Warning
This repository has been depreciated in favor of using the new wire-os repo as a base. Please use https://github.com/The-Viccyware-Project/Viccyware-oelinux
This repository contains the embedded OS that runs on victor hardware.
vicos-oelinux is the repo you are looking for if you want to create a full OTA. It
If you are looking for Viccyware embedded firmware, robotics, animation and engine layers checkout Viccyware.
viccyware-oelinux is the repo you are looking for if you want to create a full OTA. It includes stuff like Viccyware as submodules.
This will build an OTA from scratch. (yes, it actually will. including Viccyware and vector-cloud. wire approved in the year of 2025)
You need a beefy x86_64 Linux machine with a lot of available storage and Docker installed.
Install:
git git-lfs docker
Clone git repository:
git clone --recursive https://github.com/Switch-modder/viccyware-oelinux
Configure Docker so it can be run by a normal user (it is not recommended to run the build script as root):
sudo groupadd docker
sudo gpasswd -a $USER docker
newgrp docker
sudo chown root:docker /var/run/docker.sock
sudo chmod 660 /var/run/docker.sock
Start Build:
cd viccyware-oelinux
./build/docker-ota-build.sh <oskr/dev> <increment> <oskr boot image password>
# boot image password not necessary for dev
Example:
./build/docker-ota-build.sh oskr 6080 <oskr boot image password>
This will create an OTA called vicos-2.0.1.6080oskr.ota in viccyware-oelinux/_build/ which will run on oskr bots. This is scriptable - it will not prompt for anything.
d: dev, internal build (allowed to be broken)oskr: oskr, for developers outside of Ankiep: escape pod<none>: prod (for users)
cd ~/viccyware-oelinux
git pull --recurse-submodules
./build/docker-ota-build.sh prod <increment> <OTA password> <prod boot image password>
./build/docker-ota-build.sh oskr <increment> <oskr boot image password>
./build/docker-ota-build.sh dev <increment>
scp _build/vicos-2.0.1.<increment>.ota <destination>
scp _build/vicos-2.0.1.<increment>d.ota <destination>
scp _build/vicos-2.0.1.<increment>oskr.ota <destination>
Wire note: a normal dev never really needs to know this.
Prod=user, OSKR/dev=perf
We currently have 5 different build flavors for the Victor OS.
build-victor-
- robot-image
- robot-perf-image
- robot-user-image
- robot-factory-image
- robot-facdev-image
These permute three switches
Perf builds are optimized more for performance than non-perf builds, particularly in the Linux Kernel. At the moment robot-image is the only non-perf build flavor.
User build are as intended for software released to actual users. Debugging features such as SSH, ADB and fastboot are disabled for security. All user builds are also perf builds.
Because user builds are basically not debuggable, there are non-user versions of the user builds.
| User | Debuggable |
|---|---|
| robot-user-image | robot-perf-image |
| robot-factory-image | robot-facdev-image |
Factory builds are intended as the out of box / recovery firmware programmed into the F slots of robots.
The primary difference for factory builds is that /data is always mounted as a tmpfs in factory builds so it is
erased every power cycles meaning the robot does not remember wifi configuration etc.
The APQ8009 is a complex SoC with a number of processors besides the quad core ARM processor which runs our Linux operating system. The other processors such as the modem DSP and wlan DSP require their own firmware and configuration files.
The wlan DSP, or cnss_proc as Qualcomm calls it, has it's own firmware which comes from the APQ8009 repository,
vmosAlpha.ankicore.com:/git/apq8009-le-1-0-2_ap_standard_oem.git not the vicos-oelinux repository and it gets built
into the modem partition which is mounted under Linux at /firmware. We do not have source code for this firmware. It
comes as blobs from Qualcomm.
The wlan also requires configuration files which are in the repository under android_compat/device/qcom/msm8909
and get baked into the root file system image at /lib/firmware/wlan/prima/. These configuration files are loaded by
the wlan Linux driver and contain values which have been tuned for Victor to pass FCC and other testing. These
configuration files must not be touched without discussion with the Anki hardware department.
TL;DR: We don't.
Because the firmware lives on the modem partition and not in the root file system, it is not touched by OTAs. If at some point in the future we discover we do need to update the wlan firmware, we will need to figure out how to do this via a post install step after OTA and work out it's implications for the F slot OS and do a lot of testing before we consider releasing an update.
The modem DSP loads firmware for the GPS receiver even though we have no GPS phy or antenna. We have received customized
GPS firmware from Qualcomm to work around a hardware bug in the PMIC which is triggered by our electrical design.
Refer to Qualcomm CreatePoint support Case Number 03482936 for details. The customized firmware is located in the
APQ8009 repository under modem_proc. Since the GPS firmware isn't actually used, we shouldn't ever need to update it.
If we do need to for some reason, we need to make certain that any new firmware also includes the patches for the PMIC
issue.
If you make a change that will break the vic-* apps under anki/victor, then you must increment the VICTOR_COMPAT_VERSION. This will make it so that developers working on victor.git, do not try to
accidentally deploy to a robot running an old version. Similarly, if they try to deploy code from an out of date branch onto a newer robot, they will get an error to rebase their branch and try again.