Hardware Kit

Raspberry Pi / Embedded Linux

Linux SBC for high-level autonomy, mapping, and integration. Excellent for prototyping and mid-tier deployment when hard real-time is not required.

Linux SBC USB/CSI

Compute

Quad-core ARM (model-dependent)

Memory

1-8 GB RAM

OS/RTOS

Linux (Raspberry Pi OS, Ubuntu)

Toolchain

gcc/clang, CMake

Power

5V @ 2-5A typical

Typical Boards

Raspberry Pi 4 / 5 for higher compute
Raspberry Pi Zero 2 W for low power
Compute Module 4 for embedded integration

Toolchain + Build Profile

Native build with gcc/clang
Cross-compile from x86_64 for faster builds
Use systemd services for deployment

cmake .. -DTARGET=posix
cmake --build .

Pin-Level + Electrical

3.3V GPIO only; not 5V tolerant
I2C/SPI/UART on 40-pin header
Use level shifters for 5V sensors
PWM available but limited resolution

Sensors + Peripherals

CSI cameras, USB cameras
LiDAR via USB/Ethernet
IMU via I2C/SPI

Comms + Networking

Ethernet/Wi-Fi; USB peripherals
CAN via USB or HAT

Real-Time + Determinism

Linux is not hard real-time; offload strict timing to MCU
Consider PREEMPT_RT for lower jitter

Recommended Vault Modules

Occupancy Grid Mapping Correlative Scan Matcher Frontier Exploration Path Following Flight Data Recorder Offline Mesh Protocol

Pitfalls + Mitigations

SD card wear and filesystem corruption
Thermal throttling under sustained load
USB bandwidth saturation

Field Checklist

Use a stable 5V supply and monitor undervoltage
Move logs to external storage
Set CPU governor for predictable timing