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Raspberry Pi (4) Digital Dash Server

PXL_20210808_010642720

This is the backend of the Racepak/Holley Auto Digital Dash. This pairs with the AutoDashFrontEnd

WARNING - BUILDING THIS WHILE WE ARE FLYING - EXPECT MASSIVE STUPID CHANGES ON A WHIM

This is the compnent that gets installed on the raspberry Pi. It will run a Node server that will

  1. Will host the AutoDashFrontEnd's dist files from dist. as some point
  2. listen and parse CAN messages from the CAN hat
  3. Communicate with the dash via a websocket

PRE-REQUISITES:

  1. Still running on Buster - NOT Bullseye yet!
  2. Node14 is a must

Setup Hardware

Hardware Used

Update PI EEPROM for new Bootloader

if you dont care about booting from USB, just skip to Setting up Image.

  1. Download RPI's official Imager
  2. Follow the steps for setting up your initial pi image from Setup Pi Image below
  3. SSH in and lets have some fun
  4. (update bootloader stuff: watch this https://www.youtube.com/watch?v=8tTFgrOCsig)

Setup Pi Image

  1. Download RPI's official Imager
  2. Image USB (or SD if you dont want usb) card with a rasp lite image

Setup Headless

  1. We are going to add SSH/Wifi so we can just ssh straight into it without needing a monitor (if desired)
    1. Go into volume Boot of the card:
    2. enable SSH:
      1. sudo touch ssh
    3. WiFi network
      1. sudo touch wpa_supplicant.conf
      2. add the contents to that file:
country=US
ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
update_config=1

network={
    ssid="NETWORK-NAME"
    psk="NETWORK-PASSWORD"
}

7.9 Inch Monitor Support:

  1. Edit the /boot/config.txt
  2. add
# waveshare 7.9 screen - https://www.waveshare.com/wiki/7.9inch_HDMI_LCD
max_usb_current=1
hdmi_group=2
hdmi_mode=87
hdmi_timings=400 0 100 10 140 1280 10 20 20 2 0 0 0 60 0 43000000 3

Boot up

  1. Pop the USB/SD in the pi and boot up
  2. login pi/raspberry
  3. (note: at some point set auto login to true, I still dont know how to do that without going to raspi-config)
  4. ssh from your computer:
    • ssh-keygen -R raspberrypi.local
    • ssh pi@raspberrypi.local
    • (default password is raspberry)
  5. Update everything: sudo apt -y update && sudo apt -y upgrade ; sudo apt autoremove ; sudo apt dist-upgrade -y ; sudo reboot

CAN Handling

Don't bother doing any of this if you dont have the hat hooked up - it will cause issues on bootup - like no wifi

Setup WaveShare Dual CAN hat

https://www.waveshare.com/wiki/2-CH_CAN_HAT

  1. sudo nano /boot/config.txt
  2. uncomment dtparam=spi=on
  3. add below:
dtoverlay=mcp2515-can1,oscillator=16000000,interrupt=25
dtoverlay=mcp2515-can0,oscillator=16000000,interrupt=23
  1. install can util stuff ( do i need dev?)
sudo apt-get -y install can-utils libsocketcan2 libsocketcan-dev
  1. sudo nano /etc/network/interfaces
  2. paste:
auto can0
iface can0 inet manual
   pre-up /sbin/ip link set can0 type can bitrate 1000000
   up /sbin/ifconfig can0 up
   up /sbin/ifconfig can0 txqueuelen 65536
   down /sbin/ifconfig can0 down
  1. sudo reboot

Safe Shutdown / Battery Backup

Don't bother doing any of this if you dont have the hat hooked up - it will cause issues on bootup.

Setup Geekworm x728 UPS script

When the power is cut to the RPI, we want it to auto shutdown safely in about 30 seconds of sustained no power.

  1. make sure I2C is enabled (sudo raspi-config)
  2. Enable the ds1307 overlay: add ds1307 to the dtoverlay line ex. dtoverlay=vc4-fkms-v3d,ds1307
  3. Do the following
cd ~
sudo apt install git
git clone https://github.com/Mathews2115/x728-Monitor.git
cd x728-Monitor
chmod +x *.sh
sudo ./setup.sh
sudo reboot

Install Chromium in Kiosk Mode

Install x11 xserver and Chromium

  1. sudo apt install --no-install-recommends xserver-xorg x11-xserver-utils xinit openbox --assume-yes
  2. sudo apt install --no-install-recommends chromium-browser --assume-yes
  • no idea what assume-yes does lol
  1. Now setup chromium with all the hardware enabled crap

Setup chromium and all the needed flags for hardware accelerated kiosk mode

  1. sudo nano /etc/xdg/openbox/autostart
  • Note: Waveshare settings; uncomment that line (turning on the accelerated video driver will cause it to ignore the display-rotate - so we need to use xrander to rotate it in xserver)
# Disable any form of screen saver / screen blanking / power management
xset s off
xset s noblank
xset -dpms

# This is for the ---waveshare--- monitor - since rotation is ignored with the accelerated driver
xrandr --output HDMI-1 --rotate right

# Allow quitting the X server with CTRL-ATL-Backspace
setxkbmap -option terminate:ctrl_alt_bksp

# Start Chromium in kiosk mode
sed -i 's/"exited_cleanly":false/"exited_cleanly":true/' ~/.config/chromium/'Local State'
sed -i 's/"exited_cleanly":false/"exited_cleanly":true/; s/"exit_type":"[^"]\+"/"exit_type":"Normal"/' ~/.config/chromium/Default/Preferences

chromium-browser --noerrdialogs --ignore-gpu-blocklist --enable-accelerated-video-decode --enable-gpu-rasterization --disable-infobars --disable-full-history-sync \
--kiosk http:\\localhost:3000 \
--enable-vulkan \
--enable-zero-copy

AutoStart Chromium

Add this when/if you want chromium to start upon boot

  1. sudo nano /home/pi/.bash_profile
  2. Add this:
    1. [[ -z $DISPLAY && $XDG_VTNR -eq 1 ]] && startx -- -nocursor

LETS MAKE CHROME RUN FASTER PLZ

We need the pi4 gl driver, so lets download it and use it

  1. Install drivers:
    1. sudo apt-get install libgles2-mesa
  2. make sure ethis is in your sudo nano /boot/config.txt
[pi4]
# Enable DRM VC4 V3D driver on top of the dispmanx display stack
dtoverlay=vc4-fkms-v3d
max_framebuffers=2
  1. Reboot

Setup Dash firmware

Prereqs to build AutoDasahBackEnd

  1. install yarn
curl -sL https://dl.yarnpkg.com/debian/pubkey.gpg | gpg --dearmor | sudo tee /usr/share/keyrings/yarnkey.gpg >/dev/null
   echo "deb [signed-by=/usr/share/keyrings/yarnkey.gpg] https://dl.yarnpkg.com/debian stable main" | sudo tee /etc/apt/sources.list.d/yarn.list
   sudo apt-get update && sudo apt-get install yarn
  1. From your Local Computer, copy the Dash BackEnd software over. (sans the node_modules)
  2. (you already installed the CANUtil libraries from above...if not, go ahead and do that now)

Install Node16

  1. Instructions from: https://www.officialrajdeepsingh.dev/install-node-js-and-npm-latest-version-on-raspberry-pi-4/
https://nodejs.org/dist/v16.14.0/node-v16.14.0-linux-arm64.tar.xz
wget https://nodejs.org/dist/v16.14.0/node-v16.14.0-linux-armv7l.tar.xz
tar -xf node-v16.14.0-linux-armv7l.tar.xz
rm node-v16.14.0-linux-armv7l.tar.xz
cd node-v16.14.0-linux-armv7l
sudo cp -R * /usr/local/
sudo reboot
node -v

Yarn Install

  1. cd AutoDashBackEnd/
  2. rm yarn.lock
  3. cp yarn.lock.rpi yarn.lock
  4. yarn

Build uWebSocket.js for Raspberry Pi

We will need to this to use uWebSockets on ARM...we have to build it on the pi

  1. https://github.com/jmscreation/RBPI.uWebSockets.js
  2. run the build script and copy the binary to our node module cp ./dist/uws_linux_arm_83.node ../AutoDashBackEnd/node_modules/uWebSockets.js/

Simulate CAN in dev on the Pi

  1. Start Dev CAN service RPI_system/prepare_dev.sh
    1. see that file to configure what canfile to run
    2. If you haven't ran the production version, you'll see a lot of Cannot do this/that - feel free to ignore them, it is just trying to undo the things prepare_production did.
  2. reboot, it will automatically run the node test_server command
  3. ssh in and play a canfile
    1. canplayer vcan0=can0 -I ./can_dumps/candump-racepack-running.log -li

Setup Can/Vcan Auto interface

  1. Dont forget to make your shell scripts executable sudo chmod u+rw RPI_system/start_vcan.sh
  2. For Development mode: RPI_system/start_vcan.sh

Simulate CAN in dev on your Mac / Linux

  1. Start the virtual CAN interface: .RPI_system/start_vcan.sh
  2. Start playing CAN messages from a captured can log: canplayer vcan0=can0 -I ./can_dumps/candump-racepack-running.log -li
  3. Run the server: npm run test_server

Helpful links

Speed up Boot times

overclock?

For some reason I cant get this to work yet....

  1. You'll need active cooling on the pi if you do this, otherwise it will throttle itself down as it turns into metal goo
  2. sudo nano /boot/config.txt
  3. add:
over_voltage=6
arm_freq=2147
gpu_freq=750

disable services

Consider disabling services to make boot time faster (if you dont need them)

  • sudo systemctl disable raspi-config.service
  • sudo systemctl disable apt-daily-upgrade.service
  • sudo systemctl disable rpi-eeprom-update.service
  • sudo systemctl disable keyboard-setup.service
  • sudo systemctl disable hciuart.service
  • sudo systemctl disable bluealsa.service
  • sudo systemctl disable bluetooth.service
  • disable wifi/touch?

disabling bluetooth

Also remove overlays for disabled stuff

  1. sudo nano /boot/config.txt
  2. add
#Disable Bluetooth 
dtoverlay=disable-bt
#dtparam=audio=on
# Disable Wifi (disable this when the dash is ready to go in; eliminate time waiting for Wifi to raise)
dtoverlay=disable-wifi
disable_touchscreen=1

CAN Protocol

Holley / NHRA

General Decoding Info

  • Found here towards the bottom
  • The CAN data rate: 1 Mbit/sec
  • Holley uses the ID as bit-wise structure:
    • Bits 31:29 – CAN flags (normally filtered out and read as 0)
    • Bits 28 – command bit (=1)
    • Bits 27:25 – Target ID (= 111, broadcast)
    • Bits 24:14 – Target Serial (used as a channel # index)
    • Bits 13:11 – source ID (= 010, hefi)
    • Bits 10:0 – source serial (the lower 11 bits of the serial # of the device as printed on the back of the ECU)
  • using extended identifier (CANID) format.
    • To decode data: mask out the lower 11 bits of the CANID
    • (i.e., logical AND with 0xFFFFF800)

Monitor Packets

Monitor data is continuously broadcast by the HEFI.

  • The monitor packets contain an index in their CAN id and values in the data field.
  • rate: approximately 10mS intervals.
  • All monitor packets have a DLC of 8 bytes.
    • payload contains two values.
    • Each set of 4 bytes (with the exception of RTC) is in a signed “fixed 24.8” format (essentially fixed 24.8 = float *256)
    • The RTC is sent as an u32 showing milliseconds since power on, or if the RTC was set will it will be the current time of

GPS

If you can, try to configure your GPS chip to only send the required messages. In my instance, since I am using USB, I turned off all messages for other protocols (I2C, SPI, etc). I also only enabled NAV-ODO, and HNR-PVT messages.

Cheatsheets

  • log file of service
    • journalctl Logs:
  • dmesg
  • systemd-analyze
  • systemd-analyze critical-chain
  • lsmod - list of loaded modules

Monitoring

  • Monitor CPU Clock Speed - watch -n1 vcgencmd measure_clock arm
  • Measure Temperature - watch -n1 vcgencmd measure_temp

Personal Notes:

  • making quick src updates: scp -r ../AutoDashBackEnd/src pi@pi.local:/home/pi/AutoDashBackEnd/src
  • copy dist
    • scp -r ../AutoDashFrontEnd/dist pi@pi.local:/home/pi/AutoDashBackEnd/dist/ 
~ cd development/AutoDashBackEnd                                       
➜  AutoDashBackEnd git:(main) ✗ canplayer vcan0=can0  -I ./can_dumps/candump-racepack-running.log -li