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RC3 Prospect #32
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354ca90
Switch to pi-gen 2025-10-01-raspios-trixie-arm64
Apehaenger 2dcb742
Actualized docs
Apehaenger b780330
Restrict dnsmasq to only listen on eth0
ClemensElflein e830703
ros configuration
Apehaenger 041c157
Merge branch 'main' into feat/RC3-Prep
Apehaenger 24d5415
Add CM5 tested features
Apehaenger 5441fa0
Set mow_angle_increment to 0 in mower_params.yaml
ClemensElflein b32f2bc
Update new cases
Apehaenger d8bb3cc
Fix comitup no-IP issue
Apehaenger 1df9ca8
🐛 fix(comitup): correct service configuration and script paths
Apehaenger ad096a7
Disable cloud-init and netplan installation
Apehaenger 9e34b9f
📝 docs(tested_features): update test status and add CM5 specific foot…
Apehaenger a0aeb1b
📝 docs(TESTED_FEATURES): update comitup portal test status
Apehaenger 85a7b6b
✨ feat(openocd): add openocd build and configuration stage
Apehaenger 96fd9c0
✨ feat(openmower): add data directory and ros log symlink
Apehaenger 268aeb5
Make coderrabbit happy
Apehaenger c25bae8
🐛 fix(openocd): correct file ownership and permissions in setup scripts
Apehaenger 04e1066
🐛 fix(openocd): add null check for GPIO_CHIP variable
Apehaenger b3ace29
📝 docs(TESTED_FEATURES): update hardware test matrix and add note
Apehaenger d4f0e6d
Fix typo
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Submodule pi-gen
updated
16 files
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32 changes: 32 additions & 0 deletions
32
stage-openmower/20-comitup/files/usr/local/bin/comitup-callback
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,32 @@ | ||
| #!/bin/bash | ||
| # Callback script for comitup to manage dnsmasq | ||
| # Argument: $1 = state (HOTSPOT, CONNECTING, CONNECTED) | ||
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| LOG="/var/log/comitup-callback.log" | ||
| DNSMASQ_SERVICE="dnsmasq.service" | ||
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| log() { | ||
| echo "$(date): $*" >> "$LOG" | ||
| } | ||
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| case "$1" in | ||
| HOTSPOT) | ||
| log "Entering HOTSPOT mode - stopping dnsmasq" | ||
| systemctl stop "$DNSMASQ_SERVICE" 2>/dev/null | ||
| pkill -9 dnsmasq 2>/dev/null | ||
| # Ensure no dnsmasq is listening on port 67 | ||
| ss -ulpn | grep :67 && log "WARNING: Port 67 still occupied" | ||
| ;; | ||
| CONNECTING) | ||
| log "Entering CONNECTING mode - dnsmasq remains stopped" | ||
| ;; | ||
| CONNECTED) | ||
| log "Entering CONNECTED mode - restarting dnsmasq" | ||
| systemctl start "$DNSMASQ_SERVICE" 2>/dev/null | ||
| ;; | ||
| *) | ||
| log "Unknown state: $1" | ||
| ;; | ||
| esac | ||
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| exit 0 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,23 @@ | ||
| #!/bin/bash -e | ||
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| chown -R 1000:1000 /home/openmower/.config | ||
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| export DEBIAN_FRONTEND=noninteractive | ||
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| # Install dependencies | ||
| apt-get update | ||
| apt-get install -y --no-install-recommends autoconf automake build-essential curl libftdi-dev libtool libusb-1.0-0-dev git pkg-config rpi.gpio-common texinfo libgpiod-dev libjim-dev | ||
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| # Create directory for OpenOCD | ||
| mkdir -p /opt | ||
| cd /opt | ||
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| # Clone OpenOCD repository | ||
| git clone https://github.com/raspberrypi/openocd.git --recursive | ||
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| # Bootstrap, configure, compile, and install OpenOCD | ||
| cd openocd | ||
| ./bootstrap | ||
| ./configure --enable-ftdi --enable-sysfsgpio --enable-bcm2835gpio --enable-linuxgpiod | ||
| make -j$(nproc) | ||
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| make install | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| #!/bin/bash -e | ||
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| STAGE_DIR="$(dirname "$0")" | ||
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| # Install files | ||
| install -m 0755 -d "$ROOTFS_DIR/home/openmower/.config/openmower-cli" | ||
| install -m 0664 -D "$STAGE_DIR/files/xcore.cfg" "$ROOTFS_DIR/home/openmower/.config/openmower-cli/xcore.cfg" | ||
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| install -o "root" -m 0755 -d "$ROOTFS_DIR/root/.config/openmower-cli" | ||
| install -o "root" -m 0664 -D "$STAGE_DIR/files/xcore.cfg" "$ROOTFS_DIR/root/.config/openmower-cli/xcore.cfg" |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,34 @@ | ||
| # SPDX-License-Identifier: GPL-2.0-or-later | ||
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| # Config for Raspberry Pi 5 used as a bitbang adapter. | ||
| # https://www.raspberrypi.com/documentation/computers/raspberry-pi.html | ||
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| # Raspberry Pi 5 is not compatible with bcm2835gpio native GPIO driver. | ||
| # The linuxgpiod driver without configurable adapter speed runs at approximately | ||
| # 800 kHz (SWD writes) and 360 kHz (SWD reads) | ||
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| adapter driver linuxgpiod | ||
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| proc read_file { name } { | ||
| if {[catch {open $name r} fd]} { | ||
| return "" | ||
| } | ||
| set result [read $fd] | ||
| close $fd | ||
| return $result | ||
| } | ||
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| set pcie_aspm [read_file /sys/module/pcie_aspm/parameters/policy] | ||
| if {![string match {*\[performance\]*} $pcie_aspm]} { | ||
| echo "Warn : Switch PCIe power saving off or the first couple of pulses gets clocked as fast as 20 MHz" | ||
| echo "Warn : Issue 'echo performance | sudo tee /sys/module/pcie_aspm/parameters/policy'" | ||
| } | ||
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| set _GPIO_CHIP 0 | ||
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| # Each of the SWD lines need a gpio number set: swclk swdio | ||
| # OpenMower pins | ||
| adapter gpio swclk -chip $_GPIO_CHIP 27 | ||
| adapter gpio swdio -chip $_GPIO_CHIP 22 | ||
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| transport select swd |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,6 +1,5 @@ | ||
| # Install a few helpful packages | ||
| mc | ||
| openocd | ||
| wavemon | ||
| aptitude | ||
| socat | ||
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