TODO This is untested and possibly incomplete.

TODO: RTI Connext 6 Update

First Time Setup

https://www.raspberrypi.org/downloads/raspbian/

Install Raspbian Lite

Install and configure NTP

Install tmux, sudo apt install tmux

Install the RTI Connext libraries under /usr/local/lib/. This should be done after the ARM libraries have been installed. The required files can be found in opt/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/ (copy the arm folder).

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

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.

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"

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 vehilce ID is derived from the IP. The IP is 192.168.1.1XX where XX are the digits of the vehicle ID.

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.