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
- Change password by using:
passwd pi
- Activate SSH:
sudo systemctl enable ssh
andsudo systemctl start ssh
- Install and configure NTP
- Install tmux:
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:
pi@raspberrypi-06:~ $ find /usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscppd.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscd.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcpzd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2z.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcppz.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoringd.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcp.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2d.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoringz.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcpd.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscz.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscppzd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsc.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcpz.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcpp.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscore.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoringzd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscorez.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscppz.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscored.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcppd.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsjava.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2zd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsczd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscorezd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsjavad.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoring.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcz.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcppzd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlc.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcd.so
/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 sudo ldconfig
.
Configure Bootup Behaviour
Copy the file git:software/vehicle_raspberry_firmware/bootloader_raspberry.bash
to /root/bootloader_raspberry.bash
on the Raspberry.
Enable autostart, using sudo nano /etc/rc.local
and insert
tmux new-session -d -s "bootloader_raspberry" "bash /root/bootloader_raspberry.bash"
ID-Related Settings
Edit the /etc/hostname
file to give the Raspberry a unique name. The name should correspond to the vehicle ID, for example raspberrypi-06
or raspberrypi-42
.
Create a DHCP reservation for the Raspberry on the router. The vehicle ID is derived from the IP. The IP is 192.168.1.1XX
where XX
are the digits of the vehicle ID.
Read-Only Filesystem
One crucial aspect regarding the Raspberry Pi is, that the vehicle will be turned off by using the switch on the bottom, mostly. That will directly cut off the power supply of the RPI. In order to avoid damage to the OS, it is important to configure the filesystem to be read-only. For that, follow the instructions on https://kofler.info/raspbian-lite-fuer-den-read-only-betrieb/ . (As alternative https://www.mehr4u.de/raspberry-pi-mit-readonly-filesystem.html may also be used. Vehicle 20 is created by following the first link but using "fastboot noswap ro"
instead of "fastboot noswap
" .)
In order to make NTP working properly with a read-only filesystem, it is also necessary to copy the following file
cp /lib/systemd/system/ntp.service /etc/systemd/system/ntp.service
and to comment out PrivateTmp=true
in
/etc/systemd/system/ntp.service
If you need writing access to the file system, you can use (dependent on the folder you need access to)
sudo mount -o remount,rw /
sudo mount -o remount,rw /boot
to remount the system.
Troubleshooting
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:
sudo raspi-config --> 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 :
sudo /etc/init.d/ntp stop
sudo ntpd -qg
sudo /etc/init.d/ntp start
Afterwards, NTP should synchronize automatically.
Cross Compilation and Software Distribution
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.