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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / c68b350a87a7be18b5caaada9af1bbde8ec43af9 / . / frc971 / raspi / rootfs
tree: 6a1d239541adff1143624375f3e9c63e460dcc53 [path history] [tgz]
  1. 99-usb-mount.rules
  2. BUILD
  3. build_kernel.sh
  4. change_hostname.sh
  5. chrt.sh
  6. dhcpcd.conf
  7. enable_imu.sh
  8. frc971.service
  9. frc971chrt.service
  10. logind.conf
  11. make_sd.sh
  12. modify_rootfs.sh
  13. mount_rootfs.sh
  14. README.md
  15. rt.conf
  16. sctp.conf
  17. target_configure.sh
  18. usb-mount@.service
frc971/raspi/rootfs/README.md

Creating an SD card to run the Raspberry Pis

This modifies a stock debian root filesystem to be able to operate as a vision pi. It is not trying to be reproducible, but should be good enough for FRC purposes.

The default hostname and IP is pi-971-1, 10.9.71.101. Username pi, password raspberry.

Build the real-time kernel using build_kernel.sh

  • Checkout the real-time kernel source code, e.g., cd CODE_DIR, where CODE_DIR is the directory containing the FRC971 code git clone git@github.com:frc971/linux.git git checkout frc971-5.10-pi4-rt branch

  • Run build_kernel.sh to compile the real-time kernel cd ROOTFS_DIR (where ROOTFS_DIR -> //frc971/raspi/rootfs) ./build_kernel.sh CODE_DIR/linux kernel_5.10.tar.gz

Build the ADIS16505 overlay file (adis16505.ko)

  • Make sure the linux kernel source code is checked out at CODE_DIR/linux
  • cd //y2022/localizer/kernel
  • make
  • copy that file to this directory (//frc971/raspi/rootfs)

Download the Raspberry Pi OS

Download the appropriate Raspberry Pi OS image, e.g., 2022-01-28-raspios-bullseye-arm64-lite.img (or any newer arm64 bullseye version, as a .zip file) from https://www.raspberrypi.org/downloads/raspberry-pi-os/, and extract (unzip) the .img file.

Create our custom OS image using modify_root.sh

  • Edit modify_rootfs.sh to point to the kernel file (e.g., KERNEL=kernel_5.10.tar.gz) and the Raspberry Pi OS image (e.g., IMAGE=2022-01-28-raspios-bullseye-arm64-lite.img)

  • Run modify_rootfs.sh to build the filesystem (you might need to hit return in a spot or two and will need sudo privileges to mount the partition):

    • ./modify_root.sh

Write the file system to the SD card

VERY IMPORTANT NOTE: Before doing the next step, use lsblk to find the device and make absolutely sure this isn't your hard drive or something else. It will target /dev/sda by default, which in some computers is your default hard drive.

After confirming the target device, edit the make_sd.sh script to point to the correct IMAGE filename, and run the make_sd.sh command, which takes the name of the pi as an argument:

  • make_sd.sh pi-971-1

OR, if you want to manually run this, you can deploy the image by copying the contents of the image to the SD card. You can do this manually, via dd if=2020-02-13-raspbian-bullseye-lite-frc-mods.img of=/dev/sdX bs=1M

From there, transfer the SD card to the pi, log in, sudo to root, and run /root/bin/change_hostname.sh to change the hostname to the actual target.

A couple additional notes on setting this up:

  • You'll likely need to install (sudo apt install) the emulation packages proot and qemu-user-static (or possibly qemu-arm-static)
  • If the modify_root.sh script fails, you may need to manually unmount the image (sudo umount ${PARTITION} and rmdir ${PARTITION}) before running it again
  • Don't be clever and try to link to the image file in a different folder. These scripts need access directly to the file and will fail otherwise

Things to do once the SD card is complete, and you've booted a PI with it:

  • Download the code: Once this is completed, you can boot the pi with the newly flashed SD card, and download the code to the pi using: `bazel run -c opt --config=armv7 //y2022:pi_download_stripped -- PI_IP_ADDR

    where PI_IP_ADDR is the IP address of the target pi, e.g., 10.9.71.101