Commit initial

raspberrypi/.gitignore

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+dl
+output
+principalconf.sh
+sshconf
+sshkey*

raspberrypi/Config.in

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+source "$BR2_EXTERNAL_CDF_PATH/package/robotech/Config.in"
+source "$BR2_EXTERNAL_CDF_PATH/package/cr1901/Config.in"

raspberrypi/Makefile

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+default: compile
+
+upgrade-all: upgrade-chef upgrade-arduino upgrade-fpga upgrade-filesystem
+
+# CONSTANTES
+
+# Périphérique bloc à utiliser pour flasher
+SDCARD=/dev/mmcblk0
+
+# SYSTÈME D'EXPLOITATION
+
+# Configuration
+buildroot/.config: configs/cdfprincipal_defconfig
+	make -C buildroot BR2_EXTERNAL=.. cdfprincipal_defconfig
+
+configure: buildroot/.config
+
+# Compile l'OS (ça prend quelques heures)
+compile: configure
+	make -C buildroot target-finalize
+
+# Crée l'image à flasher
+image:
+	make -C buildroot
+
+# Supprime tous les fichiers de l'OS
+clean:
+	make -C buildroot clean
+
+# Dernier recours en cas de compilation d'OS foireuse
+# (faut être patient)
+recompile: clean compile
+
+# Flashe l'image sur la carte SD
+flash: image $(SDCARD)
+	sudo dd status=progress if=buildroot/output/images/sdcard.img of=$(SDCARD) bs=1M
+	sync
+	echo -e "resizepart 2\n100%\nquit" | sudo parted $(SDCARD)
+	sync
+	sudo resize2fs $(SDCARD)*2
+	sync
+
+# Graphiques (parce que c'est rigolo)
+graphs:
+	make -C buildroot graph-{size,build,depends{,-requirements}}
+
+# CONNEXION AU ROBOT
+
+# Il vous faudra pour ces actions le fichier principalconf.sh
+
+# Crée un fichier de conf utilisable pour s'y connecter
+sshconf: principalconf.sh
+	source $$PWD/$<; echo -e "Host principal p\n    User root\n    Hostname $$ADDRESS\n    PreferredAuthentications publickey\n    PubkeyAuthentication yes\n    IdentityFile \"$$PWD/sshkey\"" > "$@"
+	source $$PWD/$<; echo -e "$$SSHCPRV" > sshkey
+	chmod 600 sshkey
+
+# Lance une connexion SSH, tout bêtement
+ssh: sshconf
+	ssh -F sshconf principal
+
+# Redémarre le robot
+reboot: sshconf
+	ssh -F sshconf principal /sbin/reboot
+
+# Met le robot à l'heure (jusqu'au prochain redémarrage)
+# (ce qui est une mauvaise idée parce que du coup rsync
+# n'écrase pas les fichiers modifiés directement sur le Pi)
+#date: sshconf
+#	ssh -F sshconf principal "date -s $(date +%Y%m%d%H%M.%S)"
+
+# Met à jour le Raspberry Pi (par rapport à ce dépôt)
+upgrade-filesystem: sshconf configure
+	make -C buildroot target-finalize
+	@# TODO Récupérer les ACL plutot que de mettre tous les fichiers en root
+	rsync --rsh 'ssh -F sshconf' --archive --chown root:root buildroot/output/target/ principal:/
+
+# Met jour les overlays (une partie des fichiers)
+upgrade-overlays: sshconf
+	rsync --rsh 'ssh -F sshconf' --archive --chown root:root robotech/chef/rootfs_overlay/ principal:/
+
+# ARDUINO
+upgrade-arduino:
+	make -C ../arduino/
+	scp -F sshconf -q "../arduino/principal.hex" principal:/tmp/principal.hex
+	ssh -F sshconf principal "avrdude -p atmega2560 -P /dev/ttyACM0 -c stk500 -D -U flash:w:/tmp/principal.hex"
+
+# FPGA
+upgrade-fpga:
+	make -C ../fpga/
+	scp -F sshconf -q "../fpga/build/Principal.bit" principal:/tmp/Principal.bit
+	ssh -F sshconf principal "mercpcl /tmp/Principal.bit"
+
+# CHEF
+
+prog: chef
+chef:
+	make -C buildroot chef-rebuild
+
+upgrade-chef: chef
+	make -C buildroot chef-reinstall
+	rsync --rsh 'ssh -F sshconf' --archive --chown root:root buildroot/output/target/opt/chef principal:/opt/
+

raspberrypi/board/robotech/cdfprincipal/linux-extra.conf

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+MEDIA_SUPPORT=n
+SOUND=n

raspberrypi/board/robotech/cdfprincipal/post-build.sh

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+#!/bin/sh
+
+if file ${BR2_EXTERNAL_CDF_PATH}/principalconf.sh &> /dev/null
+then
+    source ${BR2_EXTERNAL_CDF_PATH}/principalconf.sh
+
+    # Wi-Fi configuration
+    mkdir -p ${TARGET_DIR}/etc/wpa_supplicant/
+    wpa_passphrase "$WPASSID" "$WPAPSK" > ${TARGET_DIR}/etc/wpa_supplicant/wpa_supplicant.conf
+    # Le ifup de Busybox ne supporte pas les options wpa-*, donc on utilisera les wpa_supplicant en direct
+
+    # Network configuration
+    echo -e "
+auto wlan0
+iface wlan0 inet static
+  address $ADDRESS
+  netmask $NETMASK
+  gateway $GATEWAY
+" >> ${TARGET_DIR}/etc/network/interfaces
+
+    # SSH configuration
+    rm ${TARGET_DIR}/etc/dropbear &> /dev/null
+    mkdir -p ${TARGET_DIR}/etc/dropbear/
+    echo "$SSHSPRV" | base64 -d > ${TARGET_DIR}/etc/dropbear/dropbear_ecdsa_host_key
+    mkdir -p ${TARGET_DIR}/root/.ssh/
+    echo "$SSHCPUB" > ${TARGET_DIR}/root/.ssh/authorized_keys
+else
+    echo "Récupérez le fichier principalconf.sh pour pouvoir vous connecter au vrai robot !"
+fi
+
+# Demote some services
+for service in S20urandom S40network S50dropbear
+do
+    if [ -f ${TARGET_DIR}/etc/init.d/${service} ]
+    then
+        mv ${TARGET_DIR}/etc/init.d/${service} ${TARGET_DIR}/etc/extra.d/${service}
+    fi
+
+done
+
+dd if=/dev/urandom of=${TARGET_DIR}/etc/random-seed bs=512 count=1
+

raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/extra.d/S40wifi

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+#!/bin/sh
+#
+# Connect to Wi-Fi network
+#
+
+start() {
+	printf "Starting Wi-Fi connection: "
+	# modprobe brcmfmac
+	modprobe r8188eu
+	ip link set wlan0 up
+	wpa_supplicant -D wext -B -iwlan0 -c /etc/wpa_supplicant/wpa_supplicant.conf -P /var/run/wpa_supplicant.pid
+	ifup wlan0
+	echo "OK"
+}
+
+stop() {
+	printf "Stopping Wi-Fi connection: "
+	start-stop-daemon -K -q -p /var/run/wpa_supplicant.pid
+	ifdown wlan0
+	# rmmod brcmfmac
+	rmmod r8188eu
+	echo "OK"
+}
+
+case "$1" in
+	start)
+		start
+		;;
+	stop)
+		stop
+		;;
+	restart|reload)
+		stop
+		start
+		;;
+	*)
+		echo "Usage: $0 {start|stop|restart}"
+		exit 1
+esac
+
+exit $?

raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/extra.d/rcK

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+#!/bin/sh
+
+
+# Stop all init scripts in /etc/extra.d
+# executing them in reversed numerical order.
+#
+for i in $(ls -r /etc/extra.d/S??*) ;do
+
+	# Ignore dangling symlinks (if any).
+	[ ! -f "$i" ] && continue
+
+	case "$i" in
+		*.sh)
+			# Source shell script for speed.
+			(
+			trap - INT QUIT TSTP
+			set stop
+			. $i
+			)
+			;;
+		*)
+			# No sh extension, so fork subprocess.
+			$i stop
+			;;
+	esac
+done
+

raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/extra.d/rcS

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+#!/bin/sh
+
+
+# Start all init scripts in /etc/extra.d
+# executing them in numerical order.
+#
+for i in /etc/extra.d/S??* ;do
+
+	# Ignore dangling symlinks (if any).
+	[ ! -f "$i" ] && continue
+
+	case "$i" in
+		*.sh)
+			# Source shell script for speed.
+			(
+			trap - INT QUIT TSTP
+			set start
+			. $i
+			)
+			;;
+		*)
+			# No sh extension, so fork subprocess.
+			$i start
+			;;
+	esac
+done
+

raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S40keyboard

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+#!/bin/sh
+#
+# Changes keyboard layout to AZERTY
+#
+
+start() {
+	printf "Starting AZERTY keyboard: "
+	loadkmap < /usr/share/keyboard/fr-latin9.bmap
+	echo "OK"
+}
+
+stop() {
+	printf "Stopping AZERTY keyboard: "
+	echo "OK"
+}
+
+case "$1" in
+	start)
+		start
+		;;
+	stop)
+		stop
+		;;
+	restart|reload)
+		stop
+		start
+		;;
+	*)
+		echo "Usage: $0 {start|stop|restart}"
+		exit 1
+esac
+
+exit $?

raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S50chef

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+#!/bin/sh
+#
+# Start main program
+#
+
+EXEC=$(which sh)
+PIDFILE=/var/run/chef.pid
+LOGFILE=/var/run/chef.log
+
+start() {
+	printf "Starting chef: "
+	start-stop-daemon -p "$PIDFILE" -x "$EXEC" -b -m -S -- "/opt/chef/run.sh" -l "$LOGFILE"
+echo "OK"
+}
+
+stop() {
+	printf "Stopping chef: "
+	start-stop-daemon -p "$PIDFILE" -x "$EXEC" -K
+	echo "OK"
+}
+
+case "$1" in
+	start)
+		start
+		;;
+	stop)
+		stop
+		;;
+	restart|reload)
+		stop
+		start
+		;;
+	*)
+		echo "Usage: $0 {start|stop|restart}"
+		exit 1
+esac
+
+exit $?

raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S90extra

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+#!/bin/sh
+#
+# Start extra services when not in debug mode
+#
+
+start() {
+	printf "Starting extra services: "
+	if ! /opt/cdf/bin/testpin 0 1
+	then
+		/etc/extra.d/rcS
+	fi
+	echo "OK"
+}
+
+stop() {
+	printf "Stopping extra services: "
+	/etc/extra.d/rcK
+	echo "OK"
+}
+
+case "$1" in
+	start)
+		start
+		;;
+	stop)
+		stop
+		;;
+	restart|reload)
+		stop
+		start
+		;;
+	*)
+		echo "Usage: $0 {start|stop|restart}"
+		exit 1
+esac
+
+exit $?

raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/root/.profile

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+#/bin/bash
+
+alias la='ls -al'
+alias ll='ls -l'
+alias cp="cp -i"
+alias mv="mv -i"
+alias free='free -m'
+alias df='df -h'
+
+export PS1="[\u@\h \$] "
+export PS2="> "
+export PS3="+ "
+export PS4="- "

raspberrypi/buildroot

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+Subproject commit 8f03647169a17b10503594e5f3d95113a01171f9

raspberrypi/configs/cdfprincipal_defconfig

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+# From configs/raspberrypi3_defconfig
+
+BR2_arm=y
+BR2_cortex_a7=y
+BR2_ARM_EABIHF=y
+BR2_ARM_FPU_NEON_VFPV4=y
+
+BR2_TOOLCHAIN_BUILDROOT_CXX=y
+
+BR2_SYSTEM_DHCP="eth0"
+
+# Linux headers same as kernel, a 4.4 series
+BR2_PACKAGE_HOST_LINUX_HEADERS_CUSTOM_4_4=y
+
+BR2_LINUX_KERNEL=y
+BR2_LINUX_KERNEL_CUSTOM_GIT=y
+BR2_LINUX_KERNEL_CUSTOM_REPO_URL="https://github.com/raspberrypi/linux.git"
+BR2_LINUX_KERNEL_CUSTOM_REPO_VERSION="1ebe8d4a4c96cd6a90805c74233a468854960f67"
+BR2_LINUX_KERNEL_DEFCONFIG="bcm2709"
+
+# Build the DTB from the kernel sources
+BR2_LINUX_KERNEL_DTS_SUPPORT=y
+BR2_LINUX_KERNEL_INTREE_DTS_NAME="bcm2710-rpi-3-b"
+
+BR2_PACKAGE_RPI_FIRMWARE=y
+BR2_PACKAGE_RPI_FIRMWARE_INSTALL_DTB_OVERLAYS=y
+
+# Required tools to create the SD image
+BR2_PACKAGE_HOST_DOSFSTOOLS=y
+BR2_PACKAGE_HOST_GENIMAGE=y
+BR2_PACKAGE_HOST_MTOOLS=y
+
+# Filesystem / image
+BR2_TARGET_ROOTFS_EXT2=y
+BR2_TARGET_ROOTFS_EXT2_4=y
+# BR2_TARGET_ROOTFS_TAR is not set
+BR2_ROOTFS_POST_BUILD_SCRIPT="board/raspberrypi3/post-build.sh"
+BR2_ROOTFS_POST_IMAGE_SCRIPT="board/raspberrypi3/post-image.sh"
+BR2_ROOTFS_POST_SCRIPT_ARGS="--add-pi3-miniuart-bt-overlay"
+
+
+# Custom
+
+# Pour accélerer la compilation
+BR2_TOOLCHAIN_EXTERNAL=y
+BR2_CCACHE=y
+
+# Pour faire joli
+BR2_TARGET_GENERIC_HOSTNAME="principal"
+BR2_TARGET_GENERIC_ISSUE="Robotech - CdF 2018 - Robot principal"
+
+# Configuration noyau supplémentaire
+BR2_LINUX_KERNEL_CONFIG_FRAGMENT_FILES="${BR2_EXTERNAL_CDF_PATH}/board/robotech/cdfprincipal/linux-extra.conf"
+# TODO Not working
+
+# Paquets nécessaires
+BR2_PACKAGE_CHEF=y
+
+# Fichiers supplémentaires
+BR2_ROOTFS_OVERLAY="${BR2_EXTERNAL_CDF_PATH}/board/robotech/cdfprincipal/rootfs_overlay/"
+BR2_ROOTFS_POST_BUILD_SCRIPT="board/raspberrypi3/post-build.sh ${BR2_EXTERNAL_CDF_PATH}/board/robotech/cdfprincipal/post-build.sh"
+
+# Ne pas activer la connexion ethernet par défaut
+BR2_SYSTEM_DHCP=""
+
+# Pour le Wi-Fi
+BR2_PACKAGE_LINUX_FIRMWARE=y
+BR2_PACKAGE_LINUX_FIRMWARE_RTL_81XX=y # Clef Wi-Fi Geoffrey
+#BR2_PACKAGE_LINUX_FIRMWARE_BRCM_BCM43XXX=y # RPi3 Natif (cassé physiquement sur notre carte)
+BR2_PACKAGE_WPA_SUPPLICANT=y
+
+# Pour upgrader à chaud
+BR2_PACKAGE_DROPBEAR=y
+BR2_PACKAGE_RSYNC=y
+
+# Pour faire plaisir à Geoffrey
+BR2_PACKAGE_HTOP=y
+
+# Pour uploader sur le Arduino
+BR2_TOOLCHAIN_BUILDROOT_WCHAR=y
+BR2_SHARED_LIBS=y
+BR2_PACKAGE_UCLIBC=y
+BR2_PACKAGE_AVRDUDE=y
+
+# Pour uploader sur le FPGA
+BR2_PACKAGE_MERCPCL=y
+

raspberrypi/external.desc

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+name: CDF
+desc: Robotech - Coupe de France de Robotique - Robot principal

raspberrypi/external.mk

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+include $(sort $(wildcard $(BR2_EXTERNAL_CDF_PATH)/package/*/*.mk))

raspberrypi/package/cr1901/Config.in

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+source "$BR2_EXTERNAL_CDF_PATH/package/cr1901/mercpcl/Config.in"

raspberrypi/package/cr1901/cr1901.mk

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+include $(sort $(wildcard $(BR2_EXTERNAL_CDF_PATH)/package/cr1901/*/*.mk))

raspberrypi/package/cr1901/mercpcl/Config.in

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+config BR2_PACKAGE_MERCPCL
+    bool "mercpcl"
+    select BR2_PACKAGE_LIBUSB
+    select BR2_PACKAGE_LIBFTDI
+    help
+        Command-line utility that can be used to program
+        Mercury FPGA development boards.

raspberrypi/package/cr1901/mercpcl/mercpcl.mk

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+################################################################################
+#
+# mercpcl
+#
+################################################################################
+
+MERCPCL_VERSION = ce3d815f76f8f5d7254e5e17a90e30d9affacfea
+MERCPCL_SITE = $(call github,cr1901,mercpcl,$(MERCPCL_VERSION))
+MERCPCL_DEPENDENCIES = libftdi libusb
+MERCPCL_LICENSE = GPLv3
+MERCPCL_LICENSE_FILES = LICENSE
+
+$(eval $(cmake-package))

raspberrypi/package/robotech/Config.in

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+source "$BR2_EXTERNAL_CDF_PATH/package/robotech/chef/Config.in"

raspberrypi/package/robotech/chef/Config.in

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+config BR2_PACKAGE_CHEF
+    bool "chef"
+    select BR2_PACKAGE_WIRINGPI
+    help
+        Cerveau du robot principal pour la Coupe de France
+        de Robotique, équipe Robotech Lille (Polytech Lille).

raspberrypi/package/robotech/chef/chef.mk

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+################################################################################
+#
+# Programme chef - Coupe de France de Robotique
+#
+################################################################################
+CHEF_VERSION = 1.0
+CHEF_SITE = $(BR2_EXTERNAL_CDF_PATH)/package/robotech/chef/code
+CHEF_SITE_METHOD = local
+CHEF_DEPENDENCIES = wiringpi
+
+define CHEF_BUILD_CMDS
+	$(MAKE) -C $(@D) clean
+	$(MAKE) $(TARGET_CONFIGURE_OPTS) -C $(@D)
+endef
+
+define CHEF_INSTALL_TARGET_CMDS
+	$(INSTALL) -d -m 0755 $(TARGET_DIR)/opt/chef/bin
+	$(INSTALL) -d -m 0755 $(TARGET_DIR)/opt/chef/com
+	$(INSTALL) -D -m 0755 $(@D)/bin/* $(TARGET_DIR)/opt/chef/bin
+	$(INSTALL) -D -m 0755 $(@D)/run.sh $(TARGET_DIR)/opt/chef
+endef
+
+$(eval $(generic-package))

raspberrypi/package/robotech/chef/code

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+../../../../chef

raspberrypi/package/robotech/robotech.mk

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+include $(sort $(wildcard $(BR2_EXTERNAL_CDF_PATH)/package/robotech/*/*.mk))

raspberrypi/principalconf.sh.demo

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+WPASSID="MySSID"
+WPAKEYMGMT="WPA-PSK"
+WPAPSK=mypassword
+ADDRESS=192.168.1.42
+NETMASK=255.255.255.0
+GATEWAY=192.168.1.1
+SSHCPUB="ecdsa-sha2-nistp256 ... principal@robotech"
+SSHCPRV="-----BEGIN EC PRIVATE KEY-----
+...
+-----END EC PRIVATE KEY-----"
+SSHSPRV="..."

raspberrypi/sshconf.bkp

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+Host principal p
+    User root
+    Hostname 192.168.43.72
+    PreferredAuthentications publickey
+    PubkeyAuthentication yes
+    IdentityFile "/home/geoffrey/CdF/cdf2018-principal/root/sshkey"