Turtle OS

Modified Raspbian Lite

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How to install

Installation procedure is the same as for original Raspbian image which is described here.

How to connect via SSH

SSH using Linux or Mac OS

You will need to know your Raspberry Pi's IP address to connect to it. If You're connecting using Turtle Acess Point Turtle-XXYYY the adress is static: 10.0.0.1. You can also connect using Ethernet cable. In this case You have to set in IPv4 settings of Ethernet connection to Share with other computers on Your computer. Then, using e.g. arp, find address. It usually starts with 10.x.x.x and is dynamic.

To connect to your Pi from a different computer, copy and paste the following command into the terminal window but replace with the IP address of the Raspberry Pi. Use Ctrl + Shift + V to paste in the terminal.

ssh pi@<IP>

If you receive a connection timed out error it is likely that you have entered the wrong IP address for the Raspberry Pi.

When the connection works you will see a security/authenticity warning. Type yes to continue. You will only see this warning the first time you connect.

In the event your Pi has taken the IP address of a device to which your computer has connected before (even if this was on another network), you may be given a warning and asked to clear the record from your list of known devices. Following this instruction and trying the ssh command again should be successful.

Next you will be prompted for the password. We are using identical login: pi and password: raspberry, as official Raspbian.

Source: www.raspberrypi.org

SSH using Windows

For Windows You can follow this official steps. If You're connecting using Turtle Acess Point Turtle-XXYYY the adress is static: 10.0.0.1. We are using identical login: pi and password: raspberry, as official Raspbian.

How to configure

• To change HotSpot name (SSID), passphrase, channel, etc. change /etc/hostapd/hostapd.conf file. e.g. using nano sudo nano /etc/hostapd/hostapd.conf
• Works best with RT5370 WiFi adapter, or any that uses rt2800usb driver

Modifications in this image

Boot tweaks

• Patch cmdline.txt: disable repair, disable serial0
• Patch config.txt: enable uart, disable splash
• Add ssh file by default
• Turtle Rover configs

System tweaks

• Patch sshd to disallow client to pass locale environment variables
• Add turtle.service
• Install uv4l and custom config
• Install rng-tools to feed hwrng into /dev/random
• Install vim and tmux

Network tweaks

• Patch hosts
• Add udev rules for network interface names
  • Internal wifi interface wlan_int
  • External wifi interface wlan_ext
• Add systemd network files
  • Internal eth interface eth0, ip:DHCP
  • External wifi interface wlan_ext, ip:10.0.0.1
• Install dnsmasq
• Install hostapd
• Install NetworkManager
• Add custom dnsmasq.conf
• Add custom hostapd.service
• Add custom hostapd.conf (hotspot)
  • interface: wlan_ext, SSID: TurtleRover-XXYYY, password: password
• Add custom NetworkManager.conf
  • ignore eth0 and wlan_ext interfaces (control only wlan_int)
• Add custom resolvconf.conf
• Add custom sysctl.conf

Custom software

• Turtle Control Software
• OpenOCD

How it works

• First of read readme from original pi-gen repo

1. We are removing original stage3, stage4, stage5
2. Copying our stage3 which provides all needed changes to run Turtle Rover
3. Build image

How to generate Turtle OS

• Build all stages sudo ./prebuild.sh
• Build only stage3 sudo ./prebuild.sh -s

How to add and edit patches

• Using Quilt
• Quilt Tutorial

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Strongly inspired by 🤡 BigClown Raspbian 🤡