宇树科技 HangZhou Yushu Technology (Unitree) go1 development notes
- HangZhou Yushu Tech Unitree Go1
- Go1 series Product Matrix
- Robot Internal Architecture
- Expansion Header
- Cameras - Super Sensory System
- Programming interface
- Update interface
- Upload interface
- Passwords
- Backup internal flash on all devices
- Power Output
- Installing TCPdump on the RasPi
- STM32 MicroROS?
- Bluetooth
- Mobile App
- 45 / 5G support
- 4G use in the USA
- GPS from 4G module
- Wifi backdoor
- Autostart items
- PDB emergency shut off (backdoor? no way to disable)
- What talks to the STM at 192.168.123.10?
- MIT Cheetah code
- Sniffing MQTT traffic on the dog
- Sending MQTT commands to the dog.
- TFTP to RTOS
- Troubleshooting
This $2,700 robot dog will carry a single bottle of water for you: Who needs a tote bag when you have a little robot butler?
https://www.theverge.com/2021/6/10/22527413/tiny-robot-dog-unitree-robotics-go1
The full product matrix is not understood, there appear to be regional sub variants that are only sold in certain countries. For example the "Go1 MAX" is supposed to be China exclusive, although it can be easily obtained "cross-border". Test report details have given the current understanding of product options.
https://www.taobao.com/list/item/657740636451.htm Early Black variant of the Air?
https://www.cnbeta.com/articles/tech/1139381.htm
unknown
unknown
https://www.taobao.com/list/item/667863152779.htm
When upgrading to the 2D or 3D LiDAR versions of the GO1 EDU, one of the three Jetson Nanos is upgraded to a Jetson Xavier NX. As a result, the robot is capable of dynamic obstacle avoidance, navigation planning, map building, self-positioning and more. This also supports your ability to develop gesture recognition, VSLAM, deep learning, machine learning, etc.
2D LiDAR Upgrade (Plus)
3D LiDAR Upgrade (Explorer)
The difference between the EDU and the EDU Explorer is basically those features that comes with the integration of the Lidar (2D/3D):
Basically
- Obstacle avoidance
- Mapping and navigation planning
- Support for developing gesture recognition
- VSLAM and other secondary development
- With the 3D Lidar, also the Dynamic Obstacle Avoidance.
Note: The two small pins next to the XT30U connector on the dog's belly appear to be P & N signals for the RS485 "motors" network on the "A4".
XT30(2 2)-F
https://www.aliexpress.com/item/3256801621419825.html
"40-pin Centronics connector"
PART: FX2CA2-40P-1.27DSAL(71)-ND
DESC: CONN HEADER VERT 40POS 1.27MM
MFG : Hirose Electric Co Ltd [CI] / FX2CA2-40P-1.27DSAL(71)
https://www.hirose.com/product/document?clcode=CL0572-2768-1-71&productname=FX2-100P-0.635SH(71)&series=FX2&documenttype=Catalog&lang=en&documentid=D49368_en
https://www.digikey.com/short/195n09w7
Strings in the camera binary help us identify the vision hardware
unitree@unitree-desktop:~/Unitree/autostart/camerarosnode/cameraRosNode$ grep 2610 . -r
Binary file ./src/unitree_camera/lib/amd64/libtstc_V4L2_xu_camera.a matches
Binary file ./src/unitree_camera/lib/arm64/libtstc_V4L2_xu_camera.a matches
Binary file ./devel/lib/unitree_camera/point_cloud_node matches
Binary file ./devel/lib/unitree_camera/example_point matches
SPCA_2610 must be the camera name.
source//Extension_Unit_Class/Extension_Unit_SPCA2650_Protocol.cpp
This is clearly a SunPlus based "SSS" system. https://www.synopsys.com/dw/doc.php/ss/SunPlusIT_usb3.0-phy-controller.pdf https://www.sunplusit.com/EN/Product/PcCamera
Each Jetson Nano includes the following USB devices, in some cases multiple per.
Bus 001 Device 002: ID 1bcf:2cd1 Sunplus Innovation Technology Inc.
The linux hardware database lists the camera package here: https://linux-hardware.org/index.php?id=usb:1bcf-2cd1 "Sunplus Innovation Technology USB2.0 Camera"
In Go1_2022_05_11_e0d0e617/raspi/Unitree/autostart/programming we find programming.py
It imports ./build/robot_interface_high_level.cpython-37m-aarch64-linux-gnu.so in order to call the UDP listen functions.
import robot_interface_high_level as robot_interface
...
unitree_go1 = robot_interface.RobotInterface()
The interface seems to blindly pass user input to exec().
The exec() method executes the dynamically created program, which is either a string or a code object.
First the code passes through compile()
compile() method is used if the Python code is in string form or is an AST object, and you want to change it to a code object.
This handles all the MIT Scratch code blocks from the mobile client.
In Go1_2021_12_10_d799e0c3/raspi/Unitree/autostart/updateDependencies we find startup_manager.py
It declares itself to be "Unitree System Manager", and offers the following functions
Functions:
1. run bash files
2. delete uploaded packages
3. run update packages
4. process topics when modules shut down
This can also be used to run arbitry commands.
def on_message(client, userdata, msg):
global updatePackage
global updateFirmware
# not doing anything during update
if(updatePackage !='' or updateFirmware !=''):
return
# run bash file
if(msg.topic == "usys/sh"):
bashFile = str(msg.payload,'utf-8')
print("Running sh " + bashFile)
process = subprocess.Popen(["sh", bashFile],stdout=subprocess.PIPE)
In Go1_2021_12_10_d799e0c3/raspi/Unitree/autostart/updateDependencies we find startup_uploader.py
It outlines how to accept update packages. They must be .zip files, or they will be rejected
$ cat test.txt
------------------------------4ebf00fbcf09
Content-Disposition: form-data; name="file"; filename="/tmp/out.zip"
filecontent here
------------------------------4ebf00fbcf09
$ curl -X POST -H "Content-Type: multipart/form-data; boundary=----------------------------4ebf00fbcf09" --data-binary @test.txt http://localhost:9800
{'info':'File '/tmp/out.zip' upload success!'}
raspberrypi
192.168.123.161
192.168.12.1
pi / 123
root / 123
nano2gb
192.168.123.13
unitree / 123
root / (disabled)
unitree-desktop
192.168.123.14
192.168.123.15
unitree / 123
root / (disabled)
Ssh into the raspi, dump it to external USB
root@raspberrypi:/media/pi/59f46a9c-a6fc-45d6-824e-55f5c3844716/go1/raspberrypi# dd if=/dev/mmcblk0 of=mmcblk0 bs=4096
^C521+0 records in
521+0 records out
2134016 bytes (2.1 MB, 2.0 MiB) copied, 0.0781444 s, 27.3 MB/s
Ssh to each of the "desktop" nanos and dump them
root@unitree-desktop:/home/unitree# dd if=/dev/mmcblk0 bs=4096 | gzip -c | ssh [email protected] 'cat > /media/pi/59f46a9c-a6fc-45d6-824e-55f5c3844716/go1/ubuntu-desktop_1/mmcblk0.gz'
[email protected]'s password:
root@unitree-desktop:/home/unitree# dd if=/dev/mmcblk0 bs=4096 | gzip -c | ssh [email protected] 'cat > /media/pi/59f46a9c-a6fc-45d6-824e-55f5c3844716/go1/ubuntu-desktop_2/mmcblk0.gz'
[email protected]'s password:
Ssh to the nano2gb and dump it
root@nano2gb:/home/unitree# dd if=/dev/mmcblk0 bs=4096 | gzip -c | ssh [email protected] 'cat > /media/pi/59f46a9c-a6fc-45d6-824e-55f5c3844716/go1/nano2gb/mmcblk0.gz'
[email protected]'s password:
On the dogs belly is a 24v pass though assumed to be 2A max.
Download from the mirror
$ wget https://mirrors.tuna.tsinghua.edu.cn/debian/pool/main/t/tcpdump/tcpdump_4.9.3-1~deb10u2_arm64.deb
--2022-07-06 15:30:55-- https://mirrors.tuna.tsinghua.edu.cn/debian/pool/main/t/tcpdump/tcpdump_4.9.3-1~deb10u2_arm64.deb
Resolving mirrors.tuna.tsinghua.edu.cn (mirrors.tuna.tsinghua.edu.cn)... 101.6.15.130, 2402:f000:1:400::2
Connecting to mirrors.tuna.tsinghua.edu.cn (mirrors.tuna.tsinghua.edu.cn)|101.6.15.130|:443... connected.
HTTP request sent, awaiting response... 200 OK
Length: 378080 (369K) [application/octet-stream]
Saving to: ‘tcpdump_4.9.3-1~deb10u2_arm64.deb’
tcpdump_4.9.3-1~deb 100%[===================>] 369.22K 290KB/s in 1.3s
2022-07-06 15:31:00 (290 KB/s) - ‘tcpdump_4.9.3-1~deb10u2_arm64.deb’ saved [378080/378080]
Scp to the raspi, and install.
$ scp tcpdump_4.9.3-1~deb10u2_arm64.deb [email protected]:/tmp/
[email protected]'s password:
tcpdump_4.9.3-1~deb10u2_arm64.deb 100% 369KB
Make yourself root and install the package.
root@raspberrypi:/home/pi$ dpkg -i /tmp/tcpdump_4.9.3-1~deb10u2_arm64.deb
Selecting previously unselected package tcpdump.
(Reading database ... 171570 files and directories currently installed.)
Preparing to unpack .../tcpdump_4.9.3-1~deb10u2_arm64.deb ...
Unpacking tcpdump (4.9.3-1~deb10u2) ...
Setting up tcpdump (4.9.3-1~deb10u2) ...
Processing triggers for man-db (2.8.5-2) ...
The device at 192.168.123.10 may be an STM32 running MicroROS
https://micro.ros.org/docs/overview/hardware/
https://www.youtube.com/watch?v=Sz-nllmtcc8
https://github.com/micro-ROS/micro_ros_stm32cubemx_utils
Interface port documentation reveals it to be an "H7", and an "A4"
STM32H7 - https://www.st.com/en/microcontrollers-microprocessors/stm32h7-series.html
https://github.com/micro-ROS/NuttX/blob/master/arch/arm/src/stm32h7/stm32_gpio.h
The transmitter appears to be Bluetooth based.
The mobile app uses MQTT over websocket
On an iOS device you can use RVI utils to sniff the connection https://developer.apple.com/documentation/network/recording_a_packet_trace
$ rvictl -s 0000xxxx-yourdeviceuuid
Starting device 0000xxxx-yourdeviceuuid [SUCCEEDED] with interface rvi0
$ sudo tcpdump -i rvi0 -xX -s2000 host 192.168.12.1 and not port domain -w tcpdump.pcap
The initial connection hits /mqtt on the web server.
GET /mqtt HTTP/1.1
Host: 192.168.12.1
Pragma: no-cache
Accept: */*
Sec-WebSocket-Key: qoldXnNLZu0GftYE7x+XgA==
Sec-WebSocket-Version: 13
Sec-WebSocket-Extensions: permessage-deflate
Sec-WebSocket-Protocol: mqtt
Cache-Control: no-cache
Accept-Language: en-US,en;q=0.9
Origin: capacitor://localhost
User-Agent: Mozilla/5.0 (iPhone; CPU iPhone OS 15_5 like Mac OS X) AppleWebKit/605.1.15 (KHTML, like Gecko) Mobile/15E148
Connection: Upgrade
Accept-Encoding: gzip, deflate
Upgrade: websocket
It immediately switches to Websocket protocol.
HTTP/1.1 101 Switching Protocols
Server: nginx/1.14.2
Date: Sat, 06 Nov 2021 02:17:43 GMT
Connection: upgrade
Upgrade: WebSocket
Sec-WebSocket-Accept: aLEJi/WW+zQ1NjZiE5SszGyjI+4=
Sec-WebSocket-Protocol: mqtt
You can take apart the supporting .js files and make them more readable with "prettier". They are Webpack 4 encoded files.
$ node bin-prettier.js ../../chunk-ab73ca30.b65f7572.js
You can find the respective files in:
Go1_2021_12_10_d799e0c3/raspi/Unitree/autostart/webMonitor/dist/
The MQTT locic can be further understood by disassembling appTransit.
bVar1 = std::operator==(pbVar3,"controller/action");
if (bVar1 != false) {
pmVar2 = (message *)
std::__shared_ptr_access<mqtt::message_const,(__gnu_cxx::_Lock_policy)2,false,false>::
operator->(this_01);
pbVar3 = (basic_string *)mqtt::message::get_payload_str[abi:cxx11](pmVar2);
pbVar4 = std::operator<<((basic_ostream *)&std::cout,pbVar3);
std::basic_ostream<char,std::char_traits<char>>::operator<<
((basic_ostream<char,std::char_traits<char>> *)pbVar4,
std::endl<char,std::char_traits<char>>);
pmVar2 = (message *)
std::__shared_ptr_access<mqtt::message_const,(__gnu_cxx::_Lock_policy)2,false,false>::
operator->(this_01);
mqtt::message::get_payload_str[abi:cxx11](pmVar2);
std::__cxx11::basic_string<char,std::char_traits<char>,std::allocator<char>>::basic_string
(abStack48);
/* try { // try from 0010bf9c to 0010bfe3 has its CatchHandler @ 0010c458 */
std::__cxx11::basic_string<char,std::char_traits<char>,std::allocator<char>>::operator=
((basic_string<char,std::char_traits<char>,std::allocator<char>> *)(this + 0x970),
abStack48);
bVar1 = std::operator==(abStack48,"walk");
if (bVar1 == false) {
bVar1 = std::operator==(abStack48,"run");
if (bVar1 == false) {
bVar1 = std::operator==(abStack48,"climb");
if (bVar1 == false) {
bVar1 = std::operator==(abStack48,"stand");
if (bVar1 == false) {
bVar1 = std::operator==(abStack48,"dance1");
if (bVar1 == false) {
bVar1 = std::operator==(abStack48,"dance2");
if (bVar1 == false) {
bVar1 = std::operator==(abStack48,"dance3");
if (bVar1 == false) {
bVar1 = std::operator==(abStack48,"dance4");
if (bVar1 == false) {
bVar1 = std::operator==(abStack48,"backflip");
if (bVar1 == false) {
bVar1 = std::operator==(abStack48,"jumpYaw");
if (bVar1 == false) {
bVar1 = std::operator==(abStack48,"straightHand1");
if (bVar1 == false) {
bVar1 = std::operator==(abStack48,"standUp");
if (bVar1 == false) {
bVar1 = std::operator==(abStack48,"standDown");
if (bVar1 == false) {
bVar1 = std::operator==(abStack48,"damping");
if (bVar1 == false) {
bVar1 = std::operator==(abStack48,"recoverStand");
if (bVar1 != false) {
Quectel EG25-G is connected to the RasPI https://www.quectel.com/wp-content/uploads/pdfupload/EP-FMEG25GMPCIs_Specification_V1.0-1609137.pdf https://www.t-mobile.com/content/dam/tfb/pdf/tfb-iot/Quectel_EG25-G_LTE_Standard_Specification_V1.3.pdf https://fccid.io/XMR201903EG25G/User-Manual/user-manual-4219711.pdf
It includes a GNSS function. The GPS antenna in the Go1 is connected to this device.
5G support is assumed to be provided by a Quctel RM5 series chipset. https://www.quectel.com/product/5g-rm50xq-series https://www.quectel.com/product/5g-rm510q-gl https://www.quectel.com/wp-content/uploads/2021/02/Quectel_Product_Brochure_EN_V6.1.pdf
CVE-2021-31698: Quectel EG25-G devices through 202006130814 allow executing arbitrary code remotely by using an AT command to place shell metacharacters in quectel_handle_fumo_cfg input in atfwd_daemon.
https://cve.mitre.org/cgi-bin/cvename.cgi?name=CVE-2021-31698
"Code execution as root via AT commands on the Quectel EG25-G modem"
https://nns.ee/blog/2021/04/03/modem-rce.html
While connected to the 45/5g the dog does call home. Here is an example of it calling the Zhexi cloud
pi@raspberrypi:~ $ netstat -ap | grep ESTABLISHED | grep 100.100.57.114
(Not all processes could be identified, non-owned process info
will not be shown, you would have to be root to see it all.)
tcp 0 0 100.100.57.114:53570 124.156.140.55:5670 ESTABLISHED -
tcp 0 0 100.100.57.114:52582 124.156.140.55:http ESTABLISHED -
tcp 0 0 100.100.57.114:52578 124.156.140.55:http ESTABLISHED -
tcp 0 0 100.100.57.114:55788 134.175.175.55:9998 ESTABLISHED -
You can disbale the tunnel by killing the cloudsail daemon
root@raspberrypi:/home/pi/Unitree/autostart# systemctl disable CSClientDaemon
Removed /etc/systemd/system/multi-user.target.wants/CSClientDaemon.service.
Also move the auto start "tunnel" out of the way so it is unable to autostart
root@raspberrypi:/home/pi/Unitree/autostart# mv tunnel/ /root/tunnel_disabled/
Support provided by Quectel EC25
https://osmocom.org/projects/quectel-modems/wiki/EC25_Linux
Known to be ridden with FOTA backdoors
https://penthertz.com/blog/mobile-iot-modules-FOTA-backdooring-at-scale.html
"All the 4G Modules Could be Hacked" talk from Defcon 2019
https://i.blackhat.com/USA-19/Wednesday/us-19-Shupeng-All-The-4G-Modules-Could-Be-Hacked.pdf
https://nns.ee/blog/2021/04/03/modem-rce.html
The variant tested was not vulnerable to the obvious code execution: https://nvd.nist.gov/vuln/detail/CVE-2021-31698
root@raspberrypi:~# lsusb | grep Quec
Bus 001 Device 003: ID 2c7c:0125 Quectel Wireless Solutions Co., Ltd. EC25 LTE modem
root@raspberrypi:~# minicom -b 115200 -D /dev/ttyUSB2
Welcome to minicom 2.7.1
OPTIONS: I18n
Compiled on May 6 2018, 07:48:54.
Port /dev/ttyUSB2, 18:07:01
Press CTRL-A Z for help on special keys
ATE1<enter>
OK
ATI
Quectel
EC20F
Revision: EC20CEFRSGR08A03M2G
AT+QFUMOCFG=?
+QFUMOCFG: "update",(0,1)
OK
AT+QFUMOCFG="dmacc","`reboot`"
ERROR
Additionally ADB is disabled in firmware per: https://forums.quectel.com/t/eg25-g-cannot-enable-adb-with-at-command/4809 "ADB port in disblae in firmware. It’s not able to be used in standard module."
By default the enable command is refused.
AT+QCFG="usbcfg",0x2c7c,0x125,1,1,1,1,1,1,1
OK
AT+QCFG="usbcfg"
+QCFG: "usbcfg",0x2C7C,0x0125,1,1,1,1,1,0,1
OK
You can use an unlocker tool however after using the AT command to obtain the key https://xnux.eu/devices/feature/qadbkey-unlock.c
AT+QADBKEY?
+QADBKEY: 39804286
root@raspberrypi:~# wget https://xnux.eu/devices/feature/qadbkey-unlock.c
--2022-07-13 18:59:07-- https://xnux.eu/devices/feature/qadbkey-unlock.c
Resolving xnux.eu (xnux.eu)... 195.181.215.36, 2001:15e8:110:3624::1
Connecting to xnux.eu (xnux.eu)|195.181.215.36|:443... connected.
HTTP request sent, awaiting response... 200 OK
Length: 658 [text/plain]
Saving to: ‘qadbkey-unlock.c’
qadbkey-unlock.c 100%[=============================================================================================================>] 658
--.-KB/s in 0s
2022-07-13 18:59:09 (1.41 MB/s) - ‘qadbkey-unlock.c’ saved [658/658]
root@raspberrypi:~# gcc qadbkey-unlock.c -o qadbkey-unlock -lcrypt
root@raspberrypi:~# ./qadbkey-unlock
Usage: unlock <serial>
Use AT+QADBKEY? to get the serial number.
root@raspberrypi:~# ./qadbkey-unlock 39804286
AT+QADBKEY="OyFBlcSkpqh9Xt2i"
AT+QCFG="usbcfg",0x2C7C,0x125,1,1,1,1,1,1,0
To disable ADB, run: (beware that modem will not be able to enter sleep with ADB enabled!!)
AT+QCFG="usbcfg",0x2C7C,0x125,1,1,1,1,1,0,0
pi@raspberrypi:~ $ adb devices
List of devices attached
* daemon not running; starting now at tcp:5037
* daemon started successfully
(no serial number) device
pi@raspberrypi:~ $ adb shell
/ # hostname
mdm9607
/ # id
uid=0(root) gid=0(root) groups=1004,1007,1011,1015(sdcard),1028,3001,3002,3003,3006
If you see this, you may need to reboot.
root@raspberrypi:/home/pi# adb devices
List of devices attached
(no serial number) no permissions (user in plugdev group; are your udev rules wrong?); see [http://developer.android.com/tools/device.html]
Alternately you can try:
root@raspberrypi:/home/pi# sudo usermod -aG plugdev $LOGNAME
root@raspberrypi:/etc/udev/rules.d# cat > 51-android.rules
SUBSYSTEM=="usb",ATTRS{idVendor}=="2c7c",ATTRS{idProduct}=="0125",MODE="0666",GROUP="plugdev"
root@raspberrypi:/etc/udev/rules.d# udevadm control --reload-rules
and reboot
Get a T-Mobile SIM card.
Edit the config file for the Unitree configNetwork autostart service, at the very least the APN needs to be changed off China Unicom.
pi@raspberrypi:~ $ diff bk_Unitree/ Unitree -ru
diff -ru bk_Unitree/autostart/configNetwork/ppp/quectel-chat-connect Unitree/autostart/configNetwork/ppp/quectel-chat-connect
--- bk_Unitree/autostart/configNetwork/ppp/quectel-chat-connect 2021-11-05 04:31:12.986184175 -0900
+++ Unitree/autostart/configNetwork/ppp/quectel-chat-connect 2021-11-05 18:29:08.267718437 -0900
@@ -9,6 +9,6 @@
OK ATE0
OK ATI;+CSUB;+CSQ;+CPIN?;+COPS?;+CGREG?;&D2
# Insert the APN provided by your network operator, default apn is 3gnet
-OK AT+CGDCONT=1,"IP","3gnet",,0,0
+OK AT+CGDCONT=1,"IP","fast.t-mobile.com",,0,0
OK ATD*99#
CONNECT
diff -ru bk_Unitree/autostart/configNetwork/ppp/quectel-ppp Unitree/autostart/configNetwork/ppp/quectel-ppp
--- bk_Unitree/autostart/configNetwork/ppp/quectel-ppp 2021-11-05 04:31:12.986184175 -0900
+++ Unitree/autostart/configNetwork/ppp/quectel-ppp 2022-07-08 07:20:32.160480515 -0900
@@ -3,7 +3,7 @@
#Modem path, like /dev/ttyUSB3,/dev/ttyACM0, depend on your module, default path is /dev/ttyUSB3
/dev/ttyUSB3 115200
#Insert the username and password for authentication, default user and password are test
-user "test" password "test"
+user "user" password "password"
# The chat script, customize your APN in this file
connect 'chat -s -v -f /etc/ppp/peers/quectel-chat-connect'
# The close script
diff -ru bk_Unitree/autostart/configNetwork/ppp/quectel-pppd.sh Unitree/autostart/configNetwork/ppp/quectel-pppd.sh
--- bk_Unitree/autostart/configNetwork/ppp/quectel-pppd.sh 2021-11-05 04:31:12.986184175 -0900
+++ Unitree/autostart/configNetwork/ppp/quectel-pppd.sh 2022-07-08 07:20:48.641378405 -0900
@@ -3,9 +3,9 @@
#quectel-pppd devname apn user password
echo "quectel-pppd options in effect:"
QL_DEVNAME=/dev/ttyUSB3
-QL_APN=3gnet
-QL_USER=user
-QL_PASSWORD=passwd
+QL_APN=fast.t-mobile.com
+QL_USER="user"
+QL_PASSWORD="password"
if [ $# -ge 1 ]; then
QL_DEVNAME=$1
echo "devname $QL_DEVNAME # (from command line)"
You'll need to add the libqmi tools.
root@raspberrypi:/home/pi$ apt-get update
root@raspberrypi:/home/pi$ apt-get install libqmi-utils
The mmcli tool will help get basic informaiton that you may need to give your cellular provider such as IMEI, and ESN. You can also make sure the device is not SIM locked.
root@raspberrypi:/home/pi$ mmcli -m 0
--------------------------------
General | dbus path: /org/freedesktop/ModemManager1/Modem/0
| device id:
--------------------------------
Hardware | manufacturer: QUALCOMM INCORPORATED
| model: QUECTEL Mobile Broadband Module
| revision:
| h/w revision: 10000
| supported: gsm-umts, lte
| cdma-evdo, lte
| lte
| cdma-evdo, gsm-umts, lte
| current: cdma-evdo, gsm-umts, lte
| equipment id:
--------------------------------
System | device: /sys/devices/platform/soc/fe980000.usb/usb1/1-1/1-1.3
| drivers: option1, qmi_wwan
| plugin: Quectel
| primary port: cdc-wdm0
| ports: ttyUSB0 (qcdm), ttyUSB2 (at), cdc-wdm0 (qmi), wwan0 (net),
| ttyUSB3 (at)
--------------------------------
Status | lock: sim-pin2
| unlock retries: sim-pin (3), sim-pin2 (10), sim-puk (10), sim-puk2 (10)
| state: disabled
| power state: on
| signal quality: 0% (cached)
--------------------------------
Modes | supported: allowed: 2g; preferred: none
| allowed: 3g; preferred: none
| allowed: 2g, 3g; preferred: 3g
| allowed: 2g, 3g; preferred: 2g
| allowed: 2g, 4g; preferred: 4g
| allowed: 2g, 4g; preferred: 2g
| allowed: 3g, 4g; preferred: 3g
| allowed: 3g, 4g; preferred: 4g
| allowed: 2g, 3g, 4g; preferred: 4g
| allowed: 2g, 3g, 4g; preferred: 3g
| allowed: 2g, 3g, 4g; preferred: 2g
| current: allowed: 2g, 3g, 4g; preferred: 4g
--------------------------------
Bands | supported: egsm, dcs, utran-1, utran-8, eutran-1, eutran-3, eutran-5,
| eutran-8, eutran-34, eutran-38, eutran-39, eutran-40, eutran-41,
| cdma-bc0
| current: egsm, dcs, utran-1, utran-8, eutran-1, eutran-3, eutran-5,
| eutran-8, eutran-34, eutran-38, eutran-39, eutran-40, eutran-41,
| cdma-bc0
--------------------------------
IP | supported: ipv4, ipv6, ipv4v6
--------------------------------
3GPP | imei: 313376969187
--------------------------------
3GPP EPS | ue mode of operation: csps-2
--------------------------------
CDMA | meid: DEADBEEFCAFEBABE
| esn: BEEFCAFE
| activation: not-activated
--------------------------------
SIM | dbus path: /org/freedesktop/ModemManager1/SIM/0
If you need to double check the bearer information you can.
root@raspberrypi:/home/pi$ mmcli -b 0
--------------------------------
General | dbus path: /org/freedesktop/ModemManager1/Bearer/0
| type: default
--------------------------------
Status | connected: yes
| suspended: no
| interface: wwan0
| ip timeout: 20
--------------------------------
Properties | apn: fast.t-mobile.com
| roaming: allowed
--------------------------------
IPv4 configuration | method: static
| address: 5.4.3.1
| prefix: 30
| gateway: 5.4.3.2
| dns: 1.1.0.4, 1.1.0.2
| mtu: 1500
--------------------------------
Statistics | duration: 330
You can use qmicli to verify the APN profile setting slots
root@raspberrypi:/home/pi$ qmicli -p -d /dev/cdc-wdm0 --wds-get-profile-list=3gpp
Profile list retrieved:
[1] 3gpp -
APN: 'fast.t-mobile.com'
PDP type: 'ipv4'
PDP context number: '1'
Username: ''
Password: ''
Auth: 'none'
No roaming: 'no'
APN disabled: 'no'
[2] 3gpp -
APN: 'ims'
PDP type: 'ipv4-or-ipv6'
PDP context number: '2'
Username: ''
Password: ''
Auth: 'none'
No roaming: 'no'
APN disabled: 'no'
[3] 3gpp -
APN: ''
PDP type: 'ipv4-or-ipv6'
PDP context number: '3'
Username: ''
Password: ''
Auth: 'none'
No roaming: 'no'
APN disabled: 'no'
Scanning for available networks is a good way to troubleshoot as well
root@raspberrypi:/home/pi$ mmcli -m 0 --3gpp-scan --timeout=300
---------------------
3GPP scan | networks: 312250 - T-Mobile (lte, current)
| 311490 - 311 490 (lte, available)
| 311882 - 311 882 (lte, available)
| 312530 - 312 530 (lte, available)
| 310120 - Sprint (lte, available)
root@raspberrypi:/home/pi$ mmcli -m 0 --location-status
------------------------
Location | capabilities: 3gpp-lac-ci, gps-raw, gps-nmea, cdma-bs, agps
| enabled: 3gpp-lac-ci, cdma-bs
| signals: no
------------------------
GPS | refresh rate: 30 seconds
root@raspberrypi:/home/pi$ mmcli -m 0 --location-enable-gps-raw --location-enable-gps-nmea
successfully setup location gathering
root@raspberrypi:/home/pi$ mmcli -m 0 --location-get
--------------------------
3GPP | operator code: XX
| operator name: YY
| location area code: ZZ
| tracking area code: AA
| cell id: 0000000000
--------------------------
GPS | nmea: $GPGGA,,,,,,0,,,,,,,,*66
| $GPGSA,A,1,,,,,,,,,,,,,,,,*32
| $GPVTG,,T,,M,,N,,K,N*2C
| $GPRMC,,V,,,,,,,,,,N*53
| $GPGSV,1,1,02,00,,,00,00,,,00,1*68
There is an autoconnect network called "Unitree-2.4G" in the wpa supplicant config.
pi@raspberrypi:/etc $ cat ./wpa_supplicant/wpa_supplicant.conf
ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
update_config=1
country=US
network={
ssid="Unitree-5G"
psk="Unitree#9035"
key_mgmt=WPA-PSK
disabled=1
}
network={
ssid="Unitree-WiFi-5G"
psk="Unitree#9035"
key_mgmt=WPA-PSK
disabled=1
}
network={
ssid="Unitree-2.4G"
psk="Unitree#9035"
key_mgmt=WPA-PSK
}
Supplicant auto starts at boot
pi@raspberrypi:/etc $ ps -ax | grep wpa
470 ? Ss 0:00 /sbin/wpa_supplicant -u -s -O /run/wpa_supplicant
756 ? Ss 0:00 wpa_supplicant -B -c/etc/wpa_supplicant/wpa_supplicant.conf -iwlan0 -Dnl80211,wext
8444 pts/1 S+ 0:00 grep --color=auto wpa
If you are quick you can catch it to login to the dog.
$ ping 192.168.1.115
PING 192.168.1.115 (192.168.1.115): 56 data bytes
Request timeout for icmp_seq 0
Request timeout for icmp_seq 1
Request timeout for icmp_seq 2
Request timeout for icmp_seq 3
Request timeout for icmp_seq 4
Request timeout for icmp_seq 5
Request timeout for icmp_seq 6
ping: sendto: No route to host
Request timeout for icmp_seq 7
ping: sendto: Host is down
Request timeout for icmp_seq 8
ping: sendto: Host is down
Request timeout for icmp_seq 9
ping: sendto: Host is down
Request timeout for icmp_seq 10
ping: sendto: Host is down
Request timeout for icmp_seq 11
ping: sendto: Host is down
Request timeout for icmp_seq 12
Request timeout for icmp_seq 13
64 bytes from 192.168.1.115: icmp_seq=14 ttl=64 time=5.955 ms
64 bytes from 192.168.1.115: icmp_seq=15 ttl=64 time=2.563 ms
64 bytes from 192.168.1.115: icmp_seq=16 ttl=64 time=3.939 ms
64 bytes from 192.168.1.115: icmp_seq=17 ttl=64 time=3.791 ms
64 bytes from 192.168.1.115: icmp_seq=18 ttl=64 time=3.299 ms
Request timeout for icmp_seq 19
Request timeout for icmp_seq 20
Request timeout for icmp_seq 21
Request timeout for icmp_seq 22
Request timeout for icmp_seq 23
Request timeout for icmp_seq 24
Roughly 40 seconds into the boot process this is available for literally 5 seconds.
Default credentials work as expected
$ ssh -o StrictHostKeyChecking=accept-new -v [email protected] "hostname;id;exit"
OpenSSH_8.6p1, LibreSSL 3.3.6
...
debug1: Connecting to 192.168.1.115 [192.168.1.115] port 22.
debug1: Connection established.
...
debug1: Local version string SSH-2.0-OpenSSH_8.6
debug1: Remote protocol version 2.0, remote software version OpenSSH_7.9p1 Debian-10+deb10u2+rpt1
debug1: compat_banner: match: OpenSSH_7.9p1 Debian-10+deb10u2+rpt1 pat OpenSSH* compat 0x04000000
debug1: Authenticating to 192.168.1.115:22 as 'pi'
...
debug1: Next authentication method: password
[email protected]'s password:
debug1: Authentication succeeded (password).
Authenticated to 192.168.1.115 ([192.168.1.115]:22).
...
debug1: Sending command: hostname;id;exit
...
raspberrypi
uid=1000(pi) gid=1000(pi) groups=1000(pi),4(adm),20(dialout),24(cdrom),27(sudo),29(audio),44(video),46(plugdev),60(games),100(users),105(input),109(netdev),997(gpio),998(i2c),999(spi)
debug1: client_input_channel_req: channel 0 rtype exit-status reply 0
debug1: client_input_channel_req: channel 0 rtype [email protected] reply 0
debug1: channel 0: free: client-session, nchannels 1
Transferred: sent 2992, received 2892 bytes, in 0.1 seconds
Bytes per second: sent 27756.4, received 26828.7
debug1: Exit status 0
The default uses GNOME autostart
/home/pi/.config/autostart/*
pi@raspberrypi:~ $ cat /home/pi/.config/autostart/unitree.desktop
[Desktop Entry]
Name=unitree
Comment=unitree autostart
Exec=bash /home/pi/UnitreeUpgrade/start.sh
Terminal=false
Type=Application
Categories=System;Utility;Archiving;
StartupNotify=false
NoDisplay=true
pi@raspberrypi:~ $ cat /home/pi/UnitreeUpgrade/start.sh
#!/bin/bash
cd /home/pi/UnitreeUpgrade
python3 ./startup_manager.py &
python3 ./startup_uploader.py &
cd /home/pi/Unitree/autostart
./update.sh
The PDB has an ANNTEM JN1Q on 433mhz hard wired in for safety disconnects. https://anntem.aliexpress.com/store/1101246027 (official store)
THe transmitter included is a common 2 button design using a stunted 4 button design "HFY528-4KEY ver2.1".
The HFY528 uses an EV1527 encoder IC by Silvan Chip Electronics www.sc-tech.cn:
EV1527 provides individual unique secure ID for each chip. This ID is transmitted with every outgoing packet. The receiver can learn the code
after receiving the first packet and can be programmed to receive the data from an unique transmitter. This way the communication is secure
and multiple transmitter can not interfere with the receiver operation. Suitable for operations like digital locks etc. The unique ID is one
time programmable and is already programmed at the factory. End user applications just need to identify the code and program the receiver to
communicate with specific IDs.
EV1527 and Learning Code Remotes Explained Simple: https://ripplesecurity.com.au/blogs/news/ev1527-and-ask-explained-simple
You can sniff the remote with rtl_433:
$ rtl_433 -S all -f 433.9M
rtl_433 version 21.05 (2020-05-09) inputs file rtl_tcp RTL-SDR SoapySDR with TLS
Use -h for usage help and see https://triq.org/ for documentation.
Trying conf file at "rtl_433.conf"...
Trying conf file at "/home/ciajeepdoors/.config/rtl_433/rtl_433.conf"...
Trying conf file at "/usr/local/etc/rtl_433/rtl_433.conf"...
Trying conf file at "/etc/rtl_433/rtl_433.conf"...
Registered 157 out of 186 device decoding protocols [ 1-4 8 11-12 15-17 19-23 25-26 29-36 38-60 63 67-71 73-100 102-105 108-116 119 121 124-128 130-149 151-161 163-168 170-175 177-186 ]
Found Fitipower FC0013 tuner
Exact sample rate is: 250000.000414 Hz
Sample rate set to 250000 S/s.
Tuner gain set to Auto.
Tuned to 433.900MHz.
Allocating 15 zero-copy buffers
baseband_demod_FM: low pass filter for 250000 Hz at cutoff 25000 Hz, 40.0 us
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
time : 2022-07-15 22:47:11
model : Akhan-100F14 ID (20bit): 0x75ed6
Data (4bit): 0x4 (Mute)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
time : 2022-07-15 22:47:11
model : Akhan-100F14 ID (20bit): 0x75ed6
Data (4bit): 0x4 (Mute)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
time : 2022-07-15 22:47:11
model : Akhan-100F14 ID (20bit): 0x75ed6
Data (4bit): 0x4 (Mute)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
time : 2022-07-15 22:47:11
model : Akhan-100F14 ID (20bit): 0x75ed6
Data (4bit): 0x4 (Mute)
*** Saving signal to file g001_433.9M_250k.cu8 (78818 samples, 262144 bytes)
*** Saving signal to file g002_433.9M_250k.cu8 (35279 samples, 131072 bytes)
*** Saving signal to file g003_433.9M_250k.cu8 (55769 samples, 131072 bytes)
*** Saving signal to file g004_433.9M_250k.cu8 (35280 samples, 131072 bytes)
*** Saving signal to file g005_433.9M_250k.cu8 (35279 samples, 131072 bytes)
*** Saving signal to file g006_433.9M_250k.cu8 (151278 samples, 393216 bytes)
^CSignal caught, exiting!
$ rtl_433 -r g001_433.9M_250k.cu8 -a 4
...
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
time : @0.415692s
model : Akhan-100F14 ID (20bit): 0x75ed6
Data (4bit): 0x4 (Mute)
*** signal_start = 58652, signal_end = 122183, signal_len = 63531, pulses_found = 101
Iteration 1. t: 145 min: 59 (45) max: 231 (56) delta 18
Iteration 2. t: 145 min: 59 (45) max: 231 (56) delta 0
Pulse coding: Short pulse length 59 - Long pulse length 231
Short distance: 111, long distance: 278, packet distance: 2630
p_limit: 145
bitbuffer:: Number of rows: 5
[00] { 1} 00 : 0
[01] {25} 75 ed 64 00 : 01110101 11101101 01100100 0
[02] {25} 75 ed 64 00 : 01110101 11101101 01100100 0
[03] {25} 75 ed 64 00 : 01110101 11101101 01100100 0
[04] {25} 75 ed 64 00 : 01110101 11101101 01100100 0
Iteration 1. t: 0 min: 0 (0) max: 0 (0) delta 3567587328
Iteration 2. t: 0 min: 0 (0) max: 0 (0) delta 0
Distance coding: Pulse length 0
Short distance: 1000000, long distance: 0, packet distance: 0
p_limit: 0
bitbuffer:: Number of rows: 0
"Under the developer mode, if the robot is out of control, you can cut off the power of the built-in PDB"
https://www.youtube.com/watch?v=gDnDbuFLjys
Two apps: /Unitree/autostart/sportMode/bin/Legged_sport /Unitree/autostart/appTransit/build/appTransit
root@raspberrypi:/home/pi# netstat -ap | grep 192.168.123.10
...
udp 5504 0 192.168.123.161:8008 192.168.123.10:8007 ESTABLISHED 1460/./bin/Legged_s
udp 0 0 192.168.123.161:8093 192.168.123.10:8007 ESTABLISHED 1752/./build/appTra
root@raspberrypi:/home/pi# fuser -n udp 8008
8008/udp: 1460
root@raspberrypi:/home/pi# fuser -n udp 8093
8093/udp: 1752
root@raspberrypi:/home/pi# ps -ax | grep 1460
1460 ? SLl 3:08 ./bin/Legged_sport
root@raspberrypi:/home/pi# ps -ax | grep 1752
1752 ? Sl 0:02 ./build/appTransit
Look familiar?
constexpr int UDP_CLIENT_PORT = 8080; // local port
constexpr int UDP_SERVER_PORT = 8007; // target port
constexpr char UDP_SERVER_IP_BASIC[] = "192.168.123.10"; // target IP address
constexpr char UDP_SERVER_IP_SPORT[] = "192.168.123.161"; // target IP address
printf("[Backflip DataReader] Setup for mini cheetah\n");
printf("[Cheetah Test] Test initialization is done\n");
https://github.com/search?q=org%3Amit-biomimetics+%22Cheetah+Test%22&type=code https://github.com/search?q=org%3Amit-biomimetics+%22Setup+for+mini+cheetah%22&type=code
This code is MIT license. https://github.com/mit-biomimetics/Cheetah-Software/blob/master/LICENSE
pi@raspberrypi:~/Unitree/autostart/sportMode/path_files $ mv ~/Unitree/autostart/sportMode/path_files/bk_offline_backflip_new_v12.dat ~/Unitree/autostart/sportMode/path_files/offline_backflip_new_v12.dat
pi@raspberrypi:~/Unitree/autostart/sportMode/path_files $ ls -al
total 232
drwxr-xr-x 2 pi pi 4096 Nov 5 2021 .
drwxr-xr-x 4 pi pi 4096 Nov 5 2021 ..
-rw-r--r-- 1 pi pi 221760 Nov 5 2021 bk_offline_backflip_new_v12.dat
-rwxr-xr-x 1 pi pi 781 Nov 5 2021 pos_w_node.yaml
Execute "L1 + Y"
Be careful the dogs hips are weak and will eventually break from stress. Do not over use this feature.
Install mosquitto-clients
pi@raspberrypi:~ $ sudo apt-get install mosquitto-clients
pi@raspberrypi:~ $ mosquitto_sub -v -t "#"
usys/run ok
usys/uuid xxx-xxx-xxx-xxx-xxx
usys/version/app 1.38.0
usys/version/nano3
updateDependencies:1.0.1;ipconfig:1.0.0;gencamparams:1.0.0;camerarosnode:1.0.0;03persontrack:2.1.0;imageai:1.0.2;faceLightServer:1.0.1;slamDetector:1.0.0;wsaudio:1.0.0;faceLightMqtt:1.0.0
usys/version/raspi
updateDependencies:1.0.1;roscore:1.0.0;configNetwork:1.0.0;sportMode:1.38.0;triggerSport:1.5.0;webMonitor:1.4.0;appTransit:1.5.0;07obstacle:1.1.0;utrack:3.9.4;programming:1.0.0;tunnel:1.0.0
usys/version/nano2
updateDependencies:1.0.1;ipconfig:1.0.0;gencamparams:1.0.0;camerarosnode:1.0.0;03persontrack:2.1.0;imageai:1.0.2;faceLightServer:1.0.1;slamDetector:1.0.0;wsaudio:1.0.0;faceLightMqtt:1.0.0
usys/version/nano1
updateDependencies:1.0.1;ipconfig:1.0.0;gencamparams:1.0.0;camerarosnode:1.0.0;03persontrack:2.1.0;imageai:1.0.2;faceLightServer:1.0.1;slamDetector:1.0.0;wsaudio:1.0.0;faceLightMqtt:1.0.0
controller/run ok
programming/run on
programming/current_action stop
robot/state ??.??.????.??.??aH?lR??'<M?1??>??>$???#?9?E?:C???
robot/state ??.??.????.??.??aH?lR??'<M?1??>??>$???#?9?E?:C???
robot/state ??.??.????.??.??aH?lR??'<M?1??>??>$???#?9?E?:C???
bms/state
firmware/version %%!$$!$#"$$!$FA
controller/current_action (null)
You can also sniff the stick movements.
mosquitto_sub -h 192.168.12.1 -t "controller/stick"
You can send these MQTT commands to control the bot always
mosquitto_pub -h 192.168.12.1 -d -t "controller/action" -m "standUp"
mosquitto_pub -h 192.168.12.1 -d -t "controller/action" -m "standDown"
mosquitto_pub -h 192.168.12.1 -d -t "controller/action" -m "run"
mosquitto_pub -h 192.168.12.1 -d -t "controller/action" -m "walk"
mosquitto_pub -h 192.168.12.1 -d -t "controller/action" -m "climb"
You must be in SDK mode 2 to send these (L1+L2 & start)
mosquitto_pub -h 192.168.12.1 -d -t "controller/action" -m "dance1"
mosquitto_pub -h 192.168.12.1 -d -t "controller/action" -m "dance2"
mosquitto_pub -h 192.168.12.1 -d -t "controller/action" -m "jumpYaw"
mosquitto_pub -h 192.168.12.1 -d -t "controller/action" -m "straightHand1"
These commands seem to be somehow black listed on the go1
mosquitto_pub -h 192.168.12.1 -d -t "controller/action" -m "backflip"
mosquitto_pub -h 192.168.12.1 -d -t "controller/action" -m "dance3
mosquitto_pub -h 192.168.12.1 -d -t "controller/action" -m "dance4
These commands control the stick movement
mosquitto_pub -h 192.168.12.1 -d -t "controller/stick" -m <see format below>
Stick format is as follows
var c = new Float32Array(4);
(c[0] = e.lx),
(c[1] = e.rx),
(c[2] = e.ry),
(c[3] = e.ly),
t.publish("controller/stick", c.buffer, { qos: 0 });
You can parse stick output with the following code. Ranges go from 1 to -1 with 0 being center.
import paho.mqtt.client as mqtt
import binascii
import struct
def on_connect(client, userdata, flags, rc):
print("Connected with result code {0}".format(str(rc)))
client.subscribe("controller/stick")
def on_message(client, userdata, msg):
[lx,rx,ry,ly] = struct.unpack('ffff', msg.payload)
print("Message received-> " + msg.topic + " " + str([lx,rx,ry,ly]))
client = mqtt.Client("Stick Data")
client.on_connect = on_connect
client.on_message = on_message
client.connect("192.168.12.1", 1883, 60)
client.loop_forever()
This example code will make the dog lay down, stand up, switch to walk mode, and go full speed in one direction for a second before stopping
The STM RTOS has tftp enabled for updates. ./autostart/updateDependencies/update_firmware.py: atftp = "sleep 5; atftp -p -l " + sys.argv[1] + " 192.168.123.10 --tftp-timeout 10;"
It is assumed to be a variants of IAP over tftp per ST spec https://www.st.com/resource/en/application_note/an3376-stm32f2x7-inapplication-programming-iap-over-ethernet-stmicroelectronics.pdf
If you tftp to 192.168.161.10, the bot will immediately drop.
pi@raspberrypi:~ $ atftp -g -r "*.bin" 192.168.123.10 69 --trace --verbose
Trace mode on.
Verbose mode on.
sent RRQ <file: *.bin, mode: octet <>>
received DATA <block: 1, size: 0>
sent ACK <block: 1>
If you accidentally delete /etc/hosts, or remove the "localhost" entry, the dog will not stand.
pi@raspberrypi:~ $ journalctl -u nginx.service
-- Reboot --
Jul 11 11:26:56 raspberrypi systemd[1]: Starting A high performance web server and a reverse proxy server...
Jul 11 11:26:58 raspberrypi nginx[676]: nginx: [emerg] host not found in upstream "localhost" in /etc/nginx/sites-enabled/default:11
Jul 11 11:26:58 raspberrypi nginx[676]: nginx: configuration file /etc/nginx/nginx.conf test failed
Jul 11 11:26:58 raspberrypi systemd[1]: nginx.service: Control process exited, code=exited, status=1/FAILURE
Jul 11 11:26:58 raspberrypi systemd[1]: nginx.service: Failed with result 'exit-code'.
Jul 11 11:26:58 raspberrypi systemd[1]: Failed to start A high performance web server and a reverse proxy server.
-- Reboot --
General errors can be found in /home/pi/.cache/lxsession/LXDE-pi/run.log and /home/pi/.ros/log
You can check the status of the system services for degraded stats with
root@raspberrypi:/home/pi# systemctl status
● raspberrypi
State: degraded
Jobs: 0 queued
Failed: 1 units
...
root@raspberrypi:/home/pi# systemctl
UNIT LOAD ACTIVE SUB DESCRIPTION
...
● nginx.service loaded failed failed A high performance web server and a
reverse proxy server
...
pi@raspberrypi:~ $ systemctl list-units --failed
UNIT LOAD ACTIVE SUB DESCRIPTION
● nginx.service loaded failed failed A high performance web server and a reverse proxy server
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