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https://github.com/manafishrov/firmware

Firmware running on the underwater Manafish ROV for operating its thrusters and camera.
https://github.com/manafishrov/firmware

firmware nixos python raspberry-pi websockets

Last synced: about 2 months ago
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Firmware running on the underwater Manafish ROV for operating its thrusters and camera.

Awesome Lists containing this project

README 

          
# Firmware



The Manafish firmware is designed to run on a Raspberry Pi 3b with an IMX477

camera module. It provides the firmware for controlling and using the Manafish

ROV.



## Building the SD Image



To build the SD image you need to have `nix` installed on an aarch64-linux

platform or proper emulation support for the aarch64-linux platform. Also add

the caches for the `nixos-raspberrypi` flake to the build system so the build

finishes in a reasonable time:



```sh

nix build .#pi3-imx477

```



When you have built the image you can list it out with the following command:



```sh

ls -lh result/sd-image

```



This will include the size of the image in the output. The image is compressed

with zstd.



## Flashing



We need to plug in the SD card and find out what the device path is for the

SD card.



On linux:



```sh

lsblk

```



On darwin:



```sh

diskutil list

```



On darwin it is usually `/dev/diskX` where `X` is a number for example

`/dev/disk6` (use `/dev/rdiskX` when flashing for better performance).



### Unmount the SD Card



Before flashing, make sure the SD card is unmounted.



On linux:



```sh

sudo umount /dev/sdX*

```



On darwin:



```sh

diskutil unmountDisk /dev/diskX

```



### Flashing the SD Card



To flash the image to the SD card you can use the following command, make sure

to replace `/dev/XXX` with the correct device path for your SD card:



```sh

zstd -dc result/sd-image/*.zst | sudo dd of=/dev/XXX bs=4M status=progress conv=fsync

```



Flashing the SD card on windows is a little more complicated. It is not possible

to build the image on Windows and the commands will not work. Instead start by

downloading the image you want to use form the release page on GitHub. The

image will be in a `.zst` file format.



Make sure you have 7-Zip installed, and right-click the `sd-image` zst file and

select "Extract Here" to extract the image file.



Next make sure you have Rufus installed, and open it.

Select the SD card from the "Device" dropdown.

Click "Select" and choose the extracted .img file.

Click "Start" to begin flashing the SD card.



## Configure Your Mac/PC's Ethernet Connection



After plugging the SD card in the Raspberry Pi and powering it on, you need to

tell your computer how to connect to the Pi without disrupting your regular

internet connection. This is done by assigning a static IP address to your

computer in the same address space as the IP of the firmware (by default this

is 10.10.10.10). We recommend setting it to 10.10.10.100 for simplicity.



### MacOS



1. Open System Settings > Network

2. Select your Ethernet connection

3. Click "Details..."

4. Under "Configure IPv4", select "Manually"

5. Set the following:

   - IP Address: 10.10.10.100

   - Subnet Mask: 255.255.255.0

6. Click "OK" and "Apply"



### Windows



1. Open "View Network Connections"

   - You can find this by searching for "View Network Connections" in the

     Start menu

2. Right-click your Ethernet connection and select "Properties"

3. Select "Internet Protocol Version 4 (TCP/IPv4)" and click "Properties"

4. Select "Use the following IP address" and enter:

   - IP Address: 10.10.10.100

   - Subnet Mask: 255.255.255.0

5. Click "OK" to save



### Linux



1. For Ubuntu/Debian GUI:

   - Open Settings > Network

   - Click the gear icon next to your Ethernet connection

   - Go to IPv4 tab

   - Select "Manual"

   - Add Address: 10.10.10.100

   - Netmask: 255.255.255.0

   - Click "Apply"



2. For command line:



   ```sh

   sudo ip addr add 10.10.10.100/24 dev eth0

   ```



   Replace `eth0` with your Ethernet interface name if different.



## Raspberry Pi



To modify the firmware on the Raspberry Pi, you need to connect to it via SSH.

The default username is `pi` and the password is `manafish`. The Pi will be

available on port 10.10.10.10 when connected via Ethernet after you have

configured your computer's Ethernet connection as described above.



Command to connect via SSH:



```sh

ssh pi@10.10.10.10

```



If you have reflashed the SD card, you may need to delete the known hosts entry

for the Pi before connecting:



```sh

ssh-keygen -R 10.10.10.10

```



### WiFi Connection



To connect to a WiFi network on the Pi, use the following commands:



1. List available WiFi networks:



   ```sh

   nmcli device wifi list

   ```



2. Connect to a WiFi network:



   ```sh

   nmcli device wifi connect "NETWORK_NAME" password "PASSWORD"

   ```



3. Check connection status:



   ```sh

   nmcli connection show

   ```



### Firmware Service Management



The Manafish firmware runs as a systemd service. It is set to run automatically

on startup, but during development it can be useful to stop/start/restart it.

Here are the common commands to manage it:



1. Start the firmware service:



   ```sh

   sudo systemctl start manafish-firmware

   ```



2. Stop the firmware service:



   ```sh

   sudo systemctl stop manafish-firmware

   ```



3. Restart the firmware service:



   ```sh

   sudo systemctl restart manafish-firmware

   ```



4. Check the service status:



   ```sh

   sudo systemctl status manafish-firmware

   ```



5. Disable the service from starting on boot:



   ```sh

   sudo systemctl disable manafish-firmware

   ```



6. View service logs:



```sh

journalctl -u manafish-firmware -f

```



## Development Hooks



Install the development dependencies and Git hook once per clone:



```sh

uv sync

uv run pre-commit install

```



The pre-commit hook runs Ruff on committed Python files before each commit. To

run the same checks across the repository manually:



```sh

uv run pre-commit run --all-files

```



To update hook versions later:



```sh

uv run pre-commit autoupdate

```



## License



This project is licensed under the GNU Affero General Public License v3.0 or

later - see the [LICENSE](LICENSE) file for details.