc>`)
+
+.. note:: The microHDMI adapter is nice because it allows you to use a regular HDMI cable with the Bone. However, it will block other ports and can damage the Bone if you aren't careful. The microHDMI-to-HDMI cable won't have these problems.
+
+.. tip:: You can also use an HDMI-to-DVI cable (:ref:`<app_misc>`) and use your Bone with a DVI-D display.
+
+The adapter looks something like :ref:`<tips_HDMI_adaptor_fig>`.
+
+.. _tips_HDMI_adaptor_fig:
+
+
+.. figure:: figures/hdmiConverter.jpg
+ :align: center
+ :alt: HDMI Adaptor
+
+ Female HDMI-to-male microHDMI adapter
+
+Plug the small end into the microHDMI input on the Bone and plug your HDMI cable into the other end of the adapter and your monitor. If nothing displays on your Bone, reboot.
+
+If nothing appears after the reboot, edit the _/boot/uEnv.txt_ file. Search for the line containing +disable_uboot_overlay_video=1 and make sure it's commented out:
+
+.. code-block:: bash
+
+ ###Disable auto loading of virtual capes (emmc/video/wireless/adc)
+ #disable_uboot_overlay_emmc=1
+ #disable_uboot_overlay_video=1
+
+
+Then reboot.
+
+////
+PRODUCTION: in the following tip, we're trying to display the hash symbol (#), all by itself, in constant width. Using +#+ produces an empty space in the build, and I don't know how to escape special characters within what should be literal strings.
+
+Adding to my confusion, the # signs are dropped in the first paragraph of the tip, but not in the second, which is formatted in the same exact way.
+
+Also, using ## in the code italicizes the second # and everything after it in the line, which should not happen.
+////
+
+The _/boot/uEnv.txt_ file contains a number of configuration commands that are executed at boot time. The +#+ character is used to add comments; that is, everything to the right of a +# is ignored by the Bone and is assumed to be for humans to read. In the previous example, +###Disable auto loading+ is a comment that informs us the next line(s) are for disabling things. Two +disable_uboot_overlay+ commands follow. Both should be commented-out and won't be executed by the Bon
+Why not just remove the line? Later, you might decide you need more general-purpose input/output (GPIO) pins and don't need the HDMI display. If so, just remove the +#+ from the +disable_uboot_overlay_video=1+ command. If you had completely removed the line earlier, you would have to look up the details somewhere to re-create it.
+
+When in doubt, comment-out; don't delete.
+
+.. note:: If you want to re-enable the HDMI audio, just comment-out the line you added.
+
+The Bone has only one USB port, so you will need to get either a keyboard with a USB hub (see :ref:`<app_misc>`) or a USB hub. Plug the USB hub into the Bone and then plug your keyboard and mouse in to the hub. You now have a Beagle workstation; no host computer is needed.
+
+.. tip:: A powered hub is recommended because USB can supply only 500 mA, and you'll want to plug many things into the Bone.
+
+Discussion
+*************
+
+This recipe disables the HDMI audio, which allows the Bone to try other resolutions.
+If this fails, see http://bit.ly/1GEPcOH[BeagleBoneBlack HDMI] for how to force the
+Bone's resolution to match your monitor.
+
+.. _tips_pick_os:
+
+Selecting an OS for Your Development Host Computer
+---------------------------------------------------
+
+Problem
+*************
+
+Your project needs a host computer, and you need to select an operating system (OS) for it.
+
+Solution
+*************
+
+For projects that require a host computer, we assume that you are running
+http://bit.ly/1wXOwkw[Linux Ubuntu 20.04 LTS]. You can be running either a native installation,
+through https://docs.microsoft.com/en-us/windows/wsl/[Windows Subsystem for Linux], via a virtual
+machine such as https://www.virtualbox.org/[VirtualBox], or in the cloud (https://portal.azure.com/[Microsoft Azure]
+or http://aws.amazon.com/ec2/[Amazon Elastic Compute Cloud] [EC2], for example).
+
+Recently I've been prefering https://docs.microsoft.com/en-us/windows/wsl/[Windows Subsystem for Linux].
+
+Discussion
+*************
+
+.. _tips_shell:
+
+Getting to the Command Shell via SSH
+------------------------
+
+Problem
+*************
+
+You want to connect to the command shell of a remote Bone from your host pass:[<span class="keep-together">computer</span>].
+
+Solution
+*************
+
+
+:ref:`<basics_vsc_IDE>` shows how to run shell commands in the Visual Studio Code +bash+ tab. However, the Bone has Secure Shell (SSH) enabled right out of the box, so you can easily connect by using the following command to log in as user +debian+, (note the +$+ at the end of the prompt):
+
+.. code-block:: bash
+
+ host$ ssh debian@192.168.7.2
+ Warning: Permanently added 'bone,192.168.7.2' (ECDSA) to the list of known hosts.
+ Last login: Mon Dec 22 07:53:06 2014 from yoder-linux.local
+ bone$
+
+
++debian+ has the default password +tempped+ It's best to change the password:
+
+.. code-block:: bash
+
+ bone$ passwd
+ Changing password for debian.
+ (current) UNIX password:
+ Enter new UNIX password:
+ Retype new UNIX password:
+ passwd: password updated successfully
+
+
+Discussion
+*************
+
+.. _tips_serial:
+
+Getting to the Command Shell via the Virtual Serial Port
+------------------------
+
+Problem
+*************
+
+You want to connect to the command shell of a remote Bone from your host computer without using SSH.
+
+Solution
+*************
+
+Sometimes, you can't connect to the Bone via SSH, but you have a network working over USB to the Bone. There is a way to access the command line to fix things without requiring extra hardware. (:ref:`<tips_FTDI>` shows a way that works even if you don't have a network working over USB, but it requires a special serial-to-USB cable.)
+
+First, check to ensure that the serial port is there. On the host computer, run the following command:
+
+.. code-block:: bash
+
+ host$ ls -ls /dev/ttyACM0
+ 0 crw-rw---- 1 root dialout 166, 0 Jun 19 11:47 /dev/ttyACM0
+
+
+_/dev/ttyACM0_ is a serial port on your host computer that the Bone creates when it boots up.
+The letters +crw-rw----+ show that you can't access it as a normal user. However, you _can_ access it if you are part of +dialout+ group. See if you are in the +dialout+ group:
+
+.. code-block:: bash
+
+ host$ groups
+ yoder adm tty uucp dialout cdrom sudo dip plugdev lpadmin sambashare
+
+Looks like I'm already in the group, but if you aren't, just add yourself to the group:
+
+.. code-block:: bash
+
+host$ sudo adduser $USER dialout
+
+
+You have to run +adduser+ only once. Your host computer will remember the next time you boot up. Now, install and run the +screen+ command:
+
+.. code-block:: bash
+
+ host$ sudo apt install screen
+ host$ screen /dev/ttyACM0 115200
+ Debian GNU/Linux 7 beaglebone ttyGS0
+
+ default username:password is [debian:temppwd]
+
+ Support/FAQ: http://elinux.org/Beagleboard:BeagleBoneBlack_Debian
+
+ The IP Address for usb0 is: 192.168.7.2
+ beaglebone login:
+
+
+The +/dev/ttyACM0+ parameter specifies which serial port to connect to, and +115200+
+tells the speed of the connection. In this case, it's 115,200 bits per second.
+
+Discussion
+*************
+
+.. _tips_FTDI:
+
+Viewing and Debugging the Kernel and u-boot Messages at Boot Time
+------------------------
+
+Problem
+*************
+
+You want to see the messages that are logged by BeagleBone Black as it comes to life.
+
+Solution
+*************
+
+There is no network in place when the Bone first boots up, so :ref:`<tips_shell>` and :ref:`<tips_serial>` won't work. This recipe uses some extra hardware (FTDI cable) to attach to the Bone's console serial port.
+
+To make this recipe, you will need:
+
+* 3.3 V FTDI cable (see :ref:`<app_misc>`)
+
+.. warning:: Be sure to get a 3.3 V FTDI cable (shown in :ref:`<tips_FTDIcable_fig>`), because the 5 V cables won't work.
+
+.. tip:: The Bone's Serial Debug J1 connector has Pin 1 connected to ground, Pin 4 to receive, and Pin 5 to transmit. The other pins are not attached.
+
+.. _tips_FTDIcable_fig:
+
+
+.. figure:: figures/FTDIcable.jpg
+ :align: center
+ :alt: FTDI Cable
+
+ FTDI cable
+
+Look for a small triangle at the end of the FTDI cable (:ref:`<tips_FTDIconnector_fig>`). It's often connected to the black wire.
+
+.. _tips_FTDIconnector_fig:
+
+
+.. figure:: figures/FTDIconnector.jpg
+ :align: center
+ :alt: FTDI Connector
+
+ FTDI connector
+
+Next, look for the FTDI pins of the Bone (labeled +J1+ on the Bone),
+shown in :ref:`<tips_black_hardware_details_fig>`.
+They are next to the P9 header and begin near pin 20. There is a white dot near P9_20.
+
+.. _tips_black_hardware_details_fig:
+
+
+.. figure:: figures/FTDIPins.png
+ :align: center
+ :alt: Serial Debug Pins
+
+ FTDI pins for the FTDI connector
+
+Plug the FTDI connector into the FTDI pins, being sure to connect
+the _triangle_ pin on the connector to the _white dot_ pin of the +FTDI+ connector.
+
+Now, run the following commands on your host computer:
+
+.. code-block:: bash
+
+ host$ ls -ls /dev/ttyUSB0
+ 0 crw-rw---- 1 root dialout 188, 0 Jun 19 12:43 /dev/ttyUSB0
+ host$ sudo adduser $USER dialout
+ host$ screen /dev/ttyUSB0 115200
+ Debian GNU/Linux 7 beaglebone ttyO0
+
+ default username:password is [debian:temppwd]
+
+ Support/FAQ: http://elinux.org/Beagleboard:BeagleBoneBlack_Debian
+
+ The IP Address for usb0 is: 192.168.7.2
+ beaglebone login:
+
+
+.. note:: Your screen might initially be blank. Press Enter a couple times to see the login prompt.
+
+Discussion
+*************
+
+Verifying You Have the Latest Version of the OS on Your Bone from the Shell
+-----------------------------------------------------------------------------
+
+Problem
+*************
+
+You are logged in to your Bone with a command prompt and want to know what version of the OS you are running.
+
+Solution
+*************
+
+Log in to your Bone and enter the following command:
+
+.. code-block:: bash
+
+ bone$ cat /etc/dogtag
+ BeagleBoard.org Debian Bullseye IoT Image 2022-07-01
+
+
+Discussion
+*************
+
+:ref:`<basics_latest_os>` shows how to open the _ID.txt_ file to see the OS version. The _/etc/dogtag_ file has the same contents and is easier to find if you already have a command prompt. See :ref:`<basics_install_os>` if you need to update your OS.
+
+Controlling the Bone Remotely with a VNC
+------------------------
+
+// TODO check this
+
+Problem
+*************
+
+You want to access the BeagleBone's graphical desktop from your host computer.
+
+Solution
+*************
+
+Run the installed Virtual Network Computing (VNC) server:
+
+.. code-block:: bash
+
+ bone$ tightvncserver
+
+ You will require a password to access your desktops.
+
+ Password:
+ Verify:
+ Would you like to enter a view-only password (y/n)? n
+ xauth: (argv):1: bad display name "beaglebone:1" in "add" command
+
+ New 'X' desktop is beaglebone:1
+
+ reating default startup script /home/debian/.vnc/xstartup
+ Starting applications specified in /home/debian/.vnc/xstartup
+ Log file is /home/debian/.vnc/beagleboard:1.log
+
+
+To connect to the Bone, you will need to run a VNC client. There are many to choose from. Remmina Remote Desktop Client is already installed on Ubuntu. Start and select the new remote desktop file button (:ref:`<tips_vnc1_fig>`).
+
+.. _tips_vnc1_fig:
+
+
+.. figure:: figures/vnc1.png
+ :align: center
+ :alt: Create a new remote desktop
+
+ Creating a new remote desktop file in Remmina Remote Desktop Client
+
+Give your connection a name, being sure to select "Remmina VNC Plugin" Also, be sure to add +:1+ after the server address, as shown in :ref:`<tips_vnc2_fig>`. This should match the +:1+ that was displayed when you started +vncserver+.
+
+.. _tips_vnc2_fig:
+
+
+.. figure:: figures/vnc2.png
+ :align: center
+ :alt: Configuring
+
+ Configuring the Remmina Remote Desktop Client
+
+Click Connect to start graphical access to your Bone, as shown in :ref:`<tips_vnc3_fig>`.
+
+// TODO update this
+
+.. _tips_vnc3_fig:
+
+.. figure:: figures/vnc3.png
+ :align: center
+ :alt: Desktop
+
+ The Remmina Remote Desktop Client showing the BeagleBone desktop
+
+.. tip:: You might need to resize the VNC screen on your host to see the bottom menu bar on your Bone.
+
+.. note:: You need to have X Windows installed and running for the VNC to work. Here's how to install it. This needs some 250M of disk space and 19 minutes to install.
+
+.. code-block:: bash
+
+ bone$ bone$ sudo apt install bbb.io-xfce4-desktop
+ bone$ cp /etc/bbb.io/templates/fbdev.xorg.conf /etc/X11/xorg.conf
+ bone$ startxfce4
+ /usr/bin/startxfce4: Starting X server
+ /usr/bin/startxfce4: 122: exec: xinit: not found
+
+
+Discussion
+*************
+
+Learning Typical GNU/Linux Commands
+------------------------
+
+Problem
+*************
+
+There are many powerful commands to use in Linux. How do you learn about them?
+
+Solution
+*************
+
+:ref:`<tips_linux_commands>` lists many common Linux commands.
+
+.. _tips_linux_commands:
+
+Common Linux commands
+
+.. table::
+
+ +--------+--------------------------------+
+ |Command |Action |
+ +--------+--------------------------------+
+ |pwd |show current directory |
+ +--------+--------------------------------+
+ |cd |change current directory |
+ +--------+--------------------------------+
+ |ls |list directory contents |
+ +--------+--------------------------------+
+ |chmod |change file permissions |
+ +--------+--------------------------------+
+ |chown |change file ownership |
+ +--------+--------------------------------+
+ |cp |copy files |
+ +--------+--------------------------------+
+ |mv |move files |
+ +--------+--------------------------------+
+ |rm |remove files |
+ +--------+--------------------------------+
+ |mkdir |make directory |
+ +--------+--------------------------------+
+ |rmdir |remove directory |
+ +--------+--------------------------------+
+ |cat |dump file contents |
+ +--------+--------------------------------+
+ |less |progressively dump file |
+ +--------+--------------------------------+
+ |vi |edit file (complex) |
+ +--------+--------------------------------+
+ |nano |edit file (simple) |
+ +--------+--------------------------------+
+ |head |trim dump to top |
+ +--------+--------------------------------+
+ |tail |trim dump to bottom |
+ +--------+--------------------------------+
+ |echo |print/dump value |
+ +--------+--------------------------------+
+ |env |dump environment variables |
+ +--------+--------------------------------+
+ |export |set environment variable |
+ +--------+--------------------------------+
+ |history |dump command history |
+ +--------+--------------------------------+
+ |grep |search dump for strings |
+ +--------+--------------------------------+
+ |man |get help on command |
+ +--------+--------------------------------+
+ |apropos |show list of man pages |
+ +--------+--------------------------------+
+ |find |search for files |
+ +--------+--------------------------------+
+ |tar |create/extract file archives |
+ +--------+--------------------------------+
+ |gzip |compress a file |
+ +--------+--------------------------------+
+ |gunzip |decompress a file |
+ +--------+--------------------------------+
+ |du |show disk usage |
+ +--------+--------------------------------+
+ |df |show disk free space |
+ +--------+--------------------------------+
+ |mount |mount disks |
+ +--------+--------------------------------+
+ |tee |write dump to file in parallel |
+ +--------+--------------------------------+
+ |hexdump |readable binary dumps |
+ +--------+--------------------------------+
+ |whereis |locates binary and source files |
+ +--------+--------------------------------+
+
+Discussion
+*************
+
+
+.. _tips_editing_files:
+
+Editing a Text File from the GNU/Linux Command Shell
+-----------------------------------------------------
+
+Problem
+*************
+
+You want to run an editor to change a file.
+
+Solution
+*************
+
+The Bone comes with a number of editors. The simplest to learn is +nano+. Just enter the following command:
+
+.. code-block:: bash
+
+bone$ nano file
+
+
+You are now in nano (:ref:`<tips_nano_fig>`). You can't move around the screen using the mouse, so use the arrow keys. The bottom two lines of the screen list some useful commands. Pressing ˄G (Ctrl-G) will display more useful commands. ˄X (Ctrl-X) exits nano and gives you the option of saving the file.
+
+.. _tips_nano_fig:
+
+
+.. figure:: figures/nano.png
+ :align: center
+ :alt: nano
+
+ Editing a file with nano
+
+.. tip:: By default, the file you create will be saved in the directory from which you opened +nano+.
+
+Discussion
+*************
+
+
+Many other text editors will run on the Bone. +vi+, +vim+, +emacs+, and even +eclipse+ are all supported.
+See :ref:`<tips_apt>` to learn if your favorite is one of them.
+
+
+.. _networking_wired:
+
+Establishing an Ethernet-Based Internet Connection
+------------------------
+
+Problem
+*************
+
+You want to connect your Bone to the Internet using the wired network connection.
+
+Solution
+*************
+
+Plug one end of an Ethernet patch cable into the RJ45 connector on the Bone (see :ref:`<networking_rj45>`)
+and the other end into your home hub/router. The yellow and green link lights on both ends should begin to flash.
+
+.. _networking_rj45:
+
+
+.. figure:: figures/internLED.png
+ :align: center
+ :alt: RJ45
+
+ The RJ45 port on the Bone
+
+If your router is already configured to run DHCP (Dynamical Host Configuration Protocol), it will automatically assign an IP address to the Bone.
+
+.. warning:: It might take a minute or two for your router to detect the Bone and assign the IP address.
+
+To find the IP address, open a terminal window and run the +ip+ command:
+
+.. code-block:: bash
+
+ bone$ ip a
+ 1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN group default qlen 1000
+ link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
+ inet 127.0.0.1/8 scope host lo
+ valid_lft forever preferred_lft forever
+ inet6 ::1/128 scope host
+ valid_lft forever preferred_lft forever
+ 2: eth0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc mq state UP group default qlen 1000
+ link/ether c8:a0:30:a6:26:e8 brd ff:ff:ff:ff:ff:ff
+ inet 10.0.5.144/24 brd 10.0.5.255 scope global dynamic eth0
+ valid_lft 80818sec preferred_lft 80818sec
+ inet6 fe80::caa0:30ff:fea6:26e8/64 scope link
+ valid_lft forever preferred_lft forever
+ 3: usb0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc pfifo_fast state UP group default qlen 1000
+ link/ether c2:3f:44:bb:41:0f brd ff:ff:ff:ff:ff:ff
+ inet 192.168.7.2/24 brd 192.168.7.255 scope global usb0
+ valid_lft forever preferred_lft forever
+ inet6 fe80::c03f:44ff:febb:410f/64 scope link
+ valid_lft forever preferred_lft forever
+ 4: usb1: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc pfifo_fast state UP group default qlen 1000
+ link/ether 76:7e:49:46:1b:78 brd ff:ff:ff:ff:ff:ff
+ inet 192.168.6.2/24 brd 192.168.6.255 scope global usb1
+ valid_lft forever preferred_lft forever
+ inet6 fe80::747e:49ff:fe46:1b78/64 scope link
+ valid_lft forever preferred_lft forever
+ 5: can0: <NOARP,ECHO> mtu 16 qdisc noop state DOWN group default qlen 10
+ link/can
+ 6: can1: <NOARP,ECHO> mtu 16 qdisc noop state DOWN group default qlen 10
+ link/can
+
+
+My Bone is connected to the Internet in two ways: via the RJ45 connection (+eth0+) and via the USB cable (+usb0+).
+The +inet+ field shows that my Internet address is +10.0.5.144+ for the RJ45 connector.
+
+On my university campus, you must register your MAC address before any device will work on the network.
+The +HWaddr+ field gives the MAC address. For +eth0+, it's +c8:a0:30:a6:26:e8+.
+
+The IP address of your Bone can change. If it's been assigned by DHCP, it can change at any time. The MAC address, however, never changes; it is assigned to your ethernet device when it's manufactured.
+
+.. warning:: When a Bone is connected to some networks it becomes visible to the _world_. If you don't secure your Bone, the world will soon find it. See :ref:`<tips_passwords>` and :ref:`<tips_firewall
+
+On many home networks, you will be behind a firewall and won't be as visible.
+
+Discussion
+*************
+
+.. _networking_wireless:
+
+Establishing a WiFi-Based Internet Connection
+------------------------
+
+Problem
+*************
+
+You want BeagleBone Black to talk to the Internet using a USB wireless adapter.
+
+Solution
+*************
+
+
+.. tip:: For the correct instructions for the image you are using, go to
+httporum.beagleboard.org/tag/latest-images[latest-images] and click on the image you are using.
+
+I'm running Debian 11.x (Bullseye), the middle one.
+
+.. _tips_latest-images_fig:
+
+
+.. figure:: figures/latest-images.png
+ :align: center
+ :alt: Latest Image Page
+
+ Latested Beagle Images
+
+Scroll to the top of the page and you'll see instructions on setting up Wifi. The instructions here are based on using +networkctl+
+
+.. _tips_networkfig:
+
+
+.. figure:: figures/network.png
+ :align: center
+ :alt: Network Setup Instructions
+
+ Instructions for setting up your network.
+
+// TODO is this up to date?
+Several WiFi adapters work with the Bone. Check http://bit.ly/1EbEwUo[WiFi Adapters] for the latest list.
+
+To make this recipe, you will need:
+
+* USB Wifi adapter (see :ref:`<app_misc>`)
+* 5 V external power supply (see :ref:`<app_misc>`)
+
+.. warning:: Most adapters need at least 1 A of current to run, and USB supplies only 0.5 A, so be sure to use an external power supply. Otherwise, you will experience erratic behavior and random crashes.
+
+First, plug in the WiFi adapter and the 5 V external power supply and reboot.
+
+Then run +lsusb+ to ensure that your Bone found the adapter:
+
+.. code-block:: bash
+
+ bone$ lsusb
+ Bus 001 Device 002: ID 0bda:8176 Realtek Semiconductor Corp. RTL8188CUS 802.11n
+ WLAN Adapter
+ Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
+ Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
+
+
+.. note:: There is a well-known bug in the Bone's 3.8 kernel series that prevents USB devices from being discovered when hot-plugged, which is why you should reboot. Newer kernels should address this issue.
+
+
+// TODO update
+
+Next, run +networkctl+ to find your adapter's name. Mine is called +wlan0+, but you might see other names, such as +ra0+.
+
+.. code-block:: bash
+
+ bone$ networkctl
+ IDX LINK TYPE OPERATIONAL SETUP
+ 1 lo loopback carrier unmanaged
+ 2 eth0 ether no-carrier configuring
+ 3 usb0 gadget routable configured
+ 4 usb1 gadget routable configured
+ 5 can0 can off unmanaged
+ 6 can1 can off unmanaged
+ 7 wlan0 wlan routable configured
+ 8 SoftAp0 wlan routable configured
+
+ 8 links listed.
+
+
+If no name appears, try +ip a+:
+
+.. code-block:: bash
+
+ bone$ ip a
+ ...
+ 2: eth0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc pfifo_fast state DOWN group default qlen 1000
+ link/ether c8:a0:30:a6:26:e8 brd ff:ff:ff:ff:ff:ff
+ 3: usb0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc pfifo_fast state UP group default qlen 1000
+ link/ether c2:3f:44:bb:41:0f brd ff:ff:ff:ff:ff:ff
+ inet 192.168.7.2/24 brd 192.168.7.255 scope global usb0
+ valid_lft forever preferred_lft forever
+ inet6 fe80::c03f:44ff:febb:410f/64 scope link
+ valid_lft forever preferred_lft forever
+ ...
+ 7: wlan0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc mq state UP group default qlen 1000
+ link/ether 64:69:4e:7e:5c:e4 brd ff:ff:ff:ff:ff:ff
+ inet 10.0.7.21/24 brd 10.0.7.255 scope global dynamic wlan0
+ valid_lft 85166sec preferred_lft 85166sec
+ inet6 fe80::6669:4eff:fe7e:5ce4/64 scope link
+ valid_lft forever preferred_lft forever
+
+
+ Next edit the configuration file +/etc/wpa_supplicant/wpa_supplicant-wlan0.conf+.
+
+.. code-block:: bash
+
+bone$ sudo nano /etc/wpa_supplicant/wpa_supplicant-wlan0.conf
+
+
+In the file you'll see:
+
+.. code-block:: bash
+
+ ctrl_interface=DIR=/run/wpa_supplicant GROUP=netdev
+ update_config=1
+ #country=US
+
+ network={
+ ssid="Your SSID"
+ psk="Your Password"
+ }
+
+
+Change the +ssid+ and +psk+ enteries for your network. Save your file, then run:
+
+.. code-block:: bash
+
+ bone$ sudo systemctl restart systemd-networkd
+ bone$ ip a
+ bone$ ping -c2 google.com
+ PING google.com (142.250.191.206) 56(84) bytes of data.
+ 64 bytes from ord38s31-in-f14.1e100.net (142.250.191.206): icmp_seq=1 ttl=115 time=19.5 ms
+ 64 bytes from ord38s31-in-f14.1e100.net (142.250.191.206): icmp_seq=2 ttl=115 time=19.4 ms
+
+ --- google.com ping statistics ---
+ 2 packets transmitted, 2 received, 0% packet loss, time 1001ms
+ rtt min/avg/max/mdev = 19.387/19.450/19.513/0.063 ms
+
+
++wlan0+ should now have an ip address and you should be on the network. If not, try rebooting.
+
+Discussion
+*************
+
+
+
+.. _networking_usb:
+
+Sharing the Host's Internet Connection over USB
+------------------------
+
+// TODO Test this
+
+Problem
+*************
+
+Your host computer is connected to the Bone via the USB cable, and you want to run the network between the two.
+
+Solution
+*************
+
+:ref:`<networking_wired>` shows how to connect BeagleBone Black to the Internet via the RJ45 Ethernet connector.
+This recipe shows a way to connect without using the RJ45 pass:[<span class="keep-together">connector</span>].
+
+A network is automatically running between the Bone and the host computer at boot time using the USB. The host's
+IP address is +192.168.7.1+ and the Bone's is +192.168.7.2+. Although your Bone is talking to your host, it can't
+reach the Internet in general, nor can the Internet reach it. On one hand, this is good, because those who are up to
+no good can't access your Bone. On the other hand, your Bone can't reach the rest of the world.
+
+Letting your bone see the world: setting up IP masquerading
+
+You need to set up IP masquerading on your host and configure your Bone to use it. Here is a solution that works
+with a host computer running Linux. Add the code in :ref:`<tips_ipmasq_code>` to a
+file called _ipMasquerade.sh_ on your host computer.
+
+.. _tips_ipmasq_code:
+
+Code for IP Masquerading (ipMasquerade.sh)
+
+.. code-block:: JavaScript
+
+ include::code/ipMasquerade.sh[IP masquerade]
+
+
+Then, on your host, run the following commands:
+
+.. code-block:: bash
+
+ host$ chmod +x ipMasquerade.sh
+ host$ ./ipMasquerade.sh eth0
+
+
+This will direct your host to take requests from the Bone and send them to +eth0+.
+If your host is using a wireless connection, change +eth0+ to +wlan0+.
+
+Now let's set up your host to instruct the Bone what to do. Add the code
+in :ref:`<tips_setDNS>` to _setDNS.sh_ on your host computer.
+
+.. _tips_setDNS:
+
+Code for setting the DNS on the Bone (setDNS.sh)
+
+.. code-block:: JavaScript
+
+ include::code/setDNS.sh[Set DNS]
+
+
+Then, on your host, run the following commands:
+
+.. code-block:: bash
+
+ host$ chmod +x setDNS.sh
+ host$ ./setDNS.sh
+ host$ ssh -X root@192.168.7.2
+ bone$ ping -c2 google.com
+ PING google.com (216.58.216.96) 56(84) bytes of data.
+ 64 bytes from ord30s22....net (216.58.216.96): icmp_req=1 ttl=55 time=7.49 ms
+ 64 bytes from ord30s22....net (216.58.216.96): icmp_req=2 ttl=55 time=7.62 ms
+
+ --- google.com ping statistics ---
+ 2 packets transmitted, 2 received, 0% packet loss, time 1002ms
+ rtt min/avg/max/mdev = 7.496/7.559/7.623/0.107 ms
+
+
+This will look up what Domain Name System (DNS) servers your host is using and copy
+them to the right place on the Bone. The +ping+ command is a quick way to verify your connection.
+
+Letting the world see your bone: setting up port forwarding
+
+Now your Bone can access the world via the USB port and your host computer, but
+what if you have a web server on your Bone that you want to access from the world?
+The solution is to use _port forwarding_ from your host.
+Web servers typically listen to port +80+. First, look up the IP address of your host:
+// TODO switch to ip address
+
+.. code-block:: bash
+
+ host$ ifconfig
+ eth0 Link encap:Ethernet HWaddr 00:e0:4e:00:22:51
+ inet addr:137.112.41.35 Bcast:137.112.41.255 Mask:255.255.255.0
+ inet6 addr: fe80::2e0:4eff:fe00:2251/64 Scope:Link
+ UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
+ RX packets:5371019 errors:0 dropped:0 overruns:0 frame:0
+ TX packets:4720856 errors:0 dropped:0 overruns:0 carrier:0
+ collisions:0 txqueuelen:1000
+ RX bytes:1667916614 (1.6 GB) TX bytes:597909671 (597.9 MB)
+
+ eth1 Link encap:Ethernet HWaddr 00:1d:60:40:58:e6
+ ...
+
+
+It's the number following +inet addr:+, which in my case is +137.112.41.35+.
+
+.. tip:: If you are on a wireless network, find the IP address associated with +wlan0+.
+
+Then run the following, using your host's IP address:
+
+// TODO check this iptables, convert to ufw
+
+.. code-block:: bash
+
+ host$ sudo iptables -t nat -A PREROUTING -p tcp -s 0/0 \
+ -d 137.112.41.35 --dport 1080 -j DNAT --to 192.168.7.2:80
+
+
+Now browse to your host computer at port +1080+. That is, if your host's IP address
+is +123.456.789.0+, enter +123.456.789.0:1080+. The +:1080+ specifies what port number to
+use. The request will be forwarded to the server on your Bone listening to port +80+.
+(I used +1080+ here, in case your host is running a web server of its own on port +80+.)
+
+Discussion
+*************
+
+
+.. _tips_firewall:
+
+Setting Up a Firewall
+------------------------
+
+Problem
+*************
+
+You have put your Bone on the network and want to limit which IP addresses can access it.
+
+Solution
+*************
+
+https://www.howtogeek.com/[How-To Geek] has a great posting on how do use +ufw+, the "uncomplicated firewall".
+Check out https://www.howtogeek.com/devops/how-to-secure-your-linux-server-with-a-ufw-firewall/[How to Secure Your Linux Server with a UFW Firewall].
+I'll summarize the initial setup here.
+
+First install and check the status:
+.. code-block:: bash
+
+ bone$ sudo apt install ufw
+ bone$ sudo ufw status
+ Status: inactive
+
+
+Now turn off everything coming in and leave on all outgoing. Note, this won't take effect until +ufw+ is enabled.
+.. code-block:: bash
+
+ bone$ sudo ufw default deny incoming
+ bone$ sudo ufw default allow outgoing
+
+
+Don't enable yet, make sure +ssh+ still has access
+.. code-block:: bash
+
+ bone$ sudo ufw allow 22
+
+
+Just to be sure, you can install +nmap+ on your host computer to see what ports are currently open.
+
+.. code-block:: bash
+
+ host$ sudo apt update
+ host$ sudo apt install nmap
+ host$ nmap 192.168.7.2
+ Starting Nmap 7.80 ( https://nmap.org ) at 2022-07-09 13:37 EDT
+ Nmap scan report for bone (192.168.7.2)
+ Host is up (0.014s latency).
+ Not shown: 997 closed ports
+ PORT STATE SERVICE
+ 22/tcp open ssh
+ 80/tcp open http
+ 3000/tcp open ppp
+
+Nmap done: 1 IP address (1 host up) scanned in 0.19 seconds
+
+Currently there are three ports visible: 22, 80 and 3000(visual studio code) Now turn on the firewal and see what happends.
+
+.. code-block:: bash
+
+ bone$ sudo ufw enable
+ Command may disrupt existing ssh connections. Proceed with operation (y|n)? y
+ Firewall is active and enabled on system startup
+
+
+ host$ nmap 192.168.7.2
+ Starting Nmap 7.80 ( https://nmap.org ) at 2022-07-09 13:37 EDT
+ Nmap scan report for bone (192.168.7.2)
+ Host is up (0.014s latency).
+ Not shown: 999 closed ports
+ PORT STATE SERVICE
+ 22/tcp open ssh
+
+Nmap done: 1 IP address (1 host up) scanned in 0.19 seconds
+
+
+Only port 22 (ssh) is accessable now.
+
+The firewall will remain on, even after a reboot. Disable it now if you don't want it on.
+
+.. code-block:: bash
+
+bone$ sudo ufw disable
+Firewall stopped and disabled on system startup
+
+
+See the How-To Geek article for more examples.
+
+Discussion
+*************
+
+.. _tips_apt:
+
+Installing Additional Packages from the Debian Package Feed
+-------------------------------------------------------------
+
+Problem
+*************
+
+You want to do more cool things with your BeagleBone by installing more programs.
+
+Solution
+*************
+
+.. warning:: Your Bone needs to be on the network for this to work. See :ref:`<networking_wired>`, :ref:`<networking_wireless>`, or :ref:`<networking_usb>`.
+
+The easiest way to install more software is to use +apt+:
+
+.. code-block:: bash
+
+ bone$ sudo apt update
+ bone$ sudo apt install "name of software"
+
+
+A +sudo+ is necessary since you aren't running as +root+. The first command downloads package lists from various repositories and updates them to get information on the newest versions of packages and their dependencies. (You need to run it only once a week or so.) The second command fetches the software and installs it and all packages it depends on.
+
+How do you find out what software you can install? Try running this:
+
+.. code-block:: bash
+
+ bone$ apt-cache pkgnames | sort > /tmp/list
+ bone$ wc /tmp/list
+ 67303 67303 1348342 /tmp/list
+ bone$ less /tmp/list
+
+
+The first command lists all the packages that +apt+ knows about and sorts them and stores
+them in _/tmp/list_. The second command shows why you want to put the list in a file.
+The +wc+ command counts the number of lines, words, and characters in a file. In our case,
+there are over 67,000 packages from which we can choose! The +less+ command displays the sorted
+list, one page at a time. Press the space bar to go to the next page. Press Q to quit.
+
+Suppose that you would like to install an online dictionary (+dict+). Just run the following command:
+
+.. code-block:: bash
+
+bone$ sudo apt install dict
+
+
+Now you can run +dict+.
+
+Discussion
+*************
+
+
+
+.. _tips_apt_remove:
+
+Removing Packages Installed with apt
+------------------------
+
+Problem
+*************
+
+You've been playing around and installing all sorts of things with +apt+ and now you want to clean things up a bit.
+
+Solution
+*************
+
++apt+ has a +remove+ option, so you can run the following command:
+
+.. code-block:: bash
+
+bone$ sudo apt remove dict
+Reading package lists... Done
+Building dependency tree
+Reading state information... Done
+The following packages were automatically installed and are no longer required:
+ libmaa3 librecode0 recode
+Use 'apt autoremove' to remove them.
+The following packages will be REMOVED:
+ dict
+0 upgraded, 0 newly installed, 1 to remove and 27 not upgraded.
+After this operation, 164 kB disk space will be freed.
+Do you want to continue [Y/n]? y
+
+
+Discussion
+*************
+
+
+Copying Files Between the Onboard Flash and the MicroSD Card
+---------------------------------------------------------------
+
+Problem
+*************
+
+You want to move files between the onboard flash and the microSD card.
+
+Solution
+*************
+
+If you booted from the microSD card, run the following command:
+
+.. code-block:: bash
+
+ bone$ df -h
+ Filesystem Size Used Avail Use% Mounted on
+ rootfs 7.2G 2.0G 4.9G 29% /
+ udev 10M 0 10M 0% /dev
+ tmpfs 100M 1.9M 98M 2% /run
+ /dev/mmcblk0p2 7.2G 2.0G 4.9G 29% /
+ tmpfs 249M 0 249M 0% /dev/shm
+ tmpfs 249M 0 249M 0% /sys/fs/cgroup
+ tmpfs 5.0M 0 5.0M 0% /run/lock
+ tmpfs 100M 0 100M 0% /run/user
+ bone$ ls /dev/mmcblk*
+ /dev/mmcblk0 /dev/mmcblk0p2 /dev/mmcblk1boot0 /dev/mmcblk1p1
+ /dev/mmcblk0p1 /dev/mmcblk1 /dev/mmcblk1boot1
+
+
+The +df+ command shows what partitions are already mounted.
+The line +/dev/mmcblk0p2 7.2G 2.0G 4.9G 29% /+ shows that +mmcblk0+ partition +p2+
+is mounted as +/+, the root file system. The general rule is that the media you're booted from
+(either the onboard flash or the microSD card) will appear as +mmcblk0+.
+The second partition (+p2+) is the root of the file system.
+
+The +ls+ command shows what devices are available to mount. Because +mmcblk0+ is already mounted,
++/dev/mmcblk1p1+ must be the other media that we need to mount. Run the following commands to mount it:
+
+// TODO update
+
+.. code-block:: bash
+
+ bone$ cd /mnt
+ bone$ sudo mkdir onboard
+ bone$ ls onboard
+ bone$ sudo mount /dev/mmcblk1p1 onboard/
+ bone$ ls onboard
+ bin etc lib mnt proc sbin sys var
+ boot home lost+found nfs-uEnv.txt root selinux tmp
+ dev ID.txt media opt run srv usr
+
+
+The +cd+ command takes us to a place in the file system where files are commonly mounted.
+The +mkdir+ command creates a new directory (_onboard_) to be a mount point. The +ls+
+command shows there is nothing in _onboard_. The +mount+ command makes the contents of
+the onboard flash accessible. The next +ls+ shows there now are files in _onboard_.
+These are the contents of the onboard flash, which can be copied to and from like any other file.
+
+Discussion
+*************
+
+This same process should also work if you have booted from the onboard flash. When you are done with the onboard flash, you can unmount it by using this command:
+
+.. code-block:: bash
+
+ bone$ sudo umount /mnt/onboard
+
+
+Freeing Space on the Onboard Flash or MicroSD Card
+----------------------------------------------------
+
+Problem
+*************
+
+You are starting to run out of room on your microSD card (or onboard flash) and
+have removed several packages you had previously installed (:ref:`<tips_apt_remove>`),
+ut you still need to free up more space.
+
+Solution
+*************
+
+
+To free up space, you can remove preinstalled packages or discover big files to remove.
+
+Removing preinstalled packages
+
+
+You might not need a few things that come preinstalled in the Debian image, including such things as OpenCV, the Chromium web browser, and some documentation.
+
+.. note:: The Chromium web browser is the open source version of Google's Chrome web browser. Unless you are using the Bone as a desktop computer, you can probably remove it.
+
+
+Here's how you can remove these:
+
+.. code-block:: bash
+
+ bone$ sudo apt remove bb-node-red-installer (171M)
+ bone$ sudo apt autoremove
+ bone$ sudo -rf /usr/share/doc (116M)
+ bone$ sudo -rf /usr/share/man (19M)
+
+
+Discovering big files
+
+
+The +du+ (disk usage) command offers a quick way to discover big files:
+
+.. code-block:: bash
+
+ bone$ sudo du -shx /*
+ 12M /bin
+ 160M /boot
+ 0 /dev
+ 23M /etc
+ 835M /home
+ 4.0K /ID.txt
+ 591M /lib
+ 16K /lost+found
+ 4.0K /media
+ 8.0K /mnt
+ 664M /opt
+ du: cannot access '/proc/1454/task/1454/fd/4': No such file or directory
+ du: cannot access '/proc/1454/task/1454/fdinfo/4': No such file or directory
+ du: cannot access '/proc/1454/fd/3': No such file or directory
+ du: cannot access '/proc/1454/fdinfo/3': No such file or directory
+ 0 /proc
+ 1.4M /root
+ 1.4M /run
+ 13M /sbin
+ 4.0K /srv
+ 0 /sys
+ 48K /tmp
+ 1.6G /usr
+ 1.9G /var
+
+
+If you booted from the microSD card, +du+ lists the usage of the microSD.
+If you booted from the onboard flash, it lists the onboard flash usage.
+
+The +-s+ option summarizes the results rather than displaying every file. +-h+ prints
+it in _human_ form--that is, using +M+ and +K+ postfixes rather than showing lots of digits.
+The +/*+ specifies to run it on everything in the top-level directory. It looks like a couple
+of things disappeared while the command was running and thus produced some error messages.
+
+.. tip:: For more help, try +du --help+.
+
+The _/var_ directory appears to be the biggest user of space at 1.9 GB. You can then run the
+following command to see what's taking up the space in _/var_:
+
+.. code-block:: bash
+
+ bone$ sudo du -sh /usr/*
+ 4.0K /var/backups
+ 76M /var/cache
+ 93M /var/lib
+ 4.0K /var/local
+ 0 /var/lock
+ 751M /var/log
+ 4.0K /var/mail
+ 4.0K /var/opt
+ 0 /var/run
+ 16K /var/spool
+ 987M /var/swap
+ 28K /var/tmp
+ 16K /var/www
+
+
+A more interactive way to explore your disk usage is by installing +ncdu+ (ncurses disk usage):
+
+.. code-block:: bash
+
+ bone$ sudo apt install ncdu
+ bone$ ncdu /
+
+
+After a moment, you'll see the following:
+
+.. code-block:: bash
+
+ ncdu 1.15.1 ~ Use the arrow keys to navigate, press ? for help
+ --- / ------------------------------------------------------------------
+ . 1.9 GiB [##########] /var
+ 1.5 GiB [######## ] /usr
+ 835.0 MiB [#### ] /home
+ 663.5 MiB [### ] /opt
+ 590.9 MiB [### ] /lib
+ 159.0 MiB [ ] /boot
+ . 22.8 MiB [ ] /etc
+ 12.5 MiB [ ] /sbin
+ 11.1 MiB [ ] /bin
+ . 1.4 MiB [ ] /run
+ . 40.0 KiB [ ] /tmp
+ ! 16.0 KiB [ ] /lost+found
+ 8.0 KiB [ ] /mnt
+ e 4.0 KiB [ ] /srv
+ ! 4.0 KiB [ ] /root
+ e 4.0 KiB [ ] /media
+ 4.0 KiB [ ] ID.txt
+ . 0.0 B [ ] /sys
+ . 0.0 B [ ] /proc
+ 0.0 B [ ] /dev
+
+ Total disk usage: 5.6 GiB Apparent size: 5.5 GiB Items: 206148
+
++ncdu+ is a character-based graphics interface to +du+. You can now use your arrow
+keys to navigate the file structure to discover where the big unused files are. Press ? for help.
+
+.. warning:: Be careful not to press the D key, because it's used to delete a file or directory.
+
+Discussion
+*************
+
+.. _misc_libsoc:
+
+Using C to Interact with the Physical World
+------------------------
+
+Problem
+*************
+
+You want to use C on the Bone to talk to the world.
+
+Solution
+*************
+
+The C solution isn't as simple as the JavaScript or Python solution, but it does work
+and is much faster. The approach is the same, write to the +/sys/class/gpio+ files.
+
+.. _misc_c_blink:
+
+Use C to blink an LED (blinkLED.c)
+
+.. code-block:: bash
+
+ include::code/blinkLED.c[]
+
+Here, as with JavaScript and Python, the gpio pins are refered to by the Linux gpio number.
+:ref:`<tips_cape_headers_digital>` shows how the P8 and P9 Headers numbers map to the gpio number.
+For this example P9_14 is used, which the table shows in gpio 50.
+
+.. _tips_cape_headers_digital:
+
+.. figure:: figures/cape-headers-digital.png
+ :align: center
+ :alt: cape headers digital
+
+ Mapping from header pin to internal GPIO number
+
+Compile and run the code:
+
+.. code-block:: bash
+
+ bone$ gcc -o blinkLED blinkLED.c
+ bone$ ./blinkLED
+ ^C
+
+
+Hit ^C to stop the blinking.
+
+Discussion
+*************
+
diff --git a/bone-cook-book/06iot/code/GPIOserver.js b/bone-cook-book/06iot/code/GPIOserver.js
new file mode 100755
index 0000000000000000000000000000000000000000..00c28d9b2fc9f04739d03c213aa29ba44d18c1cc
--- /dev/null
+++ b/bone-cook-book/06iot/code/GPIOserver.js
@@ -0,0 +1,59 @@
+#!/usr/bin/env node
+// Initial idea from Getting Started With node.js and socket.io
+// http://codehenge.net/blog/2011/12/getting-started-with-node-js-and-socket-io-
+// v0-7-part-2/
+// This is a simple server for the various web frontends
+// Display status of P9_42
+"use strict";
+
+var port = 9090, // Port on which to listen
+ http = require('http'),
+ url = require('url'),
+ fs = require('fs'),
+ b = require('bonescript'),
+ gpio = 'P9_42'; // gpio port to read
+
+ // <1>
+var htmlStart = "\
+<!DOCTYPE html>\
+<html>\
+<body>\
+\
+<h1>" + gpio + "</h1>\
+data = ";
+
+ // <2>
+var htmlEnd = "\
+</body>\
+</html>";
+
+var server = http.createServer(servePage);
+
+b.pinMode(gpio, b.INPUT, 7, 'pulldown');
+
+server.listen(port);
+console.log("Listening on " + port);
+
+function servePage(req, res) {
+ var path = url.parse(req.url).pathname;
+ console.log("path: " + path);
+ if (path === '/gpio') { // <3>
+ var data = b.digitalRead(gpio); // <4>
+ res.write(htmlStart + data + htmlEnd, 'utf8'); // <5>
+ res.end();
+ } else {
+ fs.readFile(__dirname + path, function (err, data) {
+ if (err) {
+ return send404(res);
+ }
+ res.write(data, 'utf8');
+ res.end();
+ });
+ }
+}
+
+function send404(res) {
+ res.writeHead(404);
+ res.write('404 - page not found');
+ res.end();
+}
diff --git a/bone-cook-book/06iot/code/analogInContinuous.py b/bone-cook-book/06iot/code/analogInContinuous.py
new file mode 100755
index 0000000000000000000000000000000000000000..f026aa92c085aeebfdb662c623bdfdb8244de2fa
--- /dev/null
+++ b/bone-cook-book/06iot/code/analogInContinuous.py
@@ -0,0 +1,91 @@
+#!/usr/bin/python
+#//////////////////////////////////////
+# analogInContinuous.py
+# Read analog data via IIO continous mode and plots it.
+#//////////////////////////////////////
+# From: https://stackoverflow.com/questions/20295646/python-ascii-plots-in-terminal
+# https://github.com/dkogan/gnuplotlib
+# https://github.com/dkogan/gnuplotlib/blob/master/guide/guide.org
+# sudo apt install gnuplot (10 minute to install)
+# sudo apt install libatlas-base-dev
+# pip3 install gnuplotlib
+# This uses X11, so when connecting to the bone from the host use: ssh -X bone
+
+# See https://elinux.org/index.php?title=EBC_Exercise_10a_Analog_In#Analog_in_-_Continuous.2C_Change_the_sample_rate
+# for instructions on changing the sampling rate. Can go up to 200KHz.
+
+fd = open(IIODEV, "r")
+import numpy as np
+import gnuplotlib as gp
+import time
+# import struct
+
+IIOPATH='/sys/bus/iio/devices/iio:device0'
+IIODEV='/dev/iio:device0'
+LEN = 100
+SAMPLERATE=8000
+AIN='2'
+
+# Setup IIO for Continous reading
+# Enable AIN
+try:
+ file1 = open(IIOPATH+'/scan_elements/in_voltage'+AIN+'_en', 'w')
+ file1.write('1')
+ file1.close()
+except: # carry on if it's already enabled
+ pass
+# Set buffer length
+file1 = open(IIOPATH+'/buffer/length', 'w')
+file1.write(str(2*LEN)) # I think LEN is in 16-bit values, but here we pass bytes
+file1.close()
+# Enable continous
+file1 = open(IIOPATH+'/buffer/enable', 'w')
+file1.write('1')
+file1.close()
+
+x = np.linspace(0, 1000*LEN/SAMPLERATE, LEN)
+# Do a dummy plot to give time of the fonts to load.
+gp.plot(x, x)
+print("Waiting for fonts to load")
+time.sleep(10)
+
+print('Hit ^C to stop')
+
+fd = open(IIODEV, "r")
+
+try:
+ while True:
+ y = np.fromfile(fd, dtype='uint16', count=LEN)*1.8/4096
+ # print(y)
+ gp.plot(x, y,
+ xlabel = 't (ms)',
+ ylabel = 'volts',
+ _yrange = [0, 2],
+ title = 'analogInContinuous',
+ legend = np.array( ("P9.39", ), ),
+ # ascii=1,
+ # terminal="xterm",
+ # legend = np.array( ("P9.40", "P9.38"), ),
+ # _with = 'lines'
+ )
+
+except KeyboardInterrupt:
+ print("Turning off input.")
+ # Disable continous
+ file1 = open(IIOPATH+'/buffer/enable', 'w')
+ file1.write('0')
+ file1.close()
+
+ file1 = open(IIOPATH+'/scan_elements/in_voltage'+AIN+'_en', 'w')
+ file1.write('0')
+ file1.close()
+
+# // Bone | Pocket | AIN
+# // ----- | ------ | ---
+# // P9_39 | P1_19 | 0
+# // P9_40 | P1_21 | 1
+# // P9_37 | P1_23 | 2
+# // P9_38 | P1_25 | 3
+# // P9_33 | P1_27 | 4
+# // P9_36 | P2_35 | 5
+# // P9_35 | P1_02 | 6
diff --git a/bone-cook-book/06iot/code/emailTest.py b/bone-cook-book/06iot/code/emailTest.py
new file mode 100755
index 0000000000000000000000000000000000000000..4c696b7c0553193d9fc8bb6321f5a864d989c8f7
--- /dev/null
+++ b/bone-cook-book/06iot/code/emailTest.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python
+# From: https://realpython.com/python-send-email/
+import smtplib, ssl
+
+port = 587 # For starttls
+smtp_server = "smtp.gmail.com"
+sender_email = "from_account@gmail.com"
+receiver_email = "to_account@gmail.com"
+# Go to: https://myaccount.google.com/security
+# Select App password
+# Generate your own 16 char password, copy here
+# Delete password when done
+password = "cftqhcejjdjfdwjh"
+message = """\
+Subject: Testing email
+
+This message is sent from Python.
+
+"""
+context = ssl.create_default_context()
+with smtplib.SMTP(smtp_server, port) as server:
+ server.starttls(context=context)
+ server.login(sender_email, password)
+ server.sendmail(sender_email, receiver_email, message)
diff --git a/bone-cook-book/06iot/code/flask/app1.py b/bone-cook-book/06iot/code/flask/app1.py
new file mode 100755
index 0000000000000000000000000000000000000000..7a0597c5a2b83598f4722faf1eae6a0945d4f149
--- /dev/null
+++ b/bone-cook-book/06iot/code/flask/app1.py
@@ -0,0 +1,22 @@
+#!/usr/bin/env python
+# From: https://towardsdatascience.com/python-webserver-with-flask-and-raspberry-pi-398423cc6f5d
+
+'''
+Code created by Matt Richardson
+for details, visit: http://mattrichardson.com/Raspberry-Pi-Flask/inde...
+'''
+from flask import Flask, render_template
+import datetime
+app = Flask(__name__)
+@app.route("/")
+def hello():
+ now = datetime.datetime.now()
+ timeString = now.strftime("%Y-%m-%d %H:%M")
+ templateData = {
+ 'title' : 'HELLO!',
+ 'time': timeString
+ }
+ return render_template('index1.html', **templateData)
+if __name__ == "__main__":
+ app.run(host='0.0.0.0', port=8080, debug=True)
+
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/flask/app2.py b/bone-cook-book/06iot/code/flask/app2.py
new file mode 100755
index 0000000000000000000000000000000000000000..a6f026cdcd327e63e9d8ea7586cf612fa142854e
--- /dev/null
+++ b/bone-cook-book/06iot/code/flask/app2.py
@@ -0,0 +1,36 @@
+#!/usr/bin/env python
+# From: https://towardsdatascience.com/python-webserver-with-flask-and-raspberry-pi-398423cc6f5d
+import os
+from flask import Flask, render_template
+app = Flask(__name__)
+
+pin = '30' # P9_11 is gpio 30
+GPIOPATH="/sys/class/gpio"
+buttonSts = 0
+
+# Make sure pin is exported
+if (not os.path.exists(GPIOPATH+"/gpio"+pin)):
+ f = open(GPIOPATH+"/export", "w")
+ f.write(pin)
+ f.close()
+
+# Make it an input pin
+f = open(GPIOPATH+"/gpio"+pin+"/direction", "w")
+f.write("in")
+f.close()
+
+@app.route("/")
+def index():
+ # Read Button Status
+ f = open(GPIOPATH+"/gpio"+pin+"/value", "r")
+ buttonSts = f.read()[:-1]
+ f.close()
+
+ # buttonSts = GPIO.input(button)
+ templateData = {
+ 'title' : 'GPIO input Status!',
+ 'button' : buttonSts,
+ }
+ return render_template('index2.html', **templateData)
+if __name__ == "__main__":
+ app.run(host='0.0.0.0', port=8080, debug=True)
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/flask/app3.py b/bone-cook-book/06iot/code/flask/app3.py
new file mode 100755
index 0000000000000000000000000000000000000000..388206d5dab5d0d5e0bfb035c04e860991208ffd
--- /dev/null
+++ b/bone-cook-book/06iot/code/flask/app3.py
@@ -0,0 +1,60 @@
+#!/usr/bin/env python
+# From: https://towardsdatascience.com/python-webserver-with-flask-and-raspberry-pi-398423cc6f5d
+# import Adafruit_BBIO.GPIO as GPIO
+import os
+from flask import Flask, render_template, request
+app = Flask(__name__)
+#define LED GPIO
+ledRed = "P9_14"
+pin = '50' # P9_14 is gpio 50
+GPIOPATH="/sys/class/gpio"
+
+#initialize GPIO status variable
+ledRedSts = 0
+# Make sure pin is exported
+if (not os.path.exists(GPIOPATH+"/gpio"+pin)):
+ f = open(GPIOPATH+"/export", "w")
+ f.write(pin)
+ f.close()
+# Define led pin as output
+f = open(GPIOPATH+"/gpio"+pin+"/direction", "w")
+f.write("out")
+f.close()
+# turn led OFF
+f = open(GPIOPATH+"/gpio"+pin+"/value", "w")
+f.write("0")
+f.close()
+
+@app.route("/")
+def index():
+ # Read Sensors Status
+ f = open(GPIOPATH+"/gpio"+pin+"/value", "r")
+ ledRedSts = f.read()
+ f.close()
+ templateData = {
+ 'title' : 'GPIO output Status!',
+ 'ledRed' : ledRedSts,
+ }
+ return render_template('index3.html', **templateData)
+
+@app.route("/<deviceName>/<action>")
+def action(deviceName, action):
+ if deviceName == 'ledRed':
+ actuator = ledRed
+ f = open(GPIOPATH+"/gpio"+pin+"/value", "w")
+ if action == "on":
+ f.write("1")
+ if action == "off":
+ f.write("0")
+ f.close()
+
+ f = open(GPIOPATH+"/gpio"+pin+"/value", "r")
+ ledRedSts = f.read()
+ f.close()
+
+ templateData = {
+ 'ledRed' : ledRedSts,
+ }
+ return render_template('index3.html', **templateData)
+if __name__ == "__main__":
+ app.run(host='0.0.0.0', port=8080, debug=True)
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/flask/app4.py b/bone-cook-book/06iot/code/flask/app4.py
new file mode 100755
index 0000000000000000000000000000000000000000..9799ff3d50c6158d237721473b5e0e754a0227b9
--- /dev/null
+++ b/bone-cook-book/06iot/code/flask/app4.py
@@ -0,0 +1,79 @@
+#!/usr/bin/env python
+# From: https://towardsdatascience.com/python-webserver-with-flask-and-raspberry-pi-398423cc6f5d
+import os
+# import Adafruit_BBIO.GPIO as GPIO
+from flask import Flask, render_template, request
+app = Flask(__name__)
+GPIOPATH="/sys/class/gpio"
+#define sensors GPIOs
+button = "30" # "P9_11"
+#define actuators GPIOs
+ledRed = "50" # "P9_14"
+
+# Make sure pin is exported
+if (not os.path.exists(GPIOPATH+"/gpio"+button)):
+ f = open(GPIOPATH+"/export", "w")
+ f.write(pin)
+ f.close()
+if (not os.path.exists(GPIOPATH+"/gpio"+ledRed)):
+ f = open(GPIOPATH+"/export", "w")
+ f.write(pin)
+ f.close()
+#initialize GPIO status variables
+buttonSts = 0
+ledRedSts = 0
+# Define button and PIR sensor pins as an input
+f = open(GPIOPATH+"/gpio"+button+"/direction", "w")
+f.write("in")
+f.close()
+# Define led pins as output
+f = open(GPIOPATH+"/gpio"+ledRed+"/direction", "w")
+f.write("out")
+f.close()
+# turn leds OFF
+f = open(GPIOPATH+"/gpio"+ledRed+"/value", "w")
+f.write("0")
+f.close()
+
+@app.route("/")
+def index():
+ # Read GPIO Status
+ f = open(GPIOPATH+"/gpio"+button+"/value", "r")
+ buttonSts = f.read()[:-1]
+ f.close()
+ f = open(GPIOPATH+"/gpio"+ledRed+"/value", "r")
+ ledRedSts = f.read()[:-1]
+ f.close()
+
+ templateData = {
+ 'button' : buttonSts,
+ 'ledRed' : ledRedSts,
+ }
+ return render_template('index4.html', **templateData)
+
+@app.route("/<deviceName>/<action>")
+def action(deviceName, action):
+ if deviceName == 'ledRed':
+ actuator = ledRed
+
+ f = open(GPIOPATH+"/gpio"+ledRed+"/value", "w")
+ if action == "on":
+ f.write("1")
+ if action == "off":
+ f.write("0")
+ f.close()
+
+ f = open(GPIOPATH+"/gpio"+button+"/value", "r")
+ buttonSts = f.read()[:-1]
+ f.close()
+ f = open(GPIOPATH+"/gpio"+ledRed+"/value", "r")
+ ledRedSts = int(f.read()[:-1])
+ f.close()
+
+ templateData = {
+ 'button' : buttonSts,
+ 'ledRed' : ledRedSts,
+ }
+ return render_template('index4.html', **templateData)
+if __name__ == "__main__":
+ app.run(host='0.0.0.0', port=8080, debug=True)
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/flask/app5.py b/bone-cook-book/06iot/code/flask/app5.py
new file mode 100755
index 0000000000000000000000000000000000000000..d92a2583af3eb4d9a6438fb8eaa4d051197b38e2
--- /dev/null
+++ b/bone-cook-book/06iot/code/flask/app5.py
@@ -0,0 +1,87 @@
+#!/usr/bin/env python
+# From: https://towardsdatascience.com/python-webserver-with-flask-and-raspberry-pi-398423cc6f5d
+import os
+# import Adafruit_BBIO.GPIO as GPIO
+from flask import Flask, render_template, request
+app = Flask(__name__)
+GPIOPATH="/sys/class/gpio"
+#define sensors GPIOs
+button = "30" # "P9_11"
+#define actuators GPIOs
+ledRed = "50" # "P9_14"
+
+# Make sure pin is exported
+if (not os.path.exists(GPIOPATH+"/gpio"+button)):
+ f = open(GPIOPATH+"/export", "w")
+ f.write(pin)
+ f.close()
+if (not os.path.exists(GPIOPATH+"/gpio"+ledRed)):
+ f = open(GPIOPATH+"/export", "w")
+ f.write(pin)
+ f.close()
+#initialize GPIO status variables
+buttonSts = 0
+ledRedSts = 0
+# Define button and PIR sensor pins as an input
+f = open(GPIOPATH+"/gpio"+button+"/direction", "w")
+f.write("in")
+f.close()
+# Define led pins as output
+f = open(GPIOPATH+"/gpio"+ledRed+"/direction", "w")
+f.write("out")
+f.close()
+# turn leds OFF
+f = open(GPIOPATH+"/gpio"+ledRed+"/value", "w")
+f.write("0")
+f.close()
+
+@app.route("/")
+def index():
+ # Read GPIO Status
+ f = open(GPIOPATH+"/gpio"+button+"/value", "r")
+ buttonSts = f.read()[:-1]
+ f.close()
+ f = open(GPIOPATH+"/gpio"+ledRed+"/value", "r")
+ ledRedSts = f.read()[:-1]
+ f.close()
+
+ templateData = {
+ 'button' : buttonSts,
+ 'ledRed' : ledRedSts,
+ }
+ return render_template('index5.html', **templateData)
+
+@app.route("/<deviceName>/<action>")
+def action(deviceName, action):
+ if deviceName == 'ledRed':
+ actuator = ledRed
+
+ f = open(GPIOPATH+"/gpio"+ledRed+"/value", "w")
+ if action == "on":
+ f.write("1")
+ if action == "off":
+ f.write("0")
+ if action == "toggle":
+ f.close()
+ f = open(GPIOPATH+"/gpio"+ledRed+"/value", "r")
+ ledRedSts = int(f.read()[:-1])
+ ledRedSts = str(int(not ledRedSts))
+ f.close()
+ f = open(GPIOPATH+"/gpio"+ledRed+"/value", "w")
+ f.write(ledRedSts)
+ f.close()
+
+ f = open(GPIOPATH+"/gpio"+button+"/value", "r")
+ buttonSts = f.read()[:-1]
+ f.close()
+ f = open(GPIOPATH+"/gpio"+ledRed+"/value", "r")
+ ledRedSts = int(f.read()[:-1])
+ f.close()
+
+ templateData = {
+ 'button' : buttonSts,
+ 'ledRed' : ledRedSts,
+ }
+ return render_template('index5.html', **templateData)
+if __name__ == "__main__":
+ app.run(host='0.0.0.0', port=8080, debug=True)
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/flask/flask.service b/bone-cook-book/06iot/code/flask/flask.service
new file mode 100644
index 0000000000000000000000000000000000000000..1b577785a2314fc7b4d559cd89283630dfb7eba7
--- /dev/null
+++ b/bone-cook-book/06iot/code/flask/flask.service
@@ -0,0 +1,10 @@
+[Unit]
+Description=flask server
+
+[Service]
+WorkingDirectory=/home/debian/exercises/flask/server
+ExecStart=/home/debian/exercises/flask/server/app5.py
+SyslogIdentifier=flask
+
+[Install]
+WantedBy=multi-user.target
diff --git a/bone-cook-book/06iot/code/flask/helloWorld.py b/bone-cook-book/06iot/code/flask/helloWorld.py
new file mode 100755
index 0000000000000000000000000000000000000000..176350b065475774e1ff6ba56d8043498a49a6e0
--- /dev/null
+++ b/bone-cook-book/06iot/code/flask/helloWorld.py
@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# From: https://towardsdatascience.com/python-webserver-with-flask-and-raspberry-pi-398423cc6f5d
+
+from flask import Flask
+app = Flask(__name__)
+@app.route('/')
+def index():
+ return 'hello, world'
+if __name__ == '__main__':
+ app.run(debug=True, port=8080, host='0.0.0.0')
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/flask/install.sh b/bone-cook-book/06iot/code/flask/install.sh
new file mode 100644
index 0000000000000000000000000000000000000000..332244695a5fed8aaa447c60b5364b3120271c86
--- /dev/null
+++ b/bone-cook-book/06iot/code/flask/install.sh
@@ -0,0 +1,7 @@
+# From: https://www.cloudsavvyit.com/903/debug-your-local-applications-over-the-internet-with-ngrok-tunnels/
+wget https://bin.equinox.io/c/4VmDzA7iaHb/ngrok-stable-linux-arm.zip
+unzip ngrok-stable-linux-arm.zip
+sudo mv ngrok ~/.local/bin
+
+mkdir -p ~/.ngrok2
+cp ngrok.yml ~/.ngrok2
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/flask/ngrok.yml b/bone-cook-book/06iot/code/flask/ngrok.yml
new file mode 100644
index 0000000000000000000000000000000000000000..5074663e9d79da704834075c14e009103945e992
--- /dev/null
+++ b/bone-cook-book/06iot/code/flask/ngrok.yml
@@ -0,0 +1,4 @@
+tunnels:
+ flask:
+ proto: http
+ addr: 8081
diff --git a/bone-cook-book/06iot/code/flask/setup.sh b/bone-cook-book/06iot/code/flask/setup.sh
new file mode 100644
index 0000000000000000000000000000000000000000..410868a7afbc15e04da4a51738065a9b1e38128c
--- /dev/null
+++ b/bone-cook-book/06iot/code/flask/setup.sh
@@ -0,0 +1,2 @@
+# Start ngrok
+ngrok start flask
diff --git a/bone-cook-book/06iot/code/flask/static/favicon.ico b/bone-cook-book/06iot/code/flask/static/favicon.ico
new file mode 100644
index 0000000000000000000000000000000000000000..e96154d507400f4d1ad0c844a47f9d3455af3917
Binary files /dev/null and b/bone-cook-book/06iot/code/flask/static/favicon.ico differ
diff --git a/bone-cook-book/06iot/code/flask/static/style.css b/bone-cook-book/06iot/code/flask/static/style.css
new file mode 100644
index 0000000000000000000000000000000000000000..f05f2cc82abb471035a46bf8b6e37a638f6a6bb5
--- /dev/null
+++ b/bone-cook-book/06iot/code/flask/static/style.css
@@ -0,0 +1,15 @@
+/*body {*/
+/* background: blue;*/
+/* color: yellow;*/
+/*}*/
+.button {
+ font: bold 15px Arial;
+ text-decoration: none;
+ background-color: #EEEEEE;
+ color: #333333;
+ padding: 2px 6px 2px 6px;
+ border-top: 1px solid #CCCCCC;
+ border-right: 1px solid #333333;
+ border-bottom: 1px solid #333333;
+ border-left: 1px solid #CCCCCC;
+}
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/flask/templates/index1.html b/bone-cook-book/06iot/code/flask/templates/index1.html
new file mode 100644
index 0000000000000000000000000000000000000000..067d7eff0a86544a2b81846f8c9cedf856e24167
--- /dev/null
+++ b/bone-cook-book/06iot/code/flask/templates/index1.html
@@ -0,0 +1,9 @@
+<!DOCTYPE html>
+ <head>
+ <title>{{ title }}</title>
+ </head>
+ <body>
+ <h1>Hello, World!</h1>
+ <h2>The date and time on the server is: {{ time }}</h2>
+ </body>
+</html>
diff --git a/bone-cook-book/06iot/code/flask/templates/index2.html b/bone-cook-book/06iot/code/flask/templates/index2.html
new file mode 100644
index 0000000000000000000000000000000000000000..be37dfc44c5f1e6f4a647ad8f2d1378bb7ab9bbc
--- /dev/null
+++ b/bone-cook-book/06iot/code/flask/templates/index2.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+ <head>
+ <title>{{ title }}</title>
+ <link rel="stylesheet" href='../static/style.css'/>
+ </head>
+ <body>
+ <h1>{{ title }}</h1>
+ <h2>Button pressed: {{ button }}</h1>
+ </body>
+</html>
diff --git a/bone-cook-book/06iot/code/flask/templates/index3.html b/bone-cook-book/06iot/code/flask/templates/index3.html
new file mode 100644
index 0000000000000000000000000000000000000000..ef95fca7d25f8e8cfc2287773149dd301c57e580
--- /dev/null
+++ b/bone-cook-book/06iot/code/flask/templates/index3.html
@@ -0,0 +1,17 @@
+<!DOCTYPE html>
+ <head>
+ <title>GPIO Control</title>
+ <link rel="stylesheet" href='../static/style.css'/>
+ </head>
+ <body>
+ <h2>Actuators</h2>
+ <h3> Status </h3>
+ RED LED ==> {{ ledRed }}
+ <br>
+ <h3> Commands </h3>
+ RED LED Ctrl ==>
+ <a href="/ledRed/on" class="button">TURN ON</a>
+ <a href="/ledRed/off"class="button">TURN OFF</a>
+ </body>
+</html>
+
diff --git a/bone-cook-book/06iot/code/flask/templates/index4.html b/bone-cook-book/06iot/code/flask/templates/index4.html
new file mode 100644
index 0000000000000000000000000000000000000000..ea85a3f3af71baf7003d1d51e2b4ef92900522ad
--- /dev/null
+++ b/bone-cook-book/06iot/code/flask/templates/index4.html
@@ -0,0 +1,20 @@
+<!DOCTYPE html>
+ <head>
+ <title>GPIO Control</title>
+ <link rel="stylesheet" href='../static/style.css'/>
+ </head>
+ <body>
+ <h1>GPIO Control</h1>
+ <h2> Sensor Status </h2>
+ <h3> BUTTON ==> {{ button }}</h3>
+ <h2> Actuator Status & Control </h2>
+ <h3> RED LED ==> {{ ledRed }} ==>
+ {% if ledRed == 1 %}
+ <a href="/ledRed/off"class="button">TURN OFF</a>
+ {% else %}
+ <a href="/ledRed/on" class="button">TURN ON</a>
+ {% endif %}
+ </h3>
+ </h3>
+ </body>
+</html>
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/flask/templates/index5.html b/bone-cook-book/06iot/code/flask/templates/index5.html
new file mode 100644
index 0000000000000000000000000000000000000000..cff4bffb06a8b08702b13a9b7fbafc75d93ba611
--- /dev/null
+++ b/bone-cook-book/06iot/code/flask/templates/index5.html
@@ -0,0 +1,21 @@
+<!DOCTYPE html>
+ <head>
+ <title>GPIO Control</title>
+ <link rel="stylesheet" href='../static/style.css'/>
+ </head>
+ <body>
+ <h1>GPIO Control</h1>
+ <h2> Sensor Status </h2>
+ <h3> BUTTON ==> {{ button }}</h3>
+ <h2> Actuator Status & Control </h2>
+ <h3> RED LED ==> {{ ledRed }} ==>
+ <a href="/ledRed/toggle" class="button">TOGGLE</a>
+ {% if ledRed == 1 %}
+ <a href="/ledRed/off"class="button">TURN OFF</a>
+ {% else %}
+ <a href="/ledRed/on" class="button">TURN ON</a>
+ {% endif %}
+ </h3>
+ </h3>
+ </body>
+</html>
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/flotDemo.html b/bone-cook-book/06iot/code/flotDemo.html
new file mode 100644
index 0000000000000000000000000000000000000000..8bf03881537f86c2b48f5e4e72cd0ff23cedb05e
--- /dev/null
+++ b/bone-cook-book/06iot/code/flotDemo.html
@@ -0,0 +1,15 @@
+<html>
+ <head>
+ <title>BoneScript Flot Demo</title>
+ <script src="/static/flot/jquery.min.js"></script>
+ <script src="/static/flot/jquery.flot.min.js"></script>
+ <script src="/static/bonescript.js"></script>
+ <script src="flotDemo.js"></script>
+ </head>
+<body>
+
+<h1>BoneScript Flot Demo</h1>
+<div id="myplot" style="width:500px;height:300px;"></div>
+
+</body>
+</html>
diff --git a/bone-cook-book/06iot/code/flotDemo.js b/bone-cook-book/06iot/code/flotDemo.js
new file mode 100644
index 0000000000000000000000000000000000000000..5bf690c27287c42db2f5ea395908bda85e83f0a6
--- /dev/null
+++ b/bone-cook-book/06iot/code/flotDemo.js
@@ -0,0 +1,66 @@
+setTargetAddress('192.168.7.2', { // <1>
+ initialized: run
+});
+
+function run() {
+ var b = require('bonescript'); // <2>
+ var POT = 'P9_36'; // <3>
+
+ var container = $("#myplot"); // <4>
+ var totalPoints = container.outerWidth() / 2 || 250; // <5>
+ var data = [];
+ var plotOptions = { // <6>
+ series: {
+ shadowSize: 0
+ },
+ yaxis: {
+ min: 0,
+ max: 1
+ },
+ xaxis: {
+ min: 0,
+ max: totalPoints,
+ show: false
+ }
+ };
+ var plot = $.plot(container, getData(), plotOptions); // <7>
+
+ drawGraph(); // <8>
+
+ function drawGraph() { // <9>
+ plot.setData(getData());
+ plot.draw();
+ b.analogRead(POT, onAnalogRead);
+ }
+
+ // Handle data back from potentiometer
+ function onAnalogRead(x) {
+ if (!x.err && typeof x.value == 'number') {
+ pushData(x.value); // <10>
+ }
+ setTimeout(drawGraph, 20); // <11>
+ }
+
+ function pushData(y) {
+ if (data.length && (data.length + 1) > totalPoints) {
+ data = data.slice(1);
+ }
+ if (data.length < totalPoints) {
+ data.push(y);
+ }
+ }
+
+ function getData() {
+ var res = [];
+ for (var i = 0; i < data.length; ++i) {
+ res.push([i, data[i]]);
+ }
+ var series = [{
+ data: res,
+ lines: {
+ fill: true
+ }
+ }];
+ return series;
+ }
+}
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/jQueryDemo.js b/bone-cook-book/06iot/code/jQueryDemo.js
new file mode 100644
index 0000000000000000000000000000000000000000..9581030e2857ce5210071c88f883b1169cf95add
--- /dev/null
+++ b/bone-cook-book/06iot/code/jQueryDemo.js
@@ -0,0 +1,34 @@
+setTargetAddress('192.168.7.2', { // <1>
+ initialized: run
+});
+
+function run() {
+ var b = require('bonescript'); // <2>
+ var SLIDER = 'P9_36'; // <3>
+ var BUTTON = 'P8_19';
+ b.pinMode(BUTTON, b.INPUT);
+
+ getSliderStatus(); // <4>
+
+ function getSliderStatus() {
+ b.analogRead(SLIDER, onSliderRead); // <5>
+ }
+
+ function onSliderRead(x) {
+ if (!x.err) { // <6>
+ $('#sliderStatus').html(x.value.toFixed(3));
+ }
+ getButtonStatus() // <7>
+ }
+
+ function getButtonStatus() {
+ b.digitalRead(BUTTON, onButtonRead); // <8>
+ }
+
+ function onButtonRead(x) {
+ if (!x.err) { // <9>
+ $('#buttonStatus').html(x.value);
+ }
+ setTimeout(getSliderStatus, 20); // <10>
+ }
+}
diff --git a/bone-cook-book/06iot/code/jQueryInstall.sh b/bone-cook-book/06iot/code/jQueryInstall.sh
new file mode 100644
index 0000000000000000000000000000000000000000..8f5e8b1eac152607257b583e90d12ab781f2ac7d
--- /dev/null
+++ b/bone-cook-book/06iot/code/jQueryInstall.sh
@@ -0,0 +1,2 @@
+# This gives easy acces to the bonscript and jquery libraries
+ln -s /var/lib/cloud9/static/ .
diff --git a/bone-cook-book/06iot/code/launchPad.js b/bone-cook-book/06iot/code/launchPad.js
new file mode 100755
index 0000000000000000000000000000000000000000..f81591dd336e39a66fc083cd2471ef273acec95b
--- /dev/null
+++ b/bone-cook-book/06iot/code/launchPad.js
@@ -0,0 +1,37 @@
+#!/usr/bin/env node
+// Need to add exports.serialParsers = m.module.parsers;
+// to /usr/local/lib/node_modules/bonescript/serial.js
+var b = require('bonescript');
+
+var port = '/dev/ttyO1'; // <1>
+var options = {
+ baudrate: 9600, // <2>
+ parser: b.serialParsers.readline("\n") // <3>
+};
+
+b.serialOpen(port, options, onSerial); // <4>
+
+function onSerial(x) { // <5>
+ console.log(x.event);
+ if (x.err) {
+ console.log('***ERROR*** ' + JSON.stringify(x));
+ }
+ if (x.event == 'open') {
+ console.log('***OPENED***');
+ setInterval(sendCommand, 1000); // <6>
+ }
+ if (x.event == 'data') {
+ console.log(String(x.data));
+ }
+}
+
+var command = ['r', 'g']; // <7>
+var commIdx = 1;
+
+function sendCommand() {
+ // console.log('Command: ' + command[commIdx]);
+ b.serialWrite(port, command[commIdx++]); // <8>
+ if(commIdx >= command.length) { // <9>
+ commIdx = 0;
+ }
+}
diff --git a/bone-cook-book/06iot/code/launchPad/launchPad.ino b/bone-cook-book/06iot/code/launchPad/launchPad.ino
new file mode 100644
index 0000000000000000000000000000000000000000..12e3cd7dd7b759feda60e852e0882e88cc80d3de
--- /dev/null
+++ b/bone-cook-book/06iot/code/launchPad/launchPad.ino
@@ -0,0 +1,44 @@
+/*
+ Tests connection to a BeagleBone
+ Mark A. Yoder
+ Waits for input on Serial Port
+ g - Green toggle
+ r - Red toggle
+*/
+char inChar = 0; // incoming serial byte
+int red = 0;
+int green = 0;
+
+void setup()
+{
+ // initialize the digital pin as an output.
+ pinMode(RED_LED, OUTPUT); // <1>
+ pinMode(GREEN_LED, OUTPUT);
+ // start serial port at 9600 bps:
+ Serial.begin(9600); // <2>
+ Serial.print("Command (r, g): "); // <3>
+
+ digitalWrite(GREEN_LED, green); // <4>
+ digitalWrite( RED_LED, red);
+}
+
+void loop()
+{
+ if(Serial.available() > 0 ) { // <5>
+ inChar = Serial.read();
+ switch(inChar) { // <6>
+ case 'g':
+ green = ~green;
+ digitalWrite(GREEN_LED, green);
+ Serial.println("Green");
+ break;
+ case 'r':
+ red = ~red;
+ digitalWrite(RED_LED, red);
+ Serial.println("Red");
+ break;
+ }
+ Serial.print("Command (r, g): ");
+ }
+}
+
diff --git a/bone-cook-book/06iot/code/nodemailer-install.sh b/bone-cook-book/06iot/code/nodemailer-install.sh
new file mode 100755
index 0000000000000000000000000000000000000000..856fc7c3c0a1e0703b4351b4dc6c574c0cd0ddb9
--- /dev/null
+++ b/bone-cook-book/06iot/code/nodemailer-install.sh
@@ -0,0 +1 @@
+npm install -g nodemailer
diff --git a/bone-cook-book/06iot/code/nodemailer-test.js b/bone-cook-book/06iot/code/nodemailer-test.js
new file mode 100755
index 0000000000000000000000000000000000000000..e5b99f6db79cca22f933ba0d5ba9af1cee09538e
--- /dev/null
+++ b/bone-cook-book/06iot/code/nodemailer-test.js
@@ -0,0 +1,38 @@
+#!/usr/bin/env node
+// From: https://github.com/andris9/Nodemailer
+
+var nodemailer = require('nodemailer');
+
+// create reusable transporter object using SMTP transport
+var transporter = nodemailer.createTransport({
+ service: 'gmail',
+ auth: {
+ user: 'yourUser@gmail.com',
+ pass: 'yourPass'
+ }
+});
+
+// NB! No need to re-create the transporter object. You can use
+// the same transporter object for all e-mails
+
+// set up e-mail data with unicode symbols
+var mailOptions = {
+ from: 'Your User <yourUser@gmail.edu>', // sender address
+ to: 'anotherUser@gmail.edu', // list of receivers
+ subject: 'Test of nodemail', // Subject line
+ text: 'Hello world from modemailer', // plaintext body
+ html: '<b>Hello world</b><p>Way to go!</p>' // html body
+};
+
+// send mail with defined transport object
+transporter.sendMail(mailOptions, function(error, info){
+ if(error){
+ console.log(error);
+ }else{
+ console.log('Message sent: ' + info.response);
+ }
+});
+
+// Nodemailer is licensed under MIT license
+// (https://github.com/andris9/Nodemailer/blob/master/LICENSE).
+// Basically you can do whatever you want to with it
diff --git a/bone-cook-book/06iot/code/noderedExample.json b/bone-cook-book/06iot/code/noderedExample.json
new file mode 100644
index 0000000000000000000000000000000000000000..06b306df51787ae3096298bd08b289436045bcd1
--- /dev/null
+++ b/bone-cook-book/06iot/code/noderedExample.json
@@ -0,0 +1,164 @@
+[
+ {
+ "id": "70fd05e2.f03d0c",
+ "type": "tab",
+ "label": "Flow 1",
+ "disabled": false,
+ "info": ""
+ },
+ {
+ "id": "b1dc9221.09e41",
+ "type": "gpio out",
+ "z": "70fd05e2.f03d0c",
+ "name": "",
+ "state": "OUTPUT",
+ "pin": "P9_14",
+ "i2cDelay": "0",
+ "i2cAddress": "",
+ "i2cRegister": "",
+ "outputs": 0,
+ "board": "14fb0dec.376712",
+ "x": 610,
+ "y": 180,
+ "wires": []
+ },
+ {
+ "id": "acb4df30.72216",
+ "type": "inject",
+ "z": "70fd05e2.f03d0c",
+ "name": "",
+ "props": [
+ {
+ "p": "payload"
+ }
+ ],
+ "repeat": "",
+ "crontab": "",
+ "once": false,
+ "onceDelay": 0.1,
+ "topic": "",
+ "payload": "1",
+ "payloadType": "num",
+ "x": 370,
+ "y": 180,
+ "wires": [
+ [
+ "b1dc9221.09e41"
+ ]
+ ]
+ },
+ {
+ "id": "35e9479e.0e2428",
+ "type": "inject",
+ "z": "70fd05e2.f03d0c",
+ "name": "",
+ "props": [
+ {
+ "p": "payload"
+ }
+ ],
+ "repeat": "",
+ "crontab": "",
+ "once": false,
+ "onceDelay": 0.1,
+ "topic": "",
+ "payload": "0",
+ "payloadType": "str",
+ "x": 370,
+ "y": 220,
+ "wires": [
+ [
+ "b1dc9221.09e41"
+ ]
+ ]
+ },
+ {
+ "id": "cca6a964.c0e978",
+ "type": "gpio out",
+ "z": "70fd05e2.f03d0c",
+ "name": "",
+ "state": "OUTPUT",
+ "pin": "USR3",
+ "i2cDelay": "0",
+ "i2cAddress": "",
+ "i2cRegister": "",
+ "outputs": 0,
+ "board": "14fb0dec.376712",
+ "x": 610,
+ "y": 280,
+ "wires": []
+ },
+ {
+ "id": "b9def222.f9a97",
+ "type": "inject",
+ "z": "70fd05e2.f03d0c",
+ "name": "",
+ "props": [
+ {
+ "p": "payload"
+ }
+ ],
+ "repeat": "",
+ "crontab": "",
+ "once": false,
+ "onceDelay": 0.1,
+ "topic": "",
+ "payload": "1",
+ "payloadType": "num",
+ "x": 370,
+ "y": 280,
+ "wires": [
+ [
+ "cca6a964.c0e978"
+ ]
+ ]
+ },
+ {
+ "id": "230706ad.dbc7ea",
+ "type": "inject",
+ "z": "70fd05e2.f03d0c",
+ "name": "",
+ "props": [
+ {
+ "p": "payload"
+ }
+ ],
+ "repeat": "",
+ "crontab": "",
+ "once": false,
+ "onceDelay": 0.1,
+ "topic": "",
+ "payload": "0",
+ "payloadType": "str",
+ "x": 370,
+ "y": 320,
+ "wires": [
+ [
+ "cca6a964.c0e978"
+ ]
+ ]
+ },
+ {
+ "id": "14fb0dec.376712",
+ "type": "ioplugin",
+ "name": "",
+ "username": "",
+ "password": "",
+ "boardType": "beaglebone-io",
+ "serialportName": "",
+ "connectionType": "local",
+ "mqttServer": "",
+ "pubTopic": "",
+ "subTopic": "",
+ "tcpHost": "",
+ "tcpPort": "",
+ "sparkId": "",
+ "sparkToken": "",
+ "beanId": "",
+ "impId": "",
+ "uuid": "",
+ "token": "",
+ "sendUuid": "",
+ "samplingInterval": "500"
+ }
+]
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/processingDemo.js b/bone-cook-book/06iot/code/processingDemo.js
new file mode 100644
index 0000000000000000000000000000000000000000..3356cc00ef9cad6ca1900f488cc3210f41304224
--- /dev/null
+++ b/bone-cook-book/06iot/code/processingDemo.js
@@ -0,0 +1,89 @@
+var canvas = document.getElementById("mysketch");
+var p = new Processing(canvas, sketchProc);
+
+function sketchProc(pjs) {
+ // Sketch global variables
+ var radius = 50.0;
+ var X, Y;
+ var nX, nY;
+ var delay = 16;
+ var brightness = 0;
+ var buttonStatus = 0;
+ var sliderStatus = 0;
+ var lastSliderValue = 0;
+ var BUTTON = 'P8_19';
+ var POT = 'P9_36';
+
+ // Get the BoneScript library and begin updating the canvas
+ setTargetAddress('beaglebone.local', {
+ initialized: run
+ });
+ setTargetAddress('192.168.7.2', {
+ initialized: run
+ });
+
+ function run() {
+ var b = require('bonescript');
+ b.pinMode(BUTTON, b.INPUT);
+
+ // Setup the Processing Canvas
+ pjs.setup = function () {
+ pjs.size(256, 256);
+ pjs.strokeWeight(10);
+ pjs.frameRate(15);
+ X = pjs.width / 2;
+ Y = pjs.height / 2;
+ nX = X;
+ nY = Y;
+ }
+
+ // Main draw loop
+ pjs.draw = function () {
+ // Calculate some fading values based on the frame count
+ radius = 50.0 + (15 - sliderStatus) * pjs.sin(pjs.frameCount / 4);
+ brightness = (radius - 40.0) / 20.0;
+
+ // Track circle to new destination
+ X += (nX - X) / delay;
+ Y += (nY - Y) / delay;
+
+ // Fill canvas grey
+ pjs.background(100);
+
+ // Set fill-color to blue or red, based on button status
+ if (buttonStatus) pjs.fill(200, 30, 20)
+ else pjs.fill(0, 121, 184);
+
+ // Set stroke-color white
+ pjs.stroke(255);
+
+ // Draw circle
+ pjs.ellipse(X, Y, radius, radius);
+
+ // Fetch slider location for next time
+ b.analogRead(POT, onAnalogRead);
+
+ // Fetch button status
+ b.digitalRead(BUTTON, onDigitalRead);
+ }
+
+ // Get things started
+ pjs.setup();
+
+ // Handle data back from potentiometer
+ function onAnalogRead(x) {
+ if (!x.err && (x.value >= 0) && (x.value <= 1)) {
+ if (Math.abs(x.value - lastSliderValue) > 0.05) {
+ lastSliderValue = x.value;
+ nY = x.value * 255;
+ sliderStatus = parseInt(x.value * 10, 10);
+ }
+ }
+ }
+
+ // Handle data back from button
+ function onDigitalRead(x) {
+ buttonStatus = (x.value == b.LOW) ? 1 : 0;
+ }
+ }
+}
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/server.js b/bone-cook-book/06iot/code/server.js
new file mode 100755
index 0000000000000000000000000000000000000000..c827116c40ee32b679786f7aa0cb316d2e37d1ba
--- /dev/null
+++ b/bone-cook-book/06iot/code/server.js
@@ -0,0 +1,37 @@
+#!/usr/bin/env node
+// Initial idea from Getting Started With node.js and socket.io
+// by Constantine Aaron Cois, Ph.D. (www.codehenge.net)
+// http://codehenge.net/blog/2011/12/getting-started-with-node-js-and-socket-io-
+// v0-7-part-2/
+// This is a simple server for the various web frontends
+"use strict";
+
+var port = 9090, // Port on which to listen
+ http = require('http'),
+ url = require('url'),
+ fs = require('fs'),
+ b = require('bonescript');
+
+var server = http.createServer(servePage); // <1>
+
+server.listen(port); // <2>
+console.log("Listening on " + port);
+
+function servePage(req, res) {
+ var path = url.parse(req.url).pathname; // <3>
+ console.log("path: " + path);
+
+ fs.readFile(__dirname + path, function (err, data) {// <4>
+ if (err) { // <5>
+ return send404(res);
+ }
+ res.write(data, 'utf8'); // <6>
+ res.end();
+ });
+}
+
+function send404(res) {
+ res.writeHead(404);
+ res.write('404 - page not found');
+ res.end();
+}
diff --git a/bone-cook-book/06iot/code/test.html b/bone-cook-book/06iot/code/test.html
new file mode 100644
index 0000000000000000000000000000000000000000..ddb20a32d654f50858e09c38e8ed33ee6b8162a2
--- /dev/null
+++ b/bone-cook-book/06iot/code/test.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+<html>
+<body>
+
+<h1>My First Heading</h1>
+
+<p>My first paragraph.</p>
+
+</body>
+</html>
diff --git a/bone-cook-book/06iot/code/twilio-test.js b/bone-cook-book/06iot/code/twilio-test.js
new file mode 100755
index 0000000000000000000000000000000000000000..49ef9b585955256450bb7407d5517e8d706aed25
--- /dev/null
+++ b/bone-cook-book/06iot/code/twilio-test.js
@@ -0,0 +1,39 @@
+#!/usr/bin/env node
+// From: http://twilio.github.io/twilio-node/
+// Twilio Credentials
+var accountSid = '';
+var authToken = '';
+
+//require the Twilio module and create a REST client
+var client = require('twilio')(accountSid, authToken);
+
+client.messages.create({
+ to: "812555121",
+ from: "+2605551212",
+ body: "This is a test",
+}, function(err, message) {
+ console.log(message.sid);
+});
+
+// https://github.com/twilio/twilio-node/blob/master/LICENSE
+// The MIT License (MIT)
+// Copyright (c) 2010 Stephen Walters
+// Copyright (c) 2012 Twilio Inc.
+
+// Permission is hereby granted, free of charge, to any person obtaining a copy of
+// this software and associated documentation files (the "Software"), to deal in
+// the Software without restriction, including without limitation the rights to
+// use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+// of the Software, and to permit persons to whom the Software is furnished to do
+// so, subject to the following conditions:
+
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/twilioSetup.sh b/bone-cook-book/06iot/code/twilioSetup.sh
new file mode 100755
index 0000000000000000000000000000000000000000..c9a033885ba0344f752b27f0e119ae58c2129d8a
--- /dev/null
+++ b/bone-cook-book/06iot/code/twilioSetup.sh
@@ -0,0 +1,2 @@
+export TWILIO_ACCOUNT_SID="AC407ab27aab63fa995dbc24c43a18d204"
+export TWILIO_AUTH_TOKEN="71fe036081445dd693ed80c3ebf0f9b1"
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/twilioTest.py b/bone-cook-book/06iot/code/twilioTest.py
new file mode 100755
index 0000000000000000000000000000000000000000..356cb03b6ac60e6ed2d632897f0bd879717084b6
--- /dev/null
+++ b/bone-cook-book/06iot/code/twilioTest.py
@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+# Download the helper library from https://www.twilio.com/docs/python/install
+import os
+from twilio.rest import Client
+
+
+# Find your Account SID and Auth Token at twilio.com/console
+# and set the environment variables. See http://twil.io/secure
+account_sid = os.environ['TWILIO_ACCOUNT_SID']
+auth_token = os.environ['TWILIO_AUTH_TOKEN']
+client = Client(account_sid, auth_token)
+
+message = client.messages \
+ .create(
+ body="Join Earth's mightiest heroes. Like Kevin Bacon.",
+ from_='+18122333219',
+ to='+18122333219'
+ )
+
+print(message.sid)
diff --git a/bone-cook-book/06iot/code/twitterInstall.sh b/bone-cook-book/06iot/code/twitterInstall.sh
new file mode 100644
index 0000000000000000000000000000000000000000..6cb7b7c0adf99821894da38fc781c9721d733196
--- /dev/null
+++ b/bone-cook-book/06iot/code/twitterInstall.sh
@@ -0,0 +1,4 @@
+npm install -g node-twitter
+# Go to https://apps.twitter.com/
+# "Create New App"
+# Copy API and TOKEN to twitterKeys.js
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/twitterKeys.sh b/bone-cook-book/06iot/code/twitterKeys.sh
new file mode 100755
index 0000000000000000000000000000000000000000..9e5e9db37b3876e4744124b4e344cbc1dcb5c18c
--- /dev/null
+++ b/bone-cook-book/06iot/code/twitterKeys.sh
@@ -0,0 +1,10 @@
+# My Twitter keys
+# From https://apps.twitter.com/app/5771872/keys
+export API_KEY='RKH9Bi6QDo8LIUydJN5ubBH7r'
+export API_SECRET_KEY='DwyL7V4Q7O5ochI0PNlDsd00tA2lcSnEaxQSavSW4Jy86GKoxd'
+export TOKEN='48435578-W5fX8R7k93gbwptwpmnp5FgRbsG2Hos8M20iV6140'
+export TOKEN_SECRET='SOFLoyuBBkEsdvBKXh4CLBfQTiO2OiNtx3FQqnjYsHlRM'
+export BEARER_TOKEN='AAAAAAAAAAAAAAAAAAAAAGASWAAAAAAAx3tNEacg9qMqvGRJsmc5ivTuuO0%3Dyu1wzpaLMQDsTgGrh21jAacNRNsnEYKLIuePlJy4kX7DnBeHNj'
+
+# Client ID dmNxcDVPencxT2l3Ry12OWFSdEc6MTpjaQ
+# Client Secret 16tjW8lITIMH0ETUcmCvT1bpUvebCzsWQF3yVLv329rjynRSvT
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/twitterPushbutton.js b/bone-cook-book/06iot/code/twitterPushbutton.js
new file mode 100755
index 0000000000000000000000000000000000000000..e3fe0c376885391b3657725df1d6b252474d48d5
--- /dev/null
+++ b/bone-cook-book/06iot/code/twitterPushbutton.js
@@ -0,0 +1,39 @@
+#!/usr/bin/env node
+// From: https://www.npmjs.org/package/node-twitter
+// Tweets with attached image media (JPG, PNG or GIF) can be posted
+// using the upload API endpoint.
+var Twitter = require('node-twitter');
+var b = require('bonescript');
+var key = require('./twitterKeys');
+var gpio = "P9_42";
+var count = 0;
+
+b.pinMode(gpio, b.INPUT);
+b.attachInterrupt(gpio, sendTweet, b.FALLING);
+
+var twitterRestClient = new Twitter.RestClient(
+ key.API_KEY, key.API_SECRET,
+ key.TOKEN, key.TOKEN_SECRET
+);
+
+function sendTweet() {
+ console.log("Sending...");
+ count++;
+
+ twitterRestClient.statusesUpdate(
+ {'status': 'Posting tweet ' + count + ' via my BeagleBone Black', },
+ function(error, result) {
+ if (error) {
+ console.log('Error: ' +
+ (error.code ? error.code + ' ' + error.message : error.message));
+ }
+
+ if (result) {
+ console.log(result);
+ }
+ }
+ );
+}
+
+// node-twitter is made available under terms of the BSD 3-Clause License.
+// http://www.opensource.org/licenses/BSD-3-Clause
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/twitterSearch.js b/bone-cook-book/06iot/code/twitterSearch.js
new file mode 100755
index 0000000000000000000000000000000000000000..bb1d3edcc64b92407495397f692ad3fc89217566
--- /dev/null
+++ b/bone-cook-book/06iot/code/twitterSearch.js
@@ -0,0 +1,20 @@
+#!/usr/bin/env node
+// From: https://www.npmjs.org/package/node-twitter
+// The Twitter Search API can be accessed using Twitter.SearchClient. The following
+// code example shows how to search for tweets containing the keyword "node.js".var Twitter = require('node-twitter');
+var key = require('./twitterKeys');
+
+var twitterSearchClient = new Twitter.SearchClient(
+ key.API_KEY, key.API_SECRET,
+ key.TOKEN, key.TOKEN_SECRET
+);
+
+twitterSearchClient.search({'q': 'rosehulman'}, function(error, result) {
+ if (error) {
+ console.log('Error: ' + (error.code ? error.code + ' ' + error.message : error.message));
+ }
+
+ if (result) {
+ console.log(result);
+ }
+});
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/twitterStream.js b/bone-cook-book/06iot/code/twitterStream.js
new file mode 100755
index 0000000000000000000000000000000000000000..35e2068a3c6cdff5a41b1f5c04b02b958d161d28
--- /dev/null
+++ b/bone-cook-book/06iot/code/twitterStream.js
@@ -0,0 +1,44 @@
+#!/usr/bin/env node
+// From: https://www.npmjs.org/package/node-twitter
+// The Twitter Streaming API can be accessed using Twitter.StreamClient.
+// The following code example shows how to catch all tweets containing keywords.
+var Twitter = require('node-twitter');
+var b = require('bonescript');
+var key = require('./twitterKeys');
+var gpio = "P9_14";
+var count = 0;
+var timeOn = 5000; // Turn LED off after this amount of time (in ms)
+
+b.pinMode(gpio, b.OUTPUT);
+
+b.digitalWrite(gpio, 1); // Toggle LED
+setTimeout(ledOff, timeOn);
+
+var twitterStreamClient = new Twitter.StreamClient(
+ key.API_KEY, key.API_SECRET,
+ key.TOKEN, key.TOKEN_SECRET
+);
+
+twitterStreamClient.on('close', function() {
+ console.log('Connection closed.');
+});
+twitterStreamClient.on('end', function() {
+ console.log('End of Line.');
+});
+twitterStreamClient.on('error', function(error) {
+ console.log('Error: ' + (error.code ? error.code + ' ' + error.message : error.message));
+});
+twitterStreamClient.on('tweet', function(tweet) {
+ console.log(tweet);
+ b.digitalWrite(gpio, 1); // Turn LED on
+ console.log(count++ + " =====\
+ tweet\
+ =====");
+ setTimeout(ledOff, timeOn);
+});
+
+twitterStreamClient.start(['beagleboard', 'beaglebone', 'cookbook', 'rosehulman']);
+
+function ledOff() {
+ b.digitalWrite(gpio, 0);
+}
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/twitterTimeLine.js b/bone-cook-book/06iot/code/twitterTimeLine.js
new file mode 100755
index 0000000000000000000000000000000000000000..dca85d32b93b60b7b82e967ebacca14cb4cfe266
--- /dev/null
+++ b/bone-cook-book/06iot/code/twitterTimeLine.js
@@ -0,0 +1,25 @@
+#!/usr/bin/env node
+// From: https://www.npmjs.org/package/node-twitter
+// The Twitter REST API can be accessed using Twitter.RestClient. The following
+// code example shows how to retrieve tweets from the authenticated user's timeline.
+var Twitter = require('node-twitter');
+var key = require('./twitterKeys');
+
+var twitterRestClient = new Twitter.RestClient(
+ key.API_KEY, key.API_SECRET,
+ key.TOKEN, key.TOKEN_SECRET
+);
+
+twitterRestClient.statusesHomeTimeline({}, function(error, result) {
+ if (error) {
+ console.log('Error: ' +
+ (error.code ? error.code + ' ' + error.message : error.message));
+ }
+
+ if (result) {
+ console.log(result);
+ }
+});
+
+// node-twitter is made available under terms of the BSD 3-Clause License.
+// http://www.opensource.org/licenses/BSD-3-Clause
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/twitterUpload.js b/bone-cook-book/06iot/code/twitterUpload.js
new file mode 100755
index 0000000000000000000000000000000000000000..e09a900a09b80abbe0fa734663549572630ebb96
--- /dev/null
+++ b/bone-cook-book/06iot/code/twitterUpload.js
@@ -0,0 +1,32 @@
+#!/usr/bin/env node
+// From: https://www.npmjs.org/package/node-twitter
+// Tweets with attached image media (JPG, PNG or GIF) can be posted
+// using the upload API endpoint.
+var Twitter = require('node-twitter');
+var b = require('bonescript');
+var key = require('./twitterKeys');
+
+var twitterRestClient = new Twitter.RestClient(
+ key.API_KEY, key.API_SECRET,
+ key.TOKEN, key.TOKEN_SECRET
+);
+
+twitterRestClient.statusesUpdateWithMedia(
+ {
+ 'status': 'Posting a tweet w/ attached media.',
+ 'media[]': '/root/cookbook-atlas/images/cover.png'
+ },
+ function(error, result) {
+ if (error) {
+ console.log('Error: ' +
+ (error.code ? error.code + ' ' + error.message : error.message));
+ }
+
+ if (result) {
+ console.log(result);
+ }
+ }
+);
+
+// node-twitter is made available under terms of the BSD 3-Clause License.
+// http://www.opensource.org/licenses/BSD-3-Clause
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/twitter_create_tweet.py b/bone-cook-book/06iot/code/twitter_create_tweet.py
new file mode 100755
index 0000000000000000000000000000000000000000..fc7829bc8d4963ca55253a2e7d43631dc5358b53
--- /dev/null
+++ b/bone-cook-book/06iot/code/twitter_create_tweet.py
@@ -0,0 +1,75 @@
+#!/usr/bin/env python
+# From: https://github.com/twitterdev/Twitter-API-v2-sample-code/blob/main/Manage-Tweets/create_tweet.py
+from requests_oauthlib import OAuth1Session
+import os
+import json
+
+# In your terminal please set your environment variables by running the following lines of code.
+# export 'API_KEY'='<your_consumer_key>'
+# export 'API_SECRET_KEY'='<your_consumer_secret>'
+
+consumer_key = os.environ.get("API_KEY")
+consumer_secret = os.environ.get("API_SECRET_KEY")
+
+# Be sure to add replace the text of the with the text you wish to Tweet. You can also add parameters to post polls, quote Tweets, Tweet with reply settings, and Tweet to Super Followers in addition to other features.
+payload = {"text": "Hello world!"}
+
+# Get request token
+request_token_url = "https://api.twitter.com/oauth/request_token?oauth_callback=oob&x_auth_access_type=write"
+oauth = OAuth1Session(consumer_key, client_secret=consumer_secret)
+
+try:
+ fetch_response = oauth.fetch_request_token(request_token_url)
+except ValueError:
+ print(
+ "There may have been an issue with the consumer_key or consumer_secret you entered."
+ )
+
+resource_owner_key = fetch_response.get("oauth_token")
+resource_owner_secret = fetch_response.get("oauth_token_secret")
+print("Got OAuth token: %s" % resource_owner_key)
+
+# Get authorization
+base_authorization_url = "https://api.twitter.com/oauth/authorize"
+authorization_url = oauth.authorization_url(base_authorization_url)
+print("Please go here and authorize: %s" % authorization_url)
+verifier = input("Paste the PIN here: ")
+
+# Get the access token
+access_token_url = "https://api.twitter.com/oauth/access_token"
+oauth = OAuth1Session(
+ consumer_key,
+ client_secret=consumer_secret,
+ resource_owner_key=resource_owner_key,
+ resource_owner_secret=resource_owner_secret,
+ verifier=verifier,
+)
+oauth_tokens = oauth.fetch_access_token(access_token_url)
+
+access_token = oauth_tokens["oauth_token"]
+access_token_secret = oauth_tokens["oauth_token_secret"]
+
+# Make the request
+oauth = OAuth1Session(
+ consumer_key,
+ client_secret=consumer_secret,
+ resource_owner_key=access_token,
+ resource_owner_secret=access_token_secret,
+)
+
+# Making the request
+response = oauth.post(
+ "https://api.twitter.com/2/tweets",
+ json=payload,
+)
+
+if response.status_code != 201:
+ raise Exception(
+ "Request returned an error: {} {}".format(response.status_code, response.text)
+ )
+
+print("Response code: {}".format(response.status_code))
+
+# Saving the response as JSON
+json_response = response.json()
+print(json.dumps(json_response, indent=4, sort_keys=True))
diff --git a/bone-cook-book/06iot/code/twitter_delete_tweet.py b/bone-cook-book/06iot/code/twitter_delete_tweet.py
new file mode 100755
index 0000000000000000000000000000000000000000..d35a11928d153f3f58f3d92d3034df5fd39cb27e
--- /dev/null
+++ b/bone-cook-book/06iot/code/twitter_delete_tweet.py
@@ -0,0 +1,72 @@
+#!/usr/bin/env python
+# From: https://github.com/twitterdev/Twitter-API-v2-sample-code/blob/main/Manage-Tweets/delete_tweet.py
+from requests_oauthlib import OAuth1Session
+import os
+import json
+
+# In your terminal please set your environment variables by running the following lines of code.
+# export 'API_KEY'='<your_consumer_key>'
+# export 'API_SECRET_KEY'='<your_consumer_secret>'
+
+consumer_key = os.environ.get("API_KEY")
+consumer_secret = os.environ.get("API_SECRET_KEY")
+
+# Be sure to replace tweet-id-to-delete with the id of the Tweet you wish to delete. The authenticated user must own the list in order to delete
+id = "1547963178700533760"
+
+# Get request token
+request_token_url = "https://api.twitter.com/oauth/request_token?oauth_callback=oob&x_auth_access_type=write"
+oauth = OAuth1Session(consumer_key, client_secret=consumer_secret)
+
+try:
+ fetch_response = oauth.fetch_request_token(request_token_url)
+except ValueError:
+ print(
+ "There may have been an issue with the consumer_key or consumer_secret you entered."
+ )
+
+resource_owner_key = fetch_response.get("oauth_token")
+resource_owner_secret = fetch_response.get("oauth_token_secret")
+print("Got OAuth token: %s" % resource_owner_key)
+
+# Get authorization
+base_authorization_url = "https://api.twitter.com/oauth/authorize"
+authorization_url = oauth.authorization_url(base_authorization_url)
+print("Please go here and authorize: %s" % authorization_url)
+verifier = input("Paste the PIN here: ")
+
+# Get the access token
+access_token_url = "https://api.twitter.com/oauth/access_token"
+oauth = OAuth1Session(
+ consumer_key,
+ client_secret=consumer_secret,
+ resource_owner_key=resource_owner_key,
+ resource_owner_secret=resource_owner_secret,
+ verifier=verifier,
+)
+oauth_tokens = oauth.fetch_access_token(access_token_url)
+
+access_token = oauth_tokens["oauth_token"]
+access_token_secret = oauth_tokens["oauth_token_secret"]
+
+# Make the request
+oauth = OAuth1Session(
+ consumer_key,
+ client_secret=consumer_secret,
+ resource_owner_key=access_token,
+ resource_owner_secret=access_token_secret,
+)
+
+# Making the request
+response = oauth.delete("https://api.twitter.com/2/tweets/{}".format(id))
+
+if response.status_code != 200:
+ raise Exception(
+ "Request returned an error: {} {}".format(response.status_code, response.text)
+ )
+
+print("Response code: {}".format(response.status_code))
+
+# Saving the response as JSON
+json_response = response.json()
+print(json_response)
diff --git a/bone-cook-book/06iot/code/twitter_recent_search.py b/bone-cook-book/06iot/code/twitter_recent_search.py
new file mode 100755
index 0000000000000000000000000000000000000000..0569385763c904059cf3155d8a10e385ccaeea37
--- /dev/null
+++ b/bone-cook-book/06iot/code/twitter_recent_search.py
@@ -0,0 +1,42 @@
+#!/usr/bin/env python
+# From: https://github.com/twitterdev/Twitter-API-v2-sample-code/blob/main/Recent-Search/recent_search.py
+import requests
+import os
+import json
+
+# To set your environment variables in your terminal run the following line:
+# export 'BEARER_TOKEN'='<your_bearer_token>'
+bearer_token = os.environ.get("BEARER_TOKEN")
+
+search_url = "https://api.twitter.com/2/tweets/search/recent"
+
+# Optional params: start_time,end_time,since_id,until_id,max_results,next_token,
+# expansions,tweet.fields,media.fields,poll.fields,place.fields,user.fields
+query_params = {'query': '(from:MarkAYoder) OR #MarkAYoder','tweet.fields': 'author_id'}
+# query_params = {'query': '(from:twitterdev -is:retweet) OR #twitterdev','tweet.fields': 'author_id'}
+
+
+def bearer_oauth(r):
+ """
+ Method required by bearer token authentication.
+ """
+
+ r.headers["Authorization"] = f"Bearer {bearer_token}"
+ r.headers["User-Agent"] = "v2RecentSearchPython"
+ return r
+
+def connect_to_endpoint(url, params):
+ response = requests.get(url, auth=bearer_oauth, params=params)
+ print(response.status_code)
+ if response.status_code != 200:
+ raise Exception(response.status_code, response.text)
+ return response.json()
+
+
+def main():
+ json_response = connect_to_endpoint(search_url, query_params)
+ print(json.dumps(json_response, indent=4, sort_keys=True))
+
+
+if __name__ == "__main__":
+ main()
diff --git a/bone-cook-book/06iot/code/twitter_user_tweets.py b/bone-cook-book/06iot/code/twitter_user_tweets.py
new file mode 100755
index 0000000000000000000000000000000000000000..60a04331a49784b792f739164802316e4565addd
--- /dev/null
+++ b/bone-cook-book/06iot/code/twitter_user_tweets.py
@@ -0,0 +1,60 @@
+#!/usr/bin/env python
+# From: https://github.com/twitterdev/Twitter-API-v2-sample-code/blob/main/User-Tweet-Timeline/user_tweets.py
+import requests
+import os
+import json
+
+# To set your environment variables in your terminal run the following line:
+# export 'BEARER_TOKEN'='<your_bearer_token>'
+bearer_token = os.environ.get("BEARER_TOKEN")
+
+def create_url():
+ # Replace with user ID below
+ user_id = 48435578
+ # return "https://api.twitter.com/2/users/{}/followers".format(user_id)
+ return "https://api.twitter.com/2/users/{}/tweets".format(user_id)
+
+
+def get_params():
+ # Tweet fields are adjustable.
+ # Options include:
+ # attachments, author_id, context_annotations,
+ # conversation_id, created_at, entities, geo, id,
+ # in_reply_to_user_id, lang, non_public_metrics, organic_metrics,
+ # possibly_sensitive, promoted_metrics, public_metrics, referenced_tweets,
+ # source, text, and withheld
+ return {"tweet.fields": "created_at"}
+ # return {}
+
+
+def bearer_oauth(r):
+ """
+ Method required by bearer token authentication.
+ """
+
+ r.headers["Authorization"] = f"Bearer {bearer_token}"
+ r.headers["User-Agent"] = "v2UserTweetsPython"
+ return r
+
+
+def connect_to_endpoint(url, params):
+ response = requests.request("GET", url, auth=bearer_oauth, params=params)
+ print(response.status_code)
+ if response.status_code != 200:
+ raise Exception(
+ "Request returned an error: {} {}".format(
+ response.status_code, response.text
+ )
+ )
+ return response.json()
+
+
+def main():
+ url = create_url()
+ params = get_params()
+ json_response = connect_to_endpoint(url, params)
+ print(json.dumps(json_response, indent=4, sort_keys=True))
+
+
+if __name__ == "__main__":
+ main()
diff --git a/bone-cook-book/06iot/code/weather.py b/bone-cook-book/06iot/code/weather.py
new file mode 100755
index 0000000000000000000000000000000000000000..1b165eb3284b0c87c653539a46985d047d03e641
--- /dev/null
+++ b/bone-cook-book/06iot/code/weather.py
@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+# Displays current weather and forcast
+import os
+import sys
+from datetime import datetime
+import requests # For getting weather
+
+# http://api.openweathermap.org/data/2.5/onecall
+params = {
+ 'appid': os.environ['APPID'],
+ # 'city': 'brazil,indiana',
+ 'exclude': "minutely,hourly",
+ 'lat': '39.52',
+ 'lon': '-87.12',
+ 'units': 'imperial'
+ }
+urlWeather = "http://api.openweathermap.org/data/2.5/onecall"
+
+print("Getting weather")
+
+try:
+ r = requests.get(urlWeather, params=params)
+ if(r.status_code==200):
+ # print("headers: ", r.headers)
+ # print("text: ", r.text)
+ # print("json: ", r.json())
+ weather = r.json()
+ print("Temp: ", weather['current']['temp']) # <1>
+ print("Humid:", weather['current']['humidity'])
+ print("Low: ", weather['daily'][1]['temp']['min'])
+ print("High: ", weather['daily'][0]['temp']['max'])
+ day = weather['daily'][0]['sunrise']-weather['timezone_offset']
+ print("sunrise: " + datetime.utcfromtimestamp(day).strftime('%Y-%m-%d %H:%M:%S'))
+ # print("Day: " + datetime.utcfromtimestamp(day).strftime('%a'))
+ # print("weather: ", weather['daily'][1]) # <2>
+ # print("weather: ", weather) # <3>
+ # print("icon: ", weather['current']['weather'][0]['icon'])
+ # print()
+
+ else:
+ print("status_code: ", r.status_code)
+except IOError:
+ print("File not found: " + tmp101)
+ print("Have you run setup.sh?")
+except:
+ print("Unexpected error:", sys.exc_info())
diff --git a/bone-cook-book/06iot/code/weatherSetup.sh b/bone-cook-book/06iot/code/weatherSetup.sh
new file mode 100755
index 0000000000000000000000000000000000000000..e2840d08ab0cc26640edf5df40da9f99c21d261f
--- /dev/null
+++ b/bone-cook-book/06iot/code/weatherSetup.sh
@@ -0,0 +1,2 @@
+# From:https://home.openweathermap.org/api_keys
+export APPID="6a2db5c8171494bce131dc69af6f34b9"
\ No newline at end of file
diff --git a/bone-cook-book/06iot/code/xbee.js b/bone-cook-book/06iot/code/xbee.js
new file mode 100644
index 0000000000000000000000000000000000000000..40b184d21f1dfa38d018cfed18c9a507c18a4d3f
--- /dev/null
+++ b/bone-cook-book/06iot/code/xbee.js
@@ -0,0 +1,2 @@
+#!/usr/bin/env node
+// This isn't working yet
\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..d221f870feee1f1a516a8276f931e47f1111e381
--- /dev/null
+++ b/bone-cook-book/06iot/figures/jQueryDemo.html
@@ -0,0 +1,18 @@
+<html>
+ <head>
+ <title>BoneScript jQuery Demo</title>
+ <script src="/static/jquery.js"></script>
+ <script src="/static/bonescript.js"></script>
+ <script src="jQueryDemo.js"></script>
+ </head>
+<body>
+
+<h1>BoneScript jQuery Demo</h1>
+
+<p>sliderStatus = <span id="sliderStatus">-</span>
+</p>
+<p>buttonStatus = <span id="buttonStatus">-</span>
+</p>
+
+</body>
+</html>
diff --git a/bone-cook-book/06iot/figures/jQueryFiddle.png b/bone-cook-book/06iot/figures/jQueryFiddle.png
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@@ -0,0 +1,14 @@
+<html>
+ <head>
+ <title>BoneScript Processing.JS Demo</title>
+ <script src="static/jquery.js"></script>
+ <script src="static/processing.js"></script>
+ <script src="static/bonescript.js"></script>
+ <script src="processingDemo.js"></script>
+ </head>
+<body>
+<h1>BoneScript Processing.JS Demo</h1>
+
+<canvas id="mysketch"></canvas>
+</body>
+</html>
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diff --git a/bone-cook-book/06iot/iot.rst b/bone-cook-book/06iot/iot.rst
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+++ b/bone-cook-book/06iot/iot.rst
@@ -0,0 +1,1135 @@
+.. _bone-cook-book-iot:
+
+Internet of Things
+####################
+
+Introduction
+-------------
+
+You can easily connect BeagleBone Black to the Internet via a wire (:ref:`<networking_wired>`),
+wirelessly (:ref:`<networking_wireless>`), or through the USB to a host and then to the Internet
+(:ref:`<networking_usb>`). Either way, it opens up a world of possibilities for the "Internet of Things" (IoT).
+
+Now that you're online, this chapter offers various things to do with your connection.
+
+Accessing Your Host Computer's Files on the Bone
+---------------------------------------------
+
+Problem
+*********
+
+You want to access a file on a Linux host computer that's attached to the Bone.
+
+Solution
+*********
+
+If you are running Linux on a host computer attached to BeagleBone Black,
+it's not hard to mount the Bone's files on the host or the host's files on the
+Bone by using +sshfs+. Suppose that you want to access files on the host from
+the Bone. First, install +sshfs+:
+
+.. code-block:: bash
+
+ bone$ sudo apt install sshfs
+
+
+Now, mount the files to an empty directory (substitute your username on the host computer for +username+ and the IP address of the host for +192.168.7.1+):
+
+.. code-block:: bash
+
+ bone$ mkdir host
+ bone$ sshfs username@$192.168.7.1:. host
+ bone$ cd host
+ bone$ ls
+
+
+The +ls+ command will now list the files in your home directory on your host computer. You can edit them as if they were local to the Bone. You can access all the files by substituting +:/+ for the +:.+ following the IP address.
+
+You can go the other way, too. Suppose that you are on your Linux host computer and want to access files on your Bone. Install +sshfs+:
+
+.. code-block:: bash
+
+ host$ sudo apt install sshfs
+
+
+and then access:
+
+.. code-block:: bash
+
+ host$ mkdir /mnt/bone
+ host$ sshfs debian@$192.168.7.2:/ /mnt/bone
+ host$ cd /mnt/bone
+ host$ ls
+
+
+Here, we are accessing the files on the Bone as +debian+. We’ve mounted the entire file system, starting with +/+, so you can access any file. Of course, with great power comes great responsibility, so be careful.
+
+Discussion
+*********
+
+The +sshfs+ command gives you easy access from one computer to another. When you are done, you can unmount the files by using the following commands:
+
+.. code-block:: bash
+
+ host$ umount /mnt/bone
+ bone$ umount home
+
+
+.. _networking_builtin_server:
+
+Serving Web Pages from the Bone
+----------------------------------
+
+Problem
+*********
+
+You want to use BeagleBone Black as a web server.
+
+Solution
+*********
+
+BeagleBone Black already has the +nginx+ web server running.
+
+When you point your browser to _192.168.7.2_, you are using the +nginx+ web server.
+The web pages are served from _/var/www/html/. Add the HTML in :ref:`<networking_index_html>`
+to a file called _/var/www/html/test.html_, and then point your browser to _192.168.7.2://test.html_.
+
+.. _networking_index_html:
+
+A sample web page (test.html)
+
+.. code-block:: html
+
+ include::code/test.html[Sample html]
+
+
+
+You will see the web page shown in :ref:`<networking_node_page>`.
+
+.. _networking_node_page:
+.test.html as served by nginx
+.. figure:: figures/nginxTest.png
+ :align: center
+ :alt: test.html served by nginx
+
+Discussion
+*********
+
+.. _networking_nodejs:
+
+Interacting with the Bone via a Web Browser
+---------------------------------------------
+
+Problem
+*********
+
+BeagleBone Black is interacting with the physical world nicely and you want to display that information on a web browser.
+
+Solution
+*********
+
+https://www.fullstackpython.com/flask.html[Flask] is a Python web framework built
+with a small core and easy-to-extend philosophy. :ref:`<networking_builtin_server>`
+shows how to use nginx, the web server that's already running. This recipe shows how
+easy it is to build your own server. This is an adaptation of
+`Python WebServer With Flask and Raspberry Pi <https://towardsdatascience.com/python-webserver-with-flask-and-raspberry-pi-398423cc6f5d>`_.
+
+First, install flask:
+
+.. code-block:: bash
+
+ bone$ sudo apt update
+ bone$ sudo apt install python3-flask
+
+
+All the code in is the Cookbook repo:
+
+.. code-block:: bash
+
+ bone$ git clone https://github.com/MarkAYoder/BoneCookbook
+ bone$ cd BoneCookbook/doc/06iod/code/flash
+
+
+First Flask - hello, world
+****************************
+
+Our first example is *helloWorld.py*
+
+.. _flask_hello_world:
+
+Python code for flask hello world (helloWorld.py)
+
+.. code-block:: python
+
+ include::code/flask/helloWorld.py[simple flask-based web server]
+
+
+<1> The first line loads the Flask module into your Python script.
+
+<2> The second line creates a Flask object called _app_.
+
+<3> The third line is where the action is, it says to run the index() function when someone accesses the root URL (‘/’) of the server. In this case, send the text “hello, world†to the client’s web browser via return.
+
+<4> The last line says to “listen†on port 8080, reporting any errors.
+
+Now on your host computer, browse to 192.168.7.2:8080flask an you should see.
+
+.. _flask_flaskServer:
+
+Test page served by our custom flask server
+
+.. figure:: figures/flaskServer.png
+ :align: center
+ :alt: Test page
+
+Adding a template
+*******************
+
+Let’s improve our “hello, world†application, by using an HTML template and a
+CSS file for styling our page. Note: these have been created for you in the
+“templates†sub-folder. So, we will create a file named *index1.html*,
+that has been saved in */templates*.
+
+Here's what's in *templates/index1.html*:
+
+.. _flask_index1:
+
+Python code for flask hello world (helloWorld.py)
+
+.. code-block:: html
+
+ include::code/flask/templates/index1.html
+
+Note: a style sheet (style.css) is also included. This will be populated later.
+
+Observe that anything in double curly braces within the HTML template is interpreted
+as a variable that would be passed to it from the Python script via the render_template
+function. Now, let’s create a new Python script. We will name it app1.py:
+
+
+.. _flask_app1:
+
+Python code for flask index1.html (app1.py)
+
+.. code-block:: html
+
+ include::code/flask/app1.py[app1]
+
+
+
+Note that we create a formatted string("timeString") using the date and time from the "now" object, that has the current time stored on it.
+
+Next important thing on the above code, is that we created a dictionary of variables (a set of keys, such as the title that is associated with values, such as HELLO!) to pass into the template. On “returnâ€, we will return the index.html template to the web browser using the variables in the templateData dictionary.
+
+Execute the Python script:
+
+.. code-block:: bash
+
+ bone$ .\app.py
+
+
+Open any web browser and browse to 192.168.7.2:8080. You should see:
+
+.. _flask_app1_fig:
+
+Test page served by app1.py
+
+.. figure:: figures/flaskapp1.png
+ :align: center
+ :alt: app1.py
+
+Note that the page’s content changes dynamically any time that you refresh
+it with the actual variable data passed by Python script. In our case,
+“title†is a fixed value, but “time†change it every second.
+
+Displaying GPIO Status in a Web Browser - reading a button
+-----------------------------------------------------------
+
+Problem
+*********
+
+You want a web page to display the status of a GPIO pin.
+
+Solution
+*********
+
+This solution builds on the Flask-based web server solution in :ref:`<networking_nodejs>`.
+
+To make this recipe, you will need:
+
+* Breadboard and jumper wires (see :ref:`<app_proto>`)
+* Pushbutton switch (see :ref:`<app_misc>`)
+
+Wire your pushbutton as shown in :ref:`<js_pushbutton_fig>`.
+
+Wire a button to *P9_11* and have the web page display the value of the button.
+
+Let’s use a new Python script named *app2.py*.
+
+.. _flask_app2:
+
+A simple Flask-based web server to read a GPIO (app2.py)
+
+.. code-block:: python
+
+ include::code/flask/app2.py
+
+
+Look that what we are doing is defining the button on *P9_11* as input, reading its value and
+storing it in *buttonSts*. Inside the function *index()*, we will pass that value to our web
+page through “button†that is part of our variable dictionary: *templateData*.
+
+Let’s also see the new *index2.html* to show the GPIO status:
+
+.. _flask_index2:
+
+A simple Flask-based web server to read a GPIO (index2.html)
+
+.. code-block:: html
+
+ include::code/flask/templates/index2.html[]
+
+Now, run the following command:
+
+.. code-block:: bash
+
+ bone$ ./app2.py
+
+
+Point your browser to _http://192.168.7.2:8080_, and the
+page will look like :ref:`<networking_GPIOserver_fig>`.
+
+.. _flask_app2_fig:
+
+Status of a GPIO pin on a web page
+
+.. figure:: figures/flaskapp2.png
+ :align: center
+ :alt: GPIO status
+
+Currently, the +0+ shows that the button isn't pressed.
+Try refreshing the page while pushing the button, and you will see +1+ displayed.
+
+Discussion
+***********
+
+It's not hard to assemble your own HTML with the GPIO data. It's an easy extension to write a program to display the status of all the GPIO pins.
+
+Controlling GPIOs
+------------------
+
+Problem
+*********
+
+You want to control an LED attached to a GPIO pin.
+
+Solution
+*********
+
+Now that we know how to “read†GPIO Status, let’s change them. What we will do will control the LED via
+the web page. We have an LED connected to *P9_14*. Controlling remotely we will change
+its status from LOW to HIGH and vice-versa.
+
+The python script Let’s create a new Python script and named it *app3.py*.
+
+.. _flask_app3:
+
+A simple Flask-based web server to read a GPIO (app3.py)
+
+.. code-block:: python
+
+ include::code/flask/app3.py
+
+
+
+What we have new on above code is the new “routeâ€:
+
+@app.route("/<deviceName>/<action>")
+
+From the webpage, calls will be generated with the format:
+
+
+http://192.168.7.2:8081/ledRed/on
+
+or
+
+http://192.168.7.2:8081/ledRed/off
+
+
+For the above example, *ledRed* is the “deviceName†and *on* or *off* are examples of possible “actionâ€. Those routes will be identified and properly “workedâ€. The main steps are:
+
+* Convert the string “ledREDâ€, for example, on its equivalent GPIO pin.
+
+The integer variable ledRed is equivalent to P9_14. We store this value on variable “actuatorâ€
+
+* For each actuator, we will analyze the “actionâ€, or “command†and act properly.
+If “action = on†for example, we must use the command: GPIO.output(actuator, GPIO.HIGH)
+
+* Update the status of each actuator
+* Update the variable library
+* Return the data to index.html
+
+Let’s now create an index.html to show the GPIO status of each actuator and more important, create “buttons†to send the commands:
+
+.. _flask_index3:
+
+A simple Flask-based web server to write a GPIO (index3.html)
+
+.. code-block:: html
+
+ include::code/flask/templates/index3.html
+
+.. code-block:: bash
+
+ bone$ ./app3.py
+
+
+Point your browser as before and you will see:
+
+.. _flask_app3_fig:
+
+Status of a GPIO pin on a web page
+
+.. figure:: figures/flaskapp3.png
+ :align: center
+ :alt: Control LED
+
+Try clicking the "TURN ON" and "TURN OFF" buttons and your LED will respond.
+
+*app4.py* and *app5.py* combine the previous apps. Try them out.
+
+Plotting Data
+---------------
+
+Problem
+*********
+
+You have live, continuous, data coming into your Bone via one of the Analog Ins, and you want to plot it.
+
+Solution
+*********
+
+Analog in - Continuous
+(This is based on information at: http://software-dl.ti.com/processor-sdk-linux/esd/docs/latest/linux/Foundational_Components/Kernel/Kernel_Drivers/ADC.html#Continuous%20Mode)
+
+Reading a continuous analog signal requires some set up. First go to the iio devices directory.
+
+.. code-block:: bash
+
+ bone$ cd /sys/bus/iio/devices/iio:device0
+ bone$ ls -F
+ buffer/ in_voltage0_raw in_voltage2_raw in_voltage4_raw in_voltage6_raw name power/ subsystem@
+ dev in_voltage1_raw in_voltage3_raw in_voltage5_raw in_voltage7_raw of_node@ scan_elements/ uevent
+
+
+Here you see the files used to read the one shot values. Look in +scan_elements+ to see how to enable continuous input.
+
+.. code-block:: bash
+
+ bone$ ls scan_elements
+ in_voltage0_en in_voltage1_index in_voltage2_type in_voltage4_en in_voltage5_index in_voltage6_type
+ in_voltage0_index in_voltage1_type in_voltage3_en in_voltage4_index in_voltage5_type in_voltage7_en
+ in_voltage0_type in_voltage2_en in_voltage3_index in_voltage4_type in_voltage6_en in_voltage7_index
+ in_voltage1_en in_voltage2_index in_voltage3_type in_voltage5_en in_voltage6_index in_voltage7_type
+
+Here you see three values for each analog input, _en (enable), _index (index of this channel in the buffer’s chunks) and _type (How the ADC stores its data). (See the link above for details.) Let's use the input at *P9.40* which is *AIN1*. To enable this input:
+
+.. code-block:: bash
+
+ bone$ echo 1 > scan_elements/in_voltage1_en
+
+Next set the buffer size.
+
+.. code-block:: bash
+
+ bone$ ls buffer
+ data_available enable length watermark
+
+Let's use a 512 sample buffer. You might need to experiment with this.
+
+.. code-block:: bash
+
+ bone$ echo 512 > buffer/length
+
+ Then start it running.
+
+.. code-block:: bash
+
+ bone$ echo 1 > buffer/enable
+
+ Now, just read from +/dev/iio:device0+.
+
+.. _analog_sine_fig:
+
+1KHz sine wave sampled at 8KHz
+
+.. figure:: figures/Sine1k.png
+ :align: center
+ :alt: 1KHz sine wave sampled at 8KHz
+
+An example Python program that does the above and the reads and
+plot the buffer is here: analogInContinuous.py
+
+.. _analog_code:
+
+Code to read and plot a continuous analog input(analogInContinuous.py)
+
+.. code-block:: python
+
+ include::code/analogInContinuous.py[]
+
+
+Be sure to read the instillation instructions in the comments. Also note this uses X
+windows and you need to +ssh -X 192.168.7.2+ for X to know where the display is.
+
+Run it:
+
+.. code-block:: bash
+
+ host$ ssh -X bone
+
+ bone$ cd <Cookbook repo>/doc/06iot/code>/strong>
+ bone$ ./analogInContinuous.py
+ Hit ^C to stop
+
+// TODO verify this works. fonts are taking too long to load
+
+:ref:`<analog_sine_fig>` is the output of a 1KHz sine wave.
+
+It's a good idea to disable the buffer when done.
+
+
+.. code-block:: bash
+
+ bone$ echo 0 > /sys/bus/iio/devices/iio:device0/buffer/enable
+
+
+Analog in - Continuous, Change the sample rate
+***********************************************
+
+The built in ADCs sample at 8k samples/second by default.
+They can run as fast as 200k samples/second by editing a device tree.
+
+
+.. code-block:: bash
+
+ bone$ cd /opt/source/bb.org-overlays
+ bone$ make
+
+
+This will take a while the first time as it compiles all the device trees.
+
+
+.. code-block:: bash
+
+ bone$ vi src/arm/src/arm/BB-ADC-00A0.dts
+
+Around line 57 you'll see
+
+.. code-block:: bash
+
+ Line Code
+ 57 // For each step, number of adc clock cycles to wait between setting up muxes and sampling.
+ 58 // range: 0 .. 262143
+ 59 // optional, default is 152 (XXX but why?!)
+ 60 ti,chan-step-opendelay = <152 152 152 152 152 152 152 152>;
+ 61 //`
+ 62 // XXX is there any purpose to set this nonzero other than to fine-tune the sample rate?
+ 63
+ 64
+ 65 // For each step, how many times it should sample to average.
+ 66 // range: 1 .. 16, must be power of two (i.e. 1, 2, 4, 8, or 16)
+ 67 // optional, default is 16
+ 68 ti,chan-step-avg = <16 16 16 16 16 16 16 16>;
+
+
+The comments give lots of details on how to adjust the device tree to change the sample rate.
+Line 68 says for every sample returned, average 16 values. This will give you a cleaner signal, but if you want to go fast, change the 16's to 1's. Line 60 says to delay 152 cycles between each sample. Set this to 0 to got as fast a possible.
+
+.. code-block:: bash
+
+ ti,chan-step-avg = <1 1 1 1 1 1 1 1>;
+ ti,chan-step-opendelay = <0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00>;
+
+Now compile it.
+
+
+.. code-block:: bash
+
+ bone$ make
+ DTC src/arm/BB-ADC-00A0.dtbo
+ gcc -o config-pin ./tools/pmunts_muntsos/config-pin.c
+
+It knows to only recompile the file you just edited. Now install and reboot.
+
+.. code-block:: bash
+
+ bone$ sudo make install
+ ...
+ 'src/arm/AM335X-PRU-UIO-00A0.dtbo' -> '/lib/firmware/AM335X-PRU-UIO-00A0.dtbo'
+ 'src/arm/BB-ADC-00A0.dtbo' -> '/lib/firmware/BB-ADC-00A0.dtbo'
+ 'src/arm/BB-BBBMINI-00A0.dtbo' -> '/lib/firmware/BB-BBBMINI-00A0.dtbo'
+ ...
+ bone$ reboot
+
+A number of files get installed, including the ADC file. Now try rerunning.
+
+
+.. code-block:: bash
+
+ bone$ cd <Cookbook repo>/docs/06iot/code>
+ bone$ ./analogInContinuous.py
+ Hit ^C to stop
+
+Here's the output of a 10KHz sine wave.
+
+// TODO Is this trun: (The plot is wrong, but eLinux won't let me fix it.)
+
+.. _analog_tri_fig:
+
+10KHz triangle wave sampled at 200KHz
+
+.. figure:: figures/Tri10k.png
+ :align: center
+ :alt: 10KHz triangle wave sampled at 200KHz
+
+It's still a good idea to disable the buffer when done.
+
+
+.. code-block:: bash
+
+ bone$ echo 0 > /sys/bus/iio/devices/iio:device0/buffer/enable
+
+
+Sending an Email
+---------------------
+
+Problem
+*********
+
+You want to send an email via Gmail from the Bone.
+
+Solution
+*********
+
+This example came from https://realpython.com/python-send-email/.
+First, you need to `set up a Gmail account <https://mail.google.com>`_, if you don't already have one.
+Then add the code in :ref:`<networking_nodemailer_code>` to a file named _emailTest.py_. Substitute your own Gmail username. For the password:
+
+* Go to: https://myaccount.google.com/security
+* Select App password.
+* Generate your own 16 char password and copy it into _emailTest.py_.
+* Be sure to delete password when done https://myaccount.google.com/apppasswords .
+
+.. _networking_nodemailer_code:
+
+Sending email using nodemailer (emailtTest.py)
+
+.. code-block:: python
+
+ include::code/emailTest.py
+
+
+Then run the script to send the email:
+
+.. code-block:: bash
+
+ bone$ chmod +x emailTest.py
+ bone$ .\emailTest.py
+
+
+.. warning:: This solution requires your Gmail password to be in plain text in a file, which is a security problem. Make sure you know who has access to your Bone. Also, if you remove the microSD card, make sure you know who has access to it. Anyone with your microSD card can read your Gmail password.
+
+
+Discussion
+*********
+
+Be careful about putting this into a loop. Gmail presently limits you to
+`500 emails per day and 10 MB per message <http://group-mail.com/email-marketing/how-to-send-bulk-emails-using-gmail/>`_.
+
+See https://realpython.com/python-send-email/ for an example that sends an attached file.
+
+Sending an SMS Message
+-------------------------
+
+// TODO My twilio account is suspended.
+
+Problem
+*********
+
+You want to send a text message from BeagleBone Black.
+
+Solution
+*********
+
+There are a number of SMS services out there. This recipe uses Twilio because you can use it for free, but you will need to http://bit.ly/1MrHBBF[verify the number] to which you are texting. First, go to https://www.twilio.com/[Twilio's home page] and set up an account. Note your account SID and authorization token. If you are using the free version, be sure to http://bit.ly/19c7GZ7[verify your numbers].
+
+Next, install Trilio by using the following command:
+
+.. code-block:: bash
+
+ bone$ npm install -g twilio
+
+
+Finally, add the code in :ref:`<networking_twilio_code>` to a file named _twilio-test.js_ and run it. Your text will be sent.
+
+.. _networking_twilio_code:
+
+Sending SMS messages using Twilio (_twilio-test.js_)
+
+.. code-block:: JavaScript
+
+ include::code/twilio-test.js[nodemailer-test.js]
+
+
+
+Discussion
+*********
+
+Twilio allows a small number of free text messages, enough to test your code and to play around some.
+
+Displaying the Current Weather Conditions
+-------------------------------------------
+
+Problem
+*********
+
+You want to display the current weather conditions.
+
+Solution
+*********
+
+Because your Bone is on the network, it's not hard to access the current weather conditions from a weather API.
+
+* Go to https://openweathermap.org/ and create an account.
+* Go to https://home.openweathermap.org/api_keys and get your API key.
+* Store your key in the +bash+ variable +APPID+.
+
+.. code-block:: bash
+
+ bash$ export APPID="Your key"
+
+* Then add the code in :ref:`<networking_weather_code>` to a file named _weather.js_.
+* Run the pyhon script.
+
+
+.. _networking_weather_code:
+
+Code for getting current weather conditions (_weather.py_)
+
+.. code-block:: python
+
+ include::code/weather.py
+
+<1> Prints current conditions.
+<2> Prints the forecast for the next day.
+<3> Prints everything returned by the weather site.
+
+Run this by using the following commands:
+
+.. code-block:: bash
+
+ bone$ chmod +x weather.py
+ bone$ ./weather.js
+ Getting weather
+ Temp: 85.1
+ Humid: 50
+ Low: 62.02
+ High: 85.1
+ sunrise: 2022-07-14 14:32:46
+
+
+Discussion
+*********
+
+The weather API returns lots of information. Use Python to extract the information you want.
+
+Sending and Receiving Tweets
+-------------------------------
+
+Problem
+*********
+
+You want to send and receive tweets (Twitter posts) with your Bone.
+
+Solution
+*********
+
+`Twitter <https://twitter.com/>`_ has a whole `git repo <https://github.com/twitterdev/Twitter-API-v2-sample-code>`_
+of sample code for interacting with Twitter. Here I'll show how to create a tweet and then how to delete it.
+
+Creating a Project and App
+****************************
+
+* Follow the https://developer.twitter.com/en/docs/apps/overview[directions here] to create a project and and app.
+* Be sure to giv eyour app Read and Write permission.
+* Then go to the https://developer.twitter.com/en/portal/projects-and-apps[developer portal] and select you app by clicking on the gear icon to the right of the app name.
+* Click on the *Keys and tokens* tab. Here you can get to all your keys and tokens.
+
+.. tip:: Be sure to record them, you can't get them later.
+
+* Open the file +twitterKeys.sh+ and record your keys in it.
+
+.. code-block:: bash
+
+ export API_KEY='XXX'
+ export API_SECRET_KEY='XXX'
+ export BEARER_TOKEN='XXX'
+ export TOKEN='4XXX'
+ export TOKEN_SECRET='XXX'
+
+* Next, source the file so the values will appear in your bash session.
+
+.. code-block:: bash
+
+ bash$ source twitterKeys.sh
+
+You'll need to do this every time you open a new +bash+ window.
+
+Creating a tweet
+****************************
+Add the code in :ref:`<twitter_create_code>` to a file called _twitter_create_tweet_.py_ and run it to see your timeline.
+
+.. _twitter_create_code:
+
+Create a Tweet (_twitter_create_tweet.py_)
+
+.. code-block:: python
+
+ include::code/twitter_create_tweet.py[]
+
+Run the code and you'll have to authorize.
+
+.. code-block:: bash
+
+ bash$ ./twitter_create_tweet.py
+ Got OAuth token: tWBldQAAAAAAWBJgAAABggJt7qg
+ Please go here and authorize: https://api.twitter.com/oauth/authorize?oauth_token=tWBldQAAAAAAWBJgAAABggJt7qg
+ Paste the PIN here: 4859044
+ Response code: 201
+ {
+ "data": {
+ "id": "1547963178700533760",
+ "text": "Hello world!"
+ }
+ }
+
+Check your twitter account and you'll see the new tweet.
+Record the *id* number and we'll use it next to delete the tweet.
+
+Deleting a tweet
+****************************
+
+Use the code in :ref:`<twitter_delete_code>` to delete a tweet. Around line 15 is the *id* number. Paste in the value returned above.
+
+.. _twitter_delete_code:
+
+.Code to delete a tweet (twitter_delete_tweet.py_)
+
+.. code-block:: python
+
+ include::code/twitter_delete_tweet.py
+
+
+// TODO Start Here
+The code in :ref:`<networking_pushbutton_code>` sends a tweet whenever a button is pushed.
+
+.. _networking_pushbutton_code:
+.Tweet when a button is pushed (twitterPushbutton.js)
+
+.. code-block:: JavaScript
+
+ include::code/twitterPushbutton.js
+
+
+
+To see many other examples, go to `iStrategyLabs' node-twitter GitHub page <http://bit.ly/18AvSTW>`_.
+
+Discussion
+*********
+
+This opens up many new possibilities. You can read a temperature sensor and tweet its
+value whenever it changes, or you can turn on an LED whenever a certain hashtag
+is used. What are you going to tweet?
+
+.. _networking_node_red:
+
+Wiring the IoT with Node-RED
+-----------------------------
+
+Problem
+*********
+
+You want BeagleBone to interact with the Internet,
+but you want to program it graphically.
+
+Solution
+*********
+
+http://nodered.org/[Node-RED] is a visual tool for wiring the IoT.
+It makes it easy to turn on a light when a certain hashtag is tweeted,
+or spin a motor if the forecast is for hot weather.
+
+Installing Node-RED
+*********************
+
+To install Node-RED, run the following commands:
+
+.. code-block:: bash
+ bone$ cd # Change to home directory
+ bone$ git clone https://github.com/node-red/node-red.git
+ bone$ cd node-red/
+ bone$ npm install --production # almost 6 minutes
+ bone$ cd nodes
+ bone$ git clone https://github.com/node-red/node-red-nodes.git # 2 seconds
+ bone$ cd ~/node-red
+
+
+To run Node-RED, use the following commands:
+
+.. code-block:: bash
+
+ bone$ cd ~/node-red
+ bone$ node red.js
+ Welcome to Node-RED
+
+
+- 18 Aug 16:31:43 - [red] Version: 0.8.1.git
+- 18 Aug 16:31:43 - [red] Loading palette nodes
+- 18 Aug 16:31:49 - [26-rawserial.js] Info : only really needed for
+ Windows boxes without serialport npm module installed.
+- 18 Aug 16:31:56 - ------------------------------------------
+- 18 Aug 16:31:56 - [red] Failed to register 44 node types
+- 18 Aug 16:31:56 - [red] Run with -v for details
+- 18 Aug 16:31:56 - ------------------------------------------
+- 18 Aug 16:31:56 - [red] Server now running at http://127.0.0.1:1880/
+- 18 Aug 16:31:56 - [red] Loading flows : flows_yoder-debian-bone.json
+
+
+The second-to-last line informs you that Node-RED is listening on part +1880+. Point your browser to http://192.168.7.2:1880, and you will see the screen shown in :ref:`<networking_node_red_fig>`.
+
+.. _networking_node_red_fig:
+
+The Node-RED web page
+
+.. figure:: figures/node-red.png
+ :align: center
+ :alt: node-red
+
+Building a Node-RED Flow
+****************************
+The example in this recipe builds a Node-RED flow that will toggle an LED whenever a certain hashtag is tweeted. But first, you need to set up the Node-RED flow with the +twitter+ node:
+
+- On the Node-RED web page, scroll down until you see the +social+ nodes on the left side of the page.
+- Drag the +twitter+ node to the canvas, as shown in :ref:`<networking_node_twitter_fig>`.
+
+.. _networking_node_twitter_fig:
+
+Node-RED twitter node
+
+.. figure:: figures/node-twitter.png
+ :align: center
+ :alt: node-red
+
+.. [start=3]
+. Authorize Twitter by double-clicking the +twitter+ node. You'll see the screen shown in :ref:`<networking_node_twitter_auth_fig>`.
+
+.. _networking_node_twitter_auth_fig:
+
+Node-RED Twitter authorization, step 1
+
+.. figure:: figures/node-twitter-auth.png
+ :align: center
+ :alt: node-red authentication
+
+.. [start=4]
+. Click the pencil button to bring up the dialog box shown in :ref:`<networking_node_twitter_auth2_fig>`.
+
+.. _networking_node_twitter_auth2_fig:
+
+Node-RED twitter authorization, step 2
+
+.. figure:: figures/node-twitter-auth2.png
+ :align: center
+ :alt: node-red authentication2
+
+.. [start=5]
+
+- Click the "here" link, as shown in :ref:`<networking_node_twitter_auth2_fig>`, and you'll be taken to Twitter to authorize Node-RED.
+
+- Log in to Twitter and click the "Authorize app" button (:ref:`<networking_node_twitter_auth3_fig>`).
+
+.. _networking_node_twitter_auth3_fig:
+
+Node-RED Twitter site authorization
+
+.. figure:: figures/node-twitter-auth3.png
+ :align: center
+ :alt: node-red authentication3
+
+.. [start=7]
+
+- When you're back to Node-RED, click the Add button, add your Twitter credentials, enter the hashtags to respond to (:ref:`<networking_node_twitter_beagle_fig>`), and then click the Ok pass:[<span class="keep-together">button</span>].
+
+.. _networking_node_twitter_beagle_fig:
+
+Node-RED adding the #BeagleBone hashtag
+
+.. figure:: figures/node-twitter-beagle.png
+ :align: center
+ :alt: node-red beagle hash
+
+.. [start=8]
+- Go back to the left panel, scroll up to the top, and then drag the +debug+ node to the canva- (+debug+ is in the +output+ section.)
+- Connect the two nodes by clicking and dragging (:ref:`<networking_node_twitter_debug_fig>`).
+
+.. _networking_node_twitter_debug_fig:
+
+Node-RED Twitter adding +debug+ node and connecting
+
+.. figure:: figures/node-twitter-debug.png
+ :align: center
+ :alt: node-red debug
+
+.. [start=10]
+
+- In the right panel, in the upper-right corner, click the "debug" tab.
+- Finally, click the Deploy button above the "debug" tab.
+
+Your Node-RED flow is now running on the Bone. Test it by going to Twitter and tweeting something with the hashtag +#BeagleBone+. Your Bone is now responding to events happening out in the world.
+
+Adding an LED Toggle
+***********************
+
+Now, we're ready to add the LED toggle:
+
+- Wire up an LED as shown in :ref:`<displays_externalLED>`. Mine is wired to +P9_14+.
+- Scroll to the bottom of the left panel and drag the +bbb-discrete-out+ node (second from the bottom of the +bbb+ nodes) to the canvas and wire it (:ref:`<networking_node_bbb_out_fig>`).
+
+.. _networking_node_bbb_out_fig:
+
+Node-RED adding bbb-discrete-out node
+
+.. figure:: figures/node-disc-out.png
+ :align: center
+ :alt: node-red discrete out node
+
+.. [start=3]
+
+Double-click the node, select your GPIO pin and "Toggle state,"
+and then set "Startup as" to +1+ (:ref:`<networking_node_bbb_out_setup_fig>`).
+
+.. _networking_node_bbb_out_setup_fig:
+
+Node-RED adding bbb-discrete-out configuration
+
+.. figure:: figures/node-disc-out-setup.png
+ :align: center
+ :alt: node-red discrete out setup
+
+.. [start=4]
+
+Click Ok and then Deploy.
+
+Test again. The LED will toggle every time the hashtag +#BeagleBone+ is tweeted. With a little more exploring, you should be able to have your Bone ringing a bell or spinning a motor in response to tweets.
+
+Discussion
+*********
+
+Communicating over a Serial Connection to an Arduino or LaunchPad
+-------------------------------------------------------------------
+
+Problem
+*********
+
+You would like your Bone to talk to an Arduino or LaunchPad.
+
+Solution
+*********
+
+The common serial port (also know as a UART) is the simplest way to
+talk between the two. Wire it up as shown in :ref:`<networking_launchPad_fig>`.
+
+.. warning::
+ BeagleBone Black runs at 3.3 V. When wiring other devices to it,
+ ensure that they are also 3.3 V. The LaunchPad I'm using is 3.3 V,
+ but many Arduinos are 5.0 V and thus won't work. Or worse,
+ they might damage your Bone.
+
+
+.. _networking_launchPad_fig:
+
+Wiring a LaunchPad to a Bone via the common serial port
+
+.. figure:: figures/launchPad_bb.png
+ :align: center
+ :alt: MSP430 LaunchPad
+
+Add the code (or _sketch_, as it's called in Arduino-speak) in
+:ref:`<js_launchPad_code>` to a file called _launchPad.ino_
+and run it on your LaunchPad.
+
+.. _js_launchPad_code:
+
+LaunchPad code for communicating via the UART (launchPad.ino)
+
+.. code-block:: C
+
+ include::code/launchPad/launchPad.ino
+
+
+1. Set the mode for the built-in red and green LEDs.
+
+2. Start the serial port at 9600 baud.
+
+3. Prompt the user, which in this case is the Bone.
+
+4. Set the LEDs to the current values of the +red+ and +green+ variables.
+
+5. Wait for characters to arrive on the serial port.
+
+6. After the characters are received, read it and respond to it.
+
+On the Bone, add the script in :ref:`<js_launchPadBeagle_code>` to a file called _launchPad.js_ and run it.
+
+.. _js_launchPadBeagle_code:
+
+Code for communicating via the UART (launchPad.js)
+
+.. code-block:: C
+
+ include::code/launchPad.js
+
+
+1. Select which serial port to use. :ref:`<networking_cape-headers-serial_fig>` shows what's available. We've wired +P9_24+ and +P9_26+, so we are using serial port +/dev/ttyO1+. (Note that's the letter _O_ and not the number _zero_.)
+
+2. Set the baudrate to 9600, which matches the setting on the LaunchPad.
+
+3. Read one line at a time up to the newline character (+\n+).
+
+4. Open the serial port and call +onSerial()+ whenever there is data available.
+
+5. Determine what event has happened on the serial port and respond to it.
+
+6. If the serial port has been ++open++ed, start calling +sendCommand()+ every 1000 ms.
+
+7. These are the two commands to send.
+
+8. Write the character out to the serial port and to the LaunchPad.
+
+9. Move to the next command.
+
+.. _networking_cape-headers-serial_fig:
+
+.. figure:: figures/cape-headers-serial.png
+ :align: center
+ :alt: UART outputs
+
+ Table of UART outputs
+
+Discussion
+*********
+
+When you run the script in :ref:`<js_launchPadBeagle_code>`, the Bone opens up the
+serial port and every second sends a new command, either +r+ or +g+.
+The LaunchPad waits for the command and, when it arrives, responds by toggling the corresponding LED.
diff --git a/bone-cook-book/07kernel/code/Makefile b/bone-cook-book/07kernel/code/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..c151dc6d41e8906b57b297c3e2a496d200bed690
--- /dev/null
+++ b/bone-cook-book/07kernel/code/Makefile
@@ -0,0 +1,8 @@
+obj-m := hello.o
+KDIR := /lib/modules/$(shell uname -r)/build
+
+all:
+ make -C $(KDIR) M=$$PWD
+
+clean:
+ rm hello.mod.c hello.o modules.order hello.mod.o Module.symvers
diff --git a/bone-cook-book/07kernel/code/Makefile.display b/bone-cook-book/07kernel/code/Makefile.display
new file mode 100644
index 0000000000000000000000000000000000000000..a7f5a1fc7280dd7981fb76f1cdfa4ec208d7de40
--- /dev/null
+++ b/bone-cook-book/07kernel/code/Makefile.display
@@ -0,0 +1,8 @@
+obj-m := hello.o
+KDIR := /lib/modules/$(shell uname -r)/build
+
+all:
+<TAB>make -C $(KDIR) M=$$PWD
+
+clean:
+<TAB>rm hello.mod.c hello.o modules.order hello.mod.o Module.symvers
diff --git a/bone-cook-book/07kernel/code/hello.c b/bone-cook-book/07kernel/code/hello.c
new file mode 100644
index 0000000000000000000000000000000000000000..b3392a72b167b13ff4db6bd116732a2094da8e19
--- /dev/null
+++ b/bone-cook-book/07kernel/code/hello.c
@@ -0,0 +1,22 @@
+#include <linux/module.h> /* Needed by all modules */
+#include <linux/kernel.h> /* Needed for KERN_INFO */
+#include <linux/init.h> /* Needed for the macros */
+
+static int __init hello_start(void)
+{
+ printk(KERN_INFO "Loading hello module...\n");
+ printk(KERN_INFO "Hello, World!\n");
+ return 0;
+}
+
+static void __exit hello_end(void)
+{
+ printk(KERN_INFO "Goodbye Boris\n");
+}
+
+module_init(hello_start);
+module_exit(hello_end);
+
+MODULE_AUTHOR("Boris Houndleroy");
+MODULE_DESCRIPTION("Hello World Example");
+MODULE_LICENSE("GPL");
diff --git a/bone-cook-book/07kernel/code/hello.patch b/bone-cook-book/07kernel/code/hello.patch
new file mode 100644
index 0000000000000000000000000000000000000000..deb5c615560465760fb6ec770525db26d3fd7226
--- /dev/null
+++ b/bone-cook-book/07kernel/code/hello.patch
@@ -0,0 +1,53 @@
+From eaf4f7ea7d540bc8bb57283a8f68321ddb4401f4 Mon Sep 17 00:00:00 2001
+From: Jason Kridner <jdk@ti.com>
+Date: Tue, 12 Feb 2013 02:18:03 +0000
+Subject: [PATCH] hello: example kernel modules
+
+---
+ hello/Makefile | 7 +++++++
+ hello/hello.c | 18 ++++++++++++++++++
+ 2 files changed, 25 insertions(+), 0 deletions(-)
+ create mode 100644 hello/Makefile
+ create mode 100644 hello/hello.c
+
+diff --git a/hello/Makefile b/hello/Makefile
+new file mode 100644
+index 0000000..4b23da7
+--- /dev/null
++++ b/hello/Makefile
+@@ -0,0 +1,7 @@
++obj-m := hello.o
++
++PWD := $(shell pwd)
++KDIR := ${PWD}/..
++
++default:
++ make -C $(KDIR) SUBDIRS=$(PWD) modules
+diff --git a/hello/hello.c b/hello/hello.c
+new file mode 100644
+index 0000000..157d490
+--- /dev/null
++++ b/hello/hello.c
+@@ -0,0 +1,22 @@
++#include <linux/module.h> /* Needed by all modules */
++#include <linux/kernel.h> /* Needed for KERN_INFO */
++#include <linux/init.h> /* Needed for the macros */
++
++static int __init hello_start(void)
++{
++ printk(KERN_INFO "Loading hello module...\n");
++ printk(KERN_INFO "Hello, World!\n");
++ return 0;
++}
++
++static void __exit hello_end(void)
++{
++ printk(KERN_INFO "Goodbye Boris\n");
++}
++
++module_init(hello_start);
++module_exit(hello_end);
++
++MODULE_AUTHOR("Boris Houndleroy");
++MODULE_DESCRIPTION("Hello World Example");
++MODULE_LICENSE("GPL");
diff --git a/bone-cook-book/07kernel/code/helloWorld.c b/bone-cook-book/07kernel/code/helloWorld.c
new file mode 100644
index 0000000000000000000000000000000000000000..0fd542de11f94a460882ea93ad7b9faf32068831
--- /dev/null
+++ b/bone-cook-book/07kernel/code/helloWorld.c
@@ -0,0 +1,5 @@
+#include <stdio.h>
+
+int main(int argc, char **argv) {
+ printf("Hello, World! \n");
+}
diff --git a/bone-cook-book/07kernel/figures/KernelConfig3.16.png b/bone-cook-book/07kernel/figures/KernelConfig3.16.png
new file mode 100644
index 0000000000000000000000000000000000000000..37a1e00aa73f141ed75ff464ae125eb8f3b2fc53
Binary files /dev/null and b/bone-cook-book/07kernel/figures/KernelConfig3.16.png differ
diff --git a/bone-cook-book/07kernel/figures/cape-headers-digitalGPIO7.png b/bone-cook-book/07kernel/figures/cape-headers-digitalGPIO7.png
new file mode 100644
index 0000000000000000000000000000000000000000..f821a459c0dbf3664af1b6325c0120a27c44688a
Binary files /dev/null and b/bone-cook-book/07kernel/figures/cape-headers-digitalGPIO7.png differ
diff --git a/bone-cook-book/07kernel/kernel.rst b/bone-cook-book/07kernel/kernel.rst
new file mode 100644
index 0000000000000000000000000000000000000000..359f4c5463a6a8e0fe5ca1946b1faa95f6cfd34a
--- /dev/null
+++ b/bone-cook-book/07kernel/kernel.rst
@@ -0,0 +1,747 @@
+.. _bone-cook-book-kernel:
+
+The Kernel
+###########
+
+Introduction
+---------------------------------
+The kernel is the heart of the Linux operating system. It's the software that takes the
+low-level requests, such as reading or writing files, or reading and writing general-purpose
+input/output (GPIO) pins, and maps them to the hardware. When you install a new version of the
+OS (:ref:`<basics_latest_os>`), you get a certain version of the kernel.
+
+You usually won't need to mess with the kernel, but sometimes you might want to try something new
+that requires a different kernel. This chapter shows how to switch kernels. The nice thing is you
+can have multiple kernels on your system at the same time and select from among them which to boot up.
+
+// TODO is this still true?
+
+.. note:: We assume here that you are logged on to your Bone as +root+ and superuser privileges. You also need to be logged in to your Linux host computer as a nonsuperuser.
+
+
+Updating the Kernel
+---------------------------------
+
+Problem
+***********
+
+You have an out-of-date kernel and want to want to make it current.
+
+Solution
+***********
+
+Use the following command to determine which kernel you are running:
+
+.. code-block:: bash
+
+ bone$ uname -a
+ Linux beaglebone 3.8.13-bone67 #1 SMP Wed Sep 24 21:30:03 UTC 2014 armv7l
+ GNU/Linux
+
+
+The +3.8.13-bone67+ string is the kernel version.
+
+To update to the current kernel, ensure that your Bone is on the Internet
+(:ref:`<networking_usb>` or :ref:`<networking_wired>`) and then run the following commands:
+
+.. code-block:: bash
+
+ bone$ apt-cache pkgnames | grep linux-image | sort | less
+ ...
+ linux-image-3.15.8-armv7-x5
+ linux-image-3.15.8-bone5
+ linux-image-3.15.8-bone6
+ ...
+ linux-image-3.16.0-rc7-bone1
+ ...
+ linux-image-3.8.13-bone60
+ linux-image-3.8.13-bone61
+ linux-image-3.8.13-bone62
+ bone$ sudo apt install linux-image-3.14.23-ti-r35
+ bone$ sudo reboot
+ bone$ uname -a
+ Linux beaglebone 3.14.23-ti-r35 #1 SMP PREEMPT Wed Nov 19 21:11:08 UTC 2014 armv7l
+ GNU/Linux
+
+
+The first command lists the versions of the kernel that are available. The second command installs one.
+After you have rebooted, the new kernel will be running.
+
+If the current kernel is doing its job adequately, you probably don't need to update, but sometimes a new
+software package requires a more up-to-date kernel. Fortunately, precompiled kernels are available and ready to download.
+
+Discussion
+***********
+
+
+.. _kernel_building_modules:
+
+Building and Installing Kernel Modules
+---------------------------------
+
+Problem
+***********
+
+You need to use a peripheral for which there currently is no driver, or you need to improve the
+performance of an interface previously handled in user space.
+
+Solution
+***********
+
+The solution is to run in kernel space by building a kernel module. There are entire
+`books on writing Linux Device Drivers <http://bit.ly/1Fb0usf>`_. This recipe assumes that
+the driver has already been written and shows how to compile and install it. After you've
+followed the steps for this simple module, you will be able to apply them to any other module.
+
+For our example module, add the code in :ref:`<kernel_simple_module>` to a file called _hello.c_.
+
+.. _kernel_simple_module:
+
+Simple Kernel Module (hello.c)
+
+.. code-block:: JavaScript
+
+ include::code/hello.c
+
+
+
+When compiling on the Bone, all you need to do is load the Kernel Headers for the version of the kernel you're running:
+
+.. code-block:: bash
+
+bone$ sudo apt install linux-headers-`uname -r`
+
+
+.. note:: ((("` character (backtick)")))((("backtick (`) character")))The quotes around +`uname -r`+ are backtick characters. On a United States keyboard, the backtick key is to the left of the 1 key.
+
+
+This took a little more than three minutes on my Bone. The +`uname -r`+ part of the command looks up what version of the kernel you are running and loads the headers for it.
+
+Next, add the code in :ref:`<kernel_Makefle>` to a file called _Makefile_.
+
+.. _kernel_Makefle:
+
+Simple Kernel Module (_Makefile_)
+
+.. code-block:: JavaScript
+
+ include::code/Makefile.display
+
+
+
+.. note:: Replace the two instances of +<TAB>+ with a tab character (the key left of the Q key on a United States keyboard). The tab characters are very important to makefiles and must appear as shown.
+
+
+Now, compile the kernel module by using the +make+ command:
+
+.. code-block:: bash
+
+ bone$ make
+ make -C /lib/modules/3.8.13-bone67/build \
+ SUBDIRS=/root/cookbook-atlas/code/hello modules
+ make[1]: Entering directory `/usr/src/linux-headers-3.8.13-bone67'
+ CC [M] /root/cookbook-atlas/code/hello/hello.o
+ Building modules, stage 2.
+ MODPOST 1 modules
+ CC /root/cookbook-atlas/code/hello/hello.mod.o
+ LD [M] /root/cookbook-atlas/code/hello/hello.ko
+ make[1]: Leaving directory `/usr/src/linux-headers-3.8.13-bone67'
+ bone$ ls
+ Makefile hello.c hello.mod.c hello.o
+ Module.symvers hello.ko hello.mod.o modules.order
+
+
+Notice that several files have been created. _hello.ko_ is the one you want. Try a couple of commands with it:
+
+.. code-block:: bash
+
+ bone$ modinfo hello.ko
+ filename: /root/hello/hello.ko
+ srcversion: 87C6AEED7791B4B90C3B50C
+ depends:
+ vermagic: 3.8.13-bone67 SMP mod_unload modversions ARMv7 thumb2 p2v8
+ bone$ sudo insmod hello.ko
+ bone$ dmesg | tail -4
+ [419313.320052] bone-iio-helper helper.15: ready
+ [419313.322776] bone-capemgr bone_capemgr.9: slot #8: Applied #1 overlays.
+ [491540.999431] Loading hello module...
+ [491540.999476] Hello world
+
+
+The first command displays information about the module. The +insmod+ command inserts the module into the running kernel.
+If all goes well, nothing is displayed, but the module does print something in the kernel log. The +dmesg+ command displays
+the messages in the log, and the +tail -4+ command shows the last four messages. The last two messages are from the module. It worked!
+
+Discussion
+***********
+
+.. _kernel_LEDs:
+
+Controlling LEDs by Using SYSFS Entries
+---------------------------------
+
+Problem
+***********
+You want to control the onboard LEDs from the command line.
+
+Solution
+***********
+On Linux, http://bit.ly/1AjhWUW[everything is a file]; that is, you can access all the inputs and outputs, the LEDs,
+and so on by opening the right _file_ and reading or writing to it. For example, try the following:
+
+.. code-block:: bash
+
+ bone$ cd /sys/class/leds/
+ bone$ ls
+ beaglebone:green:usr0 beaglebone:green:usr2
+ beaglebone:green:usr1 beaglebone:green:usr3
+
+
+What you are seeing are four directories, one for each onboard LED. Now try this:
+
+.. code-block:: bash
+
+ bone$ cd beaglebone\:green\:usr0
+ bone$ ls
+ brightness device max_brightness power subsystem trigger uevent
+ bone$ cat trigger
+ none nand-disk mmc0 mmc1 timer oneshot [heartbeat]
+ backlight gpio cpu0 default-on transient
+
+
+The first command changes into the directory for LED +usr0+, which is the LED closest to the edge of the board.
+The +[heartbeat]+ indicates that the default trigger (behavior) for the LED is to blink in the heartbeat pattern.
+Look at your LED. Is it blinking in a heartbeat pattern?
+
+Then try the following:
+
+.. code-block:: bash
+
+ bone$ echo none > trigger
+ bone$ cat trigger
+ [none] nand-disk mmc0 mmc1 timer oneshot heartbeat
+ backlight gpio cpu0 default-on transient
+
+
+This instructs the LED to use +none+ for a trigger. Look again. It should be no longer blinking.
+
+Now, try turning it on and off:
+
+.. code-block:: bash
+
+ bone$ echo 1 > brightness
+ bone$ echo 0 > brightness
+
+
+The LED should be turning on and off with the commands.
+
+Discussion
+***********
+
+.. _kernel_gpio_sysfs:
+
+Controlling GPIOs by Using SYSFS Entries
+-----------------------------------------
+
+Problem
+***********
+
+You want to control a GPIO pin from the command line.
+
+Solution
+***********
+
+:ref:`<kernel_LEDs>` introduces the +sysfs+. This recipe shows how to read and write a GPIO pin.
+
+Reading a GPIO Pin via sysfs
+******************************
+
+Suppose that you want to read the state of the +P9_42+ GPIO pin. (:ref:`<sensors_pushbutton>` shows how to wire a switch to +P9_42+.)
+First, you need to map the +P9+ header location to GPIO number using :ref:`<kernel_gpio_map_fig>`, which shows that +P9_42+ maps to GPIO 7.
+
+.. _kernel_gpio_map_fig:
+
+.Mapping P9_42 header position to GPIO 7
+.. figure:: figures/cape-headers-digitalGPIO7.png
+ :align: center
+ :alt: Mapping Header Position to GPIO Numbers
+
+Next, change to the GPIO +sysfs+ directory:
+
+.. code-block:: bash
+
+ bone$ cd /sys/class/gpio/
+ bone$ ls
+ export gpiochip0 gpiochip32 gpiochip64 gpiochip96 unexport
+
+
+The +ls+ command shows all the GPIO pins that have be exported. In this case, none have,
+so you see only the four GPIO controllers. Export using the +export+ command:
+
+.. code-block:: bash
+
+ bone$ echo 7 > export
+ bone$ ls
+ export gpio7 gpiochip0 gpiochip32 gpiochip64 gpiochip96 unexport
+
+
+Now you can see the _gpio7_ directory. Change into the _gpio7_ directory and look around:
+
+.. code-block:: bash
+
+ bone$ cd gpio7
+ bone$ ls
+ active_low direction edge power subsystem uevent value
+ bone$ cat direction
+ in
+ bone$ cat value
+ 0
+
+
+Notice that the pin is already configured to be an input pin. (If it wasn't already configured that way,
+use +echo in > direction+ to configure it.) You can also see that its current value is +0+—that is, it
+isn't pressed. Try pressing and holding it and running again:
+
+.. code-block:: bash
+
+ bone$ cat value
+ 1
+
+
+The +1+ informs you that the switch is pressed. When you are done with GPIO 7, you can always +unexport+ it:
+
+.. code-block:: bash
+
+ bone$ cd ..
+ bone$ echo 7 > unexport
+ bone$ ls
+ export gpiochip0 gpiochip32 gpiochip64 gpiochip96 unexport
+
+
+Writing a GPIO Pin via sysfs
+******************************
+
+Now, suppose that you want to control an external LED. :ref:`<displays_externalLED>` shows
+how to wire an LED to +P9_14+. :ref:`<kernel_gpio_map_fig>` shows +P9_14+ is GPIO 50. Following
+the approach in :ref:`<kernel_gpio_sysfs>`, enable GPIO 50 and make it an output:
+
+.. code-block:: bash
+
+ bone$ cd /sys/class/gpio/
+ bone$ echo 50 > export
+ bone$ ls
+ gpio50 gpiochip0 gpiochip32 gpiochip64 gpiochip96
+ bone$ cd gpio50
+ bone$ ls
+ active_low direction edge power subsystem uevent value
+ bone$ cat direction
+ in
+
+
+By default, +P9_14+ is set as an input. Switch it to an output and turn it on:
+
+.. code-block:: bash
+
+ bone$ echo out > direction
+ bone$ echo 1 > value
+ bone$ echo 0 > value
+
+
+The LED turns on when a +1+ is written to +value+ and turns off when a +0+ is written.
+
+Discussion
+***********
+
+.. _kernel_compiling:
+
+Compiling the Kernel
+----------------------
+
+Problem
+***********
+
+You need to download, patch, and compile the kernel from its source code.
+
+Solution
+***********
+
+This is easier than it sounds, thanks to some very powerful scripts.
+
+.. warning:: Be sure to run this recipe on your host computer. The Bone has enough computational power to compile a module or two, but compiling the entire kernel takes lots of time and resourses.
+
+
+Downloading and Compiling the Kernel
+**************************************
+
+To download and compile the kernel, follow these steps:
+
+.. code-block:: bash
+
+ host$ git clone https://github.com/RobertCNelson/bb-kernel.git # <1>
+ host$ cd bb-kernel
+ host$ git tag # <2>
+ host$ git checkout 3.8.13-bone60 -b v3.8.13-bone60 # <3>
+ host$ ./build_kernel.sh # <4>
+
+1. The first command clones a repository with the tools to build the kernel for the Bone.
+
+2. This command lists all the different versions of the kernel that you can build. You'll need to pick one of these. How do you know which one to pick? A good first step is to choose the one you are currently running. +uname -a+ will reveal which one that is. When you are able to reproduce the current kernel, go to http://kernelnewbies.org/[Linux Kernel Newbies] to see what features are available in other kernels. http://bit.ly/1AjiL00[LinuxChanges] shows the features in the newest kernel and http://bit.ly/1MrIHx3[LinuxVersions] links to features of pervious kernels.
+
+3. When you know which kernel to try, use +git checkout+ to check it out. This command checks out at tag +3.8.13-bone60+ and creates a new branch, +v3.8.13-bone60+.
+
+4. +build_kernel+ is the master builder. If needed, it will download the cross compilers needed to compile the kernel (linaro [http://www.linaro.org/] is the current cross compiler). If there is a kernel at _~/linux-dev_, it will use it; otherwise, it will download a copy to _bb-kernel/ignore/linux-src_. It will then patch the kernel so that it will run on the Bone.
+
+After the kernel is patched, you'll see a screen similar to :ref:`<kernel_config_fig>`, on which you can configure the kernel.
+
+.. _kernel_config_fig:
+
+Kernel configuration menu
+
+.. figure:: figures/KernelConfig3.16.png
+ :align: center
+ :alt: Kernel configuration menu
+
+You can use the arrow keys to navigate. No changes need to be made, so you can just press the right
+arrow and Enter to start the kernel compiling. The entire process took about 25 minutes on my 8-core host.
+
+The _bb-kernel/KERNEL_ directory contains the source code for the kernel. The _bb-kernel/deploy_
+directory contains the compiled kernel and the files needed to run it.
+
+.. _kernel_install:
+
+Installing the Kernel on the Bone
+***********************************
+
+To copy the new kernel and all its files to the microSD card, you need to halt the Bone,
+and then pull the microSD card out and put it in an microSD card reader on your host computer.
+Run +Disk+ (see :ref:`<basics_latest_os>`) to learn where the microSD card appears on your host
+(mine appears in _/dev/sdb_). Then open the _bb-kernel/system.sh_ file and find this line near the end:
+
+.. code-block:: bash
+
+ MMC=/dev/sde
+
+
+Change that line to look like this (where +/dev/sdb+ is the path to your device):
+
+.. code-block:: bash
+
+ MMC=/dev/sdb
+
+
+Now, while in the _bb-kernel_ directory, run the following command:
+
+.. code-block:: bash
+
+ host$ tools/install_kernel.sh
+ [sudo] password for yoder:
+
+ I see...
+ fdisk -l:
+ Disk /dev/sda: 160.0 GB, 160041885696 bytes
+ Disk /dev/sdb: 3951 MB, 3951034368 bytes
+ Disk /dev/sdc: 100 MB, 100663296 bytes
+
+ lsblk:
+ NAME MAJ:MIN RM SIZE RO TYPE MOUNTPOINT
+ sda 8:0 0 149.1G 0 disk
+ ├─sda1 8:1 0 141.1G 0 part /
+ ├─sda2 8:2 0 1K 0 part
+ └─sda5 8:5 0 8G 0 part [SWAP]
+ sdb 8:16 1 3.7G 0 disk
+ ├─sdb1 8:17 1 16M 0 part
+ └─sdb2 8:18 1 3.7G 0 part
+ sdc 8:32 1 96M 0 disk
+ -----------------------------
+ Are you 100% sure, on selecting [/dev/sdb] (y/n)? y
+
+
+The script lists the partitions it sees and asks if you have the correct one. If you are sure, press Y, and the script will uncompress and copy the files to the correct locations on your card. When this is finished, eject your card, plug it into the Bone, and boot it up. Run +uname -a+, and you will see that you are running your compiled kernel.
+
+Discussion
+***********
+
+
+.. _kernel_using_cross_compiler:
+
+Using the Installed Cross Compiler
+------------------------------------
+
+Problem
+***********
+
+You have followed the instructions in :ref:`<kernel_compiling>` and want to use the cross compiler it has downloaded.
+
+[TIP]
+
+
+You can cross-compile without installing the entire kernel source by running the following:
+
+.. code-block:: bash
+
+ host$ sudo apt install gcc-arm-linux-gnueabihf
+
+
+Then skip down to :ref:`<kernel_skip_to_here>`.
+
+
+Solution
+***********
+
+:ref:`<kernel_compiling>` installs a cross compiler, but you need to set up a couple of things so that it can be found. :ref:`<kernel_compiling>` installed the kernel and other tools in a directory called _bb-kernel_. Run the following commands to find the path to the cross compiler:
+
+.. code-block:: bash
+
+ host$ cd bb-kernel/dl
+ host$ ls
+ gcc-linaro-arm-linux-gnueabihf-4.7-2013.04-20130415_linux
+ gcc-linaro-arm-linux-gnueabihf-4.7-2013.04-20130415_linux.tar.xz
+
+
+Here, the path to the cross compiler contains the version number of the compiler. Yours might be different from mine. +cd+ into it:
+
+.. code-block:: bash
+
+ host$ cd gcc-linaro-arm-linux-gnueabihf-4.7-2013.04-20130415_linux
+ host$ ls
+ 20130415-gcc-linaro-arm-linux-gnueabihf bin libexec
+ arm-linux-gnueabihf lib share
+
+
+At this point, we are interested in what's in _bin_:
+
+.. code-block:: bash
+
+ host$ cd bin
+ host$ ls
+ arm-linux-gnueabihf-addr2line arm-linux-gnueabihf-gfortran
+ arm-linux-gnueabihf-ar arm-linux-gnueabihf-gprof
+ arm-linux-gnueabihf-as arm-linux-gnueabihf-ld
+ arm-linux-gnueabihf-c++ arm-linux-gnueabihf-ld.bfd
+ arm-linux-gnueabihf-c++filt arm-linux-gnueabihf-ldd
+ arm-linux-gnueabihf-cpp arm-linux-gnueabihf-ld.gold
+ arm-linux-gnueabihf-ct-ng.config arm-linux-gnueabihf-nm
+ arm-linux-gnueabihf-elfedit arm-linux-gnueabihf-objcopy
+ arm-linux-gnueabihf-g++ arm-linux-gnueabihf-objdump
+ arm-linux-gnueabihf-gcc arm-linux-gnueabihf-pkg-config
+ arm-linux-gnueabihf-gcc-4.7.3 arm-linux-gnueabihf-pkg-config-real
+ arm-linux-gnueabihf-gcc-ar arm-linux-gnueabihf-ranlib
+ arm-linux-gnueabihf-gcc-nm arm-linux-gnueabihf-readelf
+ arm-linux-gnueabihf-gcc-ranlib arm-linux-gnueabihf-size
+ arm-linux-gnueabihf-gcov arm-linux-gnueabihf-strings
+ arm-linux-gnueabihf-gdb arm-linux-gnueabihf-strip
+
+
+What you see are all the cross-development tools. You need to add this directory to the +$PATH+ the shell uses to find the commands it runs:
+
+.. code-block:: bash
+
+ host$ pwd
+ /home/yoder/BeagleBoard/bb-kernel/dl/\
+ gcc-linaro-arm-linux-gnueabihf-4.7-2013.04-20130415_linux/bin
+
+ host$ echo $PATH
+ /usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:\
+ /usr/games:/usr/local/games
+
+
+The first command displays the path to the directory where the cross-development tools are located. The second shows which directories are searched to find commands to be run. Currently, the cross-development tools are not in the +$PATH+. Let's add it:
+
+.. code-block:: bash
+
+ host$ export PATH=`pwd`:$PATH
+ host$ echo $PATH
+ /home/yoder/BeagleBoard/bb-kernel/dl/\
+ gcc-linaro-arm-linux-gnueabihf-4.7-2013.04-20130415_linux/bin:\
+ /usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:\
+ /usr/games:/usr/local/games
+
+
+.. note:: Those are backtick characters (left of the "1" key on your keyboard) around +pwd+.((("` character (backtick)")))((("backtick (`) character")))
+
+
+The second line shows the +$PATH+ now contains the directory with the cross-development tools.
+
+.. _kernel_skip_to_here:
+
+Setting Up Variables
+*********************
+
+Now, set up a couple of variables to know which compiler you are using:
+
+.. code-block:: bash
+
+ host$ export ARCH=arm
+ host$ export CROSS_COMPILE=arm-linux-gnueabihf-
+
+
+These lines set up the standard environmental variables so that you can determine which cross-development
+tools to use. Test the cross compiler by adding :ref:`<kernel_helloWorld>` to a file named _helloWorld.c_.
+
+.. _kernel_helloWorld:
+
+Simple helloWorld.c to test cross compiling (helloWorld.c)
+
+.. code-block:: C
+
+ include::code/helloWorld.c
+
+
+
+You can then cross-compile by using the following commands:
+
+.. code-block:: bash
+
+ host$ ${CROSS_COMPILE}gcc helloWorld.c
+ host$ file a.out
+ a.out: ELF 32-bit LSB executable, ARM, version 1 (SYSV),
+ dynamically linked (uses shared libs), for GNU/Linux 2.6.31,
+ BuildID[sha1]=0x10182364352b9f3cb15d1aa61395aeede11a52ad, not stripped
+
+
+The +file+ command shows that +a.out+ was compiled for an ARM processor.
+
+Discussion
+***********
+
+
+.. _kernel_patches:
+
+Applying Patches
+--------------------
+
+Problem
+***********
+
+You have a patch file that you need to apply to the kernel.
+
+Solution
+***********
+
+:ref:`<kernel_hello_patch>` shows a patch file that you can use on the kernel.
+
+.. _kernel_hello_patch:
+
+Simple kernel patch file (hello.patch)
+
+.. code-block:: C
+
+ include::code/hello.patch[]
+
+
+
+Here's how to use it:
+
+- Install the kernel sources (:ref:`<kernel_compiling>`).
+- Change to the kernel directory (+cd bb-kernel/KERNEL+).
+- Add :ref:`<kernel_hello_patch>` to a file named _hello.patch_ in the _bb-kernel/KERNEL_ directory.
+- Run the following commands:
+
+.. code-block:: bash
+
+ host$ cd bb-kernel/KERNEL
+ host$ patch -p1 < hello.patch
+ patching file hello/Makefile
+ patching file hello/hello.c
+
+
+The output of the +patch+ command apprises you of what it's doing.
+Look in the _hello_ directory to see what was created:
+
+.. code-block:: bash
+
+ host$ cd hello
+ host$ ls
+ hello.c Makefile
+
+
+Discussion
+***********
+
+:ref:`<kernel_building_modules>` shows how to build and install a module, and :ref:`<kernel_create_patch>` shows how to create your own patch file.
+
+.. _kernel_create_patch:
+
+Creating Your Own Patch File
+---------------------------------
+
+Problem
+***********
+You made a few changes to the kernel, and you want to share them with your friends.
+
+Solution
+***********
+Create a patch file that contains just the changes you have made. Before making your changes, check out a new branch:
+
+.. code-block:: bash
+
+ host$ cd bb-kernel/KERNEL
+ host$ git status
+ # On branch master
+ nothing to commit (working directory clean)
+
+
+Good, so far no changes have been made. Now, create a new branch:
+
+.. code-block:: bash
+
+ host$ git checkout -b hello1
+ host$ git status
+ # On branch hello1
+ nothing to commit (working directory clean)
+
+
+You've created a new branch called _hello1_ and checked it out. Now, make whatever changes
+to the kernel you want. I did some work with a simple character driver that we can use as an example:
+
+.. code-block:: bash
+
+ host$ cd bb-kernel/KERNEL/drivers/char/
+ host$ git status
+ # On branch hello1
+ # Changes not staged for commit:
+ # (use "git add file..." to update what will be committed)
+ # (use "git checkout -- file..." to discard changes in working directory)
+ #
+ # modified: Kconfig
+ # modified: Makefile
+ #
+ # Untracked files:
+ # (use "git add file..." to include in what will be committed)
+ #
+ # examples/
+ no changes added to commit (use "git add" and/or "git commit -a")
+
+
+Add the files that were created and commit them:
+
+.. code-block:: bash
+
+ host$ git add Kconfig Makefile examples
+ host$ git status
+ # On branch hello1
+ # Changes to be committed:
+ # (use "git reset HEAD file..." to unstage)
+ #
+ # modified: Kconfig
+ # modified: Makefile
+ # new file: examples/Makefile
+ # new file: examples/hello1.c
+ #
+ host$ git commit -m "Files for hello1 kernel module"
+ [hello1 99346d5] Files for hello1 kernel module
+ 4 files changed, 33 insertions(+)
+ create mode 100644 drivers/char/examples/Makefile
+ create mode 100644 drivers/char/examples/hello1.c
+
+
+Finally, create the patch file:
+
+.. code-block:: bash
+
+ host$ git format-patch master --stdout > hello1.patch
+
+
+Discussion
+***********
+
diff --git a/bone-cook-book/08realtime/code/pushLED.c b/bone-cook-book/08realtime/code/pushLED.c
new file mode 100755
index 0000000000000000000000000000000000000000..118210df3d93882406021436cf3110f6b0331294
--- /dev/null
+++ b/bone-cook-book/08realtime/code/pushLED.c
@@ -0,0 +1,68 @@
+////////////////////////////////////////
+// blinkLED.c
+// Blinks the P9_14 pin based on the P9_42 pin
+// Wiring:
+// Setup:
+// See:
+////////////////////////////////////////
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+#define MAXSTR 100
+
+int main() {
+ FILE *fpbutton, *fpLED;
+ char LED[] = "50"; // Look up P9.14 using gpioinfo | grep -e chip -e P9.14. chip 1, line 18 maps to 50
+ char button[] = "7"; // Look up P9.42 using gpioinfo | grep -e chip -e P9.42. chip 0, line 7 maps to 7
+ char GPIOPATH[] = "/sys/class/gpio";
+ char path[MAXSTR] = "";
+
+ // Make sure LED is exported
+ snprintf(path, MAXSTR, "%s%s%s", GPIOPATH, "/gpio", LED);
+ if (!access(path, F_OK) == 0) {
+ snprintf(path, MAXSTR, "%s%s", GPIOPATH, "/export");
+ fpLED = fopen(path, "w");
+ fprintf(fpLED, "%s", LED);
+ fclose(fpLED);
+ }
+
+ // Make it an output LED
+ snprintf(path, MAXSTR, "%s%s%s%s", GPIOPATH, "/gpio", LED, "/direction");
+ fpLED = fopen(path, "w");
+ fprintf(fpLED, "out");
+ fclose(fpLED);
+
+ // Make sure bbuttonutton is exported
+ snprintf(path, MAXSTR, "%s%s%s", GPIOPATH, "/gpio", button);
+ if (!access(path, F_OK) == 0) {
+ snprintf(path, MAXSTR, "%s%s", GPIOPATH, "/export");
+ fpbutton = fopen(path, "w");
+ fprintf(fpbutton, "%s", button);
+ fclose(fpbutton);
+ }
+
+ // Make it an input button
+ snprintf(path, MAXSTR, "%s%s%s%s", GPIOPATH, "/gpio", button, "/direction");
+ fpbutton = fopen(path, "w");
+ fprintf(fpbutton, "in");
+ fclose(fpbutton);
+
+ // I don't know why I can open the LED outside the loop and use fseek before
+ // each read, but I can't do the same for the button. It appears it needs
+ // to be opened every time.
+ snprintf(path, MAXSTR, "%s%s%s%s", GPIOPATH, "/gpio", LED, "/value");
+ fpLED = fopen(path, "w");
+
+ char state = '0';
+
+ while (1) {
+ snprintf(path, MAXSTR, "%s%s%s%s", GPIOPATH, "/gpio", button, "/value");
+ fpbutton = fopen(path, "r");
+ fseek(fpLED, 0L, SEEK_SET);
+ fscanf(fpbutton, "%c", &state);
+ printf("state: %c\n", state);
+ fprintf(fpLED, "%c", state);
+ fclose(fpbutton);
+ usleep(250000); // sleep time in microseconds
+ }
+}
\ No newline at end of file
diff --git a/bone-cook-book/08realtime/code/pushLED.js b/bone-cook-book/08realtime/code/pushLED.js
new file mode 100755
index 0000000000000000000000000000000000000000..485a2bbf9537c885f8acc07911716aecfb549dfc
--- /dev/null
+++ b/bone-cook-book/08realtime/code/pushLED.js
@@ -0,0 +1,39 @@
+#!/usr/bin/env node
+////////////////////////////////////////
+// pushLED.js
+// Blinks an LED attached to P9_12 when the button at P9_42 is pressed
+// Wiring:
+// Setup:
+// See:
+////////////////////////////////////////
+const fs = require("fs");
+
+const ms = 500 // Read time in ms
+
+const LED="50"; // Look up P9.14 using gpioinfo | grep -e chip -e P9.14. chip 1, line 18 maps to 50
+const button="7"; // P9_42 mapps to 7
+
+GPIOPATH="/sys/class/gpio/";
+
+// Make sure LED is exported
+if(!fs.existsSync(GPIOPATH+"gpio"+LED)) {
+ fs.writeFileSync(GPIOPATH+"export", LED);
+}
+// Make it an output pin
+fs.writeFileSync(GPIOPATH+"gpio"+LED+"/direction", "out");
+
+// Make sure button is exported
+if(!fs.existsSync(GPIOPATH+"gpio"+button)) {
+ fs.writeFileSync(GPIOPATH+"export", button);
+}
+// Make it an input pin
+fs.writeFileSync(GPIOPATH+"gpio"+button+"/direction", "in");
+
+// Read every ms
+setInterval(flashLED, ms);
+
+function flashLED() {
+ var data = fs.readFileSync(GPIOPATH+"gpio"+button+"/value").slice(0, -1);
+ console.log('data = ' + data);
+ fs.writeFileSync(GPIOPATH+"gpio"+LED+"/value", data);
+ }
diff --git a/bone-cook-book/08realtime/code/pushLED.py b/bone-cook-book/08realtime/code/pushLED.py
new file mode 100755
index 0000000000000000000000000000000000000000..7606e090ae9418ce8ab233f2083d1b28650d805c
--- /dev/null
+++ b/bone-cook-book/08realtime/code/pushLED.py
@@ -0,0 +1,49 @@
+#!/usr/bin/env python
+# ////////////////////////////////////////
+# // pushLED.py
+# // Blinks an LED attached to P9_12 when the button at P9_42 is pressed
+# // Wiring:
+# // Setup:
+# // See:
+# ////////////////////////////////////////
+import time
+import os
+
+ms = 50 # Read time in ms
+
+LED="50" # Look up P9.14 using gpioinfo | grep -e chip -e P9.14. chip 1, line 18 maps to 50
+button="7" # P9_42 mapps to 7
+
+GPIOPATH="/sys/class/gpio/"
+
+# Make sure LED is exported
+if (not os.path.exists(GPIOPATH+"gpio"+LED)):
+ f = open(GPIOPATH+"export", "w")
+ f.write(LED)
+ f.close()
+
+# Make it an output pin
+f = open(GPIOPATH+"gpio"+LED+"/direction", "w")
+f.write("out")
+f.close()
+
+# Make sure button is exported
+if (not os.path.exists(GPIOPATH+"gpio"+button)):
+ f = open(GPIOPATH+"export", "w")
+ f.write(button)
+ f.close()
+
+# Make it an output pin
+f = open(GPIOPATH+"gpio"+button+"/direction", "w")
+f.write("in")
+f.close()
+
+# Read every ms
+fin = open(GPIOPATH+"gpio"+button+"/value", "r")
+fout = open(GPIOPATH+"gpio"+LED+"/value", "w")
+
+while True:
+ fin.seek(0)
+ fout.seek(0)
+ fout.write(fin.read())
+ time.sleep(ms/1000)
diff --git a/bone-cook-book/08realtime/code/pushLEDmmap.c b/bone-cook-book/08realtime/code/pushLEDmmap.c
new file mode 100644
index 0000000000000000000000000000000000000000..35f826684c17650b3e7eddd66c404a9fad23ba70
--- /dev/null
+++ b/bone-cook-book/08realtime/code/pushLEDmmap.c
@@ -0,0 +1,68 @@
+// From: http://stackoverflow.com/questions/13124271/driving-beaglebone-gpio
+// -through-dev-mem
+// user contributions licensed under cc by-sa 3.0 with attribution required
+// http://creativecommons.org/licenses/by-sa/3.0/
+// http://blog.stackoverflow.com/2009/06/attribution-required/
+// Author: madscientist159 (http://stackoverflow.com/users/3000377/madscientist159)
+//
+// Read one gpio pin and write it out to another using mmap.
+// Be sure to set -O3 when compiling.
+#include <stdio.h>
+#include <stdlib.h>
+#include <sys/mman.h>
+#include <fcntl.h>
+#include <signal.h> // Defines signal-handling functions (i.e. trap Ctrl-C)
+#include "pushLEDmmap.h"
+
+// Global variables
+int keepgoing = 1; // Set to 0 when Ctrl-c is pressed
+
+// Callback called when SIGINT is sent to the process (Ctrl-C)
+void signal_handler(int sig) {
+ printf( "\nCtrl-C pressed, cleaning up and exiting...\n" );
+ keepgoing = 0;
+}
+
+int main(int argc, char *argv[]) {
+ volatile void *gpio_addr;
+ volatile unsigned int *gpio_datain;
+ volatile unsigned int *gpio_setdataout_addr;
+ volatile unsigned int *gpio_cleardataout_addr;
+
+ // Set the signal callback for Ctrl-C
+ signal(SIGINT, signal_handler);
+
+ int fd = open("/dev/mem", O_RDWR);
+
+ printf("Mapping %X - %X (size: %X)\n", GPIO0_START_ADDR, GPIO0_END_ADDR,
+ GPIO0_SIZE);
+
+ gpio_addr = mmap(0, GPIO0_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd,
+ GPIO0_START_ADDR);
+
+ gpio_datain = gpio_addr + GPIO_DATAIN;
+ gpio_setdataout_addr = gpio_addr + GPIO_SETDATAOUT;
+ gpio_cleardataout_addr = gpio_addr + GPIO_CLEARDATAOUT;
+
+ if(gpio_addr == MAP_FAILED) {
+ printf("Unable to map GPIO\n");
+ exit(1);
+ }
+ printf("GPIO mapped to %p\n", gpio_addr);
+ printf("GPIO SETDATAOUTADDR mapped to %p\n", gpio_setdataout_addr);
+ printf("GPIO CLEARDATAOUT mapped to %p\n", gpio_cleardataout_addr);
+
+ printf("Start copying GPIO_07 to GPIO_31\n");
+ while(keepgoing) {
+ if(*gpio_datain & GPIO_07) {
+ *gpio_setdataout_addr= GPIO_31;
+ } else {
+ *gpio_cleardataout_addr = GPIO_31;
+ }
+ //usleep(1);
+ }
+
+ munmap((void *)gpio_addr, GPIO0_SIZE);
+ close(fd);
+ return 0;
+}
diff --git a/bone-cook-book/08realtime/code/pushLEDmmap.h b/bone-cook-book/08realtime/code/pushLEDmmap.h
new file mode 100644
index 0000000000000000000000000000000000000000..a9b49331d9d9f31c7346d5842d0ba76f1620ef85
--- /dev/null
+++ b/bone-cook-book/08realtime/code/pushLEDmmap.h
@@ -0,0 +1,35 @@
+// From: http://stackoverflow.com/questions/13124271/driving-beaglebone-gpio
+// -through-dev-mem
+// user contributions licensed under cc by-sa 3.0 with attribution required
+// http://creativecommons.org/licenses/by-sa/3.0/
+// http://blog.stackoverflow.com/2009/06/attribution-required/
+// Author: madscientist159 (http://stackoverflow.com/users/3000377/madscientist159)
+
+#ifndef _BEAGLEBONE_GPIO_H_
+#define _BEAGLEBONE_GPIO_H_
+
+#define GPIO0_START_ADDR 0x44e07000
+#define GPIO0_END_ADDR 0x44e08000
+#define GPIO0_SIZE (GPIO0_END_ADDR - GPIO0_START_ADDR)
+
+#define GPIO1_START_ADDR 0x4804C000
+#define GPIO1_END_ADDR 0x4804D000
+#define GPIO1_SIZE (GPIO1_END_ADDR - GPIO1_START_ADDR)
+
+#define GPIO2_START_ADDR 0x41A4C000
+#define GPIO2_END_ADDR 0x41A4D000
+#define GPIO2_SIZE (GPIO2_END_ADDR - GPIO2_START_ADDR)
+
+#define GPIO3_START_ADDR 0x41A4E000
+#define GPIO3_END_ADDR 0x41A4F000
+#define GPIO3_SIZE (GPIO3_END_ADDR - GPIO3_START_ADDR)
+
+#define GPIO_DATAIN 0x138
+#define GPIO_SETDATAOUT 0x194
+#define GPIO_CLEARDATAOUT 0x190
+
+#define GPIO_03 (1<<3)
+#define GPIO_07 (1<<7)
+#define GPIO_31 (1<<31)
+#define GPIO_60 (1<<28)
+#endif
\ No newline at end of file
diff --git a/bone-cook-book/08realtime/code/rt/cyclictest.png b/bone-cook-book/08realtime/code/rt/cyclictest.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e6780c155c297043268bda39a18e8acf77fbda2
Binary files /dev/null and b/bone-cook-book/08realtime/code/rt/cyclictest.png differ
diff --git a/bone-cook-book/08realtime/code/rt/hist.gen b/bone-cook-book/08realtime/code/rt/hist.gen
new file mode 100755
index 0000000000000000000000000000000000000000..e265fc7f745d22ba9fca9bd52bb2cb51f39890a4
--- /dev/null
+++ b/bone-cook-book/08realtime/code/rt/hist.gen
@@ -0,0 +1,4 @@
+#!/bin/sh
+# This code is from Julia Cartwright julia@kernel.org
+
+cyclictest -m -S -p 90 -h 400 -l "${1:-100000}"
diff --git a/bone-cook-book/08realtime/code/rt/hist.plt b/bone-cook-book/08realtime/code/rt/hist.plt
new file mode 100755
index 0000000000000000000000000000000000000000..26d130b15bbc7dfe86373c71746b9897b1184884
--- /dev/null
+++ b/bone-cook-book/08realtime/code/rt/hist.plt
@@ -0,0 +1,17 @@
+# This code is from Julia Cartwright julia@kernel.org
+
+set terminal png medium size 800,600
+# set terminal X11 persist
+set output "cyclictest.png"
+set datafile commentschars "#"
+
+set logscale y
+
+# trim some of the distortion from the bottom of the plot
+set yrang [0.85:*]
+
+set xlabel "t (us)"
+set ylabel "Count"
+
+plot "nort.hist" using 1:2 with histeps title "NON-RT", \
+ "rt.hist" using 1:2 with histeps title "PREEMPT-RT"
diff --git a/bone-cook-book/08realtime/code/rt/install.sh b/bone-cook-book/08realtime/code/rt/install.sh
new file mode 100755
index 0000000000000000000000000000000000000000..7240ba2cfee9747021e06709f9aa0d7c0d99e40b
--- /dev/null
+++ b/bone-cook-book/08realtime/code/rt/install.sh
@@ -0,0 +1,3 @@
+sudo apt install rt-tests
+# You can run gnuplot on the host
+sudo apt install gnuplot
diff --git a/bone-cook-book/08realtime/code/rt/setup.sh b/bone-cook-book/08realtime/code/rt/setup.sh
new file mode 100755
index 0000000000000000000000000000000000000000..c8003f2c4c18382b561a69ab816ee05bb91e9561
--- /dev/null
+++ b/bone-cook-book/08realtime/code/rt/setup.sh
@@ -0,0 +1,3 @@
+# This may be needed to run rt
+echo 950000 | sudo tee /sys/fs/cgroup/cpu/cpu.rt_runtime_us
+echo 950000 | sudo tee /sys/fs/cgroup/cpu/user.slice/cpu.rt_runtime_us
diff --git a/bone-cook-book/08realtime/figures/kernel_update.png b/bone-cook-book/08realtime/figures/kernel_update.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6b2061407311b17a5bb9af0616efaf1b54f5aca
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diff --git a/bone-cook-book/08realtime/figures/pushLED.fzz b/bone-cook-book/08realtime/figures/pushLED.fzz
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diff --git a/bone-cook-book/08realtime/figures/pushLED_bb.png b/bone-cook-book/08realtime/figures/pushLED_bb.png
new file mode 100644
index 0000000000000000000000000000000000000000..95f28c99f17f1919dff7a5a60460495c66a3ffd4
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diff --git a/bone-cook-book/08realtime/figures/pushLEDmmap.fzz b/bone-cook-book/08realtime/figures/pushLEDmmap.fzz
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diff --git a/bone-cook-book/08realtime/figures/pushLEDmmap_bb.png b/bone-cook-book/08realtime/figures/pushLEDmmap_bb.png
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diff --git a/bone-cook-book/08realtime/figures/pushLEDpru.fzz b/bone-cook-book/08realtime/figures/pushLEDpru.fzz
new file mode 100644
index 0000000000000000000000000000000000000000..7176b896a8360bf69c1b25e15fac9f72b8995f7f
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diff --git a/bone-cook-book/08realtime/figures/pushLEDpru_bb.png b/bone-cook-book/08realtime/figures/pushLEDpru_bb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4905b033ca68528fe2eb4e1f11af3d226f79f652
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diff --git a/bone-cook-book/08realtime/old/pruSpeak.py b/bone-cook-book/08realtime/old/pruSpeak.py
new file mode 100755
index 0000000000000000000000000000000000000000..0486f2f3f19484a91eac80374dd72640c638f25d
--- /dev/null
+++ b/bone-cook-book/08realtime/old/pruSpeak.py
@@ -0,0 +1,19 @@
+#!/usr/bin/env python
+from pru_speak import pru_speak
+
+# Copy the signal on pin P8_16 to P9_31
+code = '''\
+SCRIPT
+SET var1, DIO[14]
+SET DIO[0], var1
+GOTO 0
+ENDSCRIPT
+RUN
+'''
+
+halt = '''\
+HALT
+'''
+
+ret = pru_speak.execute_instruction(code)
+print ret
diff --git a/bone-cook-book/08realtime/old/thumb.patch b/bone-cook-book/08realtime/old/thumb.patch
new file mode 100644
index 0000000000000000000000000000000000000000..3e019266268c977ceb055340cc34b4803faeec6b
--- /dev/null
+++ b/bone-cook-book/08realtime/old/thumb.patch
@@ -0,0 +1,20 @@
+diff --git a/arch/arm/kernel/entry-armv.S b/arch/arm/kernel/entry-armv.S
+index e2bc263..6f4d9f0 100644
+--- a/arch/arm/kernel/entry-armv.S
++++ b/arch/arm/kernel/entry-armv.S
+@@ -469,6 +469,7 @@ __irq_usr:
+ kuser_cmpxchg_check
+ irq_handler
+ #ifdef CONFIG_IPIPE
++THUMB( it ne )
+ bne __ipipe_ret_to_user_irqs_disabled
+ #endif /* CONFIG_IPIPE */
+ get_thread_info tsk
+@@ -767,6 +768,7 @@ ENTRY(ret_from_exception)
+ disable_irq
+ bl __ipipe_check_root
+ cmp r0, #1
++THUMB( it ne )
+ bne __ipipe_ret_to_user_irqs_disabled @ Fast exit path over non-root domains
+ #endif /* CONFIG_IPIPE */
+ get_thread_info tsk
diff --git a/bone-cook-book/08realtime/old/xenomaiConfig.png b/bone-cook-book/08realtime/old/xenomaiConfig.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c4454301f96d30087d4cbb825f89b16e963482f
Binary files /dev/null and b/bone-cook-book/08realtime/old/xenomaiConfig.png differ
diff --git a/bone-cook-book/08realtime/realtime.rst b/bone-cook-book/08realtime/realtime.rst
new file mode 100644
index 0000000000000000000000000000000000000000..c7ed6bb72b8e7bc3e38280eea1cb3f39bd604348
--- /dev/null
+++ b/bone-cook-book/08realtime/realtime.rst
@@ -0,0 +1,517 @@
+.. _bone-cook-book-realtime:
+
+Real-Time I/O
+###############
+
+Introduction
+----------------
+
+Sometimes, when BeagleBone Black interacts with the physical world, it needs to respond in a timely manner.
+For example, your robot has just detected that one of the driving motors needs to turn a bit faster.
+Systems that can respond quickly to a real event are known as _real-time_ systems. There are two broad
+categories of real-time systems: soft and hard.
+
+In a _soft real-time_ system, the real-time requirements should be met _most_ of the time, where _most_
+depends on the system. A video playback system is a good example. The goal might be to display 60 frames
+per second, but it doesn't matter much if you miss a frame now and then. In a 100 percent _hard real-time_
+system, you can never fail to respond in time. Think of an airbag deployment system on a car. You can't even
+be pass:[<span class="keep-together">50 ms late</span>].
+
+Systems running Linux generally can't do 100 percent hard real-time processing, because Linux gets in the way.
+However, the Bone has an ARM processor running Linux and two additional 32-bit programmable real-time units
+(PRUs http://bit.ly/1EzTPZv[Ti AM33XX PRUSSv2]) available to do real-time processing. Although the PRUs can
+achieve 100 percent hard real-time, they take some effort to use.
+
+This chapter shows several ways to do real-time input/output (I/O), starting with the effortless, yet slower
+JavaScript and moving up with increasing speed (and effort) to using the PRUs.
+
+.. note::
+ In this chapter, as in the others, we assume that you are logged in as +debian+ (as indicated by the +bone$+ prompt).
+ This gives you quick access to the general-purpose input/output (GPIO) ports but you may have to use +sudo+ some times.
+
+
+.. _realtime_JavaScript:
+
+I/O with JavaScript
+---------------------
+
+Problem
+**********
+
+You want to read an input pin and write it to the output as quickly as possible with JavaScript.
+
+Solution
+**********
+
+:ref:`<sensors_pushbutton>` shows how to read a pushbutton switch and :ref:`<displays_externalLED>` controls an external LED.
+This recipe combines the two to read the switch and turn on the LED in response to it. To make this recipe, you will need:
+
+* Breadboard and jumper wires (see :ref:`app proto <app_proto>`)
+* Pushbutton switch (see :ref:`app misc <app_misc>`)
+* 220 Ω resistor (see :ref:`app resistor <app_resistor>`)
+* LED (see :ref:`app opto <app_opto>`)
+
+Wire up the pushbutton and LED as shown in :ref:`<realtime_pushLED_fig>`.
+
+.. _realtime_pushLED_fig:
+
+Diagram for wiring a pushbutton and LED with the LED attached to P9_14
+
+.. figure:: figures/pushLED_bb.png
+ :align: center
+ :alt: Bone with pushbutton and LED
+
+The code in :ref:`<realtime_pushLED_code>` reads GPIO port +P9_42+, which is attached to the
+pass:[<span class="keep-together">pushbutton</span>], and turns on the LED attached to
++P9_12+ when the button is pushed.
+
+.. _py_pushLED_code:
+
+Monitoring a pushbutton (pushLED.py)
+
+.. code-block:: python
+
+ include::code/pushLED.py
+
+
+.. _realtime_pushLED_code:
+
+Monitoring a pushbutton (pushLED.js)
+
+.. code-block:: JavaScript
+
+ include::code/pushLED.js
+
+
+Add the code to a file named _pushLED.js_ and run it by using the following commands:
+
+.. code-block:: bash
+
+ bone$ <strong>chmod +x pushLED.js</strong>
+ bone$ <strong>./pushLED.js</strong>
+ data = 0
+ data = 0
+ data = 1
+ data = 1
+ ^C
+
+Press ^C (Ctrl-C) to stop the code.
+
+Discussion
+**********
+
+
+.. _realtime_c:
+
+I/O with C
+---------------------
+
+Problem
+**********
+
+You want to use the C language to process inputs in real time, or Python/JavaScript isn't fast enough.
+
+Solution
+**********
+
+:ref:`<realtime_JavaScript>` shows how to control an LED with a pushbutton using JavaScript. This recipe accomplishes
+the same thing using C. It does it in the same way, opening the correct /sys/class/gpio files and reading an writing them.
+
+Wire up the pushbutton and LED as shown in :ref:`<realtime_pushLED_fig>`.
+Then add the code in :ref:`<realtime_pushLED_c_code>` to a file named _pushLED.c_.
+
+.. _realtime_pushLED_c_code:
+
+Code for reading a switch and blinking an LED (pushLED.c)
+
+.. code-block:: bash
+
+ include::code/pushLED.c[]
+
+
+Compile and run the code:
+
+.. code-block:: bash
+
+ bone$ <strong>gcc -o pushLED pushLED.c</strong>
+ bone$ <strong>./pushLED</strong>
+ state: 1
+ state: 1
+ state: 0
+ state: 0
+ state: 0
+ state: 1
+ ^C
+
+The code responds quickly to the pushbutton. If you need more speed,
+comment-out the +printf()+ and the +sleep()+.
+
+Discussion
+**********
+
+.. _realtime_devmem2:
+
+I/O with devmem2
+---------------------
+
+Problem
+**********
+
+Your C code isn't responding fast enough to the input signal. You want to read the GPIO registers directly.
+
+Solution
+**********
+
+The solution is to use a simple utility called +devmem2+, with which you can read and write registers from the command line.
+
+.. warning::
+
+ This solution is much more involved than the previous ones. You need to understand binary and
+ hex numbers and be able to read the http://bit.ly/1B4Cm45[AM335x Technical Reference Manual].
+
+
+First, download and install +devmem2+:
+
+.. code-block:: bash
+
+ bone$ <strong>wget http://free-electrons.com/pub/mirror/devmem2.c</strong>
+ bone$ <strong>gcc -o devmem2 devmem2.c</strong>
+ bone$ <strong>sudo mv devmem2 /usr/bin</strong>
+
+This solution will read a pushbutton attached to +P9_42+ and flash an LED attached to +P9_13+. Note that this is a
+change from the previous solutions that makes the code used here much simpler. Wire up your Bone as shown in :ref:`<realtime_pushLEDmmap_fig>`.
+
+.. _realtime_pushLEDmmap_fig:
+
+Diagram for wiring a pushbutton and LED with the LED attached to P9_13
+
+.. figure:: figures/pushLEDmmap_bb.png
+ :align: center
+ :alt: Bone with pushbutton and LED wired to P9_13
+
+Now, flash the LED attached to +P9_13+ using the Linux +sysfs+ interface (:ref:`<kernel_gpio_sysfs>`). To do this,
+first look up which GPIO number +P9_13+ is attached to by referring to :ref:`<tips_cape_headers_digital>`.
+Finding +P9_13+ at GPIO 31, export GPIO 31 and make it an output:
+
+.. code-block:: bash
+
+ bone$ <strong>cd cd /sys/class/gpio/</strong>
+ bone$ <strong>echo 31 > export</strong>
+ bone$ <strong>cd gpio31</strong>
+ bone$ <strong>echo out > direction</strong>
+ bone$ <strong>echo 1 > value</strong>
+ bone$ <strong>echo 0 > value</strong>
+
+The LED will turn on when +1+ is echoed into +value+ and off when +0+ is echoed.
+
+Now that you know the LED is working, look up its memory address. This is where things get very detailed. First, download the http://bit.ly/1B4Cm45[AM335x Technical Reference Manual]. Look up +GPIO0+ in the Memory Map chapter (sensors). Table 2-2 indicates that +GPIO0+ starts at address +0x44E0_7000+. Then go to Section 25.4.1, "GPIO Registers." This shows that +GPIO_DATAIN+ has an offset of +0x138+, +GPIO_CLEARDATAOUT+ has an offset of +0x190+, and +GPIO_SETDATAOUT+ has an offset of +0x194+.
+
+This means you read from address +0x44E0_7000+ + +0x138+ = +0x44E0_7138+ to see the status of the LED:
+
+.. code-block:: bash
+
+ bone$ <strong>sudo devmem2 0x44E07138</strong>
+ /dev/mem opened.
+ Memory mapped at address 0xb6f8e000.
+ Value at address 0x44E07138 (0xb6f8e138): 0xC000C404
+
+
+The returned value +0xC000C404+ (+1100 0000 0000 0000 1100 0100 0000 0100+ in binary) has bit 31 set to +1+, which means the LED is on. Turn the LED off by writing +0x80000000+ (+1000 0000 0000 0000 0000 0000 0000 0000+ binary) to the +GPIO_CLEARDATA+ register at +0x44E0_7000+ + +0x190+ = +0x44E0_7190+:
+
+.. code-block:: bash
+
+ bone$ <strong>sudo devmem2 0x44E07190 w 0x80000000</strong>
+ /dev/mem opened.
+ Memory mapped at address 0xb6fd7000.
+ Value at address 0x44E07190 (0xb6fd7190): 0x80000000
+ Written 0x80000000; readback 0x0
+
+The LED is now off.
+
+You read the pushbutton switch in a similar way. :ref:`<tips_cape_headers_digital>` says +P9_42+ is GPIO 7, which means bit 7 is the state of +P9_42+. The +devmem2+ in this example reads +0x0+, which means all bits are +0+, including GPIO 7. Section 25.4.1 of the Technical Reference Manual instructs you to use offset +0x13C+ to read +GPIO_DATAOUT+. Push the pushbutton and run +devmem2+:
+
+.. code-block:: bash
+
+ bone$ <strong>sudo devmem2 0x44e07138</strong>
+ /dev/mem opened.
+ Memory mapped at address 0xb6fe2000.
+ Value at address 0x44E07138 (0xb6fe2138): 0x4000C484
+
+
+Here, bit 7 is set in +0x4000C484+, showing the button is pushed.
+
+Discussion
+**********
+
+This is much more tedious than the previous methods, but it's what's necessary if you need to
+minimize the time to read an input. :ref:`<realtime_mmap>` shows how to read and write these addresses from C.
+
+.. _realtime_mmap:
+
+I/O with C and mmap()
+---------------------
+
+Problem
+**********
+
+Your C code isn't responding fast enough to the input signal.
+
+Solution
+**********
+
+In smaller processors that aren't running an operating system, you can read and write a given memory address directly
+from C. With Linux running on Bone, many of the memory locations are hardware protected, so you can't accidentally access them directly.
+
+This recipe shows how to use +mmap()+ (memory map) to map the GPIO registers to an array in C. Then all you need t
+o do is access the array to read and write the registers.
+
+.. warning::
+
+ This solution is much more involved than the previous ones. You need to understand binary and hex numbers
+ and be able to read the AM335x Technical Reference Manual.
+
+
+This solution will read a pushbutton attached to +P9_42+ and flash an LED attached to +P9_13+. Note that this is a
+change from the previous solutions that makes the code used here much simpler.
+
+.. tip:: See :ref:`<realtime_devmem2>` for details on mapping the GPIO numbers to memory addresses.
+
+
+Add the code in :ref:`<realtime_pushLEDmmap_h>` to a file named _pushLEDmmap.h_.
+
+.. _realtime_pushLEDmmap_h:
+
+Memory address definitions (pushLEDmmap.h)
+
+
+.. code-block:: bash
+
+ include::code/pushLEDmmap.h[pushLEDmmap.h]
+
+
+
+Add the code in :ref:`<realtime_pushLEDmmap_c>` to a file named _pushLEDmmap.c_.
+.. _realtime_pushLEDmmap_c:
+
+Code for directly reading memory addresses (pushLEDmmap.c)
+
+
+.. code-block:: bash
+
+ include::code/pushLEDmmap.c[pushLEDmmap.c]
+
+Now, compile and run the code:
+
+.. code-block:: bash
+
+ bone$ <strong>gcc -O3 pushLEDmmap.c -o pushLEDmmap</strong>
+ bone$ <strong>sudo ./pushLEDmmap</strong>
+ Mapping 44E07000 - 44E08000 (size: 1000)
+ GPIO mapped to 0xb6fac000
+ GPIO SETDATAOUTADDR mapped to 0xb6fac194
+ GPIO CLEARDATAOUT mapped to 0xb6fac190
+ Start copying GPIO_07 to GPIO_31
+ ^C
+ Ctrl-C pressed, cleaning up and exiting...
+
+The code is in a tight +while+ loop that checks the status of GPIO 7 and copies it to GPIO 31.
+
+Discussion
+**********
+
+Tighter Delay Bounds with the PREEMPT_RT Kernel
+----------------
+
+
+Problem
+**********
+
+
+You want to run real-time processes on the Beagle, but the OS is slowing things down.
+
+Solution
+**********
+
+The Kernel can be compiled with PREEMPT_RT enabled which reduces the delay from when a thread is scheduled to when it runs.
+
+Switching to a PREEMPT_RT kernel is rather easy, but be sure to follow the steps in the Discussion to see how much the latencies are reduced.
+
+* First see which kernel you are running:
+
+.. code-block:: bash
+
+ bone$ <strong>uname -a</strong>
+ Linux breadboard-home 5.10.120-ti-r47 #1bullseye SMP PREEMPT Tue Jul 12 18:59:38 UTC 2022 armv7l GNU/Linux
+ I'm running a 5.10 kernel. Remember the whole string, +5.10.120-ti-r47+, for later.
+
+* Go to https://forum.beagleboard.org/t/debian-10-x-11-x-kernel-updates/30928[kernel update] and look for +5.10+.
+
+.. _realtime_kernel_update_fig:
+
+The regular and RT kernels
+.. figure:: figures/kernel_update.pn
+ :align: centerg
+ :alt: The regular and RT kernels
+
+In :ref:`<realtime_kernel_update_fig>` you see the reular kernel on top and the RT below.
+
+* We want the RT one.
+
+.. code-block:: bash
+
+ bone$ <strong>sudo apt update</strong>
+ bone$ <strong>sudo apt install bbb.io-kernel-5.10-ti-rt-am335x</strong>
+
+.. note:: Use the *am57xx* if you are using the BeagleBoard AI or AI64.
+
+
+* Before rebooting, edit +/boot/uEnv.txt+ to start with:
+
+.. code-block:: bash
+
+ #Docs: http://elinux.org/Beagleboard:U-boot_partitioning_layout_2.0
+
+ # uname_r=5.10.120-ti-r47
+ uname_r=5.10.120-ti-rt-r47
+ #uuid=
+ #dtb=
+
++uname_r+ tells the boot loader which kernel to boot. Here we've commented out the
+regular kernel and left in the RT kernel. Next time you boot you'll be running the RT kernel.
+Don't reboot just yet. Let's gather some latency data first.
+
+Discussion
+**********
+
+`Bootlin's preempt_rt workshop <https://bootlin.com/doc/training/preempt-rt/>`_ looks
+like a good workshop on PREEMPT RT. Their slides say:
+
+* One way to implement a multi-task Real-Time Operating System is to have a preemptible system
+* Any task can be interrupted at any point so that higher priority tasks can run
+* Userspace preemption already exists in Linux
+* The Linux Kernel also supports real-time scheduling policies
+* However, code that runs in kernel mode isn’t fully preemptible
+* The Preempt-RT patch aims at making all code running in kernel mode preemptible
+
+The workshop goes into many details on how to get real-time performance on Linux.
+Checkout their `slides <https://bootlin.com/doc/training/preempt-rt/preempt-rt-slides.pdf>`_ and
+`labs <https://bootlin.com/doc/training/preempt-rt/preempt-rt-labs.pdf>`_. Though you can skip
+the first lab since we present a simpler way to get the RT kernel running.
+
+
+Cyclictest
+**********
+
++cyclictest+ is one tool for measuring the latency from when a thread is schduled and when it runs.
+The +code/rt+ directory in the git repo has some scripts for gathering latency data and plotting it. Here's how to run the scripts.
+
+* First look in :ref:`<realtime_install_fig>` to see what to install.
+
+.. _realtime_install_fig:
+
+.. code-block:: bash
+
+ include::code/rt/install.sh
+
+
+* Open up another window and start something that will create a load on the Bone, then run the following:
+
+.. code-block:: bash
+
+ bone$ <strong>time sudo ./hist.gen > nort.hist</strong>
+
+:ref:`<realtime_hist_gen_fig>` shows what's being run. It defaults to 100,000 loops, so it takes a while. The data is saved in +nort.hist+, which stands for no RT histogram.
+
+.. _realtime_hist_gen_fig:
+
+hist.gen
+
+.. code-block:: bash
+
+ include::code/rt/hist.gen
+
+
+.. note:: If you get an error:
+
+Unable to change scheduling policy!
+Probably missing capabilities, either run as root or increase RLIMIT_RTPRIO limits
+
+try running ./setup.sh. If that doesn't work try:
+
+.. code-block:: bash
+
+ bone$ sudo bash
+ bone# ulimit -r unlimited
+ bone# ./hist.gen > nort.hist
+ bone# exit
+
+
+* Now you are ready to reboot into the RT kernel and run the test again.
+
+.. code-block:: bash
+
+ bone$ <strong>reboot</strong>
+
+* After rebooting:
+
+.. code-block:: bash
+
+ bone$ <strong>uname -a</strong>
+ Linux breadboard-home 5.10.120-ti-rt-r47 #1bullseye SMP PREEMPT RT Tue Jul 12 18:59:38 UTC 2022 armv7l GNU/Linux
+
+Congratulations you are running the RT kernel.
+
+.. note:: If the Beagle appears to be running (the LEDs are flashing) but you are having trouble connecting via +ssh 192.168.7.2+, you can try connecting using the approach shown in :ref:`<tips_FTDI>`.
+
+Now run the scipt again (note it's being saved in +rt.hist+ this time.)
+
+.. code-block:: bash
+
+ bone$ <strong>time sudo ./hist.gen > rt.hist</strong>
+
+.. note:: At this point yoou can edit +/boot/uEnt.txt+ to boot the non RT kernel and reboot.
+
+
+Now it's time to plot the results.
+
+.. code-block:: bash
+
+ bone$ <strong>gnuplot hist.plt</strong>
+
+This will generate the file *cyclictest.png* which contains your plot. It should look like:
+
+.. _realtime_cyclictest_fig:
+
+Histogram of Non-RT and RT kernels running cyclictest
+
+.. figure:: code/rt/cyclictest.png
+ :align: center
+ :alt: Histogram of Non-RT and RT kernels running cyclictest
+
+Notice the NON-RT data have much longer latenices. They may not happen often (fewer than 10 times in each bin),
+but they are occuring and may be enough to miss a real-time deadline.
+
+The PREEMPT-RT times are all under a 150 pass:[μ]s.
+
+.. _realtime_simpPRU:
+
+I/O with simpPRU
+---------------------
+
+Problem
+**********
+
+You require better timing than running C on the ARM can give you.
+
+Solution
+**********
+
+The AM335x processor on the Bone has an ARM processor that is running Linux, but it also has
+two 32-bit PRUs that are available for processing I/O. It takes a fair amount of understanding
+to program the PRU. Fortunately, `simpPRU <https://simppru.readthedocs.io/en/latest/>`_ is an intuitive
+language for PRU which compiles down to PRU C. This solution shows how to use it.
+
+Background
+-----------
+
+simpPRU
diff --git a/bone-cook-book/09capes/capes.rst b/bone-cook-book/09capes/capes.rst
new file mode 100644
index 0000000000000000000000000000000000000000..02cefbb30133dc3acb99d21c4f9ed16473475193
--- /dev/null
+++ b/bone-cook-book/09capes/capes.rst
@@ -0,0 +1,1219 @@
+.. _bone-cook-book-capes:
+
+Capes
+#####
+
+Introduction
+-----------------------------
+
+Previous chapters of this book show a variety of ways to interface BeagleBone Black
+to the physical world by using a breadboard and wiring to the +P8+ and +P9+ headers.
+This is a great approach because it's easy to modify your circuit to debug it or try
+new things. At some point, though, you might want a more permanent solution, either
+because you need to move the Bone and you don't want wires coming loose, or because
+you want to share your hardware with the masses.
+
+You can easily expand the functionality of the Bone by adding a `cape <http://bit.ly/1wucweC>`_.
+A cape is simply a board--often a printed circuit board (PCB) that connects to the +P8+
+and +P9+ headers and follows a few standard pin usages. You can stack up to four capes onto the
+Bone. Capes can range in size from Bone-sized (:ref:`<capes_miniDisplay>`) to much larger than the Bone (:ref:`<capes_7inLCD>`).
+
+This chapter shows how to attach a couple of capes, move your design to a protoboard, then to a PCB, and finally on to mass production.
+
+.. _capes_7inLCD:
+
+Using a Seven-Inch LCD Cape
+-----------------------------
+
+Problem
+***********
+
+You want to display the Bone's desktop on a portable LCD.
+
+Solution
+***********
+
+A number of `LCD capes <http://bit.ly/1AjlXJ9>`_ are built for the Bone, ranging in size from three
+to seven inches. This recipe attaches a seven-inch `BeagleBone LCD7 <http://bit.ly/1NK8Hra>`_
+from `CircuitCo http://circuitco.com/`_ (shown in :ref:`<capes_7inLCD_fig>`) to the Bone.
+
+.. _capes_7inLCD_fig:
+
+.. note:: Seven-inch LCD from CircuitCo, :ref:`<capes_7inLCD_fig>` was originally posted by CircuitCo at http://elinux.org/File:BeagleBone-LCD7-Front.jpg under a `Creative Commons Attribution-ShareAlike 3.0 Unported License <http://creativecommons.org/licenses/by-sa/3.0/>`_.
+
+.. figure:: figures/LCD.png
+ :align: center
+ :alt: 7 inch LCD
+
+To make this recipe, you will need:
+
+* Seven-inch LCD cape (see :ref:`app misc<app_misc>`)
+* A 5 V power supply (see :ref:`app misc<app_misc>`)
+
+Just attach the Bone to the back of the LCD, making sure pin 1 of *P9* lines up with
+pin 1 of +P9+ on the LCD. Apply a 5 V power supply, and the desktop will appear on
+your LCD, as shown in :ref:`<capes_LCD7Desktop>`.
+
+.. _capes_LCD7Desktop:
+
+Seven-inch LCD desktop
+
+.. figure:: figures/LCD7Desktop.png
+ :align: center
+ :alt: 7 inch LCD desktop
+
+Attach a USB keyboard and mouse, and you have a portable Bone.
+`Wireless keyboard and mouse combinations <https://www.adafruit.com/products/922>`_
+make a nice solution to avoid the need to add a USB hub.
+
+Discussion
+***********
+
+.. _capes_miniDisplay:
+
+Using a 128 x 128-Pixel LCD Cape
+-----------------------------
+
+Problem
+***********
+
+You want to use a small LCD to display things other than the desktop.
+
+Solution
+***********
+
+The http://bit.ly/1xd0r8p[MiniDisplay] is a 128 x 128 full-color LCD cape that just fits on the Bone, as shown in :ref:`<capes_miniDisplay_fig>`.
+
+.. _capes_miniDisplay_fig:
+
+MiniDisplay 128 x 128-pixel LCD from CircuitCo
+
+.. figure:: figures/MiniDisplay-A1.jpg
+ :align: center
+ :alt: miniDisplay LCD
+
+To make this recipe, you will need:
+
+* MiniDisplay LCD cape (see :ref:`app misc<app_misc>`)
+
+Attach to the Bone and apply power. Then run the following commands:
+
+.. code-block:: bash
+ # From http://elinux.org/CircuitCo:MiniDisplay_Cape
+ # Datasheet:
+ # https://www.crystalfontz.com/products/document/3277/ST7735_V2.1_20100505.pdf
+ bone$ <strong>wget http://elinux.org/images/e/e4/Minidisplay-example.tar.gz</strong>
+ bone$ <strong>tar zmxvf Minidisplay-example.tar.gz</strong>
+ bone$ <strong>cd minidisplay-example</strong>
+ bone$ <strong>make</strong>
+ bone$ <strong>./minidisplay-test</strong>
+ Unable to initialize SPI: No such file or directory
+ Aborted
+
+
+.. warning:: You might get a compiler warning, but the code should run fine.
+
+The MiniDisplay uses the Serial Peripheral Interface (SPI) interface, and it's not initialized.
+The `manufacturer's website <http://bit.ly/1xd0r8p>`_ suggests enabling SPI0 by using the following commands:
+
+.. code-block:: bash
+
+ bone$ <strong>export SLOTS=/sys/devices/bone_capemgr.*/slots</strong>
+ bone$ <strong>echo BB-SPIDEV0 > $SLOTS</strong>
+
+
+Hmmm, something isn't working here. Here's how to see what happened:
+
+.. code-block:: bash
+ bone$ <strong>dmesg | tail</strong>
+ [ 625.334497] bone_capemgr.9: part_number 'BB-SPIDEV0', version 'N/A'
+ [ 625.334673] bone_capemgr.9: slot #11: generic override
+ [ 625.334720] bone_capemgr.9: bone: Using override eeprom data at slot 11
+ [ 625.334769] bone_capemgr.9: slot #11: 'Override Board Name,00A0,Override \
+ Manuf,BB-SPIDEV0'
+ [ 625.335026] bone_capemgr.9: slot #11: \Requesting part number/version based \
+ 'BB-SPIDEV0-00A0.dtbo
+ [ 625.335076] bone_capemgr.9: slot #11: Requesting firmware \
+ 'BB-SPIDEV0-00A0.dtbo' \
+ for board-name 'Override Board Name', version '00A0'
+ [ 625.335144] bone_capemgr.9: slot #11: dtbo 'BB-SPIDEV0-00A0.dtbo' loaded; \
+ converting to live tree
+ [ 625.341842] bone_capemgr.9: slot #11: BB-SPIDEV0 conflict P9.21 \
+ (#10:bspwm_P9_21_b) <a class="co" id="capemgr_conflict_co" href="#capemgr_conflict" ><img src="callouts/1.png" alt="1"/></a>
+ [ 625.351296] bone_capemgr.9: slot #11: Failed verification
+
+
+
+.. <dl class="calloutlist">
+.. <dt><a class="co" id="capemgr_conflict" href="#capemgr_conflict_co"><img src="callouts/1.png" alt="1"/></a></dt>
+.. <dd>Shows there is a conflict for pin <code>P9_21</code>: it's already configured for pulse width modulation (PWM).</dd>
+.. </dl>
+
+Here's how to see what's already configured:
+
+.. code-block:: bash
+
+ bone$ <strong>cat $SLOTS</strong>
+ 0: 54:PF---
+ 1: 55:PF---
+ 2: 56:PF---
+ 3: 57:PF---
+ 4: ff:P-O-L Bone-LT-eMMC-2G,00A0,Texas Instrument,BB-BONE-EMMC-2G
+ 5: ff:P-O-L Bone-Black-HDMI,00A0,Texas Instrument,BB-BONELT-HDMI
+ 7: ff:P-O-L Override Board Name,00A0,Override Manuf,bspm_P9_42_27
+ 8: ff:P-O-L Override Board Name,00A0,Override Manuf,bspm_P9_41_27
+ 9: ff:P-O-L Override Board Name,00A0,Override Manuf,am33xx_pwm
+ 10: ff:P-O-L Override Board Name,00A0,Override Manuf,bspwm_P9_21_b <a class="co" id="capemgr_load_co" href="#capemgr_load"><img src="callouts/1.png" alt="1"/></a>
+
+
+.. <dl class="calloutlist">
+.. <dt><a id="capemgr_load" href="#capemgr_load_co"><img src="callouts/1.png" alt="1"/></a></dt>
+.. <dd>You can see the eMMC, HDMI, and three PWMs are already using some of the pins. Slot 10 shows <code>P9_21</code> is in use by a PWM.</dd>
+.. </dl>
+
+You can unconfigure it by using the following commands:
+
+.. code-block:: bash
+
+ bone$ <strong>echo -10 > $SLOTS</strong>
+ bone$ <strong>cat $SLOTS</strong>
+ 0: 54:PF---
+ 1: 55:PF---
+ 2: 56:PF---
+ 3: 57:PF---
+ 4: ff:P-O-L Bone-LT-eMMC-2G,00A0,Texas Instrument,BB-BONE-EMMC-2G
+ 5: ff:P-O-L Bone-Black-HDMI,00A0,Texas Instrument,BB-BONELT-HDMI
+ 7: ff:P-O-L Override Board Name,00A0,Override Manuf,bspm_P9_42_27
+ 8: ff:P-O-L Override Board Name,00A0,Override Manuf,bspm_P9_41_27
+ 9: ff:P-O-L Override Board Name,00A0,Override Manuf,am33xx_pwm
+
+Now +P9_21+ is free for the MiniDisplay to use.
+
+.. note:: In future Bone images, all of the pins will already be allocated as part of the main device tree using runtime pinmux helpers and configured at runtime using the http://bit.ly/1EXLeP2[+config-pin+ utility]. This would eliminate the need for device tree overlays in most cases.
+====
+
+Now, configure it for the MiniDisplay and run a test:
+
+.. code-block:: bash
+
+ bone$ <strong>echo BB-SPIDEV0 > $SLOTS</strong>
+ bone$ <strong>./minidisplay-test</strong>
+
+
+You then see Boris, as shown in :ref:`<capes_miniDisplayBoris>`.
+
+.. _capes_miniDisplayBoris:
+
+.. note:: MiniDisplay showing Boris, :ref:`<capes_miniDisplayBoris>` was originally posted by David Anders at http://elinux.org/File:Minidisplay-boris.jpg under a `Creative Commons Attribution-ShareAlike 3.0 Unported License <http://creativecommons.org/licenses/by-sa/3.0/>`_.
+
+.. figure:: figures/miniDisplay_Boris.png
+ :align: center
+ :alt: miniDisplay LCD showing Boris
+
+Discussion
+***********
+
+Connecting Multiple Capes
+-----------------------------
+
+Problem
+***********
+
+You want to use more than one cape at a time.
+
+Solution
+***********
+
+First, look at each cape that you want to stack mechanically. Are they all using stacking
+headers like the ones shown in :ref:`<capes_stacking_headers>`? No more than one should be using non-stacking headers.
+
+.. _capes_stacking_headers:
+
+Stacking headers
+
+.. figure:: figures/stacking_headers.JPG
+ :align: center
+ :alt:
+
+Note that larger LCD panels might provide expansion headers, such as the ones
+shown in :ref:`<capes_lcd_backside>`, rather than the stacking headers, and that those can also be used for adding
+additional capes.
+
+.. _capes_lcd_backside:
+
+.. note:: Back side of LCD7 cape, :ref:`<capes_lcd_backside>` was originally posted by CircuitCo at http://elinux.org/File:BeagleBone-LCD-Backside.jpg under a `Creative Commons Attribution-ShareAlike 3.0 Unported License <http://creativecommons.org/licenses/by-sa/3.0/>`_.
+
+.. figure:: figures/LCD7back.png
+ :align: center
+ :alt:
+
+Next, take a note of each pin utilized by each cape. The http://beaglebonecapes.com[BeagleBone Capes catalog] provides a graphical representation for the pin usage of most capes, as shown in :ref:`<Audio_cape_pins_fig>` for the Circuitco Audio Cape.
+
+.. _Audio_cape_pins_fig:
+
+.. note:: Pins utilized by CircuitCo Audio Cape, :ref:`<Audio_cape_pins_fig>` was originally posted by Djackson at http://elinux.org/File:Audio_pins_revb.png under a `Creative Commons Attribution-ShareAlike 3.0 Unported License <http://creativecommons.org/licenses/by-sa/3.0/>`_.
+
+.. figure:: figures/audioCape.png
+ :align: center
+ :alt: CircuitCo Audio Cape
+
+In most cases, the same pin should never be used on two different capes, though in some cases, pins can be shared. Here are some exceptions:
+
+- GND
+ - The ground (+GND+) pins should be shared between the capes, and there's no need to worry about consumed resources on those pins.
+- VDD_3V3
+ - The 3.3 V power supply (+VDD_3V3+) pins can be shared by all capes to supply power, but the total combined consumption of all the capes should be less than 500 mA (250 mA per +VDD_3V3+ pin).
+- VDD_5V
+ - The 5.0 V power supply (+VDD_5V+) pins can be shared by all capes to supply power, but the total combined consumption of all the capes should be less than 2 A (1 A per +VDD_5V+ pin). It is possible for one, and only one, of the capes to _provide_ power to this pin rather than consume it, and it should provide at least 3 A to ensure proper system function. Note that when no voltage is applied to the DC connector, nor from a cape, these pins will not be powered, even if power is provided via USB.
+- SYS_5V
+ - The regulated 5.0 V power supply (+SYS_5V+) pins can be shared by all capes to supply power, but the total combined consumption of all the capes should be less than 500 mA (250 mA per +SYS_5V+ pin).
+- VADC and AGND
+ - The ADC reference voltage pins can be shared by all capes.
+- I2C2_SCL and I2C2_SDA
+ - I^2^C is a shared bus, and the +I2C2_SCL+ and +I2C2_SDA+ pins default to having this bus enabled for use by cape expansion ID EEPROMs.
+
+Discussion
+***********
+
+.. _capes_soldering:
+
+Moving from a Breadboard to a Protoboard
+-----------------------------
+
+Problem
+***********
+
+You have your circuit working fine on the breadboard, but you want a more reliable solution.
+
+Solution
+***********
+
+Solder your components to a protoboard.
+
+To make this recipe, you will need:
+
+* Protoboard (see :ref:`<app_proto>`)
+* Soldering iron (see :ref:`app misc<app_misc>`)
+* Your other components
+
+Many places make premade circuit boards that are laid out like the breadboard we have been using.
+:ref:`<capes_beaglebread_fig>` shows the http://bit.ly/1HCwtB4[BeagleBone Breadboard],
+which is just one protoboard option.
+
+.. _capes_beaglebread_fig:
+
+.. note::
+ This was originally posted by William
+ Traynor at http://elinux.org/File:BeagleBone-Breadboard.jpg under a
+ `Creative Commons Attribution-ShareAlike 3.0 Unported License <http://creativecommons.org/licenses/by-sa/3.0/>`_
+
+.. figure:: figures/breadboard.png
+ :align: center
+ :alt: BeagleBone Breadboard
+
+You just solder your parts on the protoboard as you had them on the breadboard.
+
+Discussion
+***********
+
+.. _capes_creating_prototype_schematic:
+
+Creating a Prototype Schematic
+-----------------------------
+
+Problem
+***********
+
+You've wired up a circuit on a breadboard. How do you turn that prototype into a schematic others can read and
+that you can import into other design tools?
+
+Solution
+***********
+
+In :ref:`<tips_fritzing>`, we introduced Fritzing as a useful tool for drawing block diagrams. Fritzing can also
+do circuit schematics and printed-circuit layout. For example, :ref:`<capes_quickRobo_fig>` shows a block diagram
+for a simple robot controller (quickBot.fzz is the name of the Fritzing file used to create the diagram).
+
+.. _capes_quickRobo_fig:
+
+A simple robot controller diagram (quickBot.fzz)
+
+.. figure:: figures/quickBot_bb.png
+ :align: center
+ :alt: Simple robot diagram
+
+The controller has an H-bridge to drive two DC motors (:ref:`<motors_dcDirection>`), an IR range sensor,
+and two headers for attaching analog encoders for the motors. Both the IR sensor and the encoders
+have analog outputs that exceed 1.8 V, so each is run through a voltage divider (two resistors) to
+scale the voltage to the correct range (see :ref:`<sensors_hc-sr04>` for a voltage divider example).
+
+:ref:`<capes_quickRobo_schemRaw>` shows the schematic automatically generated by Fritzing.
+It's a mess. It's up to you to fix it.
+
+.. _capes_quickRobo_schemRaw:
+
+Automatically generated schematic
+
+.. figure:: figures/quickBot_schemRaw.png
+ :align: center
+ :alt: Autogenerated schematic
+
+:ref:`<capes_quickRobo_schem>` shows my cleaned-up schematic. I did it by moving the parts around until it looked better.
+
+.. _capes_quickRobo_schem:
+
+Cleaned-up schematic
+
+.. figure:: figures/quickBot_schem.png
+ :align: center
+ :alt: Cleaned up schematic
+
+Discussion
+***********
+
+.. _capes_quickRobo_schemZoom:
+
+Zoomed-in schematic
+
+.. figure:: figures/quickBot_schemZoom.png
+ :align: center
+ :alt: Zoomed in schematic
+
+You might find that you want to create your design in a more advanced design tool,
+perhaps because it has the library components you desire, it integrates better with other tools
+you are using, or it has some other feature (such as simulation) of which you'd like to take advantage.
+
+.. _capes_verify:
+
+Verifying Your Cape Design
+-----------------------------
+
+Problem
+***********
+
+You've got a design. How do you quickly verify that it works?
+
+Solution
+***********
+
+To make this recipe, you will need:
+
+* An oscilloscope (see :ref:`app misc<app_misc>`)
+
+Break down your design into functional subcomponents and write tests for each.
+Use components you already know are working, such as the onboard LEDs, to display
+the test status with the code in :ref:`<capes_quickBot_motor_test_code>`.
+
+.. _capes_quickBot_motor_test_code:
+
+Testing the quickBot motors interface (quickBot_motor_test.js)
+
+.. code-block:: bash
+
+ #!/usr/bin/env node
+ var b = require('bonescript');
+ var M1_SPEED = 'P9_16'; <a class="co" id="co_hello_CO1-1_unique" href="#callout_hello_CO1-1_unique"><img src="callouts/1.png" alt="1"/></a>
+ var M1_FORWARD = 'P8_15';
+ var M1_BACKWARD = 'P8_13';
+ var M2_SPEED = 'P9_14';
+ var M2_FORWARD = 'P8_9';
+ var M2_BACKWARD = 'P8_11';
+ var freq = 50; <a class="co" id="co_hello_CO1-2_unique" href="#callout_hello_CO1-2_unique"><img src="callouts/2.png" alt="2"/></a>
+ var fast = 0.95;
+ var slow = 0.7;
+ var state = 0; <a class="co" id="co_hello_CO1-3_unique" href="#callout_hello_CO1-3_unique"><img src="callouts/3.png" alt="3"/></a>
+
+ b.pinMode(M1_FORWARD, b.OUTPUT); <a class="co" id="co_hello_CO1-4_unique" href="#callout_hello_CO1-4_unique"><img src="callouts/4.png" alt="4"/></a>
+ b.pinMode(M1_BACKWARD, b.OUTPUT);
+ b.pinMode(M2_FORWARD, b.OUTPUT);
+ b.pinMode(M2_BACKWARD, b.OUTPUT);
+ b.analogWrite(M1_SPEED, 0, freq); <a class="co" id="co_hello_CO1-5_unique" href="#callout_hello_CO1-5_unique"><img src="callouts/5.png" alt="5"/></a>
+ b.analogWrite(M2_SPEED, 0, freq);
+
+ updateMotors(); <a class="co" id="co_hello_CO1-6_unique" href="#callout_hello_CO1-6_unique"><img src="callouts/6.png" alt="6"/></a>
+
+ function updateMotors() { <img src="callouts/6.png" alt="6"/>
+ //console.log("Setting state = " + state); <a class="co" id="co_hello_CO1-7_unique" href="#callout_hello_CO1-7_unique"><img src="callouts/7.png" alt="7"/></a>
+ updateLEDs(state); <img src="callouts/7.png" alt="7"/>
+ switch(state) { <img src="callouts/3.png" alt="3"/>
+ case 0:
+ default:
+ M1_set(0); <a class="co" id="co_hello_CO1-8_unique" href="#callout_hello_CO1-8_unique"><img src="callouts/8.png" alt="8"/></a>
+ M2_set(0);
+ state = 1; <img src="callouts/3.png" alt="3"/>
+ break;
+ case 1:
+ M1_set(slow);
+ M2_set(slow);
+ state = 2;
+ break;
+ case 2:
+ M1_set(slow);
+ M2_set(-slow);
+ state = 3;
+ break;
+ case 3:
+ M1_set(-slow);
+ M2_set(slow);
+ state = 4;
+ break;
+ case 4:
+ M1_set(fast);
+ M2_set(fast);
+ state = 0;
+ break;
+ }
+ setTimeout(updateMotors, 2000); <img src="callouts/3.png" alt="3"/>
+ }
+
+ function updateLEDs(state) { <img src="callouts/7.png" alt="7"/>
+ switch(state) {
+ case 0:
+ b.digitalWrite("USR0", b.LOW);
+ b.digitalWrite("USR1", b.LOW);
+ b.digitalWrite("USR2", b.LOW);
+ b.digitalWrite("USR3", b.LOW);
+ break;
+ case 1:
+ b.digitalWrite("USR0", b.HIGH);
+ b.digitalWrite("USR1", b.LOW);
+ b.digitalWrite("USR2", b.LOW);
+ b.digitalWrite("USR3", b.LOW);
+ break;
+ case 2:
+ b.digitalWrite("USR0", b.LOW);
+ b.digitalWrite("USR1", b.HIGH);
+ b.digitalWrite("USR2", b.LOW);
+ b.digitalWrite("USR3", b.LOW);
+ break;
+ case 3:
+ b.digitalWrite("USR0", b.LOW);
+ b.digitalWrite("USR1", b.LOW);
+ b.digitalWrite("USR2", b.HIGH);
+ b.digitalWrite("USR3", b.LOW);
+ break;
+ case 4:
+ b.digitalWrite("USR0", b.LOW);
+ b.digitalWrite("USR1", b.LOW);
+ b.digitalWrite("USR2", b.LOW);
+ b.digitalWrite("USR3", b.HIGH);
+ break;
+ }
+ }
+
+ function M1_set(speed) { <img src="callouts/8.png" alt="8"/>
+ speed = (speed > 1) ? 1 : speed; <a class="co" id="co_hello_CO1-9_unique" href="#callout_hello_CO1-9_unique"><img src="callouts/9.png" alt="9"/></a>
+ speed = (speed < -1) ? -1 : speed;
+ b.digitalWrite(M1_FORWARD, b.LOW);
+ b.digitalWrite(M1_BACKWARD, b.LOW);
+ if(speed > 0) {
+ b.digitalWrite(M1_FORWARD, b.HIGH);
+ } else if(speed < 0) {
+ b.digitalWrite(M1_BACKWARD, b.HIGH);
+ }
+ b.analogWrite(M1_SPEED, Math.abs(speed), freq); <a class="co" id="co_hello_CO1-10_unique" href="#callout_hello_CO1-10_unique"><img src="callouts/10.png" alt="10"/></a>
+ }
+
+ function M2_set(speed) {
+ speed = (speed > 1) ? 1 : speed;
+ speed = (speed < -1) ? -1 : speed;
+ b.digitalWrite(M2_FORWARD, b.LOW);
+ b.digitalWrite(M2_BACKWARD, b.LOW);
+ if(speed > 0) {
+ b.digitalWrite(M2_FORWARD, b.HIGH);
+ } else if(speed < 0) {
+ b.digitalWrite(M2_BACKWARD, b.HIGH);
+ }
+ b.analogWrite(M2_SPEED, Math.abs(speed), freq);
+
+
+.. <dl class="calloutlist">
+.. <dt><a class="co" id="callout_hello_CO1-1_unique" href="#co_hello_CO1-1_unique"><img src="callouts/1.png" alt="1"/></a></dt>
+.. <dd><p>Define each pin as a variable. This makes it easy to change to another pin if you decide that is necessary.</p></dd>
+.. <dt><a class="co" id="callout_hello_CO1-2_unique" href="#co_hello_CO1-2_unique"><img src="callouts/2.png" alt="2"/></a></dt>
+.. <dd><p>Make other simple parameters variables. Again, this makes it easy to update them. When creating this test, I found that the PWM frequency to drive the motors needed to be relatively low to get over the kickback shown in <a data-type="xref" href="#quickBot_motor_kickback"/>. I also found that I needed to get up to about 70 percent duty cycle for my circuit to reliably start the motors turning.</p></dd>
+.. <dt><a class="co" id="callout_hello_CO1-3_unique" href="#co_hello_CO1-3_unique"><img src="callouts/3.png" alt="3"/></a></dt>
+.. <dd><p>Use a simple variable such as <code>state</code> to keep track of the test phase. This is used in a <code>switch</code> statement to jump to the code to configure for that test phase and updated after configuring for the current phase in order to select the next phase. Note that the next phase isn’t entered until after a two-second delay, as specified in the call to <code>setTimeout()</code>.</p></dd>
+.. <dt><a class="co" id="callout_hello_CO1-4_unique" href="#co_hello_CO1-4_unique"><img src="callouts/4.png" alt="4"/></a></dt>
+.. <dd><p>Perform the initial setup of all the pins.</p></dd>
+.. <dt><a class="co" id="callout_hello_CO1-5_unique" href="#co_hello_CO1-5_unique"><img src="callouts/5.png" alt="5"/></a></dt>
+.. <dd><p>The first time a PWM pin is used, it is configured with the update frequency. It is important to set this just once to the right frequency, because other PWM channels might use the same PWM controller, and attempts to reset the PWM frequency might fail. The <code>pinMode()</code> function doesn’t have an argument for providing the update frequency, so use the <code>analogWrite()</code> function, instead. You can review using the PWM in <a data-type="xref" href="#motors_servo"/>.</p></dd>
+.. <dt><a class="co" id="callout_hello_CO1-6_unique" href="#co_hello_CO1-6_unique"><img src="callouts/6.png" alt="6"/></a></dt>
+.. <dd><p><code>updateMotors()</code> is the test function for the motors and is defined after all the setup and initialization code. The code calls this function every two seconds using the <code>setTimeout()</code> JavaScript function. The first call is used to prime the loop.</p></dd>
+.. <dt><a class="co" id="callout_hello_CO1-7_unique" href="#co_hello_CO1-7_unique"><img src="callouts/7.png" alt="7"/></a></dt>
+.. <dd><p>The call to <code>console.log()</code> was initially here to observe the state transitions in the debug console, but it was replaced with the <code>updateLEDs()</code> call. Using the <code>USER</code> LEDs makes it possible to note the state transitions without having visibility of the debug console. <code>updateLEDs()</code> is defined later.</p></dd>
+.. <dt><a class="co" id="callout_hello_CO1-8_unique" href="#co_hello_CO1-8_unique"><img src="callouts/8.png" alt="8"/></a></dt>
+.. <dd><p>The <code>M1_set()</code> and <code>M2_set()</code> functions are defined near the bottom and do the work of configuring the motor drivers into a particular state. They take a single argument of <code>speed</code>, as defined between <code>-1</code> (maximum reverse), <code>0</code> (stop), and <code>1</code> (maximum forward).</p></dd>
+.. <dt><a class="co" id="callout_hello_CO1-9_unique" href="#co_hello_CO1-9_unique"><img src="callouts/9.png" alt="9"/></a></dt>
+.. <dd><p>Perform simple bounds checking to ensure that speed values are between <code>-1</code> and <code>1</code>.</p></dd>
+.. <dt><a class="co" id="callout_hello_CO1-10_unique" href="#co_hello_CO1-10_unique"><img src="callouts/10.png" alt="10"/></a></dt>
+.. <dd><p>The <code>analogWrite()</code> call uses the absolute value of <code>speed</code>, making any negative numbers a positive magnitude.</p></dd>
+.. </dl>
+
+++++
+====
+
+.. _quickBot_motor_kickback:
+
+quickBot motor test showing kickback
+
+.. figure:: figures/quickBot_motor_kickback.JPG
+ :align: center
+ :alt: quickBot kicking back
+
+Using the solution in :ref:`<basics_autorun>`, you can untether from your coding station to test your
+design at your lab workbench, as shown in :ref:`<quickBot_scope_fig>`.
+
+.. _quickBot_scope_fig:
+
+quickBot motor test code under scope
+
+.. figure:: figures/quickBot_motor_test_scope.JPG
+ :align: center
+ :alt: quickBot under scope
+
+SparkFun provides a `useful guide to using an oscilloscope <http://bit.ly/18AzuoR>`_.
+You might want to check it out if you've never used an oscilloscope before.
+Looking at the stimulus you'll generate *before* you connect up your hardware will help you avoid surprises.
+
+Discussion
+***********
+
+
+.. _capes_layout:
+
+Laying Out Your Cape PCB
+-----------------------------
+
+Problem
+***********
+
+You've generated a diagram and schematic for your circuit and verified that they are correct. How do you create a PCB?
+
+Solution
+***********
+
+If you've been using Fritzing, all you need to do is click the PCB tab, and there's your board. Well, almost.
+Much like the schematic view shown in :ref:`<capes_creating_prototype_schematic>`, you need to do some layout work
+before it's actually usable. I just moved the components around until they seemed to be grouped logically and
+then clicked the Autoroute button. After a minute or two of trying various layouts, Fritzing picked the one it
+determined to be the best. :ref:`<capes_quickRobo_pcb>` shows the results.
+
+.. _capes_quickRobo_pcb:
+
+Simple robot PCB
+
+.. figure:: figures/quickBot_pcb.png
+ :align: center
+ :alt: Simple robot PCB
+
+The `Fritzing pre-fab web page <http://bit.ly/1HCxokQ>`_ has a few helpful hints, including checking the widths
+of all your traces and cleaning up any questionable routing created by the autorouter.
+
+Discussion
+***********
+
+The PCB in :ref:`<capes_quickRobo_pcb>` is a two-sided board. One color (or shade of gray in the printed book)
+represents traces on one side of the board, and the other color (or shade of gray) is the other side. Sometimes,
+you'll see a trace come to a small circle and then change colors. This is where it is switching sides of the board
+through what's called a _via_. One of the goals of PCB design is to minimize the number of vias.
+
+:ref:`<capes_quickRobo_pcb>` wasn't my first try or my last. My approach was to see what was needed to hook where and
+move the components around to make it easier for the autorouter to carry out its job.
+
+.. note:: There are entire books and websites dedicated to creating PCB layouts. Look around and see what you can find. http://bit.ly/1wXTLki[SparkFun's guide to making PCBs] is particularly useful.
+
+Customizing the Board Outline
+*******************************
+
+One challenge that slipped my first pass review was the board outline. The part we installed in
+:ref:`<tips_fritzing>` is meant to represent BeagleBone Black, not a cape, so the outline doesn't have
+the notch cut out of it for the Ethernet pass:[<span class="keep-together">connector</span>].
+
+The http://bit.ly/1xd1aGV[Fritzing custom PCB outline page] describes how to create and use a custom
+board outline. Although it is possible to use a drawing tool like https://inkscape.org/en/[Inkscape],
+I chose to use http://bit.ly/1b2aZmn[the SVG _path_ command] directly to create :ref:`<capes_boardoutline_code>`.
+
+.. _capes_boardoutline_code:
+
+Outline SVG for BeagleBone cape (beaglebone_cape_boardoutline.svg)
+
+.. <?xml version='1.0' encoding='UTF-8' standalone='no'?>
+.. <svg xmlns="http://www.w3.org/2000/svg" version="1.1"
+.. width="306" height="193.5"><!--<a class="co" id="co_capes_bo_1_co" href="#callout_capes_bo_1_co"><img src="callouts/1.png" alt="1"/></a>-->
+.. <g id="board"><!--<a class="co" id="co_capes_bo_2_co" href="#callout_capes_bo_2_co"><img src="callouts/2.png" alt="2"/></a>-->
+.. <path fill="#338040" id="boardoutline" d="M 22.5,0 l 0,56 L 72,56
+.. q 5,0 5,5 l 0,53.5 q 0,5 -5,5 L 0,119.5 L 0,171 Q 0,193.5 22.5,193.5
+.. l 238.5,0 c 24.85281,0 45,-20.14719 45,-45 L 306,45
+.. C 306,20.14719 285.85281,0 261,0 z"/><!--<a class="co" id="co_capes_bo_3_co" href="#callout_capes_bo_3_co"><img src="callouts/3.png" alt="3"/></a>-->
+.. </g>
+.. </svg>
+
+.. ++++
+.. <dl class="calloutlist">
+.. <dt><a class="co" id="callout_capes_bo_1_co" href="#co_capes_bo_1_co"><img src="callouts/1.png" alt="1"/></a></dt><dd><p>This is a standard SVG header. The width and height are set based on the BeagleBone outline provided in the Adafruit library.</p></dd>
+.. <dt><a class="co" id="callout_capes_bo_2_co" href="#co_capes_bo_2_co"><img src="callouts/2.png" alt="2"/></a></dt><dd><p>Fritzing requires the element to be within a layer called <code>board</code>.</p></dd>
+.. <dt><a class="co" id="callout_capes_bo_3_co" href="#co_capes_bo_3_co"><img src="callouts/3.png" alt="3"/></a></dt><dd><p>Fritzing requires the color to be <code>#338040</code> and the layer to be called <code>boardoutline</code>. The units end up being 1/90 of an inch. That is, take the numbers in the SVG code and divide by 90 to get the numbers from the System Reference Manual.</p></dd>
+.. </dl>
+.. ++++
+
+The measurements are taken from the http://bit.ly/1C5rSa8[BeagleBone Black System Reference Manual], as shown in :ref:`<capes_dimensions_fig>`.
+
+.. _capes_dimensions_fig:
+
+Cape dimensions
+
+.. figure:: figures/srm_cape_dimensions.png
+ :align: center
+ :alt: Cape dimensions in SRM
+
+You can observe the rendered output of :ref:`<capes_boardoutline_code>` quickly by opening the file in a web browser, as shown in :ref:`<capes_boardoutline_fig>`.
+
+.. _capes_boardoutline_fig:
+
+Rendered cape outline in Chrome
+
+.. figure:: figures/beaglebone_cape_boardoutline.png
+ :align: center
+ :alt: Board outline in Chrome
+
+After you have the SVG outline, you'll need to select the PCB in Fritzing and select a custom shape in the Inspector box. Begin with the original background, as shown in :ref:`<capes_fritzing1>`.
+
+.. _capes_fritzing1:
+
+PCB with original board, without notch for Ethernet connector
+
+.. figure:: figures/fritzing1.png
+ :align: center
+ :alt: PCB orginal baord
+
+Hide all but the Board Layer (:ref:`<capes_fritzing2>`).
+
+.. _capes_fritzing2:
+
+PCB with all but the Board Layer hidden
+
+.. figure:: figures/fritzing2.png
+ :align: center
+ :alt: PCB orginal baord hidden
+
+Select the PCB1 object and then, in the Inspector pane, scroll down to the "load image file" button (:ref:`<capes_fritzing3>`).
+
+.. _capes_fritzing3:
+
+Clicking :load image file: with PCB1 selected
+
+.. figure:: figures/fritzing3.png
+ :align: center
+ :alt: PCB load image file
+
+Navigate to the _beaglebone_cape_boardoutline.svg_ file created in :ref:`<capes_boardoutline_code>`, as shown in :ref:`<capes_fritzing4>`.
+
+.. _capes_fritzing4:
+
+Selecting the .svg file
+
+.. figure:: figures/fritzing4.png
+ :align: center
+ :alt: PCB selecting svg file
+
+Turn on the other layers and line up the Board Layer with the rest of the PCB, as shown in :ref:`<capes_fritzing_inspector_fig>`.
+
+.. _capes_fritzing_inspector_fig:
+
+PCB Inspector
+
+.. figure:: figures/Fritzing_Inspector.png
+ :align: center
+ :alt: PCB Inspector
+
+Now, you can save your file and send it off to be made,
+as described in :ref:`<capes_prototype>`.
+
+PCB Design Alternatives
+*************************
+
+There are other free PCB design programs. Here are a few.
+
+TO PROD: The headings I've marked as bold lines really should be subheadings of "PCB Design Alternatives,"
+but AsciiDoc won't let me go that deep (to the ==level). Is what I've done the best solution,
+or is there a way to create another heading level?
+
+*EAGLE*
+
+http://www.cadsoftusa.com/[Eagle PCB] and http://bit.ly/19cbwS0[DesignSpark PCB] are two popular
+design programs. Many capes (and other PCBs) are designed with Eagle PCB, and the files are available.
+For example, the MiniDisplay cape (:ref:`<capes_miniDisplay>`) has the schematic shown in :ref:`<capes_miniDisplay_schem>`
+and PCB shown in :ref:`<capes_miniDisplay_pcb>`.
+
+.. _capes_miniDisplay_schem:
+
+Schematic for the MiniDisplay cape
+
+.. figure:: figures/miniDisplay_Cape_schem.png
+ :align: center
+ :alt: Schematic for miniDisplay
+
+.. _capes_miniDisplay_pcb:
+
+PCB for MiniDisplay cape
+
+.. figure:: figures/miniDisplay_Cape_pcb.png
+ :align: center
+ :alt: PCB for miniDisplay
+
+A good starting point is to take the PCB layout for the MiniDisplay and edit it for your project.
+The connectors for +P8+ and +P9+ are already in place and ready to go.
+
+Eagle PCB is a powerful system with many good tutorials online. The free version runs on
+Windows, Mac, and Linux, but it has three `limitations <http://bit.ly/1E5Kh3l>`_:
+
+* The usable board area is limited to 100 x 80 mm (4 x 3.2 inches).
+* You can use only two signal layers (Top and Bottom).
+* The schematic editor can create only one sheet.
+
+You can install Eagle PCB on your Linux host by using the following command:
+
+.. code-block:: bash
+ host$ <strong>sudo apt install eagle</strong>
+ Reading package lists... Done
+ Building dependency tree
+ Reading state information... Done
+ ...
+ Setting up eagle (6.5.0-1) ...
+ Processing triggers for libc-bin (2.19-0ubuntu6.4) ...
+ host$ <strong>eagle</strong>
+
+
+You'll see the startup screen shown in :ref:`<capes_Eagle_License>`.
+
+.. _capes_Eagle_License:
+
+Eagle PCB startup screen
+
+.. figure:: figures/EagleLicense.png
+ :align: center
+ :alt: Eagle License
+
+Click "Run as Freeware." When my Eagle started, it said it needed to be updated. To update on Linux,
+follow the link provided by Eagle and download _eagle-lin-7.2.0.run_ (or whatever version is current.).
+Then run the following commands:
+
+.. code-block:: bash
+
+ host$ <strong>chmod +x eagle-lin-7.2.0.run</strong>
+ host$ <strong>./eagle-lin-7.2.0.run</strong>
+
+
+A series of screens will appear. Click Next. When you see a screen that looks like :ref:`<capes_eagle3>`, note the Destination Directory.
+
+.. _capes_eagle3:
+
+.. figure:: figures/eagle3.png
+ :align: center
+ :alt: Eagle install destination directory
+
+ The Eagle installation destination directory
+
+Continue clicking Next until it's installed. Then run the following commands
+(where +~/eagle-7.2.0+ is the path you noted in :ref:`<capes_eagle3>`):
+
+.. code-block:: bash
+
+ host$ <strong>cd /usr/bin</strong>
+ host$ <strong>sudo rm eagle</strong>
+ host$ <strong>sudo ln -s ~/eagle-7.2.0/bin/eagle .</strong>
+ host$ <strong>cd</strong>
+ host$ <strong>eagle</strong>
+
+
+The +ls+ command links +eagle+ in */usr/bin*, so you can run +eagle+ from any directory.
+After +eagle+ starts, you'll see the start screen shown in :ref:`<capes_eagle7>`.
+
+.. _capes_eagle7:
+
+The Eagle start screen
+
+.. figure:: figures/eagle7.png
+ :align: center
+ :alt: Eagle start screen
+
+Ensure that the correct version number appears.
+
+If you are moving a design from Fritzing to Eagle, see :ref:`<capes_schematic_migration>` for tips on converting from one to the other.
+
+*DesignSpark PCB*
+
+The free `DesignSpark PCB <http://bit.ly/19cbwS0>` doesn't have the same limitations as Eagle PCB,
+but it runs only on Windows. Also, it doesn't seem to have the following of Eagle at this time.
+
+.. _capes_upverter:
+
+*Upverter*
+
+In addition to free solutions you run on your desktop, you can also work with a browser-based tool called https://upverter.com/[Upverter]. With Upverter, you can collaborate easily, editing your designs from anywhere on the Internet. It also provides many conversion options and a PCB fabrication service.
+
+.. note:: Don't confuse Upverter with Upconverter (:ref:`<capes_schematic_migration>`). Though their names differ by only three letters, they differ greatly in what they do.
+
+.. _capes_kicad:
+
+
+*Kicad*
+
+Unlike the previously mentioned free (no-cost) solutions, `Kicad <http://bit.ly/1b2bnBg >`_
+is open source and provides some features beyond those of Fritzing. Notably, `CircuitHub <http://circuithub.com/>`_
+(discussed in :ref:`<capes_production>`) provides support for uploading Kicad designs.
+
+.. _capes_schematic_migration:
+
+Migrating a Fritzing Schematic to Another Tool
+-----------------------------------------------
+
+Problem
+***********
+
+You created your schematic in Fritzing, but it doesn't integrate with everything you need.
+How can you move the schematic to another tool?
+
+Solution
+***********
+
+
+Use the `Upverter schematic-file-converter <http://bit.ly/1wXUkdM>`_ Python script. For example, suppose that you want
+to convert the Fritzing file for the diagram shown in :ref:`<capes_quickRobo_fig>`. First, install Upverter.
+
+I found it necessary to install +libfreetype6+ and +freetype-py+ onto my system, but you might not need this first step:
+
+.. code-block:: bash
+ host$ <strong>sudo apt install libfreetype6</strong>
+ Reading package lists... Done
+ Building dependency tree
+ Reading state information... Done
+ libfreetype6 is already the newest version.
+ 0 upgraded, 0 newly installed, 0 to remove and 154 not upgraded.
+ host$ <strong>sudo pip install freetype-py</strong>
+ Downloading/unpacking freetype-py
+ Running setup.py egg_info for package freetype-py
+
+ Installing collected packages: freetype-py
+ Running setup.py install for freetype-py
+
+ Successfully installed freetype-py
+ Cleaning up...
+
+
+.. note:: All these commands are being run on the Linux-based host computer, as shown by the +host$+ prompt. Log in as a normal user, not +root+.
+
+Now, install the +schematic-file-converter+ tool:
+
+.. code-block:: bash
+
+ host$ <strong>git clone git@github.com:upverter/schematic-file-converter.git</strong>
+ Cloning into 'schematic-file-converter'...
+ remote: Counting objects: 22251, done.
+ remote: Total 22251 (delta 0), reused 0 (delta 0)
+ Receiving objects: 100% (22251/22251), 39.45 MiB | 7.28 MiB/s, done.
+ Resolving deltas: 100% (14761/14761), done.
+ Checking connectivity... done.
+ Checking out files: 100% (16880/16880), done.
+ host$ <strong>cd schematic-file-converter</strong>
+ host$ <strong>sudo python setup.py install</strong>
+ .
+ .
+ .
+ Extracting python_upconvert-0.8.9-py2.7.egg to \
+ /usr/local/lib/python2.7/dist-packages
+ Adding python-upconvert 0.8.9 to easy-install.pth file
+
+ Installed /usr/local/lib/python2.7/dist-packages/python_upconvert-0.8.9-py2.7.egg
+ Processing dependencies for python-upconvert==0.8.9
+ Finished processing dependencies for python-upconvert==0.8.9
+ host$ <strong>cd ..</strong>
+ host$ <strong>python -m upconvert.upconverter -h</strong>
+ usage: upconverter.py [-h] [-i INPUT] [-f TYPE] [-o OUTPUT] [-t TYPE]
+ [-s SYMDIRS [SYMDIRS ...]] [--unsupported]
+ [--raise-errors] [--profile] [-v] [--formats]
+
+ optional arguments:
+ -h, --help show this help message and exit
+ -i INPUT, --input INPUT
+ read INPUT file in
+ -f TYPE, --from TYPE read input file as TYPE
+ -o OUTPUT, --output OUTPUT
+ write OUTPUT file out
+ -t TYPE, --to TYPE write output file as TYPE
+ -s SYMDIRS [SYMDIRS ...], --sym-dirs SYMDIRS [SYMDIRS ...]
+ specify SYMDIRS to search for .sym files (for gEDA
+ only)
+ --unsupported run with an unsupported python version
+ --raise-errors show tracebacks for parsing and writing errors
+ --profile collect profiling information
+ -v, --version print version information and quit
+ --formats print supported formats and quit
+
+At the time of this writing, Upverter suppports the following file types:
+
+.. table::
+
+ +----------------+-------------------------+
+ | File type | Support |
+ +----------------+-------------------------+
+ | openjson | i/o |
+ +----------------+-------------------------+
+ | kicad | i/o |
+ +----------------+-------------------------+
+ | geda | i/o |
+ +----------------+-------------------------+
+ | eagle | i/o |
+ +----------------+-------------------------+
+ | eaglexml | i/o |
+ +----------------+-------------------------+
+ | fritzing | in only schematic only |
+ +----------------+-------------------------+
+ | gerber | i/o |
+ +----------------+-------------------------+
+ | specctra | i/o |
+ +----------------+-------------------------+
+ | image | out only |
+ +----------------+-------------------------+
+ | ncdrill | out only |
+ +----------------+-------------------------+
+ | bom (csv) | out only |
+ +----------------+-------------------------+
+ | netlist (csv) | out only |
+ +----------------+-------------------------+
+
+After Upverter is installed, run the file (_quickBot.fzz_) that generated :ref:`<capes_quickRobo_fig>` through Upverter:
+
+.. code-block:: bash
+
+ host$ <strong>python -m upconvert.upconverter -i quickBot.fzz \
+ -f fritzing -o quickBot-eaglexml.sch -t eaglexml --unsupported</strong>
+ WARNING: RUNNING UNSUPPORTED VERSION OF PYTHON (2.7 > 2.6)
+ DEBUG:main:parsing quickBot.fzz in format fritzing
+ host$ <strong>ls -l</strong>
+ total 188
+ -rw-rw-r-- 1 ubuntu ubuntu 63914 Nov 25 19:47 quickBot-eaglexml.sch
+ -rw-r--r-- 1 ubuntu ubuntu 122193 Nov 25 19:43 quickBot.fzz
+ drwxrwxr-x 9 ubuntu ubuntu 4096 Nov 25 19:42 schematic-file-converter
+
+
+:ref:`<caps_eagle>` shows the output of the conversion.
+
+.. _caps_eagle:
+
+Output of Upverter conversion
+
+.. figure:: figures/quickBot_eaglexml.png
+ :align: center
+ :alt: Converter Output
+
+No one said it would be pretty!
+
+Discussion
+***********
+
+I found that Eagle was more generous at reading in the +eaglexml+ format than the +eagle+ format.
+This also made it easier to hand-edit any translation issues.
+
+.. _capes_prototype:
+
+Producing a Prototype
+-----------------------------
+
+Problem
+***********
+
+You have your PCB all designed. How do you get it made?
+
+Solution
+***********
+
+To make this recipe, you will need:
+
+* A completed design (see :ref:`<capes_layout>`)
+* Soldering iron (see :ref:`app misc<app_misc>`)
+* Oscilloscope (see :ref:`app misc<app_misc>`)
+* Multimeter (see :ref:`app misc<app_misc>`)
+* Your other components
+
+Upload your design to http://oshpark.com[OSH Park] and order a few boards. :ref:`<capes_oshpark_share>` shows a resulting http://bit.ly/1MtlzAp[shared project page for the quickBot cape] created in :ref:`<capes_layout>`. We'll proceed to break down how this design was uploaded and shared to enable ordering fabricated PCBs.
+
+.. _capes_oshpark_share:
+
+The OSH Park QuickBot Cape shared project page
+
+.. figure:: figures/quickBot_oshpark_share.png
+ :align: center
+ :alt:
+
+Within Fritzing, click the menu next to "Export for PCB" and choose "Extended Gerber," as shown in :ref:`<capes_fritzing_export_fig>`. You'll need to choose a directory in which to save them and then compress them all into a http://bit.ly/1Br5lEh[Zip file]. The http://bit.ly/1B4GqRU[WikiHow article on creating Zip files] might be helpful if you aren't very experienced at making these.
+
+.. _capes_fritzing_export_fig:
+
+.. figure:: figures/quickBot_fritzing_export.png
+ :align: center
+ :alt: Choosing "Extended Gerber" in Fritzing
+
+ Choosing "Extended Gerber" in Fritzing
+
+Things on the `OSH Park website <http://oshpark.com>`_ are reasonably self-explanatory. You'll need to create an account and upload the Zip file containing the http://bit.ly/1B4GzEZ[Gerber files] you created. If you are a cautious person, you might choose to examine the Gerber files with a Gerber file viewer first. The http://bit.ly/18bUgeA[Fritzing fabrication FAQ] offers several suggestions, including http://gerbv.sourceforge.net/[gerbv] for Windows and Linux users.
+
+When your upload is complete, you'll be given a quote, shown images for review, and presented with options for accepting and ordering. After you have accepted the design, your https://oshpark.com/users/current[list of accepted designs] will also include the option of enabling sharing of your designs so that others can order a PCB, as well. If you are looking to make some money on your design, you'll want to go another route, like the one described in :ref:`<capes_production>`. :ref:`<capes_quickbot_pcb>` shows the resulting PCB that arrives in the mail.
+
+.. _capes_quickbot_pcb:
+
+.. figure:: figures/quickBot_pcb.JPG
+ :align: center
+ :alt: QuickBot PCB
+
+ QuickBot PCB
+
+Now is a good time to ensure that you have all of your components and a soldering station set up as in :ref:`<capes_soldering>`, as well as an oscilloscope, as used in :ref:`<capes_verify>`.
+
+When you get your board, it is often informative to "buzz out" a few connections by using a multimeter. If you've never used a multimeter before, the http://bit.ly/18bUgeA[SparkFun] or http://bit.ly/1Br5Xtv[Adafruit] tutorials might be helpful. Set your meter to continuity testing mode and probe between points where the headers are and where they should be connecting to your components. This would be more difficult and less accurate after you solder down your components, so it is a good idea to keep a bare board around just for this purpose.
+
+You'll also want to examine your board mechanically before soldering parts down. You don't want to waste components on a PCB that might need to be altered or replaced.
+
+When you begin assembling your board, it is advisable to assemble it in functional subsections, if possible, to help narrow down any potential issues. :ref:`<capes_motors_soldered>` shows the motor portion wired up and running the test in :ref:`<capes_quickBot_motor_test_code>`.
+
+.. _capes_motors_soldered:
+
+.. figure:: figures/quickBot_motors.jpg
+ :align: center
+ :alt: QuickBot motors under test
+
+ QuickBot motors under test
+
+Continue assembling and testing your board until you are happy. If you find issues, you might
+choose to cut traces and use point-to-point wiring to resolve your issues before placing an
+order for a new PCB. Better right the second time than the third!
+
+Discussion
+***********
+
+Creating Contents for Your Cape Configuration EEPROM
+------------------------------------------------------
+
+Problem
+***********
+
+Your cape is ready to go, and you want it
+to automatically initialize when the Bone boots up.
+
+Solution
+***********
+
+Complete capes have an I^2^C EEPROM on board that contains configuration information that is read at boot time.
+`Adventures in BeagleBone Cape EEPROMs <http://bit.ly/1Fb64uF>` gives a helpful description of two methods for
+programming the EEPROM. `How to Roll your own BeagleBone Capes <http://bit.ly/1E5M7RJ>`_ is a good four-part
+series on creating a cape, including how to wire and program the EEPROM.
+
+Discussion
+***********
+
+.. _capes_production:
+
+Putting Your Cape Design into Production
+-----------------------------------------
+
+Problem
+***********
+
+You want to share your cape with others.
+How do you scale up?
+
+Solution
+***********
+
+`CircuitHub <https://circuithub.com/>`_ offers a great tool to get a quick quote on assembled PCBs.
+To make things simple, I downloaded the `CircuitCo MiniDisplay Cape Eagle design materials <http://bit.ly/1C5uvJc>`_
+and uploaded them to CircuitHub.
+
+After the design is uploaded, you'll need to review the parts to verify that CircuitHub has or
+can order the right ones. Find the parts in the catalog by changing the text in the search box
+and clicking the magnifying glass. When you've found a suitable match, select it to confirm
+its use in your design, as shown in :ref:`<capes_circuithub_parts>`.
+
+.. _capes_circuithub_parts:
+
+CircuitHub part matching
+
+.. figure:: figures/circuithub_part_matching.png
+ :align: center
+ :alt:
+
+When you've selected all of your parts, a quote tool appears at the bottom of the page,
+as shown in :ref:`<capes_circuithub_quote>`.
+
+.. _capes_circuithub_quote:
+
+CircuitHub quote generation
+
+.. figure:: figures/circuithub_quote.png
+ :align: center
+ :alt:
+
+Checking out the pricing on the MiniDisplay Cape (without including the LCD itself) in :ref:`<capes_circuithub_pricing_table>`,
+you can get a quick idea of how increased volume can dramatically impact the per-unit costs.
+
+.. _capes_circuithub_pricing_table:
+
+CircuitHub price examples (all prices USD)
+
+.. table::
+
+ +-----------+----------+---------+------------+------------+-------------+
+ | Quantity | 1 | 10 | 100 | 1000 | 10,000 |
+ +-----------+----------+---------+------------+------------+-------------+
+ | PCB | $208.68 | $21.75 | $3.30 | $0.98 | $0.90 |
+ +-----------+----------+---------+------------+------------+-------------+
+ | Parts | $11.56 | $2.55 | $1.54 | $1.01 | $0.92 |
+ +-----------+----------+---------+------------+------------+-------------+
+ | Assembly | $249.84 | $30.69 | $7.40 | $2.79 | $2.32 |
+ +-----------+----------+---------+------------+------------+-------------+
+ | Per unit | $470.09 | $54.99 | $12.25 | $4.79 | $4.16 |
+ +-----------+----------+---------+------------+------------+-------------+
+ | Total | $470.09 | $550.00 | $1,225.25 | $4,796.00 | $41,665.79 |
+ +-----------+----------+---------+------------+------------+-------------+
+
+Checking the `Crystalfontz web page for the LCD <http://bit.ly/1GF6xqE>`_,
+you can find the prices for the LCDs as well, as shown in :ref:`<capes_lcd_pricing_table>`.
+
+.. _capes_lcd_pricing_table:
+
+LCD pricing (USD)
+
+.. table::
+
+ +-----------+---------+--------+----------+------------+-------------+
+ | Quantity | 1 | 10 | 100 | 1000 | 10,000 |
+ +-----------+---------+--------+----------+------------+-------------+
+ | Per unit | $12.12 | $7.30 | $3.86 | $2.84 | $2.84 |
+ +-----------+---------+--------+----------+------------+-------------+
+ | Total | $12.12 | $73.00 | $386.00 | $2,840.00 | $28,400.00 |
+ +-----------+---------+--------+----------+------------+-------------+
+
+To enable more cape developers to launch their designs to the market, CircuitHub has
+launched a http://campaign.circuithub.com[group buy campaign site]. You, as a cape developer,
+can choose how much markup you need to be paid for your work and launch the campaign to the public.
+Money is only collected if and when the desired target quantity is reached, so there's no risk that
+the boards will cost too much to be affordable. This is a great way to cost-effectively launch your boards to market!
+
+Discussion
+***********
+
+There's no real substitute for getting to know your contract manufacturer, its capabilities,
+communication style, strengths, and weaknesses. Look around your town to see if anyone is
+doing this type of work and see if they'll give you a tour.
+
+.. note:: ?
+// To DO, fix this
+
+Don't confuse CircuitHub and CircuitCo. CircuitCo is the official contract manufacturer of
+BeagleBoard.org and not the same company as CircuitHub, the online contract manufacturing
+service. CircuitCo would be an excellent choice for you to consider to perform your contract
+manufacturing, but it doesn't offer an online quote service at this point, so it isn't as easy
+to include details on how to engage with it in this book.
+
+
diff --git a/bone-cook-book/09capes/code/quickBot_motor_test.js b/bone-cook-book/09capes/code/quickBot_motor_test.js
new file mode 100755
index 0000000000000000000000000000000000000000..ed6435b3c155b30d883a1a735e2387c2e60262c3
--- /dev/null
+++ b/bone-cook-book/09capes/code/quickBot_motor_test.js
@@ -0,0 +1,116 @@
+#!/usr/bin/env node
+var b = require('bonescript');
+var M1_SPEED = 'P9_16'; // <1>
+var M1_FORWARD = 'P8_15';
+var M1_BACKWARD = 'P8_13';
+var M2_SPEED = 'P9_14';
+var M2_FORWARD = 'P8_9';
+var M2_BACKWARD = 'P8_11';
+var freq = 50; // <2>
+var fast = 0.95;
+var slow = 0.7;
+var state = 0; // <3>
+
+b.pinMode(M1_FORWARD, b.OUTPUT); // <4>
+b.pinMode(M1_BACKWARD, b.OUTPUT);
+b.pinMode(M2_FORWARD, b.OUTPUT);
+b.pinMode(M2_BACKWARD, b.OUTPUT);
+b.analogWrite(M1_SPEED, 0, freq); // <5>
+b.analogWrite(M2_SPEED, 0, freq);
+
+updateMotors(); // <6>
+
+function updateMotors() { // <6>
+ //console.log("Setting state = " + state); // <7>
+ updateLEDs(state); // <7>
+ switch(state) { // <3>
+ case 0:
+ default:
+ M1_set(0); // <8>
+ M2_set(0);
+ state = 1; // <3>
+ break;
+ case 1:
+ M1_set(slow);
+ M2_set(slow);
+ state = 2;
+ break;
+ case 2:
+ M1_set(slow);
+ M2_set(-slow);
+ state = 3;
+ break;
+ case 3:
+ M1_set(-slow);
+ M2_set(slow);
+ state = 4;
+ break;
+ case 4:
+ M1_set(fast);
+ M2_set(fast);
+ state = 0;
+ break;
+ }
+ setTimeout(updateMotors, 2000); // <3>
+}
+
+function updateLEDs(state) { // <7>
+ switch(state) {
+ case 0:
+ b.digitalWrite("USR0", b.LOW);
+ b.digitalWrite("USR1", b.LOW);
+ b.digitalWrite("USR2", b.LOW);
+ b.digitalWrite("USR3", b.LOW);
+ break;
+ case 1:
+ b.digitalWrite("USR0", b.HIGH);
+ b.digitalWrite("USR1", b.LOW);
+ b.digitalWrite("USR2", b.LOW);
+ b.digitalWrite("USR3", b.LOW);
+ break;
+ case 2:
+ b.digitalWrite("USR0", b.LOW);
+ b.digitalWrite("USR1", b.HIGH);
+ b.digitalWrite("USR2", b.LOW);
+ b.digitalWrite("USR3", b.LOW);
+ break;
+ case 3:
+ b.digitalWrite("USR0", b.LOW);
+ b.digitalWrite("USR1", b.LOW);
+ b.digitalWrite("USR2", b.HIGH);
+ b.digitalWrite("USR3", b.LOW);
+ break;
+ case 4:
+ b.digitalWrite("USR0", b.LOW);
+ b.digitalWrite("USR1", b.LOW);
+ b.digitalWrite("USR2", b.LOW);
+ b.digitalWrite("USR3", b.HIGH);
+ break;
+ }
+}
+
+function M1_set(speed) { // <8>
+ speed = (speed > 1) ? 1 : speed; // <9>
+ speed = (speed < -1) ? -1 : speed;
+ b.digitalWrite(M1_FORWARD, b.LOW);
+ b.digitalWrite(M1_BACKWARD, b.LOW);
+ if(speed > 0) {
+ b.digitalWrite(M1_FORWARD, b.HIGH);
+ } else if(speed < 0) {
+ b.digitalWrite(M1_BACKWARD, b.HIGH);
+ }
+ b.analogWrite(M1_SPEED, Math.abs(speed), freq); // <10>
+}
+
+function M2_set(speed) {
+ speed = (speed > 1) ? 1 : speed;
+ speed = (speed < -1) ? -1 : speed;
+ b.digitalWrite(M2_FORWARD, b.LOW);
+ b.digitalWrite(M2_BACKWARD, b.LOW);
+ if(speed > 0) {
+ b.digitalWrite(M2_FORWARD, b.HIGH);
+ } else if(speed < 0) {
+ b.digitalWrite(M2_BACKWARD, b.HIGH);
+ }
+ b.analogWrite(M2_SPEED, Math.abs(speed), freq);
+}
diff --git a/bone-cook-book/09capes/figures/BBB_GPS_Cape.fzz b/bone-cook-book/09capes/figures/BBB_GPS_Cape.fzz
new file mode 100644
index 0000000000000000000000000000000000000000..4208b6736c8e78d455783de3c7eb930b683f0df9
Binary files /dev/null and b/bone-cook-book/09capes/figures/BBB_GPS_Cape.fzz differ
diff --git a/bone-cook-book/09capes/figures/BeagleBone_Black_Cape__7fab878f3c590bbf730a21__pcb__cc4cbffa099dd2076377e89426324f3b.svg b/bone-cook-book/09capes/figures/BeagleBone_Black_Cape__7fab878f3c590bbf730a21__pcb__cc4cbffa099dd2076377e89426324f3b.svg
new file mode 100644
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--- /dev/null
+++ b/bone-cook-book/09capes/figures/BeagleBone_Black_Cape__7fab878f3c590bbf730a21__pcb__cc4cbffa099dd2076377e89426324f3b.svg
@@ -0,0 +1,294 @@
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+ <path style="fill:none;stroke:#ffce2f;stroke-width:2;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" id="connector205pin" d="m 72.45,186.75 a 2.7,2.7 0 1 1 -5.4,0 2.7,2.7 0 1 1 5.4,0 z" transform="matrix(0.9,0,0,0.9,123.84,0.72)"/>
+ <path style="fill:none;stroke:#ffce2f;stroke-width:2;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" id="connector206pin" d="m 72.45,186.75 a 2.7,2.7 0 1 1 -5.4,0 2.7,2.7 0 1 1 5.4,0 z" transform="matrix(0.9,0,0,0.9,132.84,0.72)"/>
+ </g>
+ </g>
+</svg>
diff --git a/bone-cook-book/09capes/figures/Boris128.jpg b/bone-cook-book/09capes/figures/Boris128.jpg
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diff --git a/bone-cook-book/09capes/figures/audioCape.png b/bone-cook-book/09capes/figures/audioCape.png
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diff --git a/bone-cook-book/09capes/figures/beaglebone_cape_boardoutline.png b/bone-cook-book/09capes/figures/beaglebone_cape_boardoutline.png
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index 0000000000000000000000000000000000000000..0be31fb4884f44c0cd30f726e6f4d27f4a3b678e
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diff --git a/bone-cook-book/09capes/figures/beaglebone_cape_boardoutline.svg b/bone-cook-book/09capes/figures/beaglebone_cape_boardoutline.svg
new file mode 100644
index 0000000000000000000000000000000000000000..349c83c71b33c3ffaa1ddcdf3b3fb4b135b2f804
--- /dev/null
+++ b/bone-cook-book/09capes/figures/beaglebone_cape_boardoutline.svg
@@ -0,0 +1,8 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<svg xmlns="http://www.w3.org/2000/svg" width="306" version="1.1" height="193.5"><!--1-->
+ <g id="board"><!--2-->
+ <path fill="#338040" id="boardoutline" d="M 22.5,0 l 0,56 L 72,56 q 5,0 5,5 l 0,53.5
+ q 0,5 -5,5 L 0,119.5 L 0,171 Q 0,193.5 22.5,193.5 l 238.5,0 c 24.85281,0 45,-20.14719 45,-45
+ L 306,45 C 306,20.14719 285.85281,0 261,0 z"/><!--3-->
+ </g>
+</svg>
diff --git a/bone-cook-book/09capes/figures/boneOutline.xml b/bone-cook-book/09capes/figures/boneOutline.xml
new file mode 100644
index 0000000000000000000000000000000000000000..aaf4e5cd48ef064d5fae30c661ed5e3685c588e2
--- /dev/null
+++ b/bone-cook-book/09capes/figures/boneOutline.xml
@@ -0,0 +1,12 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no' ?>
+<svg xmlns="http://www.w3.org/2000/svg" version="1.1"
+ width="306" height="193.5">
+
+ <g id="board">
+ <path fill="#338040" id="boardoutline" d="
+ M 22.5,0 l 0,56 L 72,56 q 5,0 5,5 l 0,53.5 q 0,5 -5,5
+ L 0,119.5 L 0,171 Q 0,193.5 22.5,193.5 l 238.5,0
+ c 24.85281,0 45,-20.14719 45,-45
+ L 306,45 C 306,20.14719 285.85281,0 261,0 z" />
+ </g>
+</svg>
\ No newline at end of file
diff --git a/bone-cook-book/09capes/figures/breadboard.png b/bone-cook-book/09capes/figures/breadboard.png
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diff --git a/bone-cook-book/09capes/figures/circuithub_part_matching.png b/bone-cook-book/09capes/figures/circuithub_part_matching.png
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diff --git a/bone-cook-book/09capes/figures/circuithub_quote.png b/bone-cook-book/09capes/figures/circuithub_quote.png
new file mode 100644
index 0000000000000000000000000000000000000000..20bf7b9becbd182222506750a62bb62fdb7ce3cb
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diff --git a/bone-cook-book/09capes/figures/convert-fritzing-to-eagle.sh b/bone-cook-book/09capes/figures/convert-fritzing-to-eagle.sh
new file mode 100644
index 0000000000000000000000000000000000000000..7b58a8cc49bc60902ba245e1d979569465803f69
--- /dev/null
+++ b/bone-cook-book/09capes/figures/convert-fritzing-to-eagle.sh
@@ -0,0 +1,12 @@
+#!/bin/sh
+#http://forums.getpebble.com/discussion/7211/solved-freetype-library-not-found-using-macports-on-os-x-10-8
+#sudo ln -s ~/gentoo/usr/lib/libfreetype.dylib /usr/local/lib/libfreetype.dylib
+#sudo ln -s ~/gentoo/usr/include/freetype2/freetype /usr/local/include/freetype
+sudo apt-get install libfreetype6
+pip install freetype-py
+git clone git@github.com:upverter/schematic-file-converter.git
+cd schematic-file-converter/
+python setup.py install
+#python -m upconvert.upconverter -h
+cd ~/quickbot
+python -m upconvert.upconverter -i quickBot.fzz -f fritzing -o quickBot-eagle.sch -t eagle --unsupported
diff --git a/bone-cook-book/09capes/figures/convert-fritzing-to-kicad.sh b/bone-cook-book/09capes/figures/convert-fritzing-to-kicad.sh
new file mode 100644
index 0000000000000000000000000000000000000000..f45046a3deb12633b717ffbb5e191eacc037ee9d
--- /dev/null
+++ b/bone-cook-book/09capes/figures/convert-fritzing-to-kicad.sh
@@ -0,0 +1,1003 @@
+
+http://forums.getpebble.com/discussion/7211/solved-freetype-library-not-found-using-macports-on-os-x-10-8
+
+ 126 cd MakerFaireNY2014_JavascriptOnArduinoTRE/
+ 127 ls
+ 128 scp * tre@192.168.7.2:public_html/
+ 129 scp * tre@192.168.7.2:public_html/
+ 130 scp * tre@192.168.7.2:public_html/
+ 131 ls
+ 132 scp * tre@192.168.7.2:public_html/
+ 133 ls
+ 134 pwd
+ 135 cd ..
+ 136 cd MakerFaireNY2014_JavascriptOnArduinoTRE/
+ 137 ls
+ 138 cd ..
+ 139 cd MakerFaireNY2014_JavascriptOnArduinoTRE/
+ 140 scp * tre@192.168.7.2:public_html/
+ 141 date
+ 142 ssh tre@192.168.7.2
+ 143 scp ~/Pictures/hacking_and_pen_testing.jpg beagleboard.org:beagleboard.org/static/images/
+ 144 sudo xzcat ~/Downloads/BBB-eMMC-flasher-debian-7.6-lxde-armhf-2014-09-03-2gb.img.xz | pv | sudo dd of=/dev/disk2
+ 145 sudo xzcat ~/Downloads/BBB-eMMC-flasher-debian-7.6-lxde-armhf-2014-09-03-2gb.img.xz | pv | sudo dd of=/dev/disk2
+ 146 fg
+ 147 ssh beagleboard.org
+ 148 rm ~/Downloads/bone-debian-7.4-2014-03-04-2gb.img.xz.torrent
+ 149 rm ~/Downloads/bone-debian-7.6-lxde-armhf-2014-08-*
+ 150 ls
+ 151 cd pruspeak/
+ 152 ls
+ 153 git remote -v
+ 154 git remote add 192 root@192.168.7.2:pruspeak/.git
+ 155 git remote update 192
+ 156 git branch
+ 157 git pull 192/master
+ 158 git pull 192 master
+ 159 git remote add git@github.com:jadonk/pruspeak
+ 160 git remote add github git@github.com:jadonk/pruspeak
+ 161 git remote update github
+ 162 git push github master
+ 163 git checkout -b test1 github/master
+ 164 git push github test1
+ 165 git push -f github master
+ 166 git checkout master
+ 167 git remote update
+ 168 cd ~/Library/
+ 169 ls
+ 170 cd LaunchAgents/
+ 171 ls
+ 172 vi com.microsoft.LaunchAgent.SyncServicesAgent.plist
+ 173 mkdir -p ~/backup
+ 174 mkdir -p ~/backup/Library/LaunchAgents/
+ 175 mv com.microsoft.LaunchAgent.SyncServicesAgent.plist ~/backup/Library/LaunchAgents/
+ 176 ls
+ 177 vm com.apple.AddressBook.ScheduledSync.ABExchangeSource.FC705E12-E3C7-4BF6-AE1B-8286F0B2C15D.plist ~/backup/Library/LaunchAgents/
+ 178 mv com.apple.AddressBook.ScheduledSync.ABExchangeSource.FC705E12-E3C7-4BF6-AE1B-8286F0B2C15D.plist ~/backup/Library/LaunchAgents/
+ 179 mv com.mlbam.nexdef.core.NexdefLoader.plist ~/backup/Library/LaunchAgents/
+ 180 cd /Library/LaunchAgents/
+ 181 ls
+ 182 vi Wlan.Software.plist
+ 183 mv Wlan.Software.plist ~/backup/Library/LaunchAgents/
+ 184 sudo mv Wlan.Software.plist ~/backup/Library/LaunchAgents/
+ 185 ls -l ~/backup/Library/LaunchAgents/
+ 186 ls
+ 187 vi com.google.keystone.agent.plist
+ 188 vi com.oracle.java.Java-Updater.plist
+ 189 ls
+ 190 sudo mv com.adobe.AAM.Updater-1.0.plist ~/backup/Library/LaunchAgents/
+ 191 cd ..
+ 192 cd LaunchDaemons/
+ 193 ls
+ 194 vi com.ambrosiasw.ambrosiaaudiosupporthelper.daemon.plist
+ 195 vi com.adobe.fpsaud.plist
+ 196 mkdir -p ~/backup/Library/LaunchDaemons
+ 197 sudo mv com.adobe.fpsaud.plist ~/backup/Library/LaunchDaemons/
+ 198 cd ..
+ 199 cd StartupItems/
+ 200 ls
+ 201 cd VirtualBox/
+ 202 ls
+ 203 cd
+ 204 cd workspace/pruspeak/
+ 205 startprefix
+ 206 startprefix
+ 207 ssh 192.168.7.2
+ 208 screen /dev/tty.usbmodemfa131 115200
+ 209 scren /dev/tty.usbserial-DA004DV7 115200
+ 210 screen /dev/tty.usbserial-DA004DV7 115200
+ 211 screen /dev/tty.usbserial-DA004DV7 115200
+ 212 screen /dev/tty.usbserial-DA004DV7 115200
+ 213 cd
+ 214 cd workspace/
+ 215 git clone git@github.com:beagleboard/image-builder.git
+ 216 cd image-builder/
+ 217 ls
+ 218 cd target/chroot/
+ 219 ls
+ 220 diff beagleboard.org-4gb.sh beagleboard.org.sh
+ 221 ssh beagleboard.org
+ 222 ssh beagleboard.org
+ 223 cd
+ 224 cd workspace/
+ 225 cd bone101
+ 226 ls
+ 227 cd examples/extras/
+ 228 ls
+ 229 ls
+ 230 git status
+ 231 git status
+ 232 git ls
+ 233 ls
+ 234 ls -al
+ 235 git log Userspace-Arduino/
+ 236 git log sensortag/
+ 237 ls
+ 238 cd ..
+ 239 ls
+ 240 cd ..
+ 241 ls
+ 242 git show
+ 243 git log
+ 244 cd ..
+ 245 cd bonescript
+ 246 ls
+ 247 cd ..
+ 248 find . -name sensortag
+ 249 find . -name sensortag\*
+ 250 cd
+ 251 cd node_modules/
+ 252 ls
+ 253 cd
+ 254 ssh 192.168.7.2
+ 255 startprefix
+ 256 xzcat ~/Downloads/BBB-eMMC-flasher-debian-7.6-lxde-armhf-2014-09-03-2gb.img.xz | pv | sudo dd of=/dev/disk2
+ 257 date
+ 258 git pull 192 master
+ 259 git add src/userspace_lib/nokia5110_lcd_demo.py
+ 260 git stash
+ 261 git pull 192 master
+ 262 git remote -v
+ 263 git push github master
+ 264 git log
+ 265 date
+ 266 scp ~/Downloads/linux-firmware-image-3.8.13-git49049588554654c4ac27bf7d3a8c52a90a3c3900_1cross_armhf.deb root@192.168.7.2:
+ 267 scp ~/Downloads/linux-image-3.8.13-git49049588554654c4ac27bf7d3a8c52a90a3c3900_1cross_armhf.deb root@192.168.7.2:
+ 268 screen /dev/tty.usbmodemfd113 115200
+ 269 git pull 192 master
+ 270 git remote
+ 271 git push github master
+ 272 git log
+ 273 date
+ 274 ssh 192.168.7.2
+ 275 ssh 192.168.7.2
+ 276 ls
+ 277 vi install.sh
+ 278 git log
+ 279 ls ~/Downloads/*.bin
+ 280 vi install_remote.sh
+ 281 vi install_remote.sh
+ 282 vi install_remote.sh
+ 283 ls
+ 284 cd src/
+ 285 ls
+ 286 cd userspace_lib/
+ 287 ls
+ 288 cd ..
+ 289 cd ..
+ 290 vi install_remote.sh
+ 291 cat install_remote.sh
+ 292 ssh 192.168.7.2
+ 293 ssh 192.168.7.2
+ 294 ssh 192.168.7.2
+ 295 cat install_remote.sh
+ 296 scp /Users/jason/Downloads/ti_cgt_pru_2.0.0.B1_linux_installer_x86.bin root@192.168.7.2:
+ 297 ls ~/Downloads/*.bin
+ 298 ls ~/Downloads/*cgt*
+ 299 vi install_remote.sh
+ 300 scp /Users/jason/Downloads/ti_cgt_pru_2.0.0B2_armlinuxa8hf_installer.sh root@192.168.7.2:
+ 301 cat install_remote.sh
+ 302 ls
+ 303 scp /Users/jason/Downloads/linux-firmware-image-3.8.13-git49049588554654c4ac27bf7d3a8c52a90a3c3900_1cross_armhf.deb root@192.168.7.2:
+ 304 scp /Users/jason/Downloads/linux-image-3.8.13-git49049588554654c4ac27bf7d3a8c52a90a3c3900_1cross_armhf.deb root@192.168.7.2:
+ 305 git push 192 master
+ 306 git push -f 192 master
+ 307 git push -f 192 master
+ 308 git push -f 192 master
+ 309 ssh 192.168.7.2
+ 310 ssh 192.168.7.2
+ 311 df
+ 312 screen /dev/tty.usbserial-DA004DV7 115200
+ 313 cd
+ 314 ssh 192.168.7.2
+ 315 ssh 192.168.7.2
+ 316 ssh 192.168.7.2
+ 317 ssh 192.168.7.2
+ 318 ssh 192.168.7.2
+ 319 ssh 192.168.7.2
+ 320 ssh 192.168.7.2
+ 321 ssh 192.168.7.2
+ 322 ssh debian@192.168.7.2
+ 323 sudo dd if=/dev/disk1 of=mf_rome.img
+ 324 sudo dd if=mf_rome.img of=/dev/disk1
+ 325 sudo dd if=mf_rome.img of=/dev/disk1
+ 326 sudo dd if=mf_rome.img of=/dev/disk1
+ 327 cd workspace/
+ 328 cd bone101
+ 329 which jekyll
+ 330 ls
+ 331 git branch
+ 332 git checkout master
+ 333 git checkout -b jekyll-built
+ 334 jekyll build
+ 335 mv _site/* .
+ 336 ls
+ 337 cp -R _site/* .
+ 338 ls
+ 339 rm -r _site/
+ 340 git diff
+ 341 ls
+ 342 vi _config.yml
+ 343 git checkout --
+ 344 git status
+ 345 git reset --hard
+ 346 git status
+ 347 vi _config.yml
+ 348 jekyll build
+ 349 cp -R _site/* .
+ 350 rm -r _site/
+ 351 git diff
+ 352 git reset --hard
+ 353 vi _config.yml
+ 354 jekyll build
+ 355 cp -R _site/* .
+ 356 git diff
+ 357 ls
+ 358 git branch
+ 359 git commit -a
+ 360 ls -l
+ 361 date
+ 362 git branch
+ 363 git pull 192 master
+ 364 git remote add 192var root@192.168.7.2:/mnt/var/lib/cloud9/.git
+ 365 git pull 192var master
+ 366 git remote update 192var
+ 367 df .
+ 368 pip install ply
+ 369 startprefix
+ 370 pip install ply
+ 371 cd
+ 372 cd gentoo/
+ 373 cd usr/lib/python2.7/
+ 374 ls
+ 375 cd site-packages/
+ 376 ls
+ 377 cd ply
+ 378 ls
+ 379 cd ..
+ 380 cd
+ 381 npm install sensortag
+ 382 ssh 192.168.7.2
+ 383 scp ~/Downloads/bluez_4.99-2_armhf.deb 192.168.7.2:
+ 384 scp ~/Downloads/bluez_4.99-2_armhf.deb 192.168.7.2:
+ 385 cd workspace/
+ 386 find -name stockfish
+ 387 git clone git@github.com:jadonk/turtleartjs
+ 388 git clone git@github.com:jadonk/turtleblocksjs
+ 389 cd turtleblocksjs/
+ 390 ls
+ 391 cd js/
+ 392 ls
+ 393 vi activity.js
+ 394 git commit -a -m "Fix window.open call for save SVG"
+ 395 git push
+ 396 cd
+ 397 startprefix
+ 398 date
+ 399 cd
+ 400 ls
+ 401 vi preface.asciidoc
+ 402 git pull
+ 403 ssh beagleboard.org
+ 404 vi preface.asciidoc
+ 405 git status
+ 406 git commit -a -m "Add initial content to Preface"
+ 407 git pull
+ 408 git push
+ 409 git remote -v
+ 410 git push github master
+ 411 vi preface.asciidoc
+ 412 git commit -a -m "Add ISBN to Preface"
+ 413 git push
+ 414 vi preface.asciidoc
+ 415 vi preface.asciidoc
+ 416 vi preface.asciidoc
+ 417 vi kernel.asciidoc
+ 418 vi preface.asciidoc
+ 419 vi kernel.asciidoc
+ 420 git commit -a -m "Updated preface based on feedback"
+ 421 git show
+ 422 git push
+ 423 vi preface.asciidoc
+ 424 cp basics.asciidoc history.asciidoc
+ 425 vi book-docinfo.xml
+ 426 vi bookWhole.asciidoc
+ 427 vi book.asciidoc
+ 428 vi history.asciidoc
+ 429 git add history.asciidoc
+ 430 git commit -a -m "Add chapter 0"
+ 431 git push
+ 432 ~/Stockfish/src/stockfish
+ 433 ssh 192.168.7.2
+ 434 ssh debian@192.168.7.2
+ 435 ssh 192.168.7.2
+ 436 ssh 192.168.7.2
+ 437 ssh 192.168.7.2
+ 438 ssh 192.168.7.2
+ 439 ssh 192.168.7.2
+ 440 ssh 192.168.7.2
+ 441 ssh 192.168.7.2
+ 442 cd
+ 443 cd workspace/
+ 444 unzip ~/Downloads/nacl_sdk.zip
+ 445 cd nacl_sdk/
+ 446 ls
+ 447 ./naclsdk list
+ 448 ./naclsdk help
+ 449 ls
+ 450 find . -name serve
+ 451 ./naclsdk update
+ 452 cd pepper_37/
+ 453 ls
+ 454 ls
+ 455 cd getting_started/
+ 456 ls
+ 457 make serve
+ 458 make run
+ 459 ls /Applications/Google Chrome.app/Contents/MacOS/Google Chrome
+ 460 export CHROME_PATH=/Applications/Google\ Chrome.app/Contents/MacOS/Google\ Chrome
+ 461 make run_package
+ 462 make run
+ 463 cd ..
+ 464 cd examples/api/core/
+ 465 ls
+ 466 make run
+ 467 make run_package
+ 468 make run_package
+ 469 ls
+ 470 cd
+ 471 cd workspace/
+ 472 cd 1234000001747/
+ 473 ls
+ 474 vi kernel.asciidoc
+ 475 vi history.asciidoc
+ 476 ls
+ 477 vi gnulinux.asciidoc
+ 478 vi history.asciidoc
+ 479 scp ~/Downloads/bluez-compat_4.99-2_armhf.deb 192.168.7.2:
+ 480 ~/Stockfish/src/stockfish
+ 481 ssh beaglebone.local
+ 482 cd
+ 483 cd Documents/
+ 484 cd BeagleBoard.org
+ 485 git add .
+ 486 git status
+ 487 git commit -a -m "add new po and invoice for aug-oct 2014 element14"
+ 488 git push
+ 489 ssh beagleboard.org
+ 490 cd
+ 491 cd Downloads/
+ 492 ls *word*
+ 493 cd ..
+ 494 cd Documents/
+ 495 cd ..
+ 496 cd Documents/
+ 497 ls *word*
+ 498 vi first_password.txt
+ 499 fgrep word *
+ 500 fgrep wordpress *
+ 501 which convert
+ 502 cd
+ 503 cd Documents/
+ 504 convert 1234000001747_20141119.pdf null: ~/Pictures/Boris_preview.jpg -gravity SouthEast -compose multiply -layers composite result.pdf
+ 505 vi ~/gentoo/etc/make.profile/use.mask
+ 506 vi ~/gentoo/etc/make.profile/make.defaults
+ 507 vi ~/gentoo/etc/make.profile/use.mask
+ 508 vi ~/gentoo/etc/make.profile/package.use.mask
+ 509 vi ~/gentoo/etc/make.profile/package.use.force
+ 510 vi ~/gentoo/etc/make.profile/package.mask
+ 511 vi ~/gentoo/etc/make.profile/parent
+ 512 vi ~/gentoo/etc/make.conf
+ 513 vi ~/gentoo/etc/make.globals
+ 514 vi ~/gentoo/etc/profile.env
+ 515 convert 1234000001747_20141119.pdf null: ~/Pictures/Boris_preview.jpg -gravity SouthEast -compose multiply -layers composite result.pdf
+ 516 convert 1234000001747_20141119.pdf /dev/null ~/Pictures/Boris_preview.jpg -gravity SouthEast -compose multiply -layers composite result.pdf
+ 517 convert 1234000001747_20141119.pdf ~/Pictures/Boris_preview.jpg -gravity SouthEast -compose multiply -layers composite result.pdf
+ 518 convert 1234000001747_20141119.pdf ~/Pictures/Boris_Tux_PNG.png -gravity SouthEast -compose multiply -layers composite result.pdf
+ 519 which gs
+ 520 convert -version
+ 521 emerge gs
+ 522 emerge ghostscript
+ 523 emerge ghostscript-gpl
+ 524 gs 1234000001747_20141119.pdf
+ 525 vi /Users/jason/gentoo/var/local/portage/app-text:ghostscript-gpl-9.06:20141119-214143.log
+ 526 emerge ghostscript-gpl
+ 527 emerge ghostscript-gpl
+ 528 emerge --sync
+ 529 emerge update
+ 530 emerge --sync
+ 531 cd
+ 532 cd Public/
+ 533 ls
+ 534 chmod 666 1234000001747_20141119.pdf
+ 535 cd
+ 536 cd workspace/
+ 537 cd 1234000001747/
+ 538 git pull
+ 539 git push github master
+ 540 fgrep TODO *.asciidoc
+ 541 fgrep TODO *.asciidoc | less
+ 542 ls
+ 543 git pull
+ 544 git push github master
+ 545 ls
+ 546 vi capes.asciidoc
+ 547 vi capes.asciidoc
+ 548 git pull
+ 549 vi capes.asciidoc
+ 550 git commit -a -m "cape updates"
+ 551 git pull
+ 552 git pull github
+ 553 git pull github master
+ 554 git push
+ 555 git push github master
+ 556 git log
+ 557 git show e4896828e4836c40e124f986b8ea2cc404ea5a31
+ 558 git pull
+ 559 git pull
+ 560 vi preface.asciidoc
+ 561 vi preface.asciidoc
+ 562 vi basics.asciidoc
+ 563 git commit -a -m "Address some Christi comments"
+ 564 git show
+ 565 git log history.asciidoc
+ 566 git log
+ 567 ls
+ 568 ls
+ 569 vi capes.asciidoc
+ 570 cd images/
+ 571 ls
+ 572 cd capes/
+ 573 ls
+ 574 wget https://gist.githubusercontent.com/jadonk/1df301b737ed5a3a652e/raw/aa0006eedf4244503ad038f66c72360b6868e8e8/quickBot_motor_test.js
+ 575 git add quickBot_motor_test.js
+ 576 vi quickBot_motor_test.js
+ 577 vi quickBot_motor_test.js
+ 578 ls
+ 579 mv ~/Pictures/Google\ ChromeScreenSnapz155.png quickBot_on_OSHPark.png
+ 580 mv quickBot_on_OSHPark.png ~/Pictures/Google\ ChromeScreenSnapz155.png
+ 581 ls -lS ~/Pictures/Google
+ 582 ls -lS ~/Pictures/Google*
+ 583 ls -lS ~/Pictures/Google* | less
+ 584 date
+ 585 ls -lS ~/Pictures/Google* | less
+ 586 mv ~/Pictures/Google\ ChromeScreenSnapz156.png quickBot_on_OSHPark.png
+ 587 mv ~/Pictures/Google\ ChromeScreenSnapz156.png quickBot_motor_test_cloud9.png
+ 588 cd ..
+ 589 ls
+ 590 cd ..
+ 591 cd images/capes/
+ 592 ls quickBot_gerbers
+ 593 cp ~/.config/Fritzing/parts/svg/contrib/pcb/BeagleBone_Black_Cape__7fab878f3c590bbf730a21__pcb__cc4cbffa099dd2076377e89426324f3b.svg .
+ 594 vi BeagleBone_Black_Cape__7fab878f3c590bbf730a21__pcb__cc4cbffa099dd2076377e89426324f3b.svg
+ 595 vi urls.txt
+ 596 pip install schematic-file-converter
+ 597 cd
+ 598 cd workspace/
+ 599 git clone git@github.com:upverter/schematic-file-converter.git
+ 600 cd schematic-file-converter/
+ 601 python setup.py
+ 602 python setup.py install
+ 603 cd ..
+ 604 cd 1234000001747/
+ 605 cd images/capes/
+ 606 ls
+ 607 python -m upconvert.upconverter -h
+ 608 pip install freetype
+ 609 easy_install freetype
+ 610 pip install freetype
+ 611 df .
+ 612 vi urls.txt
+ 613 python -m upconvert.upconverter -h
+ 614 vi urls.txt
+ 615 vi ~/gentoo/usr/lib/python2.7/site-packages/python_upconvert-0.8.9-py2.7.egg/upconvert/upconverter.py
+ 616 python -m upconvert.upconverter -h
+ 617 vi ~/gentoo/usr/lib/python2.7/site-packages/python_upconvert-0.8.9-py2.7.egg/upconvert/core/layout.py
+ 618 pip intall freetype-py
+ 619 pip install freetype-py
+ 620 vi ~/gentoo/usr/lib/python2.7/site-packages/python_upconvert-0.8.9-py2.7.egg/upconvert/upconverter.py
+ 621 python -m upconvert.upconverter -h
+ 622 ls
+ 623 ls *.txt
+ 624 vi convert-fritzing-to-kicad.sh
+ 625 history >> convert-fritzing-to-kicad.sh
+ 133 ls
+ 134 pwd
+ 135 cd ..
+ 136 cd MakerFaireNY2014_JavascriptOnArduinoTRE/
+ 137 ls
+ 138 cd ..
+ 139 cd MakerFaireNY2014_JavascriptOnArduinoTRE/
+ 140 scp * tre@192.168.7.2:public_html/
+ 141 date
+ 142 ssh tre@192.168.7.2
+ 143 scp ~/Pictures/hacking_and_pen_testing.jpg beagleboard.org:beagleboard.org/static/images/
+ 144 sudo xzcat ~/Downloads/BBB-eMMC-flasher-debian-7.6-lxde-armhf-2014-09-03-2gb.img.xz | pv | sudo dd of=/dev/disk2
+ 145 sudo xzcat ~/Downloads/BBB-eMMC-flasher-debian-7.6-lxde-armhf-2014-09-03-2gb.img.xz | pv | sudo dd of=/dev/disk2
+ 146 fg
+ 147 ssh beagleboard.org
+ 148 rm ~/Downloads/bone-debian-7.4-2014-03-04-2gb.img.xz.torrent
+ 149 rm ~/Downloads/bone-debian-7.6-lxde-armhf-2014-08-*
+ 150 ls
+ 151 cd pruspeak/
+ 152 ls
+ 153 git remote -v
+ 154 git remote add 192 root@192.168.7.2:pruspeak/.git
+ 155 git remote update 192
+ 156 git branch
+ 157 git pull 192/master
+ 158 git pull 192 master
+ 159 git remote add git@github.com:jadonk/pruspeak
+ 160 git remote add github git@github.com:jadonk/pruspeak
+ 161 git remote update github
+ 162 git push github master
+ 163 git checkout -b test1 github/master
+ 164 git push github test1
+ 165 git push -f github master
+ 166 git checkout master
+ 167 git remote update
+ 168 cd ~/Library/
+ 169 ls
+ 170 cd LaunchAgents/
+ 171 ls
+ 172 vi com.microsoft.LaunchAgent.SyncServicesAgent.plist
+ 173 mkdir -p ~/backup
+ 174 mkdir -p ~/backup/Library/LaunchAgents/
+ 175 mv com.microsoft.LaunchAgent.SyncServicesAgent.plist ~/backup/Library/LaunchAgents/
+ 176 ls
+ 177 vm com.apple.AddressBook.ScheduledSync.ABExchangeSource.FC705E12-E3C7-4BF6-AE1B-8286F0B2C15D.plist ~/backup/Library/LaunchAgents/
+ 178 mv com.apple.AddressBook.ScheduledSync.ABExchangeSource.FC705E12-E3C7-4BF6-AE1B-8286F0B2C15D.plist ~/backup/Library/LaunchAgents/
+ 179 mv com.mlbam.nexdef.core.NexdefLoader.plist ~/backup/Library/LaunchAgents/
+ 180 cd /Library/LaunchAgents/
+ 181 ls
+ 182 vi Wlan.Software.plist
+ 183 mv Wlan.Software.plist ~/backup/Library/LaunchAgents/
+ 184 sudo mv Wlan.Software.plist ~/backup/Library/LaunchAgents/
+ 185 ls -l ~/backup/Library/LaunchAgents/
+ 186 ls
+ 187 vi com.google.keystone.agent.plist
+ 188 vi com.oracle.java.Java-Updater.plist
+ 189 ls
+ 190 sudo mv com.adobe.AAM.Updater-1.0.plist ~/backup/Library/LaunchAgents/
+ 191 cd ..
+ 192 cd LaunchDaemons/
+ 193 ls
+ 194 vi com.ambrosiasw.ambrosiaaudiosupporthelper.daemon.plist
+ 195 vi com.adobe.fpsaud.plist
+ 196 mkdir -p ~/backup/Library/LaunchDaemons
+ 197 sudo mv com.adobe.fpsaud.plist ~/backup/Library/LaunchDaemons/
+ 198 cd ..
+ 199 cd StartupItems/
+ 200 ls
+ 201 cd VirtualBox/
+ 202 ls
+ 203 cd
+ 204 cd workspace/pruspeak/
+ 205 startprefix
+ 206 startprefix
+ 207 ssh 192.168.7.2
+ 208 screen /dev/tty.usbmodemfa131 115200
+ 209 scren /dev/tty.usbserial-DA004DV7 115200
+ 210 screen /dev/tty.usbserial-DA004DV7 115200
+ 211 screen /dev/tty.usbserial-DA004DV7 115200
+ 212 screen /dev/tty.usbserial-DA004DV7 115200
+ 213 cd
+ 214 cd workspace/
+ 215 git clone git@github.com:beagleboard/image-builder.git
+ 216 cd image-builder/
+ 217 ls
+ 218 cd target/chroot/
+ 219 ls
+ 220 diff beagleboard.org-4gb.sh beagleboard.org.sh
+ 221 ssh beagleboard.org
+ 222 ssh beagleboard.org
+ 223 cd
+ 224 cd workspace/
+ 225 cd bone101
+ 226 ls
+ 227 cd examples/extras/
+ 228 ls
+ 229 ls
+ 230 git status
+ 231 git status
+ 232 git ls
+ 233 ls
+ 234 ls -al
+ 235 git log Userspace-Arduino/
+ 236 git log sensortag/
+ 237 ls
+ 238 cd ..
+ 239 ls
+ 240 cd ..
+ 241 ls
+ 242 git show
+ 243 git log
+ 244 cd ..
+ 245 cd bonescript
+ 246 ls
+ 247 cd ..
+ 248 find . -name sensortag
+ 249 find . -name sensortag\*
+ 250 cd
+ 251 cd node_modules/
+ 252 ls
+ 253 cd
+ 254 ssh 192.168.7.2
+ 255 startprefix
+ 256 xzcat ~/Downloads/BBB-eMMC-flasher-debian-7.6-lxde-armhf-2014-09-03-2gb.img.xz | pv | sudo dd of=/dev/disk2
+ 257 date
+ 258 git pull 192 master
+ 259 git add src/userspace_lib/nokia5110_lcd_demo.py
+ 260 git stash
+ 261 git pull 192 master
+ 262 git remote -v
+ 263 git push github master
+ 264 git log
+ 265 date
+ 266 scp ~/Downloads/linux-firmware-image-3.8.13-git49049588554654c4ac27bf7d3a8c52a90a3c3900_1cross_armhf.deb root@192.168.7.2:
+ 267 scp ~/Downloads/linux-image-3.8.13-git49049588554654c4ac27bf7d3a8c52a90a3c3900_1cross_armhf.deb root@192.168.7.2:
+ 268 screen /dev/tty.usbmodemfd113 115200
+ 269 git pull 192 master
+ 270 git remote
+ 271 git push github master
+ 272 git log
+ 273 date
+ 274 ssh 192.168.7.2
+ 275 ssh 192.168.7.2
+ 276 ls
+ 277 vi install.sh
+ 278 git log
+ 279 ls ~/Downloads/*.bin
+ 280 vi install_remote.sh
+ 281 vi install_remote.sh
+ 282 vi install_remote.sh
+ 283 ls
+ 284 cd src/
+ 285 ls
+ 286 cd userspace_lib/
+ 287 ls
+ 288 cd ..
+ 289 cd ..
+ 290 vi install_remote.sh
+ 291 cat install_remote.sh
+ 292 ssh 192.168.7.2
+ 293 ssh 192.168.7.2
+ 294 ssh 192.168.7.2
+ 295 cat install_remote.sh
+ 296 scp /Users/jason/Downloads/ti_cgt_pru_2.0.0.B1_linux_installer_x86.bin root@192.168.7.2:
+ 297 ls ~/Downloads/*.bin
+ 298 ls ~/Downloads/*cgt*
+ 299 vi install_remote.sh
+ 300 scp /Users/jason/Downloads/ti_cgt_pru_2.0.0B2_armlinuxa8hf_installer.sh root@192.168.7.2:
+ 301 cat install_remote.sh
+ 302 ls
+ 303 scp /Users/jason/Downloads/linux-firmware-image-3.8.13-git49049588554654c4ac27bf7d3a8c52a90a3c3900_1cross_armhf.deb root@192.168.7.2:
+ 304 scp /Users/jason/Downloads/linux-image-3.8.13-git49049588554654c4ac27bf7d3a8c52a90a3c3900_1cross_armhf.deb root@192.168.7.2:
+ 305 git push 192 master
+ 306 git push -f 192 master
+ 307 git push -f 192 master
+ 308 git push -f 192 master
+ 309 ssh 192.168.7.2
+ 310 ssh 192.168.7.2
+ 311 df
+ 312 screen /dev/tty.usbserial-DA004DV7 115200
+ 313 cd
+ 314 ssh 192.168.7.2
+ 315 ssh 192.168.7.2
+ 316 ssh 192.168.7.2
+ 317 ssh 192.168.7.2
+ 318 ssh 192.168.7.2
+ 319 ssh 192.168.7.2
+ 320 ssh 192.168.7.2
+ 321 ssh 192.168.7.2
+ 322 ssh debian@192.168.7.2
+ 323 sudo dd if=/dev/disk1 of=mf_rome.img
+ 324 sudo dd if=mf_rome.img of=/dev/disk1
+ 325 sudo dd if=mf_rome.img of=/dev/disk1
+ 326 sudo dd if=mf_rome.img of=/dev/disk1
+ 327 cd workspace/
+ 328 cd bone101
+ 329 which jekyll
+ 330 ls
+ 331 git branch
+ 332 git checkout master
+ 333 git checkout -b jekyll-built
+ 334 jekyll build
+ 335 mv _site/* .
+ 336 ls
+ 337 cp -R _site/* .
+ 338 ls
+ 339 rm -r _site/
+ 340 git diff
+ 341 ls
+ 342 vi _config.yml
+ 343 git checkout --
+ 344 git status
+ 345 git reset --hard
+ 346 git status
+ 347 vi _config.yml
+ 348 jekyll build
+ 349 cp -R _site/* .
+ 350 rm -r _site/
+ 351 git diff
+ 352 git reset --hard
+ 353 vi _config.yml
+ 354 jekyll build
+ 355 cp -R _site/* .
+ 356 git diff
+ 357 ls
+ 358 git branch
+ 359 git commit -a
+ 360 ls -l
+ 361 date
+ 362 git branch
+ 363 git pull 192 master
+ 364 git remote add 192var root@192.168.7.2:/mnt/var/lib/cloud9/.git
+ 365 git pull 192var master
+ 366 git remote update 192var
+ 367 df .
+ 368 pip install ply
+ 369 startprefix
+ 370 pip install ply
+ 371 cd
+ 372 cd gentoo/
+ 373 cd usr/lib/python2.7/
+ 374 ls
+ 375 cd site-packages/
+ 376 ls
+ 377 cd ply
+ 378 ls
+ 379 cd ..
+ 380 cd
+ 381 npm install sensortag
+ 382 ssh 192.168.7.2
+ 383 scp ~/Downloads/bluez_4.99-2_armhf.deb 192.168.7.2:
+ 384 scp ~/Downloads/bluez_4.99-2_armhf.deb 192.168.7.2:
+ 385 cd workspace/
+ 386 find -name stockfish
+ 387 git clone git@github.com:jadonk/turtleartjs
+ 388 git clone git@github.com:jadonk/turtleblocksjs
+ 389 cd turtleblocksjs/
+ 390 ls
+ 391 cd js/
+ 392 ls
+ 393 vi activity.js
+ 394 git commit -a -m "Fix window.open call for save SVG"
+ 395 git push
+ 396 cd
+ 397 startprefix
+ 398 date
+ 399 cd
+ 400 ls
+ 401 vi preface.asciidoc
+ 402 git pull
+ 403 ssh beagleboard.org
+ 404 vi preface.asciidoc
+ 405 git status
+ 406 git commit -a -m "Add initial content to Preface"
+ 407 git pull
+ 408 git push
+ 409 git remote -v
+ 410 git push github master
+ 411 vi preface.asciidoc
+ 412 git commit -a -m "Add ISBN to Preface"
+ 413 git push
+ 414 vi preface.asciidoc
+ 415 vi preface.asciidoc
+ 416 vi preface.asciidoc
+ 417 vi kernel.asciidoc
+ 418 vi preface.asciidoc
+ 419 vi kernel.asciidoc
+ 420 git commit -a -m "Updated preface based on feedback"
+ 421 git show
+ 422 git push
+ 423 vi preface.asciidoc
+ 424 cp basics.asciidoc history.asciidoc
+ 425 vi book-docinfo.xml
+ 426 vi bookWhole.asciidoc
+ 427 vi book.asciidoc
+ 428 vi history.asciidoc
+ 429 git add history.asciidoc
+ 430 git commit -a -m "Add chapter 0"
+ 431 git push
+ 432 ~/Stockfish/src/stockfish
+ 433 ssh 192.168.7.2
+ 434 ssh debian@192.168.7.2
+ 435 ssh 192.168.7.2
+ 436 ssh 192.168.7.2
+ 437 ssh 192.168.7.2
+ 438 ssh 192.168.7.2
+ 439 ssh 192.168.7.2
+ 440 ssh 192.168.7.2
+ 441 ssh 192.168.7.2
+ 442 cd
+ 443 cd workspace/
+ 444 unzip ~/Downloads/nacl_sdk.zip
+ 445 cd nacl_sdk/
+ 446 ls
+ 447 ./naclsdk list
+ 448 ./naclsdk help
+ 449 ls
+ 450 find . -name serve
+ 451 ./naclsdk update
+ 452 cd pepper_37/
+ 453 ls
+ 454 ls
+ 455 cd getting_started/
+ 456 ls
+ 457 make serve
+ 458 make run
+ 459 ls /Applications/Google Chrome.app/Contents/MacOS/Google Chrome
+ 460 export CHROME_PATH=/Applications/Google\ Chrome.app/Contents/MacOS/Google\ Chrome
+ 461 make run_package
+ 462 make run
+ 463 cd ..
+ 464 cd examples/api/core/
+ 465 ls
+ 466 make run
+ 467 make run_package
+ 468 make run_package
+ 469 ls
+ 470 cd
+ 471 cd workspace/
+ 472 cd 1234000001747/
+ 473 ls
+ 474 vi kernel.asciidoc
+ 475 vi history.asciidoc
+ 476 ls
+ 477 vi gnulinux.asciidoc
+ 478 vi history.asciidoc
+ 479 scp ~/Downloads/bluez-compat_4.99-2_armhf.deb 192.168.7.2:
+ 480 ~/Stockfish/src/stockfish
+ 481 ssh beaglebone.local
+ 482 cd
+ 483 cd Documents/
+ 484 cd BeagleBoard.org
+ 485 git add .
+ 486 git status
+ 487 git commit -a -m "add new po and invoice for aug-oct 2014 element14"
+ 488 git push
+ 489 ssh beagleboard.org
+ 490 cd
+ 491 cd Downloads/
+ 492 ls *word*
+ 493 cd ..
+ 494 cd Documents/
+ 495 cd ..
+ 496 cd Documents/
+ 497 ls *word*
+ 498 vi first_password.txt
+ 499 fgrep word *
+ 500 fgrep wordpress *
+ 501 which convert
+ 502 cd
+ 503 cd Documents/
+ 504 convert 1234000001747_20141119.pdf null: ~/Pictures/Boris_preview.jpg -gravity SouthEast -compose multiply -layers composite result.pdf
+ 505 vi ~/gentoo/etc/make.profile/use.mask
+ 506 vi ~/gentoo/etc/make.profile/make.defaults
+ 507 vi ~/gentoo/etc/make.profile/use.mask
+ 508 vi ~/gentoo/etc/make.profile/package.use.mask
+ 509 vi ~/gentoo/etc/make.profile/package.use.force
+ 510 vi ~/gentoo/etc/make.profile/package.mask
+ 511 vi ~/gentoo/etc/make.profile/parent
+ 512 vi ~/gentoo/etc/make.conf
+ 513 vi ~/gentoo/etc/make.globals
+ 514 vi ~/gentoo/etc/profile.env
+ 515 convert 1234000001747_20141119.pdf null: ~/Pictures/Boris_preview.jpg -gravity SouthEast -compose multiply -layers composite result.pdf
+ 516 convert 1234000001747_20141119.pdf /dev/null ~/Pictures/Boris_preview.jpg -gravity SouthEast -compose multiply -layers composite result.pdf
+ 517 convert 1234000001747_20141119.pdf ~/Pictures/Boris_preview.jpg -gravity SouthEast -compose multiply -layers composite result.pdf
+ 518 convert 1234000001747_20141119.pdf ~/Pictures/Boris_Tux_PNG.png -gravity SouthEast -compose multiply -layers composite result.pdf
+ 519 which gs
+ 520 convert -version
+ 521 emerge gs
+ 522 emerge ghostscript
+ 523 emerge ghostscript-gpl
+ 524 gs 1234000001747_20141119.pdf
+ 525 vi /Users/jason/gentoo/var/local/portage/app-text:ghostscript-gpl-9.06:20141119-214143.log
+ 526 emerge ghostscript-gpl
+ 527 emerge ghostscript-gpl
+ 528 emerge --sync
+ 529 emerge update
+ 530 emerge --sync
+ 531 cd
+ 532 cd Public/
+ 533 ls
+ 534 chmod 666 1234000001747_20141119.pdf
+ 535 cd
+ 536 cd workspace/
+ 537 cd 1234000001747/
+ 538 git pull
+ 539 git push github master
+ 540 fgrep TODO *.asciidoc
+ 541 fgrep TODO *.asciidoc | less
+ 542 ls
+ 543 git pull
+ 544 git push github master
+ 545 ls
+ 546 vi capes.asciidoc
+ 547 vi capes.asciidoc
+ 548 git pull
+ 549 vi capes.asciidoc
+ 550 git commit -a -m "cape updates"
+ 551 git pull
+ 552 git pull github
+ 553 git pull github master
+ 554 git push
+ 555 git push github master
+ 556 git log
+ 557 git show e4896828e4836c40e124f986b8ea2cc404ea5a31
+ 558 git pull
+ 559 git pull
+ 560 vi preface.asciidoc
+ 561 vi preface.asciidoc
+ 562 vi basics.asciidoc
+ 563 git commit -a -m "Address some Christi comments"
+ 564 git show
+ 565 git log history.asciidoc
+ 566 git log
+ 567 ls
+ 568 ls
+ 569 vi capes.asciidoc
+ 570 cd images/
+ 571 ls
+ 572 cd capes/
+ 573 ls
+ 574 wget https://gist.githubusercontent.com/jadonk/1df301b737ed5a3a652e/raw/aa0006eedf4244503ad038f66c72360b6868e8e8/quickBot_motor_test.js
+ 575 git add quickBot_motor_test.js
+ 576 vi quickBot_motor_test.js
+ 577 vi quickBot_motor_test.js
+ 578 ls
+ 579 mv ~/Pictures/Google\ ChromeScreenSnapz155.png quickBot_on_OSHPark.png
+ 580 mv quickBot_on_OSHPark.png ~/Pictures/Google\ ChromeScreenSnapz155.png
+ 581 ls -lS ~/Pictures/Google
+ 582 ls -lS ~/Pictures/Google*
+ 583 ls -lS ~/Pictures/Google* | less
+ 584 date
+ 585 ls -lS ~/Pictures/Google* | less
+ 586 mv ~/Pictures/Google\ ChromeScreenSnapz156.png quickBot_on_OSHPark.png
+ 587 mv ~/Pictures/Google\ ChromeScreenSnapz156.png quickBot_motor_test_cloud9.png
+ 588 cd ..
+ 589 ls
+ 590 cd ..
+ 591 cd images/capes/
+ 592 ls quickBot_gerbers
+ 593 cp ~/.config/Fritzing/parts/svg/contrib/pcb/BeagleBone_Black_Cape__7fab878f3c590bbf730a21__pcb__cc4cbffa099dd2076377e89426324f3b.svg .
+ 594 vi BeagleBone_Black_Cape__7fab878f3c590bbf730a21__pcb__cc4cbffa099dd2076377e89426324f3b.svg
+ 595 vi urls.txt
+ 596 pip install schematic-file-converter
+ 597 cd
+ 598 cd workspace/
+ 599 git clone git@github.com:upverter/schematic-file-converter.git
+ 600 cd schematic-file-converter/
+ 601 python setup.py
+ 602 python setup.py install
+ 603 cd ..
+ 604 cd 1234000001747/
+ 605 cd images/capes/
+ 606 ls
+ 607 python -m upconvert.upconverter -h
+ 608 pip install freetype
+ 609 easy_install freetype
+ 610 pip install freetype
+ 611 df .
+ 612 vi urls.txt
+ 613 python -m upconvert.upconverter -h
+ 614 vi urls.txt
+ 615 vi ~/gentoo/usr/lib/python2.7/site-packages/python_upconvert-0.8.9-py2.7.egg/upconvert/upconverter.py
+ 616 python -m upconvert.upconverter -h
+ 617 vi ~/gentoo/usr/lib/python2.7/site-packages/python_upconvert-0.8.9-py2.7.egg/upconvert/core/layout.py
+ 618 pip intall freetype-py
+ 619 pip install freetype-py
+ 620 vi ~/gentoo/usr/lib/python2.7/site-packages/python_upconvert-0.8.9-py2.7.egg/upconvert/upconverter.py
+ 621 python -m upconvert.upconverter -h
+ 622 ls
+ 623 ls *.txt
+ 624 vi convert-fritzing-to-kicad.sh
+ 625 history >> convert-fritzing-to-kicad.sh
+ 626 emerge libfreetype
+ 627 emerge media-libs/freetype
+ 628 python -m upconvert.upconverter -h
+ 629 ln -s ~/gentoo/usr/lib/libfreetype.dylib /usr/local/lib/libfreetype.dylib
+ 630 sudo ln -s ~/gentoo/usr/lib/libfreetype.dylib /usr/local/lib/libfreetype.dylib
+ 631 sudo ln -s ~/gentoo/usr/include/freetype2/freetype /usr/local/include/freetype
+ 632 history >> convert-fritzing-to-kicad.sh
diff --git a/bone-cook-book/09capes/figures/eagle3.png b/bone-cook-book/09capes/figures/eagle3.png
new file mode 100644
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diff --git a/bone-cook-book/09capes/figures/eagle7.png b/bone-cook-book/09capes/figures/eagle7.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a74062ae14e24776b87db7572fb11a968896bcd
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diff --git a/bone-cook-book/09capes/figures/fritzing1.png b/bone-cook-book/09capes/figures/fritzing1.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d0ad7629bd342e9830d00e0e9e260a08fc68449
Binary files /dev/null and b/bone-cook-book/09capes/figures/fritzing1.png differ
diff --git a/bone-cook-book/09capes/figures/fritzing2.png b/bone-cook-book/09capes/figures/fritzing2.png
new file mode 100644
index 0000000000000000000000000000000000000000..31b286fdbd521398ee844a8288757f9cedc33405
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diff --git a/bone-cook-book/09capes/figures/fritzing3.png b/bone-cook-book/09capes/figures/fritzing3.png
new file mode 100644
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diff --git a/bone-cook-book/09capes/figures/fritzing4.png b/bone-cook-book/09capes/figures/fritzing4.png
new file mode 100644
index 0000000000000000000000000000000000000000..f819bf0c06f26ee53ac90ccae5ec24997b70c1c8
Binary files /dev/null and b/bone-cook-book/09capes/figures/fritzing4.png differ
diff --git a/bone-cook-book/09capes/figures/miniDisplay_Boris.png b/bone-cook-book/09capes/figures/miniDisplay_Boris.png
new file mode 100644
index 0000000000000000000000000000000000000000..55b96d2054e2061b5cd61835b64992e99a0c07a0
Binary files /dev/null and b/bone-cook-book/09capes/figures/miniDisplay_Boris.png differ
diff --git a/bone-cook-book/09capes/figures/miniDisplay_Cape_pcb.png b/bone-cook-book/09capes/figures/miniDisplay_Cape_pcb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc90ad8bcdb06e01cab451aa58feb584d6133c56
Binary files /dev/null and b/bone-cook-book/09capes/figures/miniDisplay_Cape_pcb.png differ
diff --git a/bone-cook-book/09capes/figures/miniDisplay_Cape_schem.png b/bone-cook-book/09capes/figures/miniDisplay_Cape_schem.png
new file mode 100644
index 0000000000000000000000000000000000000000..d061ea1a53cda85ed0d06ac284a567dcc537110a
Binary files /dev/null and b/bone-cook-book/09capes/figures/miniDisplay_Cape_schem.png differ
diff --git a/bone-cook-book/09capes/figures/quickBot-cache-cache.lib b/bone-cook-book/09capes/figures/quickBot-cache-cache.lib
new file mode 100644
index 0000000000000000000000000000000000000000..35da3d1d52a91a84cb2c5afff0116a9d66df633a
--- /dev/null
+++ b/bone-cook-book/09capes/figures/quickBot-cache-cache.lib
@@ -0,0 +1,370 @@
+EESchema-LIBRARY Version 2.3 Date: Sun 23 Nov 2014 12:25:45 PM EST
+#encoding utf-8
+#
+# ResistorModuleID
+#
+DEF ResistorModuleID R 0 30 Y Y 1 F N
+F0 "R" 0 0 60 H V L CNN
+F1 "ResistorModuleID" 0 60 60 H V L CNN
+DRAW
+ENDDRAW
+ENDDEF
+#
+# 3cbb886ccc8dee1a9eeb967331875e2e
+#
+DEF 3cbb886ccc8dee1a9eeb967331875e2e JACK 0 30 Y Y 1 F N
+F0 "JACK" 0 0 60 H V L CNN
+F1 "3cbb886ccc8dee1a9eeb967331875e2e" 0 60 60 H V L CNN
+DRAW
+S 0 1165 0 1165 0 1 0 N
+S -665 -330 -165 -995 0 1 0 N
+P 2 0 1 0 165 -500 330 -500 N
+P 2 0 1 0 330 -330 165 -330 N
+S 145 -310 190 -355 0 1 0 N
+S 145 -475 190 -520 0 1 0 N
+X ~ 0 165 -290 0 U 60 60 0 1 B
+X ~ 1 165 -455 0 U 60 60 0 1 B
+ENDDRAW
+ENDDEF
+#
+# BeagleBoneBlackCape_24b87b710774e71d846d0afceaba5afb_3
+#
+DEF BeagleBoneBlackCape_24b87b710774e71d846d0afceaba5afb_3 BeagleBone 0 30 Y Y 1 F N
+F0 "BeagleBone" 0 0 60 H V L CNN
+F1 "BeagleBoneBlackCape_24b87b710774e71d846d0afceaba5afb_3" 0 60 60 H V L CNN
+DRAW
+S 330 -165 1000 -9135 0 1 0 N
+P 2 0 1 0 330 -1495 165 -1495 N
+P 2 0 1 0 330 -1660 165 -1660 N
+P 2 0 1 0 330 -1825 165 -1825 N
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+P 2 0 1 0 330 -2825 165 -2825 N
+P 2 0 1 0 330 -2990 165 -2990 N
+S 145 -1475 190 -1520 0 1 0 N
+S 145 -1640 190 -1685 0 1 0 N
+S 145 -1805 190 -1850 0 1 0 N
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+S 145 -2135 190 -2180 0 1 0 N
+S 145 -2305 190 -2350 0 1 0 N
+S 145 -2470 190 -2515 0 1 0 N
+S 145 -2635 190 -2680 0 1 0 N
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+P 2 0 1 0 330 -3155 165 -3155 N
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+P 2 0 1 0 330 -4650 165 -4650 N
+S 145 -3135 190 -3180 0 1 0 N
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+P 2 0 1 0 330 -6145 165 -6145 N
+P 2 0 1 0 330 -6310 165 -6310 N
+S 145 -4795 190 -4840 0 1 0 N
+S 145 -4960 190 -5005 0 1 0 N
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+S 145 -5295 190 -5340 0 1 0 N
+S 145 -5460 190 -5505 0 1 0 N
+S 145 -5625 190 -5670 0 1 0 N
+S 145 -5790 190 -5835 0 1 0 N
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+S 145 -6125 190 -6170 0 1 0 N
+S 145 -6290 190 -6335 0 1 0 N
+P 2 0 1 0 330 -6480 165 -6480 N
+P 2 0 1 0 330 -6645 165 -6645 N
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+P 2 0 1 0 330 -7805 165 -7805 N
+P 2 0 1 0 330 -7970 165 -7970 N
+S 145 -6455 190 -6500 0 1 0 N
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+P 2 0 1 0 330 -8140 165 -8140 N
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+ENDDEF
+#
+# 1000FADF10011leg
+#
+DEF 1000FADF10011leg M 0 30 Y Y 1 F N
+F0 "M" 0 0 60 H V L CNN
+F1 "1000FADF10011leg" 0 60 60 H V L CNN
+DRAW
+ENDDRAW
+ENDDEF
+#
+# RevEd_L293D
+#
+DEF RevEd_L293D IC 0 30 Y Y 1 F N
+F0 "IC" 0 0 60 H V L CNN
+F1 "RevEd_L293D" 0 60 60 H V L CNN
+DRAW
+ENDDRAW
+ENDDEF
+#
+# SparkFun-Connectors-M03-SCREW_LOCK
+#
+DEF SparkFun-Connectors-M03-SCREW_LOCK JP 0 30 Y Y 1 F N
+F0 "JP" 0 0 60 H V L CNN
+F1 "SparkFun-Connectors-M03-SCREW_LOCK" 0 60 60 H V L CNN
+DRAW
+ENDDRAW
+ENDDEF
+#
+# beab33bd7feee277622ef76dd6e79e4d
+#
+DEF beab33bd7feee277622ef76dd6e79e4d J 0 30 Y Y 1 F N
+F0 "J" 0 0 60 H V L CNN
+F1 "beab33bd7feee277622ef76dd6e79e4d" 0 60 60 H V L CNN
+DRAW
+ENDDRAW
+ENDDEF
+#
+#End Library
diff --git a/bone-cook-book/09capes/figures/quickBot-eagle.sch b/bone-cook-book/09capes/figures/quickBot-eagle.sch
new file mode 100644
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diff --git a/bone-cook-book/09capes/figures/quickBot-eaglexml.sch b/bone-cook-book/09capes/figures/quickBot-eaglexml.sch
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\ No newline at end of file
diff --git a/bone-cook-book/09capes/figures/quickBot_gerbers/quickBot_copperBottom.gbl b/bone-cook-book/09capes/figures/quickBot_gerbers/quickBot_copperBottom.gbl
new file mode 100644
index 0000000000000000000000000000000000000000..b70835ba53b352faca82f4e5ee78b339267be144
--- /dev/null
+++ b/bone-cook-book/09capes/figures/quickBot_gerbers/quickBot_copperBottom.gbl
@@ -0,0 +1,22355 @@
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\ No newline at end of file
diff --git a/bone-cook-book/09capes/figures/quickBot_gerbers/quickBot_copperTop.gtl b/bone-cook-book/09capes/figures/quickBot_gerbers/quickBot_copperTop.gtl
new file mode 100644
index 0000000000000000000000000000000000000000..80d23f4dc3d4cb61bf7a195d858d259678de2676
--- /dev/null
+++ b/bone-cook-book/09capes/figures/quickBot_gerbers/quickBot_copperTop.gtl
@@ -0,0 +1,1085 @@
+G04 MADE WITH FRITZING*
+G04 WWW.FRITZING.ORG*
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+G04 HOLES PLATED*
+G04 CONTOUR ON CENTER OF CONTOUR VECTOR*
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\ No newline at end of file
diff --git a/bone-cook-book/09capes/figures/quickBot_gerbers/quickBot_maskTop.gts b/bone-cook-book/09capes/figures/quickBot_gerbers/quickBot_maskTop.gts
new file mode 100644
index 0000000000000000000000000000000000000000..fef8cc9d09a26877d14a554a5f14fcd4535e20a8
--- /dev/null
+++ b/bone-cook-book/09capes/figures/quickBot_gerbers/quickBot_maskTop.gts
@@ -0,0 +1,935 @@
+G04 MADE WITH FRITZING*
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\ No newline at end of file
diff --git a/bone-cook-book/09capes/figures/quickBot_gerbers/quickBot_pnp.txt b/bone-cook-book/09capes/figures/quickBot_gerbers/quickBot_pnp.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dd298aa4666c35e8f9c174e86595e60c8d028df3
--- /dev/null
+++ b/bone-cook-book/09capes/figures/quickBot_gerbers/quickBot_pnp.txt
@@ -0,0 +1,34 @@
+*Pick And Place List
+*Company=
+*Author=
+*eMail=
+*
+*Project=quickBot
+*Date=02:40:50
+*CreatedBy=Fritzing 0.9.0b.06.11.da4e
+*
+*
+*Coordinates in mm, always center of component
+*Origin 0/0=Lower left corner of PCB
+*Rotation in degree (0-360, math. pos.)
+*
+*No;Value;Package;X;Y;Rotation;Side;Name
+1;20k;THT;24.7945;-18.4616;0;Bottom;R10
+2;;THT;26.0645;-50.2116;0;Bottom;IC1
+3;1;THT;12.0945;-26.0816;0;Bottom;R1
+4;;;36.2245;-35.6066;0;Bottom;JACK2
+5;;screwterminal-3.5mm-3_lock.007s;38.6322;-10.7415;0;Bottom;JP1
+6;;;34.9545;-50.2116;0;Bottom;M1
+7;;;40.0345;-26.0816;-90;Bottom;J4
+8;20k;THT;24.7945;-26.0816;0;Bottom;R2
+9;;;27.6553;-2.80091;0;Bottom;TXT5
+10;;screwterminal-3.5mm-3_lock.007s;38.6322;-18.3615;0;Bottom;JP2
+11;;;27.3599;-43.1885;90;Bottom;BeagleBone1
+12;;;6.4008;-65.9384;0;Bottom;Via2
+13;10k;THT;12.0945;-10.8416;0;Bottom;R5
+14;;;9.4488;-29.972;0;Bottom;Via3
+15;20k;THT;24.7945;-10.8416;0;Bottom;R9
+16;10k;THT;12.0945;-18.4616;0;Bottom;R6
+17;;;47.8536;-54.356;0;Bottom;Via1
+18;;;17.1745;-50.2116;180;Bottom;M2
+19;;;13.1064;-63.5;0;Bottom;Via4
diff --git a/bone-cook-book/09capes/figures/quickBot_gerbers/quickBot_silkBottom.gbo b/bone-cook-book/09capes/figures/quickBot_gerbers/quickBot_silkBottom.gbo
new file mode 100644
index 0000000000000000000000000000000000000000..1091e44e950925c3c3d1f44b948c035ddf04098b
--- /dev/null
+++ b/bone-cook-book/09capes/figures/quickBot_gerbers/quickBot_silkBottom.gbo
@@ -0,0 +1,24 @@
+G04 MADE WITH FRITZING*
+G04 WWW.FRITZING.ORG*
+G04 DOUBLE SIDED*
+G04 HOLES PLATED*
+G04 CONTOUR ON CENTER OF CONTOUR VECTOR*
+%ASAXBY*%
+%FSLAX23Y23*%
+%MOIN*%
+%OFA0B0*%
+%SFA1.0B1.0*%
+%ADD10R,2.200000X3.455560X2.184000X3.439560*%
+%ADD11C,0.008000*%
+%LNSILK0*%
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+D02*
+G04 End of Silk0*
+M02*
\ No newline at end of file
diff --git a/bone-cook-book/09capes/figures/quickBot_gerbers/quickBot_silkTop.gto b/bone-cook-book/09capes/figures/quickBot_gerbers/quickBot_silkTop.gto
new file mode 100644
index 0000000000000000000000000000000000000000..9f09a4120b049ad76c3df8c68ab7a95f6d0ff660
--- /dev/null
+++ b/bone-cook-book/09capes/figures/quickBot_gerbers/quickBot_silkTop.gto
@@ -0,0 +1,24784 @@
+G04 MADE WITH FRITZING*
+G04 WWW.FRITZING.ORG*
+G04 DOUBLE SIDED*
+G04 HOLES PLATED*
+G04 CONTOUR ON CENTER OF CONTOUR VECTOR*
+%ASAXBY*%
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+D02*
+G04 End of Silk1*
+M02*
\ No newline at end of file
diff --git a/bone-cook-book/09capes/figures/quickBot_kicad.sch b/bone-cook-book/09capes/figures/quickBot_kicad.sch
new file mode 100644
index 0000000000000000000000000000000000000000..c723d2bad5d54a33fb076e1f72289746f11a2f39
--- /dev/null
+++ b/bone-cook-book/09capes/figures/quickBot_kicad.sch
@@ -0,0 +1,489 @@
+EESchema Schematic File Version 2 date Sun 23 Nov 2014 12:22:18 PM EST
+LIBS:quickBot-cache
+EELAYER 25 0
+EELAYER END
+$Descr A4 11700 8267
+encoding utf-8
+Sheet 1 1
+Title ""
+Date "23 nov 2014"
+Rev ""
+Comp ""
+Comment1 ""
+Comment2 ""
+Comment3 ""
+Comment4 ""
+$EndDescr
+$Comp
+L ResistorModuleID R5
+U 0 1 00000000
+P -1395 6145
+ 1 -1395 6145
+ 0 1 1 0
+$EndComp
+$Comp
+L SparkFun-Connectors-M03-SCREW_LOCK JP1
+U 0 1 00000000
+P -1305 6680
+ 1 -1305 6680
+ 1 0 0 -1
+$EndComp
+$Comp
+L BeagleBone Black Cape_24b87b710774e71d846d0afceaba5afb_3 BeagleBone1
+U 0 1 00000000
+P -2055 -890
+ 1 -2055 -890
+ 1 0 0 -1
+$EndComp
+$Comp
+L ResistorModuleID R6
+U 0 1 00000000
+P -1125 6145
+ 1 -1125 6145
+ 0 1 1 0
+$EndComp
+$Comp
+L ResistorModuleID R10
+U 0 1 00000000
+P -1125 6460
+ 1 -1125 6460
+ 0 1 1 0
+$EndComp
+$Comp
+L 3cbb886ccc8dee1a9eeb967331875e2e JACK2
+U 0 1 00000000
+P 1305 3200
+ 1 1305 3200
+ 1 0 0 -1
+$EndComp
+$Comp
+L SparkFun-Connectors-M03-SCREW_LOCK JP2
+U 0 1 00000000
+P -1035 6680
+ 1 -1035 6680
+ 1 0 0 -1
+$EndComp
+$Comp
+L RevEd_L293D IC1
+U 0 1 00000000
+P 1530 2115
+ 1 1530 2115
+ 1 0 0 -1
+$EndComp
+$Comp
+L 1000FADF10011leg M1
+U 0 1 00000000
+P 2705 2245
+ 1 2705 2245
+ 1 0 0 -1
+$EndComp
+$Comp
+L ResistorModuleID R2
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+ 1 -360 5920
+ 0 1 1 0
+$EndComp
+$Comp
+L ResistorModuleID R1
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+ 1 -360 5650
+ 0 1 1 0
+$EndComp
+$Comp
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+$EndComp
+$Comp
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+ 0 1 1 0
+$EndComp
+$Comp
+L 1000FADF10011leg M2
+U 0 1 00000000
+P 1265 2250
+ 1 1265 2250
+ -1 0 0 1
+$EndComp
+Wire Wire Line
+ -450 365 660 -25
+Wire Wire Line
+ 1710 945 1800 990
+Wire Wire Line
+ -450 6030 -425 6050
+Wire Wire Line
+ -425 6050 -245 6050
+Wire Wire Line
+ -270 6030 -245 6050
+Wire Wire Line
+ -2070 810 1125 -270
+Wire Wire Line
+ -2070 45 -1890 90
+Wire Wire Line
+ -2070 45 1125 -270
+Wire Wire Line
+ -1935 50 -1890 90
+Wire Wire Line
+ 990 810 1125 -270
+Wire Wire Line
+ -460 315 740 -35
+Wire Wire Line
+ 1245 -5 1285 445
+Wire Wire Line
+ -1080 -560 -630 -630
+Wire Wire Line
+ -720 -945 -630 -630
+Wire Wire Line
+ -720 -945 -315 -630
+Wire Wire Line
+ -1035 -630 -325 -240
+Wire Wire Line
+ -810 -630 -325 -240
+Wire Wire Line
+ -810 -630 -315 -225
+Wire Wire Line
+ 180 -630 540 -1170
+Wire Wire Line
+ 180 -630 855 -1210
+Wire Wire Line
+ 640 -60 645 -230
+Wire Wire Line
+ 715 -220 720 -60
+Wire Wire Line
+ -2115 -45 -1935 -45
+Wire Wire Line
+ -2115 -1350 -1935 -45
+Wire Wire Line
+ -1935 -45 1755 -1170
+Wire Wire Line
+ 1755 -1165 1755 -1170
+Wire Wire Line
+ 1755 -1165 1800 -270
+Wire Wire Line
+ 2475 2430 2565 2430
+Wire Wire Line
+ 2565 2970 2565 2430
+Wire Wire Line
+ 765 1165 1120 -100
+Wire Wire Line
+ 990 1170 990 -90
+Wire Wire Line
+ 990 1170 1120 -100
+Wire Wire Line
+ 1935 1350 2070 1350
+Wire Wire Line
+ 150 3140 2520 3150
+Wire Wire Line
+ 2475 2475 2520 3150
+Wire Wire Line
+ 1485 1485 1605 1605
+Wire Wire Line
+ 1605 1605 1710 1620
+Wire Wire Line
+ 1710 1620 1755 1620
+Wire Wire Line
+ -1075 -45 1120 -315
+Wire Wire Line
+ -945 765 -945 -45
+Wire Wire Line
+ -945 765 810 765
+Wire Wire Line
+ -945 -45 1120 -315
+Wire Wire Line
+ 810 765 810 -320
+Wire Wire Line
+ 2475 2250 2745 2250
+Wire Wire Line
+ -1075 -85 1620 5
+Wire Wire Line
+ -900 720 1620 0
+Wire Wire Line
+ -900 -90 1620 5
+Wire Wire Line
+ -900 -90 1620 0
+Wire Wire Line
+ 1620 0 1710 720
+Wire Wire Line
+ 1620 0 1890 725
+Wire Wire Line
+ 1710 0 1890 725
+Wire Wire Line
+ 1710 0 1890 0
+Wire Wire Line
+ 2475 2205 2615 2210
+Wire Wire Line
+ 2610 2745 2615 2210
+Wire Wire Line
+ -2070 -90 -1935 -90
+Wire Wire Line
+ -2070 -1305 -1935 -90
+Wire Wire Line
+ -1935 -90 1755 -45
+Wire Wire Line
+ -1935 -90 1755 -1305
+Wire Wire Line
+ 1935 945 1950 955
+Wire Wire Line
+ 1950 955 2070 1170
+Wire Wire Line
+ 2070 1170 2115 1350
+Wire Wire Line
+ 2090 1620 2090 1485
+Wire Wire Line
+ 2090 1485 2115 1350
+Wire Wire Line
+ 1485 1395 1495 1380
+Wire Wire Line
+ 1495 1380 1500 1380
+Wire Wire Line
+ 1500 1380 1705 1370
+Wire Wire Line
+ 1705 1370 1705 1365
+Wire Wire Line
+ 1705 1365 1710 1350
+Wire Wire Line
+ 1710 1350 1755 1350
+Wire Wire Line
+ -1030 -580 -310 -90
+Wire Wire Line
+ -855 -90 -855 -585
+Wire Wire Line
+ -855 -585 -310 -90
+Wire Wire Line
+ 1440 3465 1440 2475
+Wire Wire Line
+ 1440 2475 1530 2475
+Wire Wire Line
+ 1935 810 2295 900
+Wire Wire Line
+ -2115 855 -2115 0
+Wire Wire Line
+ -2115 855 900 855
+Wire Wire Line
+ -2115 0 1120 -55
+Wire Wire Line
+ -1935 5 1120 -55
+Wire Wire Line
+ 900 855 1125 -45
+Wire Wire Line
+ 1800 1080 2025 1170
+Wire Wire Line
+ 1935 990 2025 945
+Wire Wire Line
+ -450 -1125 945 -1125
+Wire Wire Line
+ -445 -815 -305 -900
+Wire Wire Line
+ -445 -815 945 -1125
+Wire Wire Line
+ -1035 6390 -1035 6295
+Wire Wire Line
+ -1035 6295 -1035 6255
+Wire Wire Line
+ -1035 6255 -90 6075
+Wire Wire Line
+ -90 6075 150 6065
+Wire Wire Line
+ -1440 6750 -1440 6075
+Wire Wire Line
+ -1440 6750 -1305 6750
+Wire Wire Line
+ -1440 6075 -1305 6075
+Wire Wire Line
+ -1305 6750 -1035 6750
+Wire Wire Line
+ -1305 6075 -1035 6075
+Wire Wire Line
+ -1035 6075 -720 6075
+Wire Wire Line
+ -720 6165 -720 6075
+Wire Wire Line
+ -720 6165 -535 6160
+Wire Wire Line
+ -535 6160 -270 5580
+Wire Wire Line
+ -270 5580 -270 2045
+Wire Wire Line
+ -270 5580 -180 1260
+Wire Wire Line
+ -270 2045 2545 2045
+Wire Wire Line
+ -180 1260 150 1280
+Wire Wire Line
+ 135 1215 150 1280
+Wire Wire Line
+ 135 1215 1530 1215
+Wire Wire Line
+ 1395 3600 1395 2295
+Wire Wire Line
+ 1395 3600 1440 3600
+Wire Wire Line
+ 1395 2295 1530 2295
+Wire Wire Line
+ 1530 2295 1530 1215
+Wire Wire Line
+ 2475 2340 2500 2315
+Wire Wire Line
+ 2500 2315 2545 2315
+Wire Wire Line
+ 2545 2315 2545 2045
+Wire Wire Line
+ 1935 1485 2025 1485
+Wire Wire Line
+ 1800 1035 1825 1010
+Wire Wire Line
+ 1825 1010 1905 730
+Wire Wire Line
+ 1905 730 1910 730
+Wire Wire Line
+ 1910 730 1955 730
+Wire Wire Line
+ 1950 730 1955 730
+Wire Wire Line
+ 1950 730 2250 850
+Wire Wire Line
+ 1205 90 2010 735
+Wire Wire Line
+ -1305 6390 -1305 6345
+Wire Wire Line
+ -1305 6390 -1305 6255
+Wire Wire Line
+ -1305 6345 150 6330
+Wire Wire Line
+ 1485 1440 1485 1420
+Wire Wire Line
+ 1485 1420 1700 1465
+Wire Wire Line
+ 1700 1465 1705 1465
+Wire Wire Line
+ 1705 1465 1710 1485
+Wire Wire Line
+ 1710 1485 1755 1485
+Wire Wire Line
+ 2475 2385 2745 2430
+Wire Wire Line
+ 1710 900 1790 870
+Wire Wire Line
+ 1790 870 1800 855
+Wire Wire Line
+ 1485 945 1830 1195
+Wire Wire Line
+ 1830 1195 2090 1195
+Wire Wire Line
+ 1935 1080 2100 1140
+Wire Wire Line
+ 2090 1195 2100 1140
+Wire Wire Line
+ 1800 810 1920 730
+Wire Wire Line
+ 1920 730 2295 810
+Wire Wire Line
+ 1485 675 1640 685
+Wire Wire Line
+ 1640 685 2200 725
+Wire Wire Line
+ 1935 765 2040 855
+Wire Wire Line
+ 2040 855 2060 870
+Wire Wire Line
+ 2040 855 2150 990
+Wire Wire Line
+ 2060 870 2285 870
+Wire Wire Line
+ 2145 990 2150 990
+Wire Wire Line
+ 2145 990 2160 1350
+Wire Wire Line
+ 2155 1620 2155 1485
+Wire Wire Line
+ 2155 1485 2160 1350
+Wire Wire Line
+ 2200 725 2285 795
+Wire Wire Line
+ 2285 870 2285 795
+Wire Wire Line
+ -45 2880 -45 2160
+Wire Wire Line
+ -45 2160 1530 2160
+Wire Wire Line
+ 630 180 1115 80
+Wire Wire Line
+ 630 180 1120 180
+Wire Wire Line
+ 640 -45 1115 80
+Wire Wire Line
+ -270 5850 -270 5760
+Wire Wire Line
+ 775 1120 1120 -225
+Wire Wire Line
+ 945 1125 945 -225
+Wire Wire Line
+ 945 1125 1120 -225
+Wire Wire Line
+ -500 -810 900 -1080
+Wire Wire Line
+ -500 -810 900 -1215
+Wire Wire Line
+ -495 -1080 900 -1080
+Wire Wire Line
+ 1935 1620 2025 1620
+Wire Wire Line
+ 1305 2250 1530 2250
+Wire Wire Line
+ 1935 855 2025 900
+Wire Wire Line
+ 1305 2430 1530 2385
+Wire Wire Line
+ 1485 630 1520 645
+Wire Wire Line
+ 1520 645 1680 980
+Wire Wire Line
+ 1530 1620 1530 1485
+Wire Wire Line
+ 1530 1485 1530 1350
+Wire Wire Line
+ 1530 1350 1575 1280
+Wire Wire Line
+ 1575 1280 1790 955
+Wire Wire Line
+ 1680 980 1765 980
+Wire Wire Line
+ 1765 980 1770 980
+Wire Wire Line
+ 1770 980 1790 960
+Wire Wire Line
+ 1790 960 1790 955
+Wire Wire Line
+ 1790 955 1800 945
+Wire Wire Line
+ 1485 900 1800 765
+Wire Wire Line
+ -1305 6705 -1305 6570
+Wire Wire Line
+ -1305 6795 -1035 6795
+Wire Wire Line
+ -1035 6840 -1035 6795
+Wire Wire Line
+ -1035 6840 -630 6840
+Wire Wire Line
+ -630 6840 -630 5895
+Wire Wire Line
+ -630 5895 -535 5900
+Wire Wire Line
+ -535 5900 -450 1530
+Wire Wire Line
+ -450 1530 150 1545
+Wire Wire Line
+ -1035 6705 -1035 6570
+Wire Wire Line
+ 2255 850 2295 855
+Wire Wire Line
+ 1935 1035 2295 945
+$EndSCHEMATC
diff --git a/bone-cook-book/09capes/figures/quickBot_motor_kickback.JPG b/bone-cook-book/09capes/figures/quickBot_motor_kickback.JPG
new file mode 100644
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Binary files /dev/null and b/bone-cook-book/09capes/figures/quickBot_motor_kickback.JPG differ
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Binary files /dev/null and b/bone-cook-book/09capes/figures/quickBot_motor_test_cloud9.png differ
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Binary files /dev/null and b/bone-cook-book/09capes/figures/quickBot_motor_test_scope.JPG differ
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new file mode 100644
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Binary files /dev/null and b/bone-cook-book/09capes/figures/quickBot_motors.jpg differ
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new file mode 100644
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Binary files /dev/null and b/bone-cook-book/09capes/figures/quickBot_on_OSHPark.png differ
diff --git a/bone-cook-book/09capes/figures/quickBot_oshpark_share.png b/bone-cook-book/09capes/figures/quickBot_oshpark_share.png
new file mode 100644
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Binary files /dev/null and b/bone-cook-book/09capes/figures/quickBot_oshpark_share.png differ
diff --git a/bone-cook-book/09capes/figures/quickBot_pcb.JPG b/bone-cook-book/09capes/figures/quickBot_pcb.JPG
new file mode 100644
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Binary files /dev/null and b/bone-cook-book/09capes/figures/quickBot_pcb.JPG differ
diff --git a/bone-cook-book/09capes/figures/quickBot_pcb.png b/bone-cook-book/09capes/figures/quickBot_pcb.png
new file mode 100644
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Binary files /dev/null and b/bone-cook-book/09capes/figures/quickBot_pcb.png differ
diff --git a/bone-cook-book/09capes/figures/quickBot_play.fzz b/bone-cook-book/09capes/figures/quickBot_play.fzz
new file mode 100644
index 0000000000000000000000000000000000000000..d07ead49e645225c34208d6d769e7953236abcae
Binary files /dev/null and b/bone-cook-book/09capes/figures/quickBot_play.fzz differ
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new file mode 100644
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Binary files /dev/null and b/bone-cook-book/09capes/figures/quickBot_schem.png differ
diff --git a/bone-cook-book/09capes/figures/quickBot_schemRaw.png b/bone-cook-book/09capes/figures/quickBot_schemRaw.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0b7eedb716aa6fbe8e192bd56a178028e5e36ed
Binary files /dev/null and b/bone-cook-book/09capes/figures/quickBot_schemRaw.png differ
diff --git a/bone-cook-book/09capes/figures/quickBot_schemZoom.png b/bone-cook-book/09capes/figures/quickBot_schemZoom.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c86db5ec824f40c0b30c5b9bd8fa90c1c151dda
Binary files /dev/null and b/bone-cook-book/09capes/figures/quickBot_schemZoom.png differ
diff --git a/bone-cook-book/09capes/figures/roboCape.fzz b/bone-cook-book/09capes/figures/roboCape.fzz
new file mode 100644
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Binary files /dev/null and b/bone-cook-book/09capes/figures/roboCape.fzz differ
diff --git a/bone-cook-book/09capes/figures/srm_cape_dimensions.png b/bone-cook-book/09capes/figures/srm_cape_dimensions.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e72e0b18b3bc74fbe0b5d0e1cfc4fdcace2c932
Binary files /dev/null and b/bone-cook-book/09capes/figures/srm_cape_dimensions.png differ
diff --git a/bone-cook-book/09capes/figures/stacking_headers.JPG b/bone-cook-book/09capes/figures/stacking_headers.JPG
new file mode 100644
index 0000000000000000000000000000000000000000..a44dfa50d6fb1303241c3b2cbb638d1fa85f2371
Binary files /dev/null and b/bone-cook-book/09capes/figures/stacking_headers.JPG differ
diff --git a/bone-cook-book/09capes/figures/urls.txt b/bone-cook-book/09capes/figures/urls.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a95870bc60907f2b0e0b7e3f24e4cfcaa38add0f
--- /dev/null
+++ b/bone-cook-book/09capes/figures/urls.txt
@@ -0,0 +1,6 @@
+https://www.sparkfun.com/products/12866
+https://oshpark.com/shared_projects/Mz40o0aN
+http://fab.fritzing.org/how-to
+http://fritzing.org/pcb-custom-shape/
+https://github.com/upverter/schematic-file-converter/issues/190
+
diff --git a/bone-cook-book/10parts/parts.rst b/bone-cook-book/10parts/parts.rst
new file mode 100644
index 0000000000000000000000000000000000000000..546860fb45b214c6cc85114272a595ae86475d82
--- /dev/null
+++ b/bone-cook-book/10parts/parts.rst
@@ -0,0 +1,267 @@
+.. _bone-cook-book-parts:
+
+Parts and Suppliers
+####################
+
+// Do we really need this?
+
+Parts
+----------
+
+The following tables list where you can find the parts used in this book.
+We have listed only one or two sources here, but you can often find a given part in many places.
+
+United States suppliers
+
+.. table::
+
+ +-------------+------------------------------------+------------------------------------+
+ | Supplier | Website | Notes |
+ +=============+====================================+====================================+
+ | Adafruit | http://www.adafruit.com | Good for modules and parts |
+ +-------------+------------------------------------+------------------------------------+
+ | Amazon | http://www.amazon.com/ | Carries everything |
+ +-------------+------------------------------------+------------------------------------+
+ | Digikey | http://www.digikey.com/ | Wide range of components |
+ +-------------+------------------------------------+------------------------------------+
+ | MakerShed | http://www.makershed.com/ | Good for modules, kits, and tools |
+ +-------------+------------------------------------+------------------------------------+
+ | RadioShack | http://www.radioshack.com/ | Walk-in stores |
+ +-------------+------------------------------------+------------------------------------+
+ | SeeedStudio | http://www.seeedstudio.com/depot/ | Low-cost modules |
+ +-------------+------------------------------------+------------------------------------+
+ | SparkFun | http://www.sparkfun.com | Good for modules and parts |
+ +-------------+------------------------------------+------------------------------------+
+
+Other suppliers
+
+.. table::
+
+ +-----------+----------------------------------+-------------------------------------------------------------------------------------------+
+ | Supplier | Website | Notes |
+ +===========+==================================+===========================================================================================+
+ | Element14 | http://element14.com/BeagleBone | World-wide BeagleBoard.org-compliant clone of BeagleBone Black, carries many accessories |
+ +-----------+----------------------------------+-------------------------------------------------------------------------------------------+
+
+.. _app_proto:
+
+Prototyping Equipment
+-----------------------
+
+Many of the hardware projects in this book use jumper wires and a breadboard.
+We prefer the preformed wires that lie flat on the board. <<parts_jumper>> lists places
+with jumper wires, and <<parts_breadboard>> shows where you can get breadboards.
+
+.. _parts_jumper:
+
+Jumper wires
+
+.. table::
+
+ +-------------+--------------------------------------------------------------------------------------------+
+ | Supplier | Website |
+ +=============+============================================================================================+
+ | Amazon | http://www.amazon.com/Elenco-Piece-Pre-formed-Jumper-Wire/dp/B0002H7AIG |
+ +-------------+--------------------------------------------------------------------------------------------+
+ | Digikey | http://www.digikey.com/product-detail/en/TW-E012-000/438-1049-ND/643115 |
+ +-------------+--------------------------------------------------------------------------------------------+
+ | RadioShack | http://www.radioshack.com/solderless-breadboard-jumper-wire-kit/2760173.html#.VG5i1PnF8fA |
+ +-------------+--------------------------------------------------------------------------------------------+
+ | SparkFun | https://www.sparkfun.com/products/124 |
+ +-------------+--------------------------------------------------------------------------------------------+
+
+
+.. _parts_breadboard:
+
+Breadboards
+
+.. table::
+
+ +-------------+---------------------------------------------------------------------------------------------------------------------------------------------+
+ | Supplier | Website |
+ +=============+=============================================================================================================================================+
+ | Amazon | http://www.amazon.com/s/ref=nb_sb_noss_1?url=search-alias%3Dtoys-and-games&field-keywords=breadboards&sprefix=breadboards%2Ctoys-and-games |
+ +-------------+---------------------------------------------------------------------------------------------------------------------------------------------+
+ | Digikey | http://www.digikey.com/product-search/en/prototyping-products/solderless-breadboards/2359510?k=breadboard |
+ +-------------+---------------------------------------------------------------------------------------------------------------------------------------------+
+ | RadioShack | http://www.radioshack.com/search?q=breadboard |
+ +-------------+---------------------------------------------------------------------------------------------------------------------------------------------+
+ | SparkFun | https://www.sparkfun.com/search/results?term=breadboard |
+ +-------------+---------------------------------------------------------------------------------------------------------------------------------------------+
+ | CircuitCo | http://elinux.org/CircuitCo:BeagleBone_Breadboard |
+ +-------------+---------------------------------------------------------------------------------------------------------------------------------------------+
+
+If you want something more permanent, try `Adafruit's Perma-Proto Breadboard <https://www.adafruit.com/product/1609>`_, laid out like a breadboard.
+
+.. _app_resistor:
+
+Resistors
+----------
+
+We use 220 , 1 k, 4.7 k, 10 k, 20 k, and 22 k resistors in this book.
+All are 0.25 W. The easiest way to get all these, and many more, is to order `SparkFun's Resistor Kit <http://bit.ly/1EXREh8>`_.
+It's a great way to be ready for future projects, because it has 500 resistors.
+`RadioShack's 500-piece Resistor Assortment <http://shack.net/1B4Io4V>`_ is a bit more
+expensive, but it has a wider variety of resistors.
+
+If you don't need an entire kit of resistors, you can order a la carte from a number of places.
+`RadioShack has 5-packs <http://shack.net/1E5NoIC>`_, and DigiKey has more than a quarter million
+`through-hole resistors <http://bit.ly/1C6WQjZ>`_ at good prices, but make sure you are ordering the right one.
+
+You can find the 10 k trimpot (or variable resistor) at `SparkFun <http://bit.ly/18ACvpm>`_,
+`Adafruit <http://bit.ly/1NKg1Tv>`_, or `RadioShack <http://shack.net/1Ag286e>`_.
+
+Flex resistors (sometimes called *flex sensors* or *bend sensors*) are available at
+`SparkFun <http://bit.ly/1Br7HD2>`_ and `Adafruit <http://bit.ly/1HCGoql>`_.
+
+.. _app_transistor:
+
+Transistors and Diodes
+-----------------------
+
+The `2N3904 <http://bit.ly/1B4J8H4>`_ is a common NPN transistor that you can get almost anywhere.
+Even `Amazon <http://amzn.to/1AjvcsD>`_ has it. `Adafruit <http://bit.ly/1b2dgxT>`_ has a nice 10-pack.
+`SparkFun <http://bit.ly/1GrZj5P>`_ lets you buy them one at a time. `DigiKey <http://bit.ly/1GF8H9K>`_
+will gladly sell you 100,000.
+
+The `1N4001 <http://bit.ly/1EbRzF6>`_ is a popular 1A diode. Buy one at `SparkFun <http://bit.ly/1Ajw54G>`_,
+10 at `Adafruit <http://bit.ly/1Gs05zP>`_, 25 at `RadioShack <http://shack.net/1E5OTXi>`_,
+or 40,000 at `DigiKey <http://bit.ly/18ADlT2>`_.
+
+.. _app_ic:
+
+Integrated Circuits
+---------------------
+
+The PCA9306 is a small integrated circuit (IC) that converts voltage levels between 3.3 V and 5 V. You can get it
+cheaply in large quantities from `DigiKey <http://bit.ly/1Fb8REd>`_, but it's in a very small, hard-to-use, surface-mount
+package. Instead, you can get it from `SparkFun on a Breakout board <http://bit.ly/19ceTsd>`_, which plugs into a breadboard.
+
+The L293D is an `H-bridge IC <http://bit.ly/1wujQqk>`_ with which you can control large loads (such as motors) in
+both directions. `SparkFun <http://bit.ly/18bXChR>`_, `Adafruit <http://bit.ly/1xd43Yh>`_, and
+`DigiKey <http://bit.ly/18bXKOk>`_ all have it in a DIP package that easily plugs into a breadboard.
+
+The ULN2003 is a 7 darlington NPN transistor IC array used to drive motors one way. You can get it from
+`DigiKey <http://bit.ly/1D5UQIB>`_. A possible substitution is ULN2803 available from
+`SparkFun <http://bit.ly/1xd4oKy>`_ and `Adafruit <http://bit.ly/1EXWhaU>`_.
+
+The TMP102 is an I^2^C-based digital temperature sensor. You can buy them in bulk from
+`DigiKey <http://bit.ly/1EA02Vx>`_, but it's too small for a breadboard. `SparkFun <http://bit.ly/1GFafAE>`_
+sells it on a breakout board that works well with a breadboard.
+
+The DS18B20 is a one-wire digital temperature sensor that looks like a three-terminal transistor.
+Both `SparkFun <http://bit.ly/1Fba7Hv>`_ and `Adafruit <http://bit.ly/1EbSYvC>`_ carry it.
+
+.. _app_opto:
+
+Opto-Electronics
+-----------------
+
+`LEDs <http://bit.ly/1BwZvQj>`_ are *light-emitting diodes*. LEDs come in a wide range of colors,
+brightnesses, and styles. You can get a basic red LED at `SparkFun <http://bit.ly/1GFaHPi>`_,
+`Adafuit <http://bit.ly/1GFaH1M>`_, `RadioShack <http://shack.net/1KWVVGE>`_, and `DigiKey <http://bit.ly/1b2f2PD>`_.
+
+Many places carry bicolor LED matrices, but be sure to get one with an I^2^C interface.
+`Adafruit <http://bit.ly/18AENVn>`_ is where I got mine.
+
+.. _app_capes:
+
+Capes
+------
+
+There are a number of sources for capes for BeagleBone Black.
+`BeagleBoard.org <http://bit.ly/1AjlXJ9>`_ keeps a current list.
+
+
+.. _app_misc:
+
+Miscellaneous
+--------------
+
+Here are some things that don't fit in the other categories.
+
+.Miscellaneous
+
+.. table::
+
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | 3.3 V FTDI cable | `SparkFun <http://bit.ly/1FMeXsG>`_, |
+ | | `Adafruit <http://bit.ly/18AF1Mm>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | USB WiFi adapter | `Adafruit <http://www.adafruit.com/products/814>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | Female HDMI to male microHDMI adapter | `Amazon <http://amzn.to/1C5BcLp>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | HDMI cable | `SparkFun <https://www.sparkfun.com/products/11572>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | Micro HDMI to HDMI cable | `Adafruit <http://www.adafruit.com/products/1322>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | HDMI to DVI Cable | `SparkFun <https://www.sparkfun.com/products/12612>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | HDMI monitor | `Amazon <http://amzn.to/1B4MABD>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | Powered USB hub | `Amazon <http://amzn.to/1NKm2zB>`_, |
+ | | `Adafruit <http://www.adafruit.com/products/961>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | Keyboard with USB hub | `Amazon <http://amzn.to/1FbblSX>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | Soldering iron | `SparkFun <http://bit.ly/1FMfUkP>`_, |
+ | | `Adafruit <http://bit.ly/1EXZ6J1>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | Oscilloscope | `Adafruit <https://www.adafruit.com/products/468>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | Multimeter | `SparkFun <http://bit.ly/1C5BUbu>`_, |
+ | | `Adafruit <http://bit.ly/1wXX3np>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | PowerSwitch Tail II | `SparkFun <http://bit.ly/1Ag5bLP>`_, |
+ | | `Adafruit <http://bit.ly/1wXX8aF>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | Servo motor | `SparkFun <http://bit.ly/1C72cvw>`_, |
+ | | `Adafruit <http://bit.ly/1HCPQdl>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | 5 V power supply | `SparkFun <http://bit.ly/1C72q5C>`_, |
+ | | `Adafruit <http://bit.ly/18c0n2D>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | 3 V to 5 V motor | `SparkFun <http://bit.ly/1b2g65Y>`_, |
+ | | `Adafruit <http://bit.ly/1C72DWF>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | 3 V to 5 V bipolar stepper motor | `SparkFun <http://bit.ly/1Bx2hVU>`_, |
+ | | `Adafruit <http://bit.ly/18c0HhV>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | 3 V to 5 V unipolar stepper motor | `Adafruit <http://www.adafruit.com/products/858>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | Pushbutton switch | `SparkFun <http://bit.ly/1AjDf90>`_, |
+ | | `Adafruit <http://bit.ly/1b2glhw>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | Magnetic reed switch | `SparkFun <https://www.sparkfun.com/products/8642>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | LV-MaxSonar-EZ1 Sonar Range Finder | `SparkFun <http://bit.ly/1C73dDH>`_, |
+ | | `Amazon <http://amzn.to/1wXXvlP>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | HC-SR04 Ultrsonic Range Sensor | `Amazon <http://amzn.to/1FbcPNa>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | Rotary encoder | `SparkFun <http://bit.ly/1D5ZypK>`_, |
+ | | `Adafruit <http://bit.ly/1D5ZGp3>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | GPS receiver | `SparkFun <http://bit.ly/1EA2sn0>`_, |
+ | | `Adafruit <http://bit.ly/1MrS2VV>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | BLE USB dongle | `Adafruit <http://www.adafruit.com/products/1327>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | SensorTag | `DigiKey <http://bit.ly/18AGPVt>`_, |
+ | | `Amazon <http://amzn.to/1EA2B9U>`_, |
+ | | `TI <https://store.ti.com/CC2541-SensorTag-Development-Kit-P3192.aspx>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | Syba SD-CM-UAUD USB Stereo Audio Adapter | `Amazon <http://amzn.to/1EA2GdI>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | Sabrent External Sound Box USB-SBCV | `Amazon <http://amzn.to/1C74kTU>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | Vantec USB External 7.1 Channel Audio Adapter | `Amazon <http://amzn.to/19cinev>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | Nokia 5110 LCD | `Adafruit <http://bit.ly/1Ag6LgG>`_, |
+ | | `SparkFun <http://bit.ly/19cizdu>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | BeagleBone LCD7 | `eLinux <http://elinux.org/CircuitCo:BeagleBone_LCD7#Distributors>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
+ | MiniDisplay Cape | `eLinux <http://elinux.org/CircuitCo:MiniDisplay_Cape>`_ |
+ +-----------------------------------------------------+---------------------------------------------------------------------------+
diff --git a/bone-cook-book/index.rst b/bone-cook-book/index.rst
new file mode 100644
index 0000000000000000000000000000000000000000..ebc0977f2a91739024d2bba730277380c1359c32
--- /dev/null
+++ b/bone-cook-book/index.rst
@@ -0,0 +1,25 @@
+.. _bone-cook-book-home:
+
+BeagleBone Cookbook
+#######################
+
+.. admonition:: Contributors
+
+ - Author: `Mark A. Yoder <Mark.A.Yoder@Rose-Hulman.edu>`_
+ - Book revision: v2.0 beta
+
+A cookbook for programming Beagles
+
+.. toctree::
+ :maxdepth: 1
+
+ 01basics/basics.rst
+ 02sensors/sensors.rst
+ 03displays/displays.rst
+ 04motors/motors.rst
+ 05tips/tips.rst
+ 06iot/iot.rst
+ 07kernel/kernel.rst
+ 08realtime/realtime.rst
+ 09capes/capes.rst
+ 10parts/parts.rst
diff --git a/index.rst b/index.rst
index 64543e62f17d9107484f5112c78cf86485d9fa0d..882ec2770e4446aaf5fed90706951be26adf50da 100644
--- a/index.rst
+++ b/index.rst
@@ -36,6 +36,12 @@ Sections
simppru/index.rst
simppru-examples/index.rst
+.. toctree::
+ :maxdepth: 1
+ :caption: Books
+
+ bone-cook-book/index.rst
+
Indices and tables
############################