os: Bootloader configuration (#589)

* `BOOT_ORDER=0xf461`: sdcard, nvme, then usb
* `POWER_OFF_ON_HALT`: enter low power state when powered off (1W ->
0.1W)
* `WAIT_FOR_POWER_BUTTON`: do not automatically power on after plugging
power cable

See 

* https://www.raspberrypi.com/documentation/computers/config_txt.html
*
https://www.raspberrypi.com/documentation/computers/raspberry-pi.html#configuration-properties
* #589

Author: sonnyp

documentation/docs/community/contribute/tips-and-tricks.md

@@ -106,12 +106,7 @@ The default behavior of the PlanktoScope is to act as a router to connect your c
 If you have a LAN it may be more convenient to connect the PlanktoScope to it and act as a simple client.
 
 ```sh
-# Ethernet
-nmcli connection down eth0-static
 nmcli connection up eth0-default
-
-# Wifi
-nmcli connection down wlan0-hotspot
 ```
 
 <details>
@@ -120,10 +115,6 @@ nmcli connection down wlan0-hotspot
 ```sh
 # Ethernet
 nmcli connection down eth0-default
-nmcli connection up eth0-static
-
-# Wifi
-nmcli connection up wlan0-hotspot
 ```
 </details>
 
@@ -137,15 +128,6 @@ If that doesn't work, type `nmap -sn 192.168.1.0/24` from your computer to find
 
 See also the operating guide [Networking](https://docs-edge.planktoscope.community/operation/networking/)
 
-## Disable splash screen
-
-We recommend disabling the splash screen to get better boot logs
-
-```sh
-sudo nano /boot/firmware/cmdline.txt
-# remove "quiet splash plymouth.ignore-serial-consoles"
-```
-
 ## Backup and Restore SD Card
 
 You will need to plug the SD card into your computer.
@@ -155,7 +137,7 @@ You will need to plug the SD card into your computer.
 
 ```sh
 # backup whole SD card onto an image file on your computer
-sudo dd bs=1M if=/dev/device status=progress | xz > sdcard.img.xz
+sudo dd bs=1M if=/dev/device status=progress conv=fdatasync | xz > sdcard.img.xz
 ```
 
 ```sh

documentation/docs/reference/hardware/changelog.md

@@ -30,6 +30,10 @@ Easier access to the SD Card, no need for tweezers anymore
 
 The Raspberry micro HDMI ports are now accessible
 
+Reduce power usage when powered off
+
+Does not automatically power on when connected anymore
+
 -->
 
 ## v2.6

software/distro/setup/planktoscope-app-env/PlanktoScope/config.txt.snippet

@@ -1,7 +1,12 @@
+[all]
+bootloader_update=0
+disable_poe_fan=1
 
+[pi5]
 # Enable battery charging
 # https://www.raspberrypi.com/documentation/computers/raspberry-pi.html#enable-battery-charging
-[pi5]
 dtparam=rtc_bbat_vchg=3000000
+# Enable self update for RPI 5 only
+bootloader_update=1
 
 [all]

software/distro/setup/planktoscope-app-env/PlanktoScope/install.sh

@@ -13,3 +13,7 @@ sudo chown -R pi:pi "$HOME/PlanktoScope"
 # Configure firmware
 # https://www.raspberrypi.com/documentation/computers/config_txt.html
 sudo bash -c "cat \"$config_files_root/config.txt.snippet\" >> \"/boot/config.txt\""
+
+# Disable the 4 Raspberry logo in the top left corner
+# more space for kernel and system logs
+sudo sed -i -e 's/$/ logo.nologo/' /boot/cmdline.txt

software/distro/setup/planktoscope-app-env/bootloader/boot.conf

@@ -0,0 +1,7 @@
+[all]
+BOOT_ORDER=0xf461
+HDMI_DELAY=0
+
+[pi5]
+POWER_OFF_ON_HALT=1
+WAIT_FOR_POWER_BUTTON=1

software/distro/setup/planktoscope-app-env/bootloader/firstboot.sh

@@ -0,0 +1,6 @@
+#!/bin/bash -eux
+
+rm -f /boot/firmware/pieeprom.sig
+rm -f /boot/firmware/pieeprom.upd
+rm -f /boot/firmware/RECOVERY.000
+rm -f /boot/firmware/recovery.bin

software/distro/setup/planktoscope-app-env/bootloader/install.sh

@@ -0,0 +1,34 @@
+#!/bin/bash -eux
+# Update and configure the bootloader
+# https://www.raspberrypi.com/documentation/computers/raspberry-pi.html#update-the-bootloader-configuration
+# Please note that we disable self update on anything but Raspberry Pi 5; see config.txt.snippet
+
+# Determine the base path for copied files
+config_files_root="$(dirname "$(realpath "${BASH_SOURCE[0]}")")"
+distro_setup_files_root="$(dirname "$(dirname "$config_files_root")")"
+repo_root="$(dirname "$(dirname "$(dirname "$distro_setup_files_root")")")"
+
+sudo -E apt-get install -y -o Dpkg::Progress-Fancy=0 \
+  rpi-eeprom
+
+cp /usr/lib/firmware/raspberrypi/bootloader-2712/latest/pieeprom-2025-03-19.bin /tmp
+cp /usr/lib/firmware/raspberrypi/bootloader-2712/latest/recovery.bin /tmp
+
+rpi-eeprom-config /tmp/pieeprom-2025-03-19.bin --config "$config_files_root/boot.conf" --out /tmp/pieeprom.upd
+rpi-eeprom-digest -i /tmp/pieeprom.upd -o /tmp/pieeprom.sig
+
+# /boot and not /boot/firmware
+# see https://github.com/ethanjli/pinspawn-action/issues/5
+sudo cp /tmp/pieeprom.upd /tmp/pieeprom.sig /tmp/recovery.bin /boot/
+
+# The bootloader will be installed on first boot and the files removed
+# see https://github.com/PlanktoScope/PlanktoScope/pull/589
+
+# https://www.raspberrypi.com/documentation/computers/raspberry-pi.html#automaticupdates
+sudo systemctl mask rpi-eeprom-update
+
+# "The temporary EEPROM update files are automatically deleted by the rpi-eeprom-update service at startup."
+# from https://www.raspberrypi.com/documentation/computers/raspberry-pi.html#bootloader-update-files
+# But we mask it to avoid auto updates so we have a custom unit file instead
+sudo cp $config_files_root/planktoscope-org.firstboot.service /etc/systemd/system/
+sudo systemctl enable planktoscope-org.firstboot.service

software/distro/setup/planktoscope-app-env/bootloader/planktoscope-org.firstboot.service

@@ -0,0 +1,10 @@
+[Unit]
+Description=PlanktoScope first boot service
+ConditionFirstBoot=yes
+
+[Service]
+Type=oneshot
+ExecStart=/home/pi/PlanktoScope/software/distro/setup/planktoscope-app-env/bootloader/firstboot.sh
+
+[Install]
+WantedBy=sysinit.target

software/distro/setup/planktoscope-app-env/python-hardware-controller/install.sh

@@ -38,7 +38,7 @@ PATH="$PATH:/home/pi/.local/bin"
 # Raspberry Pi OS has been updated. In which case this can be removed.
 echo "If the next command fails, see comment in install.sh"
 sudo -E apt-get install -y -o Dpkg::Progress-Fancy=0 --only-upgrade \
-  python3-libcamera=0.4.0+rpt20250213-1 python3-av=12.3.0-2+rpt1
+  python3-libcamera=0.5.0+rpt20250429-1 python3-av=12.3.0-2+rpt1
 sudo -E apt-get install -y --no-install-recommends -o Dpkg::Progress-Fancy=0 \
   i2c-tools libopenjp2-7 python3-picamera2
 poetry --directory "$HOME/PlanktoScope/device-backend/control" install \

software/distro/setup/planktoscope-app-env/setup.sh

@@ -83,3 +83,11 @@ if "$build_scripts_root/overclocking/config.sh"; then
 else
   panic "$description"
 fi
+
+description="update and configure bootloader"
+report_starting "$description"
+if "$build_scripts_root/bootloader/install.sh"; then
+  report_finished "$description"
+else
+  panic "$description"
+fi