From f05fda71ee561fdf6c1728ff93db86074d634f81 Mon Sep 17 00:00:00 2001 From: mikkeli Date: Thu, 8 Oct 2026 09:58:51 +0900 Subject: [PATCH] Phase 0: record host bring-up progress on the car unit LTE is up over QMI on povo, metered and ranked below Ethernet/WiFi, with failover tested. CAN interfaces now have stable udev names (can_pcan, can_onboard) since canN order raced at boot, so references to can1/can0 go. GNSS stays open: gpsd runs but has no fix until an open-sky test, which is now what blocks the moving map. Kernel-update rebuild steps are documented for both out-of-tree modules; time sync is pinned to NICT. Co-Authored-By: Claude Opus 5.5 --- README.md | 6 +++--- docs/ARCHITECTURE.md | 2 +- docs/ROADMAP.md | 20 ++++++++++++++------ 3 files changed, 18 insertions(+), 10 deletions(-) diff --git a/README.md b/README.md index 98d3138..5731385 100644 --- a/README.md +++ b/README.md @@ -34,9 +34,9 @@ Planned repositories and the reasoning behind the split are described in |---|---| | NVIDIA Jetson Orin Nano Super (`mikkeli-orin-nano`) | Car unit: main compute, JetPack r36.4 / Ubuntu 22.04 | | NVIDIA Jetson Orin Nano Super (`mikkeli-orin-nano-2`) | Development unit: builds, CI, bench (see [REPOS](docs/REPOS.md)) | -| PEAK PCAN-USB | Car CAN bus access (`can1`, 500 kbps) | -| Onboard MTTCan | Second CAN interface (`can0`) | -| Waveshare SIM7600G-H-M.2 | LTE Cat 4 + GNSS | +| PEAK PCAN-USB | Car CAN bus access (`can_pcan`, 500 kbps) | +| Onboard MTTCan | Second CAN interface (`can_onboard`) | +| Waveshare SIM7600G-H-M.2 | LTE Cat 4 (povo, fallback uplink below WiFi/Ethernet) + GNSS | Details and rationale live in the environment repo's [bill of materials](gitea:yukart/orin-nano-env-setup). diff --git a/docs/ARCHITECTURE.md b/docs/ARCHITECTURE.md index eb0ae6b..047f2d3 100644 --- a/docs/ARCHITECTURE.md +++ b/docs/ARCHITECTURE.md @@ -16,7 +16,7 @@ rest down. ## Shape ``` - CAN (can1) ──▶ can-bridge ──┐ + CAN ──▶ can-bridge ──┐ OBD-II ──▶ obd-poller ─┤ GNSS ──▶ gnss ├──▶ message bus ──┬──▶ recorder (disk) camera ──▶ vision* ─┘ ├──▶ hud (local video out) diff --git a/docs/ROADMAP.md b/docs/ROADMAP.md index 3d11ee4..2a835d5 100644 --- a/docs/ROADMAP.md +++ b/docs/ROADMAP.md @@ -1,7 +1,7 @@ --- type: plan status: active -updated: 2026-09-04 +updated: 2026-10-08 --- # Roadmap @@ -12,11 +12,19 @@ something demonstrable in the car. Getting the Jetson to see the hardware at all. -- [x] PCAN-USB working as SocketCAN `can1` (out-of-tree `pcan.ko`, netdev build) +- [x] PCAN-USB working as SocketCAN (out-of-tree `pcan.ko`, netdev build) +- [x] Stable CAN names by udev: `can_pcan`, `can_onboard` — `canN` order raced at boot - [x] SIM7600G-H-M.2 specified and documented -- [ ] SIM7600 brought up: LTE data path and GNSS via gpsd -- [ ] Kernel-update procedure for the out-of-tree PCAN module — it does not - survive kernel upgrades and will break silently +- [x] SIM7600 LTE data path: QMI (self-built `qmi_wwan`), povo, metered, ranked + below Ethernet/WiFi; failover tested, Tailscale stays reachable over LTE +- [ ] SIM7600 GNSS via gpsd — pipeline up (`/dev/sim7600-gps`), **no fix yet**; + needs an open-sky test +- [x] Kernel-update procedure for the out-of-tree modules (`pcan`, `qmi_wwan`) — + documented, sources kept in `~/infra`; still manual, and breaks silently + if forgotten +- [x] Network time pinned to NICT; timezone `Asia/Tokyo` +- [ ] Optional: RTC backup battery (CR2032) — without it the clock boots stale + until NTP or GPS corrects it - [ ] Power and mounting in the car: clean shutdown on ignition off Tracked in [orin-nano-env-setup](gitea:yukart/orin-nano-env-setup). @@ -79,7 +87,7 @@ and `tool-mapmint` (artifact builds). - [ ] Pull a Japan basemap extract from the Protomaps daily build with `go-pmtiles`; static-serve it, with `localIdeographFontFamily` set for CJK - [ ] MapLibre page rendering the basemap from a replayed GNSS trace -- [ ] Moving map live in the car — **blocked on gpsd in Phase 0** +- [ ] Moving map live in the car — **blocked on a GNSS fix in Phase 0** - [ ] Meili map matching over recorded sessions, as Phase 2 ground truth - [ ] Routing and turn-by-turn guidance onto `yukart/nav/guidance`