Fenice Traction Control Software

This software runs on the Raspberry Pi that communicates with the DAS via UART to handle traction control.

The setup is divided in three steps:

• RPi setup
• Software compilation
• Software execution

RPi Setup

Install TinyCore Linux

• Default user is tc and password is piCore
• Set password to sborato with passwd
• Since TC runs completely in RAM, changes are made permanent by editing /opt/.filetool.lst (a list of files to backup before shutdown and restore after boot). Make the password change permanent with sudo echo '/etc/shadow' >> /opt/.filetool.lst
• Trigger the backup with filetool.sh -b

Install GCC, Make etc

...

Configure SSH

• If it's not already installed, run tce-load -wi openssh
• To autostart it at every boot edit the startup script sudo echo '/usr/local/etc/init.d/openssh start &' >> /opt/bootlocal.sh
• The SSH keys are lost and regenerated after every reboot. Add them to the filetool list with sudo echo '/usr/local/etc/ssh' >> /opt/.filetool.lst
• Trigger the backup with filetool.sh -b

Compile the Code

To compile this software you need to clone the repo and run the all Makefile recipe.

1. SSH into the RPi
   • Username: tc
   • Password: sborato
2. Pull the code

   • If the repo is not already present, clone the repo

     git clone git@github.com:eagletrt/fenice-traction-control-sw.git
     

   • Otherwise, just cd into it and run git pull

3. Update the submodules (micro-libs). \
   • git submodule init
   • git submodule update --remote --recursive
   • scp -r fenice-vehicle-model/C_code tc@controllo-sborato:/home/tc/fenice-traction-control-sw/fenice-vehicle-model/C_code
   • scp -r micro-libs tc@controllo-sborato:/home/tc/fenice-traction-control-sw
4. Download the realize of repository fenice-vehicle-model-DMT and copy the folder C_code in the folder fenice-vehicle-model
5. Compile the code with make all
6. In the build folder you should now have:
   • The main binary: fenice-traction-control
   • The velocity estimation dynamic library: libctrl-ve.so
   • The four dynamic libs for the models: libctrl-{no,sc,tc,all}.so
   • A binary that loads the models and tests them against a provided dataset

Execute the Software

To execute the binary, cd into the build folder and run ./fenice-traction-control. Note that you need to call the binary from within its folder otherwise it won't find the dynamic libraries.

At the end, if you need to analyze or gather control data, use scp to copy back the log files it produced (they're located inside the build folder) otherwise at shoutdown they will be lost.

scp tc@controllo-sborato:/home/tc/fenice-traction-control-sw/build/\*.csv ./logs/