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+# Instructions on compiling and loading a device tree overlay
+The BeagleBone Black (BBB) uses device tree overlays (DTOs) to specify the operation and 
+default settings of the pins. You can read more about using DTOs 
+for the BBB [here](https://learn.adafruit.com/introduction-to-the-beaglebone-black-device-tree/overview).
+Here we give instructions on how to compile and load the overlay `cape-universallc`
+found in this folder. All commands in the instructions are performed on the BBB.
+
+First, make sure to have a copy of the file `cape-universallc-00A0.dts` in the folder `/lib/firmware`
+on the BBB:
+```shell
+cp cape-universallc-00A0.dts /lib/firmware
+```
+Then we use the device tree compiler (dtc) to compile the human readable 
+`.dts`-file into a `.dtbo`-file usable by the Linux kernel:
+```shell
+cd /lib/firmware
+dtc -0 dtb -o cape-universallc-00A0.dtbo -b 0 -@ cape-universallc-00A0.dts
+```
+Now we have a new file `cape-universallc-00A0.dtbo` in `/lib/firmware/`. To load
+the new DTO, we send it to the slots-file of the BBB:
+```shell
+echo cape-universallc > /sys/devices/bone_capemgr.*/slots
+```
+Note that the extension `-00A0.dtbo` is omitted in the command above. To check 
+that the overlay has been loaded properly we can check the slots file:
+```shell
+cat /sys/devices/bone_capemgr.*/slots
+```
+which should give the following printout:
+```shell
+ 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
+ 8: ff:P-O-L Override Board Name,00A0,Override Manuf,cape-universallc
+```
+Here the overlays in slots 4 and 5 are related to the eMMC and HDMI, while the 
+new overlay `cape-universallc` is loaded to slot 8. Now the behaviour of the BBBs 
+pins is properly defined, and you can start using the framework of `LabConnections.BeagleBone`.
+
+### Note about `cape-universallc`
+The DTO `cape-universallc` is essentially identical to the standard DTO
+`cape-universaln` found [here](https://github.com/cdsteinkuehler/beaglebone-universal-io) 
+which exports all pins except for those used by the HDMI and eMMC. However, there 
+is a bug in the default version of `cape-universaln` found on the BBB (described [here](https://github.com/cdsteinkuehler/beaglebone-universal-io/issues/21)), 
+which prevents it from loading properly. This bug has been taken care of in `cape-universallc`.
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