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If you want to make changes to a RPI which is already set up, you have to remount the read-only filesystem. |
- Install Raspbian Lite. We currently use Debian 10 (Buster).
Change password by using
:Code Block language bash passwd piActivate SSH
:sudo systemctl enable sshand sudo systemctl startCode Block language bash sudo systemctl enable ssh sudo systemctl start ssh
- Install and configure NTP
Install tmux
: sudo apt installCode Block language bash sudo apt install tmux
- "Install" the RTI Connext libraries under
/usr/local/lib/by copying the arm-folder from the Main PC underopt/rti_connext_dds-6.0.0/lib/armv6vfphLinux3.xgcc4.7.2/. This can of course only be done after the ARM libraries have been installed on the Main Computer.
It should look like this afterward:
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pi@raspberrypi-06:~ $ find /usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/ |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/ |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscppd.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscd.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcpzd.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2z.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcppz.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoringd.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcp.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2d.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoringz.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcpd.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscz.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscppzd.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsc.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcpz.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcpp.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscore.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoringzd.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscorez.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscppz.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscored.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcppd.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsjava.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2zd.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsczd.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscorezd.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsjavad.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoring.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcz.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcppzd.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlc.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcd.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlczd.a |
'Register' the Libraries
Make the libraries available. Insert /usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2 into /etc/ld.so.conf. Then run
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sudo ldconfig |
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Configure Bootup Behaviour
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Enable autostart, using sudo nano /etc/rc.local and insert
tmux
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new-session
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-d
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-s
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"bootloader_raspberry"
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"bash
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/root/bootloader_raspberry.bash"
NTP configuration
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See the NUC NTP-Configuration.
ID-Related Settings
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In order to make NTP working properly with a read-only filesystem, it is also necessary to copy the following file
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cp /lib/systemd/system/ntp.service /etc/systemd/system/ntp.service |
and to comment out PrivateTmp=true in
/etc/systemd/system/ntp.service
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If you need writing access to the file system, you can use (dependent on the folder you need access to)
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to remount the system. |
Applying RT-Patch
Because the vehicle needs to be real-time capable, a real-time patch (RT-Patch) should be applied to the underlying Linux Kernel.
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It might happen that the system clock is not automatically synchronizing via NTP if it differs too much from the real-time. Firstly, take care that your timezone is set correctly:
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sudo raspi-config |
In the opening UI go to: 4 Localisation Options → I2 Change Time Zone → None of the above → UTC
Furthermore, you can force NTP to set the time once. Therefore, stop the service, force it, and restart it again :
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sudo /etc/init.d/ntp stop |
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sudo ntpd -qg |
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sudo /etc/init.d/ntp start |
Afterwards, NTP should synchronize automatically.
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The vehicle Raspberry software is cross-compiled from the master PC. The build script git:software/vehicle_raspberry_firmware/build.bash creates an archive of the compiled software and other required files and publishes it via Apache. The bootloader_raspberry.bash autostart script on the Raspberry downloads and runs this software.
ARP Table Generation
Because unsuccessful ARP requests sometimes block communication a static ARP table is sometimes useful. To generate one one needs to switch on all participants, ping each one from the main PC and then output the arp table on the main pc with e.g. https://man7.org/linux/man-pages/man8/ip-neighbour.8.html (newer) or arp -a (old).
The info can then be used to feed a script that sets up the arp entries statically for the participants. Currently this is done in https://git.rwth-aachen.de/CPM/Project/Lab/software/-/blob/feature/fastdds/mid_level_controller/package/start.bash and the static arp table is part of the package.
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