HsMouse

Experimental control software for robotics, tested on Raspberry Pi 5.

System Configuration:

To configure the system, the files in the sysconf directory must be installed:

Copy the UDEV *.rule files into /etc/udev/rules.d
Copy config.txt to /boot
Reboot the Raspberry Pi for the changes to take effect

Low Power Consumption When Powered Off:

By default, the Raspberry Pi 5 keeps the SoC powered on (in a shutdown state) even after the system is shut down. As a result, it continues to consume 1.2-1.6W of power, even with nothing plugged in except for power. For more details, see: Reducing Raspberry Pi 5's Power Consumption

This can be easily fixed by editing the EEPROM configuration with the following command:

user@alarm$ sudo rpi-eeprom-config -e

Ensure that POWER_OFF_ON_HALT=1 is set, while leaving the other variables unchanged:

[all]
BOOT_UART=[...]
POWER_OFF_ON_HALT=1
BOOT_ORDER=[...]

To run rpi-eeprom-config on Arch Linux, you’ll need to install the rpi5-eeprom package from the PKGBUILDs repository. Run the following commands to do so:

user@alarm$ git clone https://github.com/archlinuxarm/PKGBUILDs
user@alarm$ cd PKGBUILDs/alarm/rpi-eeprom
user@alarm$ makepkg -s
user@alarm$ sudo pacman -U rpi5-eeprom-*.pkg.tar.xz

GPIO and PWM Access Without Root:

To enable GPIO and PWM access without root privileges on the Raspberry Pi 5, follow these steps:

Create two new user groups: gpiod and pwm
Add your user to both groups
The UDEV rules installed previously will grant the gpiod and pwm user groups permission to access the respective subsystems.

This configuration ensures that GPIO and PWM operations can be performed without needing root access.

Libcamera Setup

The upstream libcamera package in Arch Linux ARM (as of August 2025) has compatibility issues with the Raspberry Pi kernel, preventing detection of official camera modules. Until this is resolved upstream, you'll need to build the Raspberry Pi Foundation's supported version:

user@alarm$ sudo pacman -S boost cmake gcc git libdrm libexif libjpeg libpng libtiff meson pkgconf python-jinja python-ply python-yaml
user@alarm$ git clone https://github.com/raspberrypi/libcamera
user@alarm$ cd libcamera
user@alarm$ meson setup build -Dprefix=/usr
user@alarm$ ninja -C build
user@alarm$ sudo ninja -C build install

References:

I2C Setup:

The provided config.txt exposes /dev/i2c-0 on GPIO pins 0 (SDA) and 1 (SCL). Ensure your user has I2C permissions:

user@alarm$ sudo usermod ${USER} -aG i2c

Verify the interface works. Expected output (no devices yet):

user@alarm$ sudo i2cdetect -y 0
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:                         -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- --

Battery Monitoring with INA226

This repository includes INA226 voltage/current sensing via I2C. For battery-powered operation:

Hardware Connections

Battery terminals: V+/V- on INA226
Load current path (Pi + motor controllers): I+/I- on INA226
I2C lines: SDA/SCL (GPIO 0/1)
3V3 power and GND

The INA226 should appear at address 0x40:

user@alarm$ sudo i2cdetect -y 0
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:                         -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: 40 -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- --

Build Instructions:

Install stack. It’s recommended to use ghcup for installation.
Run make to compile the libraries and executables

Note: You may need to install system dependencies on your host first (e.g., libgpiod, libcamera, etc.)