Added CarPC setup/install

2021-09-01 15:49:01 -04:00
parent 3978d36530
commit d6547b01e4
17 changed files with 1213 additions and 0 deletions
--- a/CarPC/README.txt
+++ b/CarPC/README.txt
@ -0,0 +1,17 @@
+
+	Kubuntu/Xubuntu (Debian) Setup
+	==============================
+
+Open a console window, and run the following commands.
+
+sudo apt-get update
+sudo install git subversion
+mkdir NTCNA
+cd NTCNA
+svn co https://www.probestar.com/NTCNA/CVehicle (password is temppwd)
+cd NTCNA/CVehicle/trunk/platforms/bboneb
+./carpc-setup.sh
+
+Takes awhile till it is done.  There is a lot of software to install.
+
+Adjust start_v2v.sh link as needed, re-run to run the right apps.
--- a/CarPC/carpc-setup.sh
+++ b/CarPC/carpc-setup.sh
@ -0,0 +1,103 @@
+#!/bin/sh
+
+# copy config files
+for i in etc lib usr
+do
+  if [ -d $i ]; then
+    sudo cp -r $i/* /$i/
+  fi
+done
+cp -r home/pi/.* /home/pi/
+
+# network
+echo "Edit networking via control panel"
+
+# update & clean
+sudo apt-get update
+sudo apt-get dist-upgrade
+sudo apt-get install -y ntpdate subversion git cmake
+sudo apt-get -y autoremove
+sudo apt-get clean
+
+# Need rc.local to start CAN and BSMPd
+sudo systemctl enable rc-local.service
+if [ ! -f /etc/init/x11vnc.conf ]; then
+  sudo systemctl enable x11vnc.service
+fi
+
+# time
+sudo ntpdate pool.ntp.org
+sudo hwclock -w
+sudo apt-get update
+
+# clone/pull
+mkdir -p $HOME/ProbeStar
+cd $HOME/ProbeStar
+for i in git_tools linux_tools pi_tools Cnomicon Pynomicon
+do
+  if [ -d $i ]; then
+    cd $i
+    git config credential.helper store
+    git pull --recurse-submodules
+    cd ..
+  else
+    git clone https://github.com/nprobert/$i --recurse-submodules
+  fi
+done
+cd $HOME
+for i in ProbeStar/*; do
+  ln -fs $i
+done
+mkdir bin
+cp linux_tools/bin/* bin/
+
+# checkouts
+mkdir -p $HOME/NTCNA
+cd $HOME/NTCNA
+for i in CVehicle PyVehicle
+do
+  if [ -d $i ]; then
+    cd $i
+    git config credential.helper store
+    git pull --recurse-submodules
+    cd ..
+  else
+    git clone https://github.com/nprobert/$i --recurse-submodules
+  fi
+done
+cd $HOME
+for i in NTCNA/*; do
+  ln -fs $i
+done
+
+# packages & builds
+if [ -d $HOME/ProbeStar/Cnomicon ]; then
+  cd $HOME/Cnomicon/packages
+  ./packages.sh
+  cd ..
+  ./cbuild.sh
+  ./cinstall.sh
+fi
+
+if [ -d $HOME/NTCNA/CVehicle ]; then
+  cd $HOME/CVehicle/packages
+  ./packages.sh
+  cd ..
+  ./cbuild.sh
+  ./cinstall.sh
+fi
+
+# python stuff
+cd $HOME/NTCNA/Pynomicon/packages
+./packages.sh
+chmod +x $HOME/Pynomicon/bin/*.sh
+cd $HOME/NTCNA/PyVehicle/packages
+./packages.sh
+chmod +x $HOME/PyVehicle/bin/*.sh
+
+# cleanup
+chmod go+rwx /etc/x11vnc.pass
+sudo adduser $USER dialout
+
+git config --global user.email "nprobert@probestar.net"
+git config --global user.name "Neal Probert"
--- a/CarPC/etc/can.conf
+++ b/CarPC/etc/can.conf
@ -0,0 +1,4 @@
+[default]
+interface = socketcan_native
+channel = can0
+
--- a/CarPC/etc/default/gpsd
+++ b/CarPC/etc/default/gpsd
@ -0,0 +1,14 @@
+# Default settings for the gpsd init script and the hotplug wrapper.
+
+# Start the gpsd daemon automatically at boot time
+START_DAEMON="true"
+
+# Use USB hotplugging to add new USB devices automatically to the daemon
+USBAUTO="true"
+
+# Devices gpsd should collect to at boot time.
+# They need to be read/writeable, either by user gpsd or the group dialout.
+DEVICES="/dev/ttyACM0"
+
+# Other options you want to pass to gpsd
+GPSD_OPTIONS="-G"
--- a/CarPC/etc/default/ptpd
+++ b/CarPC/etc/default/ptpd
@ -0,0 +1,7 @@
+# /etc/default/ptpd
+
+# Set to "yes" to actually start ptpd automatically
+START_DAEMON=yes
+
+# Add command line options for ptpd
+PTPD_OPTS="-c /etc/ptpd2.conf"
--- a/CarPC/etc/hosts
+++ b/CarPC/etc/hosts
@ -0,0 +1,33 @@
+127.0.0.1	localhost
+127.0.1.1	carpc
+
+# infrastructure network
+192.168.0.40	rse rsu
+192.168.0.15	rsupc
+
+# vehicle network
+192.168.2.1	router
+192.168.2.2	wsu obe obu
+192.168.2.10	mabx2
+192.168.2.12	pi pi1
+192.168.2.15	carpc
+192.168.2.98	winpc
+192.168.2.99	linpc
+
+# BBB
+192.168.7.2	bbb-usb
+
+# C-V2X
+192.168.12.41	cv2x-1
+192.168.12.42	cv2x-2
+
+# bench
+10.1.1.99       cvehicle
+10.1.1.200      ptsserver
+
+# The following lines are desirable for IPv6 capable hosts
+::1     ip6-localhost ip6-loopback
+fe00::0 ip6-localnet
+ff00::0 ip6-mcastprefix
+ff02::1 ip6-allnodes
+ff02::2 ip6-allrouters
--- a/CarPC/etc/init/x11vnc.conf
+++ b/CarPC/etc/init/x11vnc.conf
@ -0,0 +1,5 @@
+start on login-session-start
+script
+/usr/bin/x11vnc -xkb -auth /var/run/lightdm/root/:0 -noxrecord -noxfixes -noxdamage -rfbauth /etc/x11vnc.pass -forever -bg -rfbport 5900 -o /var/log/x11vnc.log
+end script
+
--- a/CarPC/etc/ld.so.conf.d/cvehicle.conf
+++ b/CarPC/etc/ld.so.conf.d/cvehicle.conf
@ -0,0 +1,2 @@
+# NTCNA CVehicle library
+/usr/local/cvehicle/lib
--- a/CarPC/etc/ld.so.conf.d/pstar.conf
+++ b/CarPC/etc/ld.so.conf.d/pstar.conf
@ -0,0 +1,2 @@
+# other libs
+/usr/local/pstar/lib
--- a/CarPC/etc/ntp.conf
+++ b/CarPC/etc/ntp.conf
@ -0,0 +1,79 @@
+# /etc/ntp.conf, configuration for ntpd; see ntp.conf(5) for help
+
+driftfile /var/lib/ntp/ntp.drift
+
+# Leap seconds definition provided by tzdata
+leapfile /usr/share/zoneinfo/leap-seconds.list
+
+# Enable this if you want statistics to be logged.
+#statsdir /var/log/ntpstats/
+
+statistics loopstats peerstats clockstats
+filegen loopstats file loopstats type day enable
+filegen peerstats file peerstats type day enable
+filegen clockstats file clockstats type day enable
+
+# Specify one or more NTP servers.
+
+# Use servers from the NTP Pool Project. Approved by Ubuntu Technical Board
+# on 2011-02-08 (LP: #104525). See http://www.pool.ntp.org/join.html for
+# more information.
+#pool 0.ubuntu.pool.ntp.org iburst
+#pool 1.ubuntu.pool.ntp.org iburst
+#pool 2.ubuntu.pool.ntp.org iburst
+#pool 3.ubuntu.pool.ntp.org iburst
+pool us.pool.ntp.org iburst
+
+# Use Ubuntu's ntp server as a fallback.
+#pool ntp.ubuntu.com
+
+# Access control configuration; see /usr/share/doc/ntp-doc/html/accopt.html for
+# details.  The web page <http://support.ntp.org/bin/view/Support/AccessRestrictions>
+# might also be helpful.
+#
+# Note that "restrict" applies to both servers and clients, so a configuration
+# that might be intended to block requests from certain clients could also end
+# up blocking replies from your own upstream servers.
+
+# By default, exchange time with everybody, but don't allow configuration.
+restrict -4 default kod notrap nomodify nopeer noquery limited
+restrict -6 default kod notrap nomodify nopeer noquery limited
+
+# Local users may interrogate the ntp server more closely.
+restrict -4 127.0.0.1
+restrict -6 ::1
+
+# Needed for adding pool entries
+restrict source notrap nomodify noquery
+
+# Clients from this (example!) subnet have unlimited access, but only if
+# cryptographically authenticated.
+#restrict 192.168.123.0 mask 255.255.255.0 notrust
+
+
+# If you want to provide time to your local subnet, change the next line.
+# (Again, the address is an example only.)
+#broadcast 192.168.123.255
+
+# If you want to listen to time broadcasts on your local subnet, de-comment the
+# next lines.  Please do this only if you trust everybody on the network!
+#disable auth
+#broadcastclient
+
+#Changes recquired to use pps synchonisation as explained in documentation:
+#http://www.ntp.org/ntpfaq/NTP-s-config-adv.htm#AEN3918
+
+#server 127.127.8.1 mode 135 prefer    # Meinberg GPS167 with PPS
+#fudge 127.127.8.1 time1 0.0042        # relative to PPS for my hardware
+
+#server 127.127.22.1                   # ATOM(PPS)
+#fudge 127.127.22.1 flag3 1            # enable PPS API
+
+# GPS Serial data reference (NTP0)
+server 127.127.28.0
+fudge 127.127.28.0 time1 0.9999 refid GPS
+
+# GPS PPS reference (NTP1)
+server 127.127.28.1
+fudge 127.127.28.1 refid PPS
+
--- a/CarPC/etc/ptpd2.conf
+++ b/CarPC/etc/ptpd2.conf
@ -0,0 +1,841 @@
+; ========================================
+; PTPDv2 version 2.3.2 default configuration
+; ========================================
+
+; NOTE: the following settings are affected by ptpengine:preset selection:
+;           ptpengine:slave_only
+;           clock:no_adjust
+;           ptpengine:clock_class - allowed range and default value
+; To see all preset settings, run ptpd2 -H (--long-help)
+
+; Network interface to use - eth0, igb0 etc. (required).
+ptpengine:interface = enp1s0
+
+; Backup network interface to use - eth0, igb0 etc. When no GM available, 
+; slave will keep alternating between primary and secondary until a GM is found.
+; 
+ptpengine:backup_interface = 
+
+; PTP engine preset:
+; none	     = Defaults, no clock class restrictions
+; masteronly  = Master, passive when not best master (clock class 0..127)
+; masterslave = Full IEEE 1588 implementation:
+; Master, slave when not best master
+; (clock class 128..254)
+; slaveonly   = Slave only (clock class 255 only)
+; 
+; Options: none masteronly masterslave slaveonly 
+ptpengine:preset = masteronly
+
+; Transport type for PTP packets. Ethernet transport requires libpcap support.
+; Options: ipv4 ethernet 
+ptpengine:transport = ipv4
+
+; Enable TransportSpecific field compatibility with 802.1AS / AVB (requires Ethernet transport)
+ptpengine:dot1as = N
+
+; Disable PTP port. Causes the PTP state machine to stay in PTP_DISABLED state indefinitely,
+; until it is re-enabled via configuration change or ENABLE_PORT management message.
+ptpengine:disabled = N
+
+; IP transmission mode (requires IP transport) - hybrid mode uses
+; multicast for sync and announce, and unicast for delay request and
+; response; unicast mode uses unicast for all transmission.
+; When unicast mode is selected, destination IP(s) may need to be configured
+; (ptpengine:unicast_destinations).
+; Options: multicast unicast hybrid 
+ptpengine:ip_mode = multicast
+
+; Enable unicast negotiation support using signaling messages
+; 
+ptpengine:unicast_negotiation = N
+
+; When using unicast negotiation (slave), accept PTP messages from any master.
+; By default, only messages from acceptable masters (ptpengine:unicast_destinations)
+; are accepted, and only if transmission was granted by the master
+; 
+ptpengine:unicast_any_master = N
+
+; PTP port number wildcard mask applied onto port identities when running
+; unicast negotiation: allows multiple port identities to be accepted as one.
+; This option can be used as a workaround where a node sends signaling messages and
+; timing messages with different port identities
+ptpengine:unicast_port_mask = 0
+
+; Disable Best Master Clock Algorithm for unicast masters:
+; Only effective for masteronly preset - all Announce messages
+; will be ignored and clock will transition directly into MASTER state.
+; 
+ptpengine:disable_bmca = N
+
+; When unicast negotiation enabled on a master clock, 
+; reply to transmission requests also in LISTENING state.
+ptpengine:unicast_negotiation_listening = N
+
+; Use libpcap for sending and receiving traffic (automatically enabled
+; in Ethernet mode).
+ptpengine:use_libpcap = N
+
+; Disable UDP checksum validation on UDP sockets (Linux only).
+; Workaround for situations where a node (like Transparent Clock).
+; does not rewrite checksums
+; 
+ptpengine:disable_udp_checksums = Y
+
+; Delay detection mode used - use DELAY_DISABLED for syntonisation only
+; (no full synchronisation).
+; Options: E2E P2P DELAY_DISABLED 
+ptpengine:delay_mechanism = E2E
+
+; PTP domain number.
+ptpengine:domain = 0
+
+; PTP port number (part of PTP Port Identity - not UDP port).
+; For ordinary clocks (single port), the default should be used, 
+; but when running multiple instances to simulate a boundary clock, 
+; The port number can be changed.
+ptpengine:port_number = 1
+
+; Port description (returned in the userDescription field of PORT_DESCRIPTION management message and USER_DESCRIPTION        management message) - maximum 64 characters
+ptpengine:port_description = ptpd
+
+; Usability extension: if enabled, a slave-only clock will accept
+; masters from any domain, while preferring the configured domain,
+; and preferring lower domain number.
+; NOTE: this behaviour is not part of the standard.
+ptpengine:any_domain = N
+
+; Slave only mode (sets clock class to 255, overriding value from preset).
+ptpengine:slave_only = N
+
+; Specify latency correction (nanoseconds) for incoming packets.
+ptpengine:inbound_latency = 0
+
+; Specify latency correction (nanoseconds) for outgoing packets.
+ptpengine:outbound_latency = 0
+
+; Apply an arbitrary shift (nanoseconds) to offset from master when
+; in slave state. Value can be positive or negative - useful for
+; correcting for antenna latencies, delay assymetry
+; and IP stack latencies. This will not be visible in the offset 
+; from master value - only in the resulting clock correction.
+ptpengine:offset_shift = 0
+
+; Compatibility option: In slave state, always respect UTC offset
+; announced by best master, even if the the
+; currrentUtcOffsetValid flag is announced FALSE.
+; NOTE: this behaviour is not part of the standard.
+ptpengine:always_respect_utc_offset = Y
+
+; Compatibility extension to BMC algorithm: when enabled,
+; BMC for both master and save clocks will prefer masters
+; nannouncing currrentUtcOffsetValid as TRUE.
+; NOTE: this behaviour is not part of the standard.
+ptpengine:prefer_utc_offset_valid = N
+
+; Compatibility option: when enabled, ptpd2 will ignore
+; Announce messages from masters announcing currentUtcOffsetValid
+; as FALSE.
+; NOTE: this behaviour is not part of the standard.
+ptpengine:require_utc_offset_valid = N
+
+; Time (seconds) unicast messages are requested for by slaves
+; when using unicast negotiation, and maximum time unicast message
+; transmission is granted to slaves by masters
+; 
+ptpengine:unicast_grant_duration = 300
+
+; PTP announce message interval in master state. When using unicast negotiation, for
+; slaves this is the minimum interval requested, and for masters
+; this is the only interval granted.
+; (expressed as log 2 i.e. -1=0.5s, 0=1s, 1=2s etc.)
+ptpengine:log_announce_interval = 1
+
+; Maximum Announce message interval requested by slaves when using unicast negotiation,
+; (expressed as log 2 i.e. -1=0.5s, 0=1s, 1=2s etc.)
+ptpengine:log_announce_interval_max = 5
+
+; PTP announce receipt timeout announced in master state.
+ptpengine:announce_receipt_timeout = 6
+
+; PTP announce receipt timeout grace period in slave state:
+; when announce receipt timeout occurs, disqualify current best GM,
+; then wait n times announce receipt timeout before resetting.
+; Allows for a seamless GM failover when standby GMs are slow
+; to react. When set to 0, this option is not used.
+ptpengine:announce_receipt_grace_period = 0
+
+; PTP sync message interval in master state. When using unicast negotiation, for
+; slaves this is the minimum interval requested, and for masters
+; this is the only interval granted.
+; (expressed as log 2 i.e. -1=0.5s, 0=1s, 1=2s etc.)
+ptpengine:log_sync_interval = 0
+
+; Maximum Sync message interval requested by slaves when using unicast negotiation,
+; (expressed as log 2 i.e. -1=0.5s, 0=1s, 1=2s etc.)
+ptpengine:log_sync_interval_max = 5
+
+; Override the Delay Request interval announced by best master.
+ptpengine:log_delayreq_override = N
+
+; Automatically override the Delay Request interval
+; if the announced value is 127 (0X7F), such as in
+; unicast messages (unless using unicast negotiation)
+ptpengine:log_delayreq_auto = Y
+
+; Delay request interval used before receiving first delay response
+; (expressed as log 2 i.e. -1=0.5s, 0=1s, 1=2s etc.)
+ptpengine:log_delayreq_interval_initial = 0
+
+; Minimum delay request interval announced when in master state,
+; in slave state overrides the master interval,
+; required in hybrid mode. When using unicast negotiation, for
+; slaves this is the minimum interval requested, and for masters
+; this is the minimum interval granted.
+; (expressed as log 2 i.e. -1=0.5s, 0=1s, 1=2s etc.)
+ptpengine:log_delayreq_interval = 0
+
+; Maximum Delay Response interval requested by slaves when using unicast negotiation,
+; (expressed as log 2 i.e. -1=0.5s, 0=1s, 1=2s etc.)
+ptpengine:log_delayreq_interval_max = 5
+
+; Minimum peer delay request message interval in peer to peer delay mode.
+; When using unicast negotiation, this is the minimum interval requested, 
+; and the only interval granted.
+; (expressed as log 2 i.e. -1=0.5s, 0=1s, 1=2s etc.)
+ptpengine:log_peer_delayreq_interval = 1
+
+; Maximum Peer Delay Response interval requested by slaves when using unicast negotiation,
+; (expressed as log 2 i.e. -1=0.5s, 0=1s, 1=2s etc.)
+ptpengine:log_peer_delayreq_interval_max = 5
+
+; Foreign master record size (Maximum number of foreign masters).
+ptpengine:foreignrecord_capacity = 5
+
+; Specify Allan variance announced in master state.
+ptpengine:ptp_allan_variance = 65535
+
+; Clock accuracy range announced in master state.
+; Options: ACC_25NS ACC_100NS ACC_250NS ACC_1US ACC_2_5US ACC_10US ACC_25US ACC_100US ACC_250US ACC_1MS ACC_2_5MS ACC_10MS ACC_25MS ACC_100MS ACC_250MS ACC_1S ACC_10S ACC_10SPLUS ACC_UNKNOWN 
+ptpengine:ptp_clock_accuracy = ACC_UNKNOWN
+
+; Underlying time source UTC offset announced in master state.
+ptpengine:utc_offset = 0
+
+; Underlying time source UTC offset validity announced in master state.
+ptpengine:utc_offset_valid = N
+
+; Underlying time source time traceability announced in master state.
+ptpengine:time_traceable = N
+
+; Underlying time source frequency traceability announced in master state.
+ptpengine:frequency_traceable = N
+
+; Time scale announced in master state (with ARB, UTC properties
+; are ignored by slaves). When clock class is set to 13 (application
+; specific), this value is ignored and ARB is used.
+; Options: PTP ARB 
+ptpengine:ptp_timescale = PTP
+
+; Time source announced in master state.
+; Options: ATOMIC_CLOCK GPS TERRESTRIAL_RADIO PTP NTP HAND_SET OTHER INTERNAL_OSCILLATOR 
+ptpengine:ptp_timesource = NTP
+
+; Clock class - announced in master state. Always 255 for slave-only.
+; Minimum, maximum and default values are controlled by presets.
+; If set to 13 (application specific time source), announced 
+; time scale is always set to ARB. This setting controls the
+; states a PTP port can be in. If below 128, port will only
+; be in MASTER or PASSIVE states (master only). If above 127,
+; port will be in MASTER or SLAVE states.
+ptpengine:clock_class = 0
+
+; Priority 1 announced in master state,used for Best Master
+; Clock selection.
+ptpengine:priority1 = 128
+
+; Priority 2 announced in master state, used for Best Master
+; Clock selection.
+ptpengine:priority2 = 128
+
+; Number of consecutive resets to LISTENING before full network reset
+; 
+ptpengine:max_listen = 5
+
+; Specify unicast slave addresses for unicast master operation, or unicast
+; master addresses for slave operation. Format is similar to an ACL: comma,
+; tab or space-separated IPv4 unicast addresses, one or more. For a slave,
+; when unicast negotiation is used, setting this is mandatory.
+ptpengine:unicast_destinations = 
+
+; Specify PTP domain number for each configured unicast destination (ptpengine:unicast_destinations).
+; This is only used by slave-only clocks using unicast destinations to allow for each master
+; to be in a separate domain, such as with Telecom Profile. The number of entries should match the number
+; of unicast destinations, otherwise unconfigured domains or domains set to 0 are set to domain configured in
+; ptpengine:domain. The format is a comma, tab or space-separated list of 8-bit unsigned integers (0 .. 255)
+ptpengine:unicast_domains = 
+
+; Specify a local preference for each configured unicast destination (ptpengine:unicast_destinations).
+; This is only used by slave-only clocks using unicast destinations to allow for each master's
+; BMC selection to be influenced by the slave, such as with Telecom Profile. The number of entries should match the number
+; of unicast destinations, otherwise unconfigured preference is set to 0 (highest).
+; The format is a comma, tab or space-separated list of 8-bit unsigned integers (0 .. 255)
+ptpengine:unicast_local_preference = 
+
+; Specify peer unicast adress for P2P unicast. Mandatory when
+; running unicast mode and P2P delay mode.
+ptpengine:unicast_peer_destination = 
+
+; Enable handling of PTP management messages.
+ptpengine:management_enable = Y
+
+; Accept SET and COMMAND management messages.
+ptpengine:management_set_enable = N
+
+; Send explicit IGMP joins between engine resets and periodically
+; in master state.
+ptpengine:igmp_refresh = Y
+
+; Periodic IGMP join interval (seconds) in master state when running
+; IPv4 multicast: when set below 10 or when ptpengine:igmp_refresh
+; is disabled, this setting has no effect.
+ptpengine:master_igmp_refresh_interval = 60
+
+; Multicast time to live for multicast PTP packets (ignored and set to 1
+; for peer to peer messages).
+ptpengine:multicast_ttl = 64
+
+; DiffServ CodepPoint for packet prioritisation (decimal). When set to zero, 
+; this option is not used. Use 46 for Expedited Forwarding (0x2e).
+ptpengine:ip_dscp = 0
+
+; Enable statistical filter for Sync messages.
+ptpengine:sync_stat_filter_enable = N
+
+; Type of filter used for Sync message filtering
+; Options: none mean min max absmin absmax median 
+ptpengine:sync_stat_filter_type = min
+
+; Number of samples used for the Sync statistical filter
+ptpengine:sync_stat_filter_window = 4
+
+; Sample window type used for Sync message statistical filter. Delay Response outlier filter action.
+; Sliding window is continuous, interval passes every n-th sample only.
+; Options: sliding interval 
+ptpengine:sync_stat_filter_window_type = sliding
+
+; Enable statistical filter for Delay messages.
+ptpengine:delay_stat_filter_enable = N
+
+; Type of filter used for Delay message statistical filter
+; Options: none mean min max absmin absmax median 
+ptpengine:delay_stat_filter_type = min
+
+; Number of samples used for the Delay statistical filter
+ptpengine:delay_stat_filter_window = 4
+
+; Sample window type used for Delay message statistical filter
+; Sliding window is continuous, interval passes every n-th sample only
+; Options: sliding interval 
+ptpengine:delay_stat_filter_window_type = sliding
+
+; Enable outlier filter for the Delay Response component in slave state
+ptpengine:delay_outlier_filter_enable = N
+
+; Delay Response outlier filter action. If set to 'filter', outliers are
+; replaced with moving average.
+; Options: discard filter 
+ptpengine:delay_outlier_filter_action = discard
+
+; Number of samples in the Delay Response outlier filter buffer
+ptpengine:delay_outlier_filter_capacity = 20
+
+; Delay Response outlier filter threshold (: multiplier for Peirce's maximum
+; standard deviation. When set below 1.0, filter is tighter, when set above
+; 1.0, filter is looser than standard Peirce's test.
+; When autotune enabled, this is the starting threshold.
+ptpengine:delay_outlier_filter_threshold = 1.000000
+
+; Always run the Delay Response outlier filter, even if clock is being slewed at maximum rate
+ptpengine:delay_outlier_filter_always_filter = N
+
+; Enable automatic threshold control for Delay Response outlier filter.
+ptpengine:delay_outlier_filter_autotune_enable = Y
+
+; Delay Response outlier filter autotune low watermark - minimum percentage
+; of discarded samples in the update period before filter is tightened
+; by the autotune step value.
+ptpengine:delay_outlier_filter_autotune_minpercent = 20
+
+; Delay Response outlier filter autotune high watermark - maximum percentage
+; of discarded samples in the update period before filter is loosened
+; by the autotune step value.
+ptpengine:delay_outlier_filter_autotune_maxpercent = 95
+
+; The value the Delay Response outlier filter threshold is increased
+; or decreased by when auto-tuning.
+ptpengine:delay_outlier_autotune_step = 0.100000
+
+; Minimum Delay Response filter threshold value used when auto-tuning
+ptpengine:delay_outlier_filter_autotune_minthreshold = 0.100000
+
+; Maximum Delay Response filter threshold value used when auto-tuning
+ptpengine:delay_outlier_filter_autotune_maxthreshold = 5.000000
+
+; Enable Delay filter step detection (delaySM) to block when certain level exceeded
+ptpengine:delay_outlier_filter_stepdetect_enable = N
+
+; Delay Response step detection threshold. Step detection is performed
+; only when delaySM is below this threshold (nanoseconds)
+ptpengine:delay_outlier_filter_stepdetect_threshold = 1000000
+
+; Delay Response step level. When step detection enabled and operational,
+; delaySM above this level (nanosecond) is considered a clock step and updates are paused
+ptpengine:delay_outlier_filter_stepdetect_level = 500000
+
+; Initial credit (number of samples) the Delay step detection filter can block for
+; When credit is exhausted, filter stops blocking. Credit is gradually restored
+ptpengine:delay_outlier_filter_stepdetect_credit = 200
+
+; Amount of credit for the Delay step detection filter restored every full sample window
+ptpengine:delay_outlier_filter_stepdetect_credit_increment = 10
+
+; Delay Response outlier weight: if an outlier is detected, determines
+; the amount of its deviation from mean that is used to build the standard
+; deviation statistics and influence further outlier detection.
+; When set to 1.0, the outlier is used as is.
+ptpengine:delay_outlier_weight = 1.000000
+
+; Enable outlier filter for the Sync component in slave state.
+ptpengine:sync_outlier_filter_enable = N
+
+; Sync outlier filter action. If set to 'filter', outliers are replaced
+; with moving average.
+; Options: discard filter 
+ptpengine:sync_outlier_filter_action = discard
+
+; Number of samples in the Sync outlier filter buffer.
+ptpengine:sync_outlier_filter_capacity = 20
+
+; Sync outlier filter threshold: multiplier for the Peirce's maximum standard
+; deviation. When set below 1.0, filter is tighter, when set above 1.0,
+; filter is looser than standard Peirce's test.
+ptpengine:sync_outlier_filter_threshold = 1.000000
+
+; Always run the Sync outlier filter, even if clock is being slewed at maximum rate
+ptpengine:sync_outlier_filter_always_filter = N
+
+; Enable automatic threshold control for Sync outlier filter.
+ptpengine:sync_outlier_filter_autotune_enable = Y
+
+; Sync outlier filter autotune low watermark - minimum percentage
+; of discarded samples in the update period before filter is tightened
+; by the autotune step value.
+ptpengine:sync_outlier_filter_autotune_minpercent = 20
+
+; Sync outlier filter autotune high watermark - maximum percentage
+; of discarded samples in the update period before filter is loosened
+; by the autotune step value.
+ptpengine:sync_outlier_filter_autotune_maxpercent = 95
+
+; Value the Sync outlier filter threshold is increased
+; or decreased by when auto-tuning.
+ptpengine:sync_outlier_autotune_step = 0.100000
+
+; Minimum Sync outlier filter threshold value used when auto-tuning
+ptpengine:sync_outlier_filter_autotune_minthreshold = 0.100000
+
+; Maximum Sync outlier filter threshold value used when auto-tuning
+ptpengine:sync_outlier_filter_autotune_maxthreshold = 5.000000
+
+; Enable Sync filter step detection (delayMS) to block when certain level exceeded.
+ptpengine:sync_outlier_filter_stepdetect_enable = N
+
+; Sync step detection threshold. Step detection is performed
+; only when delayMS is below this threshold (nanoseconds)
+ptpengine:sync_outlier_filter_stepdetect_threshold = 1000000
+
+; Sync step level. When step detection enabled and operational,
+; delayMS above this level (nanosecond) is considered a clock step and updates are paused
+ptpengine:sync_outlier_filter_stepdetect_level = 500000
+
+; Initial credit (number of samples) the Sync step detection filter can block for.
+; When credit is exhausted, filter stops blocking. Credit is gradually restored
+ptpengine:sync_outlier_filter_stepdetect_credit = 200
+
+; Amount of credit for the Sync step detection filter restored every full sample window
+ptpengine:sync_outlier_filter_stepdetect_credit_increment = 10
+
+; Sync outlier weight: if an outlier is detected, this value determines the
+; amount of its deviation from mean that is used to build the standard 
+; deviation statistics and influence further outlier detection.
+; When set to 1.0, the outlier is used as is.
+ptpengine:sync_outlier_weight = 1.000000
+
+; Delay between moving to slave state and enabling clock updates (seconds).
+; This allows one-way delay to stabilise before starting clock updates.
+; Activated when going into slave state and during slave's GM failover.
+; 0 - not used.
+ptpengine:calibration_delay = 0
+
+; PTP idle timeout: if PTPd is in SLAVE state and there have been no clock
+; updates for this amout of time, PTPd releases clock control.
+; 
+ptpengine:idle_timeout = 120
+
+; Enable panic mode: when offset from master is above 1 second, stop updating
+; the clock for a period of time and then step the clock if offset remains
+; above 1 second.
+ptpengine:panic_mode = N
+
+; Duration (minutes) of the panic mode period (no clock updates) when offset
+; above 1 second detected.
+ptpengine:panic_mode_duration = 2
+
+; When entering panic mode, release clock control while panic mode lasts
+; if ntpengine:* configured, this will fail over to NTP,
+; if not set, PTP will hold clock control during panic mode.
+ptpengine:panic_mode_release_clock = N
+
+; Do not exit panic mode until offset drops below this value (nanoseconds).
+; 0 = not used.
+ptpengine:panic_mode_exit_threshold = 0
+
+; Use PTPd's process ID as the middle part of the PTP clock ID - useful for running multiple instances.
+ptpengine:pid_as_clock_identity = N
+
+; Fail over to NTP when PTP time sync not available - requires
+; ntpengine:enabled, but does not require the rest of NTP configuration:
+; will warn instead of failing over if cannot control ntpd.
+ptpengine:ntp_failover = N
+
+; NTP failover timeout in seconds: time between PTP slave going into
+; LISTENING state, and releasing clock control. 0 = fail over immediately.
+ptpengine:ntp_failover_timeout = 120
+
+; Prefer NTP time synchronisation. Only use PTP when NTP not available,
+; could be used when NTP runs with a local GPS receiver or another reference
+ptpengine:prefer_ntp = Y
+
+; Legacy option from 2.3.0: same as ptpengine:panic_mode_release_clock
+ptpengine:panic_mode_ntp = N
+
+; Clear counters after dumping all counter values on SIGUSR2.
+ptpengine:sigusr2_clears_counters = N
+
+; Permit access control list for timing packets. Format is a series of 
+; comma, space or tab separated  network prefixes: IPv4 addresses or full CIDR notation a.b.c.d/x,
+; where a.b.c.d is the subnet and x is the decimal mask, or a.b.c.d/v.x.y.z where a.b.c.d is the
+; subnet and v.x.y.z is the 4-octet mask. The match is performed on the source IP address of the
+; incoming messages. IP access lists are only supported when using the IP transport.
+ptpengine:timing_acl_permit = 
+
+; Deny access control list for timing packets. Format is a series of 
+; comma, space or tab separated  network prefixes: IPv4 addresses or full CIDR notation a.b.c.d/x,
+; where a.b.c.d is the subnet and x is the decimal mask, or a.b.c.d/v.x.y.z where a.b.c.d is the
+; subnet and v.x.y.z is the 4-octet mask. The match is performed on the source IP address of the
+; incoming messages. IP access lists are only supported when using the IP transport.
+ptpengine:timing_acl_deny = 
+
+; Permit access control list for management messages. Format is a series of 
+; comma, space or tab separated  network prefixes: IPv4 addresses or full CIDR notation a.b.c.d/x,
+; where a.b.c.d is the subnet and x is the decimal mask, or a.b.c.d/v.x.y.z where a.b.c.d is the
+; subnet and v.x.y.z is the 4-octet mask. The match is performed on the source IP address of the
+; incoming messages. IP access lists are only supported when using the IP transport.
+ptpengine:management_acl_permit = 
+
+; Deny access control list for management messages. Format is a series of 
+; comma, space or tab separated  network prefixes: IPv4 addresses or full CIDR notation a.b.c.d/x,
+; where a.b.c.d is the subnet and x is the decimal mask, or a.b.c.d/v.x.y.z where a.b.c.d is the
+; subnet and v.x.y.z is the 4-octet mask. The match is performed on the source IP address of the
+; incoming messages. IP access lists are only supported when using the IP transport.
+ptpengine:management_acl_deny = 
+
+; Order in which permit and deny access lists are evaluated for timing
+; packets, the evaluation process is the same as for Apache httpd.
+; Options: permit-deny deny-permit 
+ptpengine:timing_acl_order = deny-permit
+
+; Order in which permit and deny access lists are evaluated for management
+; messages, the evaluation process is the same as for Apache httpd.
+; Options: permit-deny deny-permit 
+ptpengine:management_acl_order = deny-permit
+
+; Do not adjust the clock
+clock:no_adjust = N
+
+; Do not step the clock - only slew
+clock:no_reset = N
+
+; Force clock step on first sync after startup regardless of offset and clock:no_reset
+clock:step_startup_force = N
+
+; Step clock on startup if offset >= 1 second, ignoring
+; panic mode and clock:no_reset
+clock:step_startup = N
+
+; Attempt setting the RTC when stepping clock (Linux only - FreeBSD does 
+; this for us. WARNING: this will always set the RTC to OS clock time,
+; regardless of time zones, so this assumes that RTC runs in UTC or 
+; at least in the same timescale as PTP. true at least on most 
+; single-boot x86 Linux systems.
+clock:set_rtc_on_step = N
+
+; Observed drift handling method between servo restarts:
+; reset: set to zero (not recommended)
+; preserve: use kernel value,
+; file: load/save to drift file on startup/shutdown, use kernel
+; value inbetween. To specify drift file, use the clock:drift_file setting.
+; Options: reset preserve file 
+clock:drift_handling = preserve
+
+; Specify drift file
+clock:drift_file = /etc/ptpd2_kernelclock.drift
+
+; Time (seconds) before and after midnight that clock updates should pe suspended for
+; during a leap second event. The total duration of the pause is twice
+; the configured duration
+clock:leap_second_pause_period = 5
+
+; Time (seconds) before midnight that PTPd starts announcing the leap second
+; if it's running as master
+clock:leap_second_notice_period = 43200
+
+; Specify leap second file location - up to date version can be downloaded from 
+; http://www.ietf.org/timezones/data/leap-seconds.list
+clock:leap_seconds_file = 
+
+; Behaviour during a leap second event:
+; accept: inform the OS kernel of the event
+; ignore: do nothing - ends up with a 1-second offset which is then slewed
+; step: similar to ignore, but steps the clock immediately after the leap second event
+; smear: do not inform kernel, gradually introduce the leap second before the event
+; by modifying clock offset (see clock:leap_second_smear_period)
+; Options: accept ignore step smear 
+clock:leap_second_handling = accept
+
+; Time period (Seconds) over which the leap second is introduced before the event.
+; Example: when set to 86400 (24 hours), an extra 11.5 microseconds is added every second
+clock:leap_second_smear_period = 86400
+
+; Maximum absolute frequency shift which can be applied to the clock servo
+; when slewing the clock. Expressed in parts per million (1 ppm = shift of
+; 1 us per second. Values above 512 will use the tick duration correction
+; to allow even faster slewing. Default maximum is 512 without using tick.
+clock:max_offset_ppm = 500
+
+; One-way delay filter stiffness.
+servo:delayfilter_stiffness = 6
+
+; Clock servo PI controller proportional component gain (kP).
+servo:kp = 0.100000
+
+; Clock servo PI controller integral component gain (kI).
+servo:ki = 0.001000
+
+; How servo update interval (delta t) is calculated:
+; none:     servo not corrected for update interval (dt always 1),
+; constant: constant value (target servo update rate - sync interval for PTP,
+; measured: servo measures how often it's updated and uses this interval.
+; Options: none constant measured 
+servo:dt_method = constant
+
+; Maximum servo update interval (delta t) when using measured servo update interval
+; (servo:dt_method = measured), specified as sync interval multiplier.
+servo:dt_max = 5.000000
+
+; Enable clock synchronisation servo stability detection
+; (based on standard deviation of the observed drift value)
+; - drift will be saved to drift file / cached when considered stable,
+; also clock stability status will be logged.
+servo:stability_detection = N
+
+; Specify the observed drift standard deviation threshold in parts per
+; billion (ppb) - if stanard deviation is within the threshold, servo
+; is considered stable.
+servo:stability_threshold = 10.000000
+
+; Specify for how many statistics update intervals the observed drift
+; standard deviation has to stay within threshold to be considered stable.
+servo:stability_period = 1
+
+; Specify after how many minutes without stabilisation servo is considered
+; unstable. Assists with logging servo stability information and
+; allows to preserve observed drift if servo cannot stabilise.
+; 
+servo:stability_timeout = 10
+
+; Do accept master to slave delay (delayMS - from Sync message) or slave to master delay
+; (delaySM - from Delay messages) if greater than this value (nanoseconds). 0 = not used.
+servo:max_delay = 0
+
+; Maximum number of consecutive delay measurements exceeding maxDelay threshold,
+; before slave is reset.
+servo:max_delay_max_rejected = 0
+
+; If servo:max_delay is set, perform the check only if clock servo has stabilised.
+; 
+servo:max_delay_stable_only = N
+
+; When enabled, Sync messages will only be accepted if sequence ID is increasing.        This is limited to 50 dropped messages.
+; 
+ptpengine:sync_sequence_checking = N
+
+; If set to non-zero, timeout in seconds, after which the slave resets if no clock updates made. 
+; 
+ptpengine:clock_update_timeout = 0
+
+; Do not reset the clock if offset from master is greater
+; than this value (nanoseconds). 0 = not used.
+servo:max_offset = 0
+
+; Enable SNMP agent (if compiled with PTPD_SNMP).
+global:enable_snmp = N
+
+; Send log messages to syslog. Disabling this
+; sends all messages to stdout (or speficied log file).
+global:use_syslog = N
+
+; Lock file location
+global:lock_file = 
+
+; 	 Use mode specific and interface specific lock file
+; (overrides global:lock_file).
+global:auto_lockfile = N
+
+; Lock file directory: used with automatic mode-specific lock files,
+; also used when no lock file is specified. When lock file
+; is specified, it's expected to be an absolute path.
+global:lock_directory = /var/run
+
+; Skip lock file checking and locking.
+global:ignore_lock = N
+
+; File used to record data about sync packets. Enables recording when set.
+global:quality_file = 
+
+; Maximum sync packet record file size (in kB) - file will be truncated
+; if size exceeds the limit. 0 - no limit.
+global:quality_file_max_size = 0
+
+; Enable log rotation of the sync packet record file up to n files.
+; 0 - do not rotate.
+; 
+global:quality_file_max_files = 0
+
+; Truncate the sync packet record file every time it is (re) opened:
+; startup and SIGHUP.
+global:quality_file_truncate = N
+
+; File used to log ptpd2 status information.
+global:status_file = /var/run/ptpd2.status
+
+; Enable / disable writing status information to file.
+global:log_status = N
+
+; Status file update interval in seconds.
+global:status_update_interval = 1
+
+; Specify log file path (event log). Setting this enables logging to file.
+global:log_file = /var/log/ptpd2.log
+
+; Maximum log file size (in kB) - log file will be truncated if size exceeds
+; the limit. 0 - no limit.
+global:log_file_max_size = 0
+
+; Enable log rotation of the sync packet record file up to n files.
+; 0 - do not rotate.
+; 
+global:log_file_max_files = 0
+
+; Truncate the log file every time it is (re) opened: startup and SIGHUP.
+global:log_file_truncate = N
+
+; Specify log level (only messages at this priority or higer will be logged).
+; The minimal level is LOG_ERR. LOG_ALL enables debug output if compiled with
+; RUNTIME_DEBUG.
+; Options: LOG_ERR LOG_WARNING LOG_NOTICE LOG_INFO LOG_ALL 
+global:log_level = LOG_ALL
+
+; Specify statistics log file path. Setting this enables logging of 
+; statistics, but can be overriden with global:log_statistics.
+global:statistics_file = /var/log/ptpd2.stats
+
+; Log timing statistics every n seconds for Sync and Delay messages
+; (0 - log all).
+global:statistics_log_interval = 0
+
+; Maximum statistics log file size (in kB) - log file will be truncated
+; if size exceeds the limit. 0 - no limit.
+global:statistics_file_max_size = 0
+
+; Enable log rotation of the statistics file up to n files. 0 - do not rotate.
+global:statistics_file_max_files = 0
+
+; Truncate the statistics file every time it is (re) opened: startup and SIGHUP.
+global:statistics_file_truncate = N
+
+; Dump the contents of every PTP packet
+global:dump_packets = N
+
+; Run in foreground with statistics and all messages logged to stdout.
+; Overrides log file and statistics file settings and disables syslog.
+; 
+global:verbose_foreground = N
+
+; Run in foreground - ignored when global:verbose_foreground is set
+global:foreground = N
+
+; Log timing statistics for every PTP packet received
+; 
+global:log_statistics = Y
+
+; Timestamp format used when logging timing statistics
+; (when global:log_statistics is enabled):
+; datetime - formatttted date and time: YYYY-MM-DD hh:mm:ss.uuuuuu
+; unix - Unix timestamp with nanoseconds: s.ns
+; both - Formatted date and time, followed by unix timestamp
+; (adds one extra field  to the log)
+; 
+; Options: datetime unix both 
+global:statistics_timestamp_format = datetime
+
+; Bind ptpd2 process to a selected CPU core number.
+; 0 = first CPU core, etc. -1 = do not bind to a single core.
+global:cpuaffinity_cpucore = -1
+
+; Clock synchronisation statistics update interval in seconds
+; 
+global:statistics_update_interval = 30
+
+; Log a status update every time statistics are updated (global:statistics_update_interval).
+; The updates are logged even when ptpd is configured without statistics support
+global:periodic_updates = N
+
+;  Delay (seconds) before releasing a time service (NTP or PTP)        and electing a new one to control a clock. 0 = elect immediately
+; 
+global:timingdomain_election_delay = 15
+
+; Enable NTPd integration
+ntpengine:enabled = N
+
+; Enable control over local NTPd daemon
+ntpengine:control_enabled = N
+
+; NTP control check interval in seconds
+; 
+ntpengine:check_interval = 15
+
+; NTP key number - must be configured as a trusted control key in ntp.conf,
+; and be non-zero for the ntpengine:control_enabled setting to take effect.
+; 
+ntpengine:key_id = 0
+
+; NTP key (plain text, max. 20 characters) - must match the key configured in
+; ntpd's keys file, and must be non-zero for the ntpengine:control_enabled
+; setting to take effect.
+; 
+ntpengine:key = 
+
+; ========= newline required in the end ==========
+
--- a/CarPC/etc/rc.local
+++ b/CarPC/etc/rc.local
@ -0,0 +1,33 @@
+#!/bin/sh -e
+#
+# rc.local
+#
+# This script is executed at the end of each multiuser runlevel.
+# Make sure that the script will "exit 0" on success or any other
+# value on error.
+#
+# In order to enable or disable this script just change the execution
+# bits.
+#
+# By default this script does nothing.
+
+# CAN
+ifconfig can0 down
+ip link set can0 type can bitrate 500000
+ifconfig can0 txqueuelen 1000
+ifconfig can0 up
+
+# Cnomicon+CVehicle
+/usr/local/cnomicon/sbin/cnomicon-setup
+/usr/local/cvehicle/sbin/cvehicle-setup
+
+# BSMP standalone (without MABX2)
+ping -c 1 -W 1 mabx2 &> /dev/null
+if [ "$?" = "1" ]
+then
+  echo "MABX2 not found!"
+  #cd /home/neal/NTCNA/CVehicle/daemons/bsmpd
+  #./gen5bsmpd.sh
+fi
+
+exit 0
--- a/CarPC/etc/systemd/system/multi-user.target.wants/gpsd.service
+++ b/CarPC/etc/systemd/system/multi-user.target.wants/gpsd.service
@ -0,0 +1,15 @@
+[Unit]
+Description=GPS (Global Positioning System) Daemon
+Requires=gpsd.socket
+# Needed with chrony SOCK refclock
+After=chronyd.service
+
+[Service]
+Type=forking
+EnvironmentFile=-/etc/default/gpsd
+ExecStart=/usr/sbin/gpsd $GPSD_OPTIONS $DEVICES
+
+[Install]
+WantedBy=multi-user.target
+Also=gpsd.socket
+
--- a/CarPC/etc/systemd/system/sockets.target.wants/gpsd.socket
+++ b/CarPC/etc/systemd/system/sockets.target.wants/gpsd.socket
@ -0,0 +1,11 @@
+[Unit]
+Description=GPS (Global Positioning System) Daemon Sockets
+
+[Socket]
+ListenStream=/var/run/gpsd.sock
+ListenStream=[::1]:2947
+ListenStream=0.0.0.0:2947
+SocketMode=0600
+
+[Install]
+WantedBy=sockets.target
--- a/CarPC/etc/x11vnc.pass
+++ b/CarPC/etc/x11vnc.pass
@ -0,0 +1 @@
+J9<4A>9p<39><70>
--- a/CarPC/lib/systemd/system/rc-local.service
+++ b/CarPC/lib/systemd/system/rc-local.service
@ -0,0 +1,21 @@
+#  This file is part of systemd.
+#
+#  systemd is free software; you can redistribute it and/or modify it
+#  under the terms of the GNU General Public License as published by
+#  the Free Software Foundation; either version 2 of the License, or
+#  (at your option) any later version.
+
+[Unit]
+Description=/etc/rc.local Compatibility
+ConditionPathExists=/etc/rc.local
+
+[Service]
+Type=forking
+ExecStart=/etc/rc.local start
+TimeoutSec=0
+StandardOutput=tty
+RemainAfterExit=yes
+SysVStartPriority=99
+
+[Install]
+WantedBy=multi-user.target
--- a/CarPC/x11vnc-setup.sh
+++ b/CarPC/x11vnc-setup.sh
@ -0,0 +1,25 @@
+#!/bin/sh
+
+sudo apt-get install x11vnc
+sudo x11vnc -storepasswd car-ntcna /etc/x11vnc.pass
+
+cat > /etc/systemd/system/x11vnc.service << EOF
+[Unit]
+Description="x11vnc"
+Requires=display-manager.service
+After=display-manager.service
+
+[Service]
+ExecStart=/usr/bin/x11vnc -xkb -noxrecord -noxfixes -noxdamage -display :0 -auth guess -rfbauth /etc/x11vnc.pass
+ExecStop=/usr/bin/killall x11vnc
+Restart=on-failure
+Restart-sec=2
+
+[Install]
+WantedBy=multi-user.target
+EOF
+
+sudo systemctl daemon-reload
+sudo systemctl enable x11vnc
+sudo systemctl start x11vnc
+