lauv-aux-rpi/test-rpi: add ftdi_sio to modules.

docker/Dockerfile

@@ -0,0 +1,37 @@
+###########################################################################
+# GLUED: GNU/Linux Uniform Environment Distribution                       #
+# Copyright (C) 2016 OceanScan - Marine Systems & Technology, Lda.        #
+###########################################################################
+# This program is free software; you can redistribute it and/or modify    #
+# it under the terms of the GNU General Public License as published by    #
+# the Free Software Foundation; either version 2 of the License, or (at   #
+# your option) any later version.                                         #
+#                                                                         #
+# This program is distributed in the hope that it will be useful, but     #
+# WITHOUT ANY WARRANTY; without even the implied warranty of              #
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU       #
+# General Public License for more details.                                #
+#                                                                         #
+# You should have received a copy of the GNU General Public License       #
+# along with this program; if not, write to the Free Software             #
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA           #
+# 02110-1301 USA.                                                         #
+###########################################################################
+# Author: Ricardo Martins                                                 #
+###########################################################################
+
+FROM debian:8
+
+MAINTAINER Ricardo Martins <rasm@oceanscan-mst.com>
+
+ENV DEBIAN_FRONTEND noninteractive
+
+# Update distro.
+RUN apt-get update -y
+RUN apt-get dist-upgrade -y
+RUN apt-get install -y wget
+RUN apt-get install -y bzip2
+RUN apt-get install -y git
+RUN apt-get install -y g++-multilib
+RUN apt-get install -y cmake
+RUN apt-get install -y file

docker/Makefile

@@ -0,0 +1,31 @@
+###########################################################################
+# GLUED: GNU/Linux Uniform Environment Distribution                       #
+# Copyright (C) 2016 OceanScan - Marine Systems & Technology, Lda.        #
+###########################################################################
+# This program is free software; you can redistribute it and/or modify    #
+# it under the terms of the GNU General Public License as published by    #
+# the Free Software Foundation; either version 2 of the License, or (at   #
+# your option) any later version.                                         #
+#                                                                         #
+# This program is distributed in the hope that it will be useful, but     #
+# WITHOUT ANY WARRANTY; without even the implied warranty of              #
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU       #
+# General Public License for more details.                                #
+#                                                                         #
+# You should have received a copy of the GNU General Public License       #
+# along with this program; if not, write to the Free Software             #
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA           #
+# 02110-1301 USA.                                                         #
+###########################################################################
+# Author: Ricardo Martins                                                 #
+###########################################################################
+
+TAG     := glued
+VERSION := 2016.05.0
+VOLUME  := $(CURDIR)/..
+
+all:
+	docker build -t $(TAG):$(VERSION) .
+
+shell:
+	docker run -w $(VOLUME) -i -a stdin -a stdout -v $(VOLUME):$(VOLUME) -t $(TAG):$(VERSION)

mkdisk.bash

@@ -103,15 +103,17 @@ create_part_rpiboot()
 
     for f in "$cfg_sys_family/rootfs/boot/"*; do
         nfo2 installing $f to boot partition
-        cp "$f" mount || die
+        cp -r "$f" mount || die
     done
 
     nfo2 renaming kernel to kernel7.img
     mv mount/kernel mount/kernel7.img
 
-    dtb=$(basename "$cfg_target_linux_dtb")
+    if [ -f mount/board.dtb ]; then
-    nfo2 renaming board.dtb to "$dtb"
+        dtb=$(basename "$cfg_target_linux_dtb")
-    mv "mount/board.dtb" "mount/$dtb"
+        nfo2 renaming board.dtb to "$dtb"
+        mv "mount/board.dtb" "mount/$dtb"
+    fi
 
     cmd_parted "$dev_loop" \
         set "$part_nr" lba on \

pkrootfs.bash

@@ -60,7 +60,7 @@ done
 
 # Copy DTB.
 if [ -n "$cfg_target_linux_dtb" ]; then
-    cp -v "$cfg_dir_toolchain/boot/$(basename $cfg_target_linux_dtb)" "$cfg_dir_rootfs/boot/board.dtb"
+    cp -v "$cfg_dir_rootfs/boot/$(basename $cfg_target_linux_dtb)" "$cfg_dir_rootfs/boot/board.dtb"
 fi
 
 # Write config vars.

rules/base/host.bash

@@ -26,4 +26,5 @@ requires=\
     'parted/host'
     'dosfstools/host'
     'e2fsprogs/host'
+    'cmake/host'
 )

rules/filesystem/fs/etc/rc.d/upgrade

@@ -89,7 +89,7 @@ kernel_mtd_part()
 
 uboot_mtd_part()
 {
-    echo -n "* Detecting u-boot MTD paritition... "
+    echo -n "* Detecting u-boot MTD partition... "
     if ! [ -f /proc/mtd ]; then
         echo "filesystem"
         return 0
@@ -239,12 +239,19 @@ rpi2_boot_part_upgrade()
         fi
     done
 
-    dtb="bcm2709-rpi-2-b.dtb"
+    for f in overlays; do
-    if [ -f "/mnt/$dtb" ]; then
+        if [ -d "/mnt/$f" ]; then
+            echo -en "* $label: Replacing $f... "
+	    rm -rf "/mnt/$f" && cp -r "$base/.glued-new/boot/$f" /mnt
+            echo 'done'
+        fi
+    done
+
+    for dtb in "$base/.glued-new/boot/"*.dtb; do
         echo -en "* $label: Replacing $dtb... "
-        cp "$base/.glued-new/boot/board.dtb" "/mnt/$dtb"
+        cp "$dtb" "/mnt"
         echo 'done'
-    fi
+    done
 
     kernel='kernel7.img'
     if [ -f "/mnt/$kernel" ]; then
@@ -265,15 +272,17 @@ rpi2_boot_part_upgrade()
     return 0
 }
 
-# Check if board is a Raspberry Pi 2.
+# Check if board is a Raspberry Pi 2/3.
 rpi2_boot_part_upgrade_check()
 {
-    dmesg | grep Machine | grep BCM2709 > /dev/null 2>&1
+    for machine in 'bcm2709' 'raspberry pi'; do
-    if [ $? -eq 0 ]; then
+        dmesg | grep Machine | grep -i "$machine" > /dev/null 2>&1
-        echo "* rpi2: machine detected"
+        if [ $? -eq 0 ]; then
-        rpi2_boot_part_upgrade "rpi2" "/dev/mmcblk0p1"
+            echo "* rpi2: machine detected"
-        return 0
+            rpi2_boot_part_upgrade "rpi2" "/dev/mmcblk0p1"
-    fi
+            return 0
+        fi
+    done
 }
 
 old_move()

rules/kmod/host.bash

@@ -16,5 +16,5 @@ build()
 host_install()
 {
     $cmd_make install &&
-    ln -fs kmod "$cfg_dir_toolchain/sbin/depmod"
+    ln -fs ../bin/kmod "$cfg_dir_toolchain/sbin/depmod"
 }

rules/libpng/default.bash

@@ -1,6 +1,6 @@
 version=\
 (
-    '1.6.19'
+    '1.6.23'
 )
 
 url=\
@@ -10,7 +10,7 @@ url=\
 
 md5=\
 (
-    '1e6a458429e850fc93c1f3b6dc00a48f'
+    '9b320a05ed4db1f3f0865c8a951fd9aa '
 )
 
 configure()

rules/linux/default.bash

@@ -25,6 +25,9 @@ requires=\
     'lz4/host'
 )
 
+# This variable is updated by find_patches().
+patches=()
+
 # Major/Minor version.
 linux_mm_version()
 {
@@ -37,17 +40,21 @@ linux_mmp_version()
     echo "$version" | cut -f1 -d-
 }
 
-patches=(\
+find_patches()
-    $(ls -1 \
+{
-         "$pkg_dir/patches/$version/"*.patch \
+    patches=(\
-         "$pkg_dir/patches/$(linux_mmp_version)/"*.patch \
+        $(ls -1 \
-         "$pkg_dir/patches/$(linux_mm_version)/"*.patch \
+             "$pkg_dir/patches/$version/"*.patch \
-         "$cfg_dir_system/patches/linux/$version/"*.patch \
+             "$pkg_dir/patches/$(linux_mmp_version)/"*.patch \
-         "$cfg_dir_system/patches/linux/$(linux_mmp_version)/"*.patch \
+             "$pkg_dir/patches/$(linux_mm_version)/"*.patch \
-         "$cfg_dir_system/patches/linux/$(linux_mm_version)/"*.patch \
+             "$cfg_dir_system/patches/linux/$version/"*.patch \
-         2> /dev/null | awk '!a[$0]++')
+             "$cfg_dir_system/patches/linux/$(linux_mmp_version)/"*.patch \
-)
+             "$cfg_dir_system/patches/linux/$(linux_mm_version)/"*.patch \
+             2> /dev/null | awk '!a[$0]++')
+    )
+}
 
+find_patches
 
 # Get configuration file.
 linux_cfg_file()
@@ -121,12 +128,14 @@ build()
     $cmd_make \
         CROSS_COMPILE=$cfg_target_canonical- \
         ARCH=$cfg_target_linux \
+        DEPMOD="$cfg_dir_toolchain/sbin/depmod" \
         modules || return 1
 
     if [ "$(basename $cfg_target_linux_kernel)" = 'uImage' ]; then
         $cmd_make \
             CROSS_COMPILE=$cfg_target_canonical- \
             ARCH=$cfg_target_linux \
+            DEPMOD="$cfg_dir_toolchain/sbin/depmod" \
             uImage || return 1
     fi
 
@@ -135,6 +144,7 @@ build()
         $cmd_make \
             CROSS_COMPILE=$cfg_target_canonical- \
             ARCH=$cfg_target_linux \
+            DEPMOD="$cfg_dir_toolchain/sbin/depmod" \
             zImage || return 1
     fi
 
@@ -143,6 +153,7 @@ build()
         $cmd_make \
             CROSS_COMPILE=$cfg_target_canonical- \
             ARCH=$cfg_target_linux \
+            DEPMOD="$cfg_dir_toolchain/sbin/depmod" \
             dtbs || return 1
     fi
 
@@ -153,15 +164,6 @@ build()
     fi
 }
 
-host_install()
-{
-    # Device tree blobs.
-    if [ -n "$cfg_target_linux_dtb" ]; then
-        $cmd_mkdir "$cfg_dir_toolchain/boot" &&
-            cp -v "$(dirname $cfg_target_linux_dtb)/"*.dtb "$cfg_dir_toolchain/boot"
-    fi
-}
-
 target_install()
 {
     if [ -n "$(file "$cfg_target_linux_kernel" | grep ELF)" ]; then
@@ -177,15 +179,33 @@ target_install()
         return 1
     fi
 
+    # Device tree blobs.
+    dts="arch/$cfg_target_linux/boot/dts"
+    if [ -d "$dts" ]; then
+        $cmd_mkdir "$cfg_dir_rootfs/boot" &&
+            cp -v "$dts/"*.dtb "$cfg_dir_rootfs/boot"
+    fi
+
+    # Device tree overlays.
+    overlays_dir="arch/$cfg_target_linux/boot/dts/overlays"
+    if [ -d "$overlays_dir" ]; then
+	$cmd_mkdir "$cfg_dir_rootfs/boot/overlays" || return 1
+        $cmd_cp "$overlays_dir"/*.dtbo "$cfg_dir_rootfs/boot/overlays" || return 1
+    fi
+
     $cmd_make \
         CROSS_COMPILE="$cfg_target_canonical-" \
         ARCH="$cfg_target_linux" \
         INSTALL_MOD_PATH="$cfg_dir_rootfs/usr" \
+        KBUILD_VERBOSE=1 \
+        DEPMOD="$cfg_dir_toolchain/sbin/depmod" \
         modules_install
 
     $cmd_make \
         CROSS_COMPILE="$cfg_target_canonical-" \
         ARCH="$cfg_target_linux" \
         INSTALL_MOD_PATH="$cfg_dir_rootfs/usr" \
+        KBUILD_VERBOSE=1 \
+        DEPMOD="$cfg_dir_toolchain/sbin/depmod" \
         firmware_install
 }

rules/linux/rpi.bash

@@ -2,21 +2,19 @@
 
 version=\
 (
-    '3.18_2015-06-03'
+    '4.4_2017-01-27'
 )
 
 url=\
 (
-    "https://github.com/rasmartins/rpi-linux/archive/rpi-linux-$version.tar.gz"
+    "http://lsts.pt/glued/rpi-linux-$version.zip"
 )
 
 md5=\
 (
-    '0b0255e50ca358b619bb78653ac2db2e'
+    'f31d48a9d2c93509b35e750be489b44c'
 )
 
-post_unpack()
+build_dir="rpi-linux-rpi-linux-$version"
-{
+
-    rmdir "../linux-$version" &&
+find_patches
-        mv "../rpi-linux-rpi-linux-$version" "../linux-$version"
-}

rules/opencv/default.bash

@@ -1,6 +1,6 @@
 version=\
 (
-    "2.4.11"
+    "2.4.13"
 )
 
 url=\
@@ -10,7 +10,7 @@ url=\
 
 md5=\
 (
-    '32f498451bff1817a60e1aabc2939575'
+    '886b0c511209b2f3129649928135967c'
 )
 
 requires=\

rules/raspicam/default.bash

@@ -0,0 +1,54 @@
+version=\
+(
+    "1.0.0"
+)
+
+url=\
+(
+    "http://lsts.pt/glued/raspicam-$version.zip"
+)
+
+md5=\
+(
+  "169e62fd17d41455a42711a2f9c54fd1"
+)
+
+maintainer=\
+(
+    'Pedro Gonçalves <pedro@lsts.pt>'
+)
+
+configure()
+{
+    LINKER_ADDED_FLAGS="-Wl,-rpath,${cfg_dir_rootfs}/usr/lib"
+
+    ${cfg_dir_toolchain}/usr/local/bin/cmake \
+        -DCMAKE_SYSTEM_NAME="Linux" \
+        -DCMAKE_SYSTEM_VERSION="1" \
+        -DCMAKE_FIND_ROOT_PATH="${cfg_dir_toolchain_sysroot}/usr ${cfg_dir_rootfs}/usr" \
+        -DCMAKE_FIND_ROOT_PATH_MODE_INCLUDE=ONLY \
+        -DCMAKE_FIND_ROOT_PATH_MODE_LIBRARY=ONLY \
+        -DCMAKE_C_COMPILER="${cmd_target_cc}" \
+        -DCMAKE_CXX_COMPILER="${cmd_target_cxx}" \
+        -DCMAKE_C_FLAGS="${cfg_target_gcc_flags}" \
+	.
+}
+
+build()
+{
+    $cmd_make VERBOSE=1
+}
+
+host_install()
+{
+    cd build/
+    $cmd_cp -r "lib/"* "$cfg_dir_toolchain_sysroot/usr/lib/"
+    $cmd_cp -r "inc/"* "$cfg_dir_toolchain_sysroot/usr/include/"
+}
+
+target_install()
+{
+    cd build/
+    $cmd_cp -r "lib/"* "$cfg_dir_rootfs/usr/lib/"
+    $cmd_cp -r "bin/"* "$cfg_dir_rootfs/usr/bin/"
+}

rules/rpi-boot-firmware/default.bash

@@ -1,31 +1,29 @@
 version=\
 (
-    '2015-06-03'
+    '2017-02-02'
 )
 
 url=\
 (
-    "https://github.com/rasmartins/rpi-boot-firmware/archive/rpi-boot-firmware-$version.tar.gz"
+    "http://lsts.pt/glued/rpi-boot-firmware-$version.zip"
 )
 
 maintainer=\
 (
     'Ricardo Martins <rasm@fe.up.pt>'
+    'Pedro Gonçalves <pedro@lsts.pt>'
 )
 
 md5=\
 (
-    'a80ee36b66cccda4e9ccb7eb26bd6bb8'
+    'eb42664fce4d73f167064e697dfacb76'
 )
 
 target_install()
 {
-    $cmd_mkdir \
+    $cmd_mkdir "$cfg_dir_rootfs/boot"
-        "$cfg_dir_rootfs/boot" &&
 
-    for f in bootcode.bin fixup.dat start.elf; do
+    $cmd_cp "../$pkg-$version/"* "$cfg_dir_rootfs/boot/"
-        $cmd_cp -r "../$pkg-$pkg-$version/$f" "$cfg_dir_rootfs/boot"
-    done &&
 
     tar -C "$pkg_dir/fs" -c -f - . | tar -C "$cfg_dir_rootfs" -x -v -f -
 }

rules/rpi-boot-firmware/fs/boot/cmdline.txt

@@ -1 +1 @@
-dwc_otg.lpm_enable=0 console=ttyAMA0,115200,8n1 root=/dev/mmcblk0p2 elevator=deadline rootwait quiet
+dwc_otg.lpm_enable=0 console=tty1 root=/dev/mmcblk0p2 elevator=deadline rootwait quiet

rules/rpi-boot-firmware/fs/boot/config.txt

@@ -1 +0,0 @@
-arm_freq=1000

rules/uv4l/default.bash

@@ -0,0 +1,45 @@
+version=\
+(
+  "1.0.0"
+)
+
+url=\
+(
+  "http://lsts.pt/glued/uv4l.$version.tar.bz2"
+)
+
+md5=\
+(
+  "869e884accbfa9c2356e2fd9307dd71c"
+)
+
+maintainer=\
+(
+    'Pedro Gonçalves <pedro@lsts.pt>'
+)
+
+post_unpack()
+{
+    mv "../etc" "../uv4l-$version/"
+    mv "../usr" "../uv4l-$version/"
+    touch startStreamRaspiCam.sh
+    echo "#!/bin/sh" >> startStreamRaspiCam.sh
+    echo "killall uv4l" >> startStreamRaspiCam.sh
+    echo "modprobe cuse" >> startStreamRaspiCam.sh
+    echo "uv4l -nopreview --auto-video_nr --driver raspicam --encoding h264 --width 1080 --height 720 --framerate 20 --quality 10 --server-option '--port=9090' --server-option '--max-queued-connections=30' --server-option '--max-streams=25' --server-option '--max-threads=29'" >> startStreamRaspiCam.sh
+}
+
+host_install()
+{
+  $cmd_cp -r "usr/lib/"*    "$cfg_dir_toolchain_sysroot/usr/lib/"
+  $cmd_cp -r "usr/include/"* "$cfg_dir_toolchain_sysroot/usr/include/"
+}
+
+target_install()
+{
+    $cmd_cp -r "usr/lib/"* "$cfg_dir_rootfs/usr/lib/"
+    $cmd_cp -r "usr/bin/"* "$cfg_dir_rootfs/usr/bin/"
+    $cmd_cp -r "startStreamRaspiCam.sh" "$cfg_dir_rootfs/usr/bin/"
+}
+
+

systems/lauv-aux-rpi/config

@@ -6,13 +6,12 @@ cfg_services1='lauv-storage-server'
 cfg_services2='dune'
 cfg_packages='dropbear rsync busybox e2fsprogs dosfstools ptpd rpcbind nfs-utils rpi-boot-firmware linux/rpi'
 cfg_target_linux_kernel='arch/arm/boot/zImage'
-cfg_target_linux_dtb='arch/arm/boot/dts/bcm2709-rpi-2-b.dtb'
 cfg_ptpd_interface='eth0'
 cfg_terminal='ttyAMA0'
 cfg_lauv_storage_dir='/opt/lsts/dune/log'
 cfg_partitions=\
 (
-    rpi-boot boot0  512B    32MiB
+    rpi-boot BOOT0  512B    32MiB
     root     root0  32MiB   544MiB
     data     data0  544MiB  -1
 )

systems/lauv-aux-rpi/fs/boot/config.txt

@@ -0,0 +1,9 @@
+# Core.
+arm_freq=1000
+
+# Disable BT on Rpi3.
+dtoverlay=pi3-disable-bt
+
+# Enable RasPicam
+start_x=1
+gpu_mem=128

systems/lauv-aux-rpi/lauv-aux-rpi-testbed.cfg

@@ -3,3 +3,4 @@ cfg_eth_ext_ip='10.0.200.24'
 cfg_eth_ext_mk='255.255.0.0'
 cfg_eth_ext_gw='10.0.0.1'
 cfg_ptpd_interface='eth0'
+cfg_services1=''

systems/lauv-aux-rpi/test-rpi.cfg

@@ -0,0 +1,10 @@
+cfg_hostname='test-rpi'
+cfg_eth_ext_ip='10.0.10.116'
+cfg_eth_ext_mk='255.255.0.0'
+cfg_eth_ext_gw='10.0.0.1'
+cfg_ptpd_interface='eth0'
+cfg_services1=''
+cfg_packages='dropbear rsync busybox e2fsprogs dosfstools ptpd ntp rpcbind nfs-utils rpi-boot-firmware linux/rpi raspicam libjpeg-turbo v4l-utils uv4l'
+cfg_modules="$cfg_modules ftdi_sio"
+cfg_terminal='tty1'
+

systems/lctr-a6xx/caravela.cfg

@@ -1,3 +1,4 @@
 cfg_hostname='caravela'
 cfg_eth_ext_ip='10.0.10.40'
-cfg_packages="$cfg_packages ppp iptables"
+cfg_packages="$cfg_packages ppp iptables"
+cfg_modules="$cfg_modules ftdi_sio"

systems/lctr-a6xx/cfg/linux-3.14.63.cfg

@@ -1529,7 +1529,7 @@ CONFIG_USB_SERIAL_GENERIC=y
 # CONFIG_USB_SERIAL_CP210X is not set
 # CONFIG_USB_SERIAL_CYPRESS_M8 is not set
 # CONFIG_USB_SERIAL_EMPEG is not set
-# CONFIG_USB_SERIAL_FTDI_SIO is not set
+CONFIG_USB_SERIAL_FTDI_SIO=m
 # CONFIG_USB_SERIAL_VISOR is not set
 # CONFIG_USB_SERIAL_IPAQ is not set
 # CONFIG_USB_SERIAL_IR is not set