RPI_Setup.txt

1. Setup RPI SD:
- Flash Image
- Setup WIFI:
	/etc/wpa_supplicant/wpa_supplicant.conf :
		Add following block with ssid and psk generated from wpa_passphrase command:
			network={
   	 			ssid="ssid"
   		 		psk= 	#psk="" or wpa_passphrase ssid
			}
- Enable ssh
	touch "ssh" in boot partition

2. Enter SD to RPI:
- Connect to RPI with "ssh pi@raspberry.local" and default password raspberry
- Change password with "passwd"
- Enable USB Serial
	boot config.txt : add at end: # For USB Serial
			dtoverlay=dwc2
			enable_uart=0  # CHANGED FROM 1
	boot cmdline.txt : add after rootwait:
			modules-load=dwc2,g_serial
- With "sudo raspi-config":
	raspi-config/Networking/Hostname -> serialhmd
		Not working:	raspi-config/Interface/Serial -> Disable console, enable serial
		TRY:			raspi-config/Interface/Serial -> Disable console, disable serial
	raspi-config/Interface/I2C -> enable
	raspi-config/Interface/SPI -> enable
	raspi-config/Interface/ssh -> enable
- Reboot/Shutdown

3. Setup SerialHMD
- Copy over files to "home/pi":
	startup.sh
	SerialHMDInterface.py
- Connect to RPI with "ssh pi@serialhmd.local"
- Add startup entry to "etc/rc.local":
		echo "Starting tmux session 'session'"
		/usr/bin/tmux new-session -d -s session
		/usr/bin/tmux set-option -t session set-remain-on-exit on
		/usr/bin/tmux new-window -d -n 'startup' -t session:1 'cd /home/pi; sudo sh ./startup.sh'
	OR
		cd /home/pi
		sudo sh ./startup.sh &
- sudo apt install python-serial
- USB Serial Port on RPi: /dev/ttyGS0


4. Setup RTIMULib2 /w MPU9250
- Clone RTIMULib2 with MPU9250 support from Nick-Currawong
- Follow instructions to verify I2C (check ports, change baudrate, i2cdetect adress 68, set i2c privileges)
	sudo apt-get install i2c-tools
	ls -l /dev/i2c-*
	sudo i2cdetect -y 1
	sudo nano /etc/udev/rules.d/90-i2c.rules
		KERNEL=="i2c-[0-7]",MODE="0666"
	sudo udevadm control --reload
- Install cmake: sudo apt install cmake
- Build RTIMULib2 core:
	cd RTIMULib2-master/RTIMULib
	mkdir build
	cd build
	cmake ..
	make -j4
	sudo make install
	sudo ldconfig
- Build  RTIMULib calibration + drive:
	cd RTIMULib2-master/Linux
	mkdir build
	cd build
	cmake -DBUILD_GL=OFF -DBUILD_DRIVE10=OFF -DBUILD_DRIVE11=OFF -DBUILD_DEMO=OFF ..
	make -j4
	sudo make install
	sudo ldconfig
- Calibrate: cd home  +  sudo RTIMULibCal
- Test:  RTIMULibDrive
- Change RTIMULib.ini to increase sample rate and increase precision
- Install python bindings
	sudo apt install python-dev
	cd RTIMULib2-master/Linux/python
	python setup.py build
	sudo python setup.py install
- Test python: cd tests  +  python Fusion.py
- Copy RTIMULib.ini file to working dir, call RTIMULibCal whenever needed

Some manually:
- Enable ssh
	touch "ssh" in boot partition
- Change hostname:
	/etc/hosts :
		change "raspberrypi" at end to "rpihmd"
	/etc/hostname :
		change "raspberrypi" to "rpihmd"
- Enable USB Serial
	boot config.txt : add at end: # For USB Serial
			dtoverlay=dwc2
			enable_uart=1
	boot cmdline.txt : add after rootwait:
			modules-load=dwc2,g_serial