Merge branch 'master' of ssh://gitea.cs.ru.is:2222/RU-V207/rover-pi

README.md

@@ -6,7 +6,13 @@ Scripts and documentation for setting up a Raspberry Pi (Zero W 1 or 2) for use
 1. [Raspberry Pi Imager procedure to setup ssh and Raspberry Pi Connect](imager.md)
 1. Find out your Pi's ethernet addresss in case you need to find it on `iot-research` again.  Type `ip addr show dev wlan0` and for something like `link/ether 01:23:45:67:89:ab`.  Write this information (the 12 characters and colons) in your notebook.  In T-411-MECH we want you to put this information in a spreadsheet links from the main page:  this allows us connect Pi's to people in case of any issues.
 1. [Solder the GPIO header pins](solder-gpio.md)
-1. [Gadget Mode to setup a serial connection over USB](gadget.md)
+1. Login to the pi using ssh or serial.  (Pi Connect breaks wihle upgrading the Pi Connect program).  Now update the packages on your pi:
+   ```
+   sudo apt-get update
+   sudo apt-get -y upgrade
+   ```
+
+1. [Gadget Mode to setup a network connection over USB](https://github.com/raspberrypi/rpi-usb-gadget)
 1. [Setup the OLED screen to print the IP](oled-display/README.md)
    Based upon [Marcel's script on github to show the IP address on the OLED screen](https://github.com/mkyas/cpsy-display-ip)
 1. Install Blinka by following the guide [CircuitPython Libraries on Linux and Raspberry Pi](https://learn.adafruit.com/circuitpython-on-raspberrypi-linux/installing-circuitpython-on-raspberry-pi)]

Scripts/gadget.sh

@@ -9,10 +9,19 @@ if [ $(id -u) -ne 0 ]; then
     exit 1
 fi
 
+if [ -f /boot/firmware/GADGET_MODE ]; then
+    systemd-cat -t gadget.sh -p info echo "/boot/firmware/GADGET_MODE exists:  GADGET mode enabled"
+else
+    systemd-cat -t gadget.sh -p warning echo "/boot/firmware/GADGET_MODE missing:  GADGET mode disabled"
+    systemctl disable serial-getty@ttyGS0.service
+    exit 1
+fi
 
 # Is the dwc2 overlay installed?  Nothing will work if it isn't.
-if lsmod | grep -q "dwc2"; then
+if [ -d /sys/class/udc ] && [ -n "$(ls -A /sys/class/udc)" ]; then
-    systemd-cat -t gadget.sh -p info echo "DWC2 module loaded, setting up OTG gadget serial and ethernet"
+    systemd-cat -t gadget.sh -p info echo "DWC2 precompiled, setting up OTG gadget serial and ethernet"
+elif lsmod | grep -q "dwc2"; then
+    systemd-cat -t gadget.sh -p info echo "Pre 6.18.39 kernel.  DWC2 module loaded, setting up OTG gadget serial and ethernet"   
 else
     systemd-cat -t gadget.sh -p warning echo "DWC2 module missing.  Aborting OTG setup."
     systemctl disable serial-getty@ttyGS0.service

gadget.md

@@ -5,7 +5,9 @@ Based upon Adafruit guide: https://learn.adafruit.com/turning-your-raspberry-pi-
 The author discovered the guide was out of date, consulted the [2025 Raspberry Pi whitepaper on OTG](https://pip-assets.raspberrypi.com/categories/685-app-notes-guides-whitepapers/documents/RP-009276-WP/Using-OTG-mode-on-Raspberry-Pi-SBCs), found additional errors, and was finally able to correct them thanks to this blog https://www.isticktoit.net/?p=1383
 
 ## Important :
+- **We are still working out the kinks with the gadget mode switching on the Pi Zero W 2**
 - **Using the Gadget Mode will make the usb port unable to connect to a mouse or keyboard!!!** You will need to disable it make them work again.
+- The blue USB cables included in the kit in 2026 are flakey.  We recommend replacing them ASAP.
 - You will want to disable the serial console on RX/TX in `raspi-config` if you are trying to use that serial port for communicating with other devices.
 
 
@@ -17,18 +19,18 @@ Make sure you have your USB cable plugged into the left port **USB** and not the
 ```
 sudo su
 ```
-1. Enable the DWC version 2 USB peripheral device tree overlay by appending it to the end after the `[all]` category (which is at the end)
-```
-echo "dtoverlay=dwc2" >> /boot/firmware/config.txt
-```
-1. We add the required module `dwc2` for loading at startup
-```
-echo "dwc2" >> /etc/modules
-```
 1. Check that we can load the libcomposite module
 ```
 modprobe libcomposite
 ```
+1. Reboot
+```
+restart now
+```
+1. Become root again
+```
+sudo su
+```
 1. Put a copy of this repository in root's home directory using git
 ```
 cd /root
@@ -85,7 +87,44 @@ This is similar to the procedure for accessing an Arduino.
     ```
 1. Press enter and you will be prompted to log in to the Pi with default credentials. User: pi - PW: raspberry
 
-# Disabling the OTG mode to use a keyboard and mouse again
+# Enabling/Disabling the OTG mode to use a keyboard and mouse again
+
+## Disable
+1. Remove the SD card and access it on your computer
+1. Delete the file called `GADGET_MODE` in the boot partition/drive usually called `bootfs`.
+1. If the Pi is booted, you can `sudo rm /boot/firmware/GADGET_MODE` and reboot.
+
+## Enable
+1. Remove the SD card and access it on your computer
+1. Create a file called `GADGET_MODE` in the boot partition/drive called `bootfs`.
+2. If the Pi is booted, you can `sudo touch /boot/firmware/GADGET_MODE` and reboot
+
+# Connecting over the USB ethernet to ssh into your Pi
+
+I have not tested this procedure because the serial console and normal network connection is sufficient for me --foley
+
+https://www.raspberrypi.com/news/usb-gadget-mode-in-raspberry-pi-os-ssh-over-usb/
+
+
+# Untested
+ Here are items that bear investigating but haven't been tested yet
+ 
+ - [Modify Imager manifest to install otg](https://github.com/raspberrypi/rpi-imager/tree/main/doc/local_json)
+ 
+# Old DWC Instructions (for older versions)
+
+## Setting up
+1. Enable the DWC version 2 USB peripheral device tree overlay by appending it to the end after the `[all]` category (which is at the end)
+```
+echo "dtoverlay=dwc2" >> /boot/firmware/config.txt
+```
+1. We add the required module `dwc2` for loading at startup
+```
+echo "dwc2" >> /etc/modules
+```
+
+
+## Disabling the OTG mode to use a keyboard and mouse again
 
 **WARNING: Untested**
 1. Comment out the dwg2 line in `/boot/firmware/config.txt` using a `#` in front of the line
@@ -105,16 +144,3 @@ This is similar to the procedure for accessing an Arduino.
     ```
 	systemctl disable serial-getty@ttyGS0.service
 	```
-
-# Connecting over the USB ethernet to ssh into your Pi
-
-I have not tested this procedure because the serial console and normal network connection is sufficient for me --foley
-
-https://www.raspberrypi.com/news/usb-gadget-mode-in-raspberry-pi-os-ssh-over-usb/
-
-
-# Untested
- Here are items that bear investigating but haven't been tested yet
- 
- - [Modify Imager manifest to install otg](https://github.com/raspberrypi/rpi-imager/tree/main/doc/local_json)
-