1, Download Raspbian Jessie Lite Image
2, Clone from Raspbian SD Image
3, Resize Partition Size of SD Card
5, Add user, pi, for Machinekit
This does NOT support RPi3
Build Machinekit with Raspbian Jessie
sudo ddrescue --sector-size=4M --force <raspbian-jessie.img> </dev/sdc> # assume sd card is at /dev/sdc
sudo parted /dev/sdc
print # display partition table
resizepart 2 # End at 3700MB for 4GB SD, or 15.25GB for a 16G SD card
quit
sudo e2fsck -f /dev/sdc2
sudo resize2fs /dev/sdc2
Boot up Raspbian from SD Image
login: pi
password: raspberry
sudo raspi-config
Install required packages
sudo su -
apt-get update
apt-get dist-upgrade -y
apt-get install -y git-core bash-completion tofrodos python-zmq python3-zmq libjansson-dev git dpkg-dev libudev-dev cmake libconfuse-dev swig python-dev libboost-all-dev ntp automake bc nfs-kernel-server nfs-common check nfs-kernel-server nfs-common bwidget kernel-package dphys-swapfile cython vim-gtk libcanberra-gtk-module tofrodos git-core git-cola bash-completion gnuplot-qt blueman xinput openssh-server screen python-avahi doxygen libdw-dev python-pyinotify fakeroot build-essential ncurses-dev libtool curl cpufrequtils debhelper dpkg-dev devscripts equivs libgnomeprintui2.2 python-configobj python-glade2 python-gst0.10 python-gtkglext1 python-gtksourceview2 python-imaging-tk python-vte python-xlib tcl-tclreadline wireless-regdb iw crda firmware-realtek firmware-ralink firmware-brcm80211 libnss-mdns sudo pkg-config xauth sudo apt-utils ntpdate binfmt-support netplug apt-show-versions xcompmgr libgl1-mesa-dri consolekit rpi-update python-netaddr
sudo locale-gen "en_US.UTF-8"
sudo dpkg-reconfigure locales # check en_US.UTF-8, and others such as, zh_CN.UTF-8, zh_TW.UTF-8
locale -a # list available locales
sudo rpi-update # to update firmware
Install 3rd party packages
sudo -s
echo deb http://deb.dovetail-automata.com jessie main > /etc/apt/sources.list.d/machinekit.list
apt-get update
apt-get install -y --force-yes dovetail-automata-keyring
apt-cache showpkg libczmq-dev
apt-cache showpkg libczmq2
apt-get install libczmq2=2.2.0-0.6~1jessie~1da
apt-get install libczmq-dev=2.2.0-0.6~1jessie~1da
apt-mark hold libczmq2 libczmq-dev # hold this version for Debian Jessie
apt-get install -y libwebsockets-dev
這兩個版本的 binary 安裝檔，也放在 machinekit/raspbian/jessie/ 目錄內
http://www.machinekit.io/docs/getting-started/APT-packages-jessie/ (This is for Debian Stretch)
Increase swap file size to 512MB for compiling software
sudo gvim /etc/dphys-swapfile
CONF_SWAPSIZE=512
ntp settings (reference)
Just commented out three lines in /etc/init.d/ntp to fix the problem:
# if [ -e /var/lib/ntp/ntp.conf.dhcp ]; then
# NTPD_OPTS="$NTPD_OPTS -c /var/lib/ntp/ntp.conf.dhcp"
# fi
sudo systemctl stop ntp
sudo systemctl daemon-reload
sudo systemctl start ntp
ntpq -p # show connected ntp servers
For typical applications, remove SWAP file.
systemctl disable dphys-swapfile # close SWAP, confirm /var/swap removed, then reboot
set suid_dumpable; for Machinekit
sudo vim /etc/rc.local
echo 1 > /proc/sys/fs/suid_dumpable
Setting Time Zone
sudo rm /etc/localtime
sudo ln -s /usr/share/zoneinfo/Asia/Taipei /etc/localtime
sudo visudo
%sudo ALL=NOPASSWD: ALL
sudo adduser pi
sudo adduser pi sudo # add user(pi) to sudo group
sudo adduser pi dialout # add to dialout group
sudo adduser pi root # add to root group
sudo adduser pi adm # add user(pi) to adm group
logout and login as ‘pi’ for the following operations
# setup permission for dbus/consolekit to shutdown machine
sudo vim /var/lib/polkit-1/localauthority/50-local.d/custom-actions.pkla
[Actions for pi user]
Identity=unix-user:pi
Action=org.freedesktop.upower.*;org.freedesktop.consolekit.system.*;org.freedesktop.udisks.*
ResultAny=yes
ResultInactive=no
ResultActive=yes
Enabling The SPI Interface On The Raspberry Pi
sudo vim /boot/config.txt # and add:
dtparam=spi=on
After reboot, there should be /dev/spidev0.0 and /dev/spidev0.1
mkdir -p ~/proj/; cd ~/proj
git clone https://github.com/joan2937/pigpio
make -j2
sudo make install
mkdir -p ~/proj/; cd ~/proj
git clone git@github.com:araisrobo/ar-tools.git
git checkout rpi2
cd rpi2_fpga
make
ar11_fpga.sh # load FPGA bit-file
mkdir -p ~/proj; cd ~/proj
git clone git@github.com:araisrobo/libwosi.git
cd libwosi
git checkout rpi2-spi
git checkout bbb-spi
./autogen.sh
dpkg-buildpackage -b -us -uc
sudo dpkg -i ../libwosi-dev_2015-04-29_armhf.deb ../libwosi_2015-04-29_armhf.deb
cd ~/proj
Installation instructions：https://github.com/mhaberler/libbacktrace
git clone https://github.com/mhaberler/libbacktrace.git
cd ~/proj
git clone git@github.com:araisrobo/machinekit.git
cd machinekit
git checkout -b rpi2-spi
# to add upstream repository
git remote add upstream https://github.com/machinekit/machinekit
git checkout master
git pull upstream master
./debian/configure -p # enable POSIX
sudo mk-build-deps -ir
dpkg-buildpackage -b -us -uc -j2 # generated packages are at ../machinekit*deb
cd ../
sudo dpkg -i machinekit*deb # install binary packages
cd src
./autogen.sh
./configure --with-posix --enable-build-documentation=no
make -j2
sudo make setuid
Within the same LAN of each Machinekit you can only have one MKUUID： Remote UI
gvim ~/proj/machinekit/etc/linuxcnc/machinekit.ini
Update the MKUUID setting with the results from running uuidgen
mkdir ~/proj/remote-ui; cd ~/proj/remote-ui
git clone git@github.com:araisrobo/RA605face.git
ar11_fpga.sh # Will test that installation was a success and display “config success !”
export FLAVOR=posix
linuxcnc <ini-file>
ps -Leo pid,tid,class,rtprio,stat,comm,wchan | grep `pidof rtapi:0`
Machinekit-Build-for-Multiple-RT-Operating-Systems#options-to-the-realtime-script