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<li class="toctree-l1 current"><a class="current reference internal" href="#">Installationsanweisungen</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="#bearbeiten-der-boot-partition">Bearbeiten der boot-Partition</a></li>
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<div class="section" id="installationsanweisungen">
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<span id="software-installation"></span><h1>Installationsanweisungen<a class="headerlink" href="#installationsanweisungen" title="Link zu dieser Überschrift">¶</a></h1>
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<p>Diese Anleitung dient dazu die Software auf dem Roboter neu aufzusetzen.</p>
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<p><strong>Im normalen Gebraucht sollte dies jedoch nicht notwendig sein.</strong></p>
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<div class="section" id="betriebssystem-aufsetzen">
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<h2>Betriebssystem aufsetzen<a class="headerlink" href="#betriebssystem-aufsetzen" title="Link zu dieser Überschrift">¶</a></h2>
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<p>Als Basis wird für den Roboter Raspberry Pi OS (64-bit) verwendet. Das 32-Bit Betriebssystem wird nicht unterstützt, da die Software-Komponenten nur für aarch64 bzw. arm64/v8 kompiliert werden.
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Genauere Informationen sind <a class="reference external" href="https://www.raspberrypi.com/software/operating-systems/">hier</a> zu finden.</p>
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</div>
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<div class="section" id="bearbeiten-der-boot-partition">
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<h2>Bearbeiten der boot-Partition<a class="headerlink" href="#bearbeiten-der-boot-partition" title="Link zu dieser Überschrift">¶</a></h2>
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<ol class="arabic simple">
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<li><p><code class="docutils literal notranslate"><span class="pre">cmdline.txt</span></code></p></li>
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</ol>
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<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">console</span><span class="o">=</span><span class="n">tty1</span> <span class="n">root</span><span class="o">=</span><span class="n">PARTUUID</span><span class="o">=</span><span class="mf">21e60</span><span class="n">f8c</span><span class="o">-</span><span class="mi">02</span> <span class="n">rootfstype</span><span class="o">=</span><span class="n">ext4</span> <span class="n">fsck</span><span class="o">.</span><span class="n">repair</span><span class="o">=</span><span class="n">yes</span> <span class="n">rootwait</span> <span class="n">quiet</span> <span class="n">init</span><span class="o">=/</span><span class="n">usr</span><span class="o">/</span><span class="n">lib</span><span class="o">/</span><span class="n">raspi</span><span class="o">-</span><span class="n">config</span><span class="o">/</span><span class="n">init_resize</span><span class="o">.</span><span class="n">sh</span>
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</pre></div>
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</div>
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<p>Stellen Sie sicher, dass die folgenden Einstellungen in der <code class="docutils literal notranslate"><span class="pre">config.txt</span></code> korrekt gesetzt sind</p>
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<ol class="arabic simple" start="2">
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<li><p><code class="docutils literal notranslate"><span class="pre">config.txt</span></code></p></li>
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</ol>
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<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1"># SPI</span>
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<span class="n">dtparam</span><span class="o">=</span><span class="n">spi</span><span class="o">=</span><span class="n">on</span>
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<span class="n">dtoverlay</span><span class="o">=</span><span class="n">spi1</span><span class="o">-</span><span class="mi">3</span><span class="n">cs</span>
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<span class="c1"># Run in 64-bit mode</span>
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<span class="n">arm_64bit</span><span class="o">=</span><span class="mi">1</span>
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<span class="p">[</span><span class="nb">all</span><span class="p">]</span>
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<span class="p">[</span><span class="n">pi4</span><span class="p">]</span>
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<span class="c1"># Run as fast as firmware / board allows</span>
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<span class="n">arm_boost</span><span class="o">=</span><span class="mi">1</span>
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<span class="p">[</span><span class="nb">all</span><span class="p">]</span>
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<span class="n">start_x</span><span class="o">=</span><span class="mi">1</span>
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<span class="n">gpu_mem</span><span class="o">=</span><span class="mi">128</span>
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<span class="n">dtoverlay</span><span class="o">=</span><span class="n">pi3</span><span class="o">-</span><span class="n">disable</span><span class="o">-</span><span class="n">bt</span>
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<span class="n">enable_uart</span><span class="o">=</span><span class="mi">1</span>
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</pre></div>
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</div>
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<ol class="arabic simple" start="3">
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<li><p>Erstellen der leeren Datei <code class="docutils literal notranslate"><span class="pre">ssh</span></code>, damit ssh beim nächsten Start aktiviert wird</p></li>
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<li><p>Hinzufügen der <code class="docutils literal notranslate"><span class="pre">userconf.txt</span></code></p></li>
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</ol>
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<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>compair:$6$eh2pkHm18RgYtwiG$PoeabVCH8llbyIio66OefPGXZ2r2BRI2hPHIdkNTBjmiR0lGXsozGyLx0uViOx3bi998syXjSDXkwt0t3x8Bq.
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</pre></div>
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</div>
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<ol class="arabic simple" start="5">
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<li><p>Wlan Verbindung einrichten</p></li>
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