wiki:PibotGoldenImage

Version 16 (modified by David Albert, 7 years ago) (diff)

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GOAL: A master PiBot image that is pre-configured for ease of setup. The image should be as small as possible for storage and distribution. The image should be easily installed onto an 8GB or larger uSD card.

EQUIPMENT USED:

PROCEDURE:

  • Install PC software (sd formatter, disk imager, cygwin, bonjour)
  • Prepare SD card:
    • Download the latest Raspbian Lite image
    • Unzip to extract the .img file
    • Use ​Etcher to install the .img on an SD card (see: ​here for more info). This creates two partitions: /boot that is accessible from Windows and /root that is ext4 and cannot (easily) be accessed from Windows.
    • Remove and re-insert SD card so Windows will re-mount the new partitions...ignore/cancel any requests to format them
    • Edit /boot/config.txt (preferably edit with Notepad++)
      • uncomment framebuffer_width=1280
      • uncomment framebuffer_height=720
      • uncomment dtparam=i2c_arm=on
      • For Pi Zero only, add the following at the end to enable USB networking (not supported on other Pi platforms): 
        # Enable USB Gadget (networking over USB)
dtoverlay=dwc2

# Limit GPU memory usage
gpu_mem=32
    • Edit /boot/cmdline.txt
      • For Pi Zero only, insert after rootwait: modules-load=dwc2,g_ether g_ether.dev_addr=5a:77:1e:af:8e:9e g_ether.host_addr=72:8d:1f:c4:e8:ca
      • For all platforms: Remove init=resizefs... (to prevent automatic expansion to full SD card size) (Note: cmdline.txt must be a single line...no linebreaks)
    • Create an empty file: /boot/ssh (enables ssh server when started)
    • Create an empty file: /boot/avahi (enables zeroconfig/bonjour when started)
    • For Pis with built-in WiFi (Pi 3, Pi Zero W): create /boot/wpa_supplicant.conf with your wifi network configuration information (allows Pi to connect to your WiFi network on boot) 
      country=US
ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
update_config=1

network={
    ssid="My WiFi 2.4"
    psk="mypassword123"
    key_mgmt=WPA-PSK
}
      NOTE: remember to remove your wifi info (especially PSK) before creating the golden image
  • Boot and configure SD card in Pi
    • Place uSD card in Pi
    • For Pi Zero, connect a micro-USB cable to the OTG port (the middle one, not the one on the end)
    • Wait for the Pi to finish booting (LED stops blinking)
    • Get a network connection for the Pi using one of the following methods:
      • For Pi Zero with USB networking:
        • Share your main network connection (Ethernet or WiFi with the USB NDIS/Ethernet connection). See ​here
          • double-click This PC
          • right-click Network and select Properties
          • click Change adapter settings
          • right-click Ethernet or WiFi (your main network connection) and select properties
          • select Sharing tab
          • check Allow other network users to connect through this connection
          • For the Home networking connection select your USB/NDIS connection (e.g. Ethernet 2)
          • click OK
        • Alternatively (but not recommended) Bridge your main connection on the windows 10 machine (Ethernet or WiFi) to the NDIS Ethernet connection for the PiBot USB OTG network (select both connections in the Network Connections then right-click and choose Bridge Connections); configure the DNS server as 8.8.8.8
      • Connect a USB Ethernet dongle to the Pi OTG connector
      • Configure /etc/wpa_supplicant/wpa_supplicant.conf on the Pi to include your local WiFi network
    • ssh to raspberrypi.local using putty or cygwin ssh or ...
    • login as user 'pi' with password 'raspberry'
    • update the OS
      • sudo apt update
      • sudo apt upgrade
    • Fix the way raspbian references partitions (see info ​here). If you don't do this and leave references using UUIDs, when you resize the root partition, raspbian will change the UUID and you won't be able to boot:
      • sudo fdisk -l (list partitions)
      • edit /etc/fstab
        • Change the references to the /boot and / (root) partitions to use the /dev/mmclk0pX notation; after changes it should look like this: 
          proc            /proc           proc    defaults          0       0
/dev/mmcblk0p1  /boot           vfat    defaults          0       2
/dev/mmcblk0p2  /               ext4    defaults,noatime  0       1
      • edit /boot/cmdline.txt to use the matching notation for the root partition:
        • Change the root assignment to use the /dev/mmcblk0pX notation: 
          root=/dev/mmcblk0p2
    • ​Expand the root partition:
      • sudo parted
      • print (observe the size of the second (ext4) partition)
      • resizepart 2 4096(extend partition to 4GB)
      • quit
      • sync (ensure all buffers are flushed to disk)
      • sudo reboot (reboot to ensure larger partition is used)
      • Wait and then re-connect via SSH
    • Expand the root file-system to use the larger partition:
      • sudo resize2fs /dev/mmcblk0p2
      • sudo reboot
      • wait and then re-connect to the Pi via SSH
    • Set the locale (see ​here for info):
      • sudo dpkg-reconfigure locales
      • un-select: en_GB.UTF-8
      • select: en_US.UTF-8
      • make sure to select en_US.UTF-8 as the default locale for the system environment
      • wait for generation to finish
      • exit (this is important; the change doesn't take effect before you log in again)
      • re-connect via SSH
      • sudo dpkg-reconfigure keyboard-configuration (reconfigures based on new locale)
      • sudo dpkg-reconfigure tzdata (select US->Eastern)
    • sudo raspi-config
      • Update tool to latest version
      • Setup Network Options: hostname->pibot
      • If you haven't done this via the step above, setup localisation settings for US, English, EST
      • Setup interfacing options: enable ssh, vnc, i2c (note, VNC will install X and a ton of other stuff)
    • Install any needed packages
      • sudo apt-get install subversion ant mercurial
      • curl -s get.pi4j.com | sudo bash
    • Install Oracle DIO (see ​https://www.raspberrypi.org/forums/viewtopic.php?f=81&t=99212)
      • hg clone ​http://hg.openjdk.java.net/dio/dev
      • export PI_TOOLS=/usr
      • export JAVA_HOME=/usr/lib/jvm/jdk-8-oracle-arm32-vfp-hflt/
      • cd dev
      • make
      • cd ..
      • sudo mv ~/dev /opt/dio
      • sudo chown -R root.root /opt/dio
      • create /etc/ld.so.conf.d/libdio.conf containing /opt/dio/build/so
      • sudo ldconfig (to refresh the library path cache)
    • Install joystick support using ​JInput:
      • sudo apt-get install libjinput-java libjinput-jni libjinput-java-doc jstest-gtk
      • append uinput to end of /etc/modules
      • See ​here for usage example
      • Use Pi->System Tools->jstest-gtk to test joystick. Also see /dev/input
    • Do WiFi Configuration using hostapd and dnsmasq (see documentation or the files mentioned below for examples).
      • Configure /etc/network/interfaces to invoke /etc/network/wlan0.conf after the wlan0 interface is up
      • Configure /etc/network/wlan0.conf
      • Install hostapd and configure /etc/hostapd/hostapd.conf to configure the Pi as an access point if none is available
      • Install dnsmasq and configure /etc/dnsmasq.conf so the Pi will serve as a DHCP server
    • Once card is configured, shutdown Pi
  • Make master image:
    • Place uSD card in PC
    • launch cygwin as adminstrator
    • dd bs=512 ibs=1M count=10491904 if=/dev/sdb of=pibot_x.img
      • (NOTE: 10491904 is one block past the last block of the /root partition on my setup - could be different in your setup depending on the amount of space you allocated when resizing the /root partition above.
    • check the partitions in fdisk first.
      • On the Pi:
        • sudo fdisk /dev/mmcblk0
        • p (print partition table)
        • note End block of /dev/mmcblk0p2
        • Use that block number + 1 as the count
      • Under cygwin (run cygwin as Administrator):
        • fdisk /dev/sdb
        • ...rest is as above