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d177e5f | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 | # Build a CM5 image of reachy-mini-os, inside Docker: for a CM5 swapped into the
# Reachy Mini Wireless carrier (the stock robot ships a CM4). Usage: see README.md.
FROM debian:bookworm
# pi-gen build tools
RUN apt-get update && apt-get install -y --no-install-recommends \
ca-certificates git git-lfs curl \
quilt parted debootstrap zerofree zip dosfstools e2fsprogs fdisk \
libarchive-tools libcap2-bin rsync xz-utils file kmod bc gpg pigz xxd \
arch-test binfmt-support qemu-user-static \
&& rm -rf /var/lib/apt/lists/*
# reachy-mini-os source (pi-gen fork) + its Git LFS files
RUN git lfs install \
&& git clone --depth 1 https://github.com/pollen-robotics/reachy-mini-os.git /pi-gen
WORKDIR /pi-gen
RUN git lfs pull
# CM5 boot tweaks + pinned daemon version. Unlike the Pi 5 build:
# - dtparam=ant2 stays (the CM5 has the U.FL connector, the Wireless uses the external antenna)
# - the imx708/i2c overlays stay (the Wireless camera is CSI)
# The motor bus keeps GPIO4/5, which on the CM5 is RP1 uart2 (ttyAMA2), not the CM4's uart3.
ARG DAEMON_VERSION=v1.8.4
RUN set -e; \
sed -i 's/^IMG_NAME="reachyminios"$/IMG_NAME="reachyminios-cm5"/' config; \
cfg=stage1/00-boot-files/files/config.txt; \
sed -i 's/^dtoverlay=uart3$/dtoverlay=uart2-pi5/' "$cfg"; \
sed -i -E "s/reachy-mini\[wireless-version\]==v[0-9.]+/reachy-mini[wireless-version]==${DAEMON_VERSION}/" \
stage2/05-reachy-mini/01-run-chroot.sh
# CM5 runtime fixes (motors, shutdown, software H264 encoder)
COPY docker/stage-cm5-fixes.sh stage2/05-reachy-mini/02-run-chroot.sh
RUN chmod +x stage2/05-reachy-mini/02-run-chroot.sh
# the build itself runs at `docker run` (needs --privileged: loop devices + ARM emulation)
COPY docker/entrypoint.sh /entrypoint.sh
RUN chmod +x /entrypoint.sh
ENTRYPOINT ["/entrypoint.sh"]
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