Support for the Beaglebone AI

Hello, I have been trying to get the Robotics Cape working on the Beaglebone AI. As I understand it, the device tree that the RC control library uses, is not able to be used with the AM5729 that the BBAI has. Before I say anything more, let me say that I have only basic programming skills and am no electronics engineer by any means, so I honestly have no idea how much work would go into this. I just wanted to use some of my programs I wrote for the BeagleBone Blue on the BBAI. Thanks.