Raspberry Pi (4) Digital Dash Server

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

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

Setup Hardware

Hardware Used

Update PI EEPROM for new Bootloader

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

Download RPI's official Imager
Image SD card with a rasp lite image
Edit the /boot/config.txt
add monitor support so we can enable wifi and SSH

# 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 Pi with new card
login with pi raspberry
Enable wifie and SSH, reboot
SSH in and lets have some fun
(update bootloader stuff: watch this https://www.youtube.com/watch?v=8tTFgrOCsig)

Setup Pi Image

Download RPI's official Imager
Image USB (or SD if you dont want usb) card with a rasp lite image
Edit the /boot/config.txt
add monitor support so we can enable wifi and SSH
comment out: # dtparam=audio=off
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

Pop the USB/SD in the pi and boot up
login pi/raspberry
get wifi up and running and ssh if you havent yet
now we can SSH remotely
Update everything: sudo apt-get -y update && sudo apt-get -y upgrade ; sudo apt-get autoremove ; sudo apt-get dist-upgrade -y ; sudo reboot

Disable Bluetooth

https://di-marco.net/blog/it/2020-04-18-tips-disabling_bluetooth_on_raspberry_pi/#add-below-save-and-close-the-file

sudo nano /boot/config.txt
add

# Disable Bluetooth
dtoverlay=disable-bt
# Disable Wifi (disable this when the dash is ready to go in; eliminate time waiting for Wifi to raise)
# dtoverlay=disable-wifi

and then run

sudo systemctl disable hciuart.service
sudo systemctl disable bluealsa.service
sudo systemctl disable bluetooth.service

Setup WaveShare Dual CAN hat

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

sudo nano /boot/config.txt
uncomment dtparam=spi=on
add below:

dtoverlay=mcp2515-can1,oscillator=16000000,interrupt=25
dtoverlay=mcp2515-can0,oscillator=16000000,interrupt=23

install can util stuff

sudo apt-get -y install can-utils libsocketcan2 libsocketcan-dev

sudo nano /etc/network/interfaces
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

sudo reboot

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.

make sure I2C is enabled (sudo raspi-config)
Enable the ds1307 overlay: add ds1307 to the dtoverlay line ex. dtoverlay=vc4-fkms-v3d,ds1307
Do the following

cd ~
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

sudo apt install --no-install-recommends xserver-xorg x11-xserver-utils xinit openbox --assume-yes
sudo apt install --no-install-recommends chromium-browser --assume-yes

no idea what assume-yes does lol

Now setup chromium with all the hardware enabled crap

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

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

sudo nano /home/pi/.bash_profile
Add this: [[ -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

Install drivers: `sudo apt-get install libgles2-mesa
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

Reboot

Disable other devices

disable touch screen

Setup Dash firmware

Prereqs to build AutoDasahBackEnd

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

sudo apt install git
From your Local Computer, copy the Dash BackEnd software over. (sans the node_modules)

example: scp -r ../AutoDashBackEnd [email protected]:/home/pi

for our GPIO interactivity - we are installing this - https://github.com/fivdi/pigpio:
1. sudo apt-get update
2. sudo apt-get install pigpio
(you already installed the CANUtil libraries from above...if not, go ahead and do that now)

Install NEWEST version of nodejs

https://www.officialrajdeepsingh.dev/install-node-js-and-npm-latest-version-on-raspberry-pi-4/
That link isnt perfect but it involves downloading the nodejs compressed file for the armv7l architecture - here is what I did:

tar -xf node-v14.17.6-linux-armv7l.tar.xz
rm node-v14.17.6-linux-armv7l.tar.xz
cd node-v14.17.6-linux-armv7l/
sudo cp -R * /usr/local/
sudo reboot
node -v

Confirm your Node version is at least 14 or above

Yarn Install

cd AutoDashBackEnd/
rm yarn.lock - if I checked it in; we always want to build fresh
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

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

Setup Can/Vcan Auto interface

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

Simulate CAN in dev on your Mac / Linux

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

Simulate CAN in dev on the Pi

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.
reboot, it will automatically run the node test_server command
ssh in and play a canfile
1. canplayer vcan0=can0 -I ./can_dumps/candump-racepack-running.log -li

Helpful links

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

Personal Notes:

making quick src updates: scp -r ../AutoDashBackEnd/src [email protected]:/home/pi/AutoDashBackEnd/src
copy dist
- scp -r ../AutoDashFrontEnd/dist [email protected]:/home/pi/AutoDashBackEnd/dist/

~ cd development/AutoDashBackEnd                                       
➜  AutoDashBackEnd git:(main) ✗ canplayer vcan0=can0  -I ./can_dumps/candump-racepack-running.log -li

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