## **Lab 1** | Raspberry Pi+Navio ### Design of Autonomous Systems ### CSCI 6907/4907 - Section 86 ### Prof. **Sibin Mohan** --- ## Objectives - Configure a Raspberry Pi and Navio Shield. - Understand the hardware and its components. - Set up wireless and SSH connections. --- ## Equipment Required - Raspberry Pi 4B (or similar) - Navio Shield - MicroSD Card (32GB or larger) - USB to UART Cable - Power Supply (USB-C) - A Computer - A Wifi Network (GW network) --- ## Raspberry Pi Overview <img src="../img/hw/pi.png" height="300"> - **Processor (SoC):** ARM-based CPU - **GPIO Pins:** Interface for external electronics - **Ports:** USB, HDMI, Ethernet, Wi-Fi, Bluetooth - **MicroSD Card Slot:** Stores OS and data --- ## Navio Shield Overview - **IMU:** 3-axis accelerometer, <br>gyroscope, magnetometer - **Barometer:** Altitude measurement - **GPS/GNSS Receiver:** Positioning data - **Servo Rail:** Connect motors/servos - **Communication Ports:** UART, I2C, SPI <img src="../img/hw/navio2.png" height="300"><br> --- ## Setup Steps ### 1. Flash the SD Card - Download Navio image: [Navio Image](https://files.emlid.com/images/emlid-raspbian-20220608.img.xz) - Use [Balena Etcher](https://www.balena.io/etcher/) to flash the image. -v- ### 2. Connect via UART - Edit `/boot/config.txt` to include `enable_uart=1`. - Edit `/boot/cmdline.txt` to include `console=serial0,115200`. - Connect UART cable to Raspberry Pi: - **GND:** Pin 6 - **TX:** Pin 8 - **RX:** Pin 10 - Use `screen` or Putty to access the terminal. -v- ### 3. Connect to Wi-Fi - Configure GWDevice credentials: [GWDevice](http://mydevices.gwu.edu/). - Use `sudo raspi-config` to set up Wi-Fi: - Navigate to Wireless LAN. - Enter SSID and password. -v- ### 4. Enable SSH - Use `sudo raspi-config`: - Navigate to Interfacing Options > SSH. - Enable SSH. --- ### 5. Find Raspberry Pi IP Address To find the Raspberry Pi IP address, run the following command in the terminal: ```bash $> ip addr show wlan0 | grep 'inet ' | awk '{print $2}' | cut -d/ -f1 ``` --- ### 6. Install Navio Shield - Mount Navio shield on Raspberry Pi GPIO pins. - Secure with spacers and screws. - Connect Raspberry Pi and Navio to the mounting plate. --- ## Final Check - Run `sudo emlidtool` to verify Navio shield functionality. - Ensure sensors are calibrated. --- ## Summary - Successfully set up Raspberry Pi and Navio shield. - Configured wireless and SSH access. - Ready for future labs on autonomous systems.