JiboDocs/Getting Started/Modifying the Firmware/1. Get your environment ready!.md

- - -

Before starting ANY work , lets get you up to speed with the enviroment and what you will need ...

1. Some sort of linux device with  at least 32Gb storage, that could be a : Spare laptop , Raspberry Pi , a PC etc...

> [!info]
> 1. for the sake of this guide we will be using my main computer running on CachyOS with the 6.19... kernel but you dont have to replicate my setup
> 2. This guide **requires** you have basic knowledge of the linux terminal

>[!Warning]
>I Throw around the word shofel , and i do mean the shofel version **SPECIFICALLY** in devsparx repo (using the improvements brach for now) i show later on how to clone it , if anything should change i will try my best to update this guide as fast as possible , but do note our build of shofel will be undergoing some updates!

> [!WARNING]
>  # Please do inform yourself 
> we are NOT liable for any damage caused to your device if you proceed with this guide , if you are not sure remotely on what youre doing i recommend either wait for the easier installation method , or find someone on the discord to guide you!!! (they arent liable for any damage either)

2. A micro usb cable ==**that you know is reliable**==
3. Like 4-5 Hours 
4. A Jibo **(THAT IS SETUP TO YOUR NETWORK, AND YOU KNOW ITS IP)**
5. An the mindset of (everything will be fine!)

- - - 

>[!DANGER]
> # Part 0 | Note your jibos IP Down
> Make sure you have your jibos IP adress , so you wont have to redo 4 hours of flashing just because you forgot your ip

- - -
# Part 1 | Connecting your jibo

So first , go ahead and plug jibo in to your host device that you are going to dump the firmware into using your usb cable

Hold the RCM button and press the reset button (or the power button if yours is off), and you should see a red light at his face but he **wont boot normally**

![[Jibo RCM.jpg]]


in the terminal were gonna execute `lsusb` to check for `NVIDIA Corp. APX`

```shell

kevin  lsusb
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 001 Device 002: ID 1532:023f Uhhh no
Bus 001 Device 003: ID 0a12:0001 Ltd Bluetooth Dongle (HCI mode why tho)
Bus 001 Device 004: ID 08bb:2902 cant see me :)
Bus 001 Device 005: ID 1bcf:08b8 nope not me, its the guy below
Bus 001 Device 007: ID 0955:7740 NVIDIA Corp. APX <<<<<< LOOK FOR THIS ENTRY!!!!
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 003 Device 002: ID 0644:800f TEAC Corp. US-144 yes i use a 144 deal with it
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 004 Device 002: ID 0951:1666 Kingston wanna be drive

kevin  
```

- - -

# Part 2 | Now before building shofel , get your packages ready

```bash

#for cachy / Arch users:
	sudo pacman -S --needed base-devel libusb git python python-pip
	
#for Ubuntu / debian users:
	sudo apt update
	sudo apt install build-essential libusb-1.0-0-dev git python3 python3-pip

#for fedora its whatever that is (i chatgpt'd it)
	sudo dnf groupinstall "Development Tools" 
	sudo dnf install libusb1-devel python3-pip

```

Now time to clone & build shofel!

change to your home directory and use `git` to clone the branch and then use `make` to build it!

```bash

	cd ~
	
	git clone -b improvements/IncreasedUSBReadWriteSpeed https://github.com/devsparx/ShofEL2-for-T124.git
	
	cd ShofEL2-for-T124/
	
	make
# if it exits with error code 1 dont be alarmed , if you have a shofel executable in your directory , it compiled fine :)
```


# Part 3 | Dumping your jibo!

Now , to get that full image (roughly about ==15Gb==)
we will run our newly build `shofel` using the `EMMC_READ` function , starting from 0 `0x0` to 30480896 `0x1D60000`  

```bash
	sudo ./shofel2_t124 EMMC_READ 0x0 0x1D60000 full_jibo_dump.bin
```

this may crash due to  that im not sure how large exactly each jibos storage is (they should be the same from what i have seen in the community)

But if it crashes like 98.9% or 99.9% in then you have most of the image cloned so you should be good (we can repair it later , or you might not need to since the last partition is basically empty space!)

>[!Info]
>Techically you dont need a full dump , BUT! I havent confirmed enough yet that all jibos have the same stuff stored in the same sectors , but its good to to have a back up to calculate your own sectors **and to most importantly , read below :**


>[!WARNING]
>Make sure you make a backup of the filesystem ... this is basically YOUR jibo , and it also contains YOUR jibos calibration data that might not be able to get restored by someone else... so keep a backup of the `.bin` in case of an emergency

# Part 4 | Modifying the /var partition

Now that you have your image `.bin` ready and backed up its time to edit the /var partition!, thats Partition 5 at around 500mb


we can use `fdisk` to list the partitions in our bin

```bash
	fdisk -l jibo_full_dump.bin`
```


```shell

kevin  fdisk -l jibo_full_dump.bin
GPT PMBR size mismatch (30777343 != 30777341) will be corrected by write.
The backup GPT table is corrupt, but the primary appears OK, so that will be used.
The backup GPT table is not on the end of the device.
Disk jibo_full_dump.bin: 14,68 GiB, 15757999104 bytes, 30777342 sectors
Units: sectors of 1 * 512 = 512 bytes
Sector size (logical/physical): 512 bytes / 512 bytes
I/O size (minimum/optimal): 512 bytes / 512 bytes
Disklabel type: gpt
Disk identifier: 00042021-0408-4601-9DCC-A8C51255994F

Device                Start      End  Sectors  Size Type
jibo_full_dump.bin1      34  2048033  2048000 1000M Microsoft basic data
jibo_full_dump.bin2 2048034  4096033  2048000 1000M Microsoft basic data
jibo_full_dump.bin3 4096034  4198433   102400   50M Microsoft basic data
jibo_full_dump.bin4 4198434  8294433  4096000    2G Microsoft basic data
jibo_full_dump.bin5 8294434  9318433  1024000  500M Mic<<< This is the one!
jibo_full_dump.bin6 9318434 30777310 21458877 10,2G Microsoft basic data

kevin 

```

now lets chop off the partition...

Look for the line ending in `p5` or labeled as the 5th partition. You need two numbers from that line: **Start** and **End**

> My Numbers:
> - **Start:** `8294434`    
> - **End:** `9318433`   

To tell the computer exactly how much data to "chop off," we need the total count of sectors

The formula is:
$$(End - Start) + 1 = Count$$

**My Math:**
    $$(9318433 - 8294434) + 1 = 1,024,000$$
    
Write your result down,this is your **Count**. We will now extract the Partition
We use `dd` (Disk Destroyer... but here, it's the Disk Dumb joke... i couldnt think of something funny).

 `skip` = Your **Start** sector.
 `count` = Your calculated **Count**.

```Bash
dd if=jibo_full_dump.bin of=var_partition.bin skip=8294434 count=1024000
```


## Part 4.2 | Mounting as a loop device

Now lets make a "loop" device and mount the `var_partition.bin` to it!

```Bash
mkdir jibo_var 
sudo mount -o loop var_partition.bin jibo_var/
```

you should see it appear as a mounted disk drive on your system!, now you have to navigate to `jibo_var/jibo/mode.json`

Open it with any text editor (like `vim` or `vscode` or notepad i dont care)

Find the line: `"mode": "normal"` (its legit the only line in there)
    
**Change it to:** `"mode": "int-developer"`    
Save the file and exit

>[!IMPORTANT]
> **Unmount** the partition to save the changes to the `.bin` file!!!!

Now mode `int-developer` basically disables everything the robot runs (including firewall , so you can just ssh into it .. maybe in later guides you might be informed to change this value to something else , but currently its the simplest & easiest way to get root shell in the robot , and from there since you have root you can do everything you could by manually rewriting the entire dump)

Anyway you are free to mount the rest of the fs partitions to parouse the file system or if you want live editing , i will make a guide on how to connect to ftp... 
but if you have legit reached this point you really should know by now how to setup ftp yourself :|

```Bash
sudo umount jibo_var
```


# Part 5 | Writing our modified var partition to jibo!

We are ready to put the modified chunk back into the robot. To do this, we must convert your **Start Sector** from a normal number (Decimal) to a computer number (Hexadecimal) because thats what shofel requires at this point of time.



### 1. The Conversion

Take your Start Sector (mine was `8294434`) and use an online converter or your Linux calculator to get the **Hex** value.

**My Hex was** `0x7E9022`

here is a quick calculator site i found on the web, 
https://www.inchcalculator.com/decimal-to-hex-converter/


If you dont know hex you can validate your calculation by punching in my value and see if it returns the same hex as mine

### 2. The Flash

time to run the write command, this sends your modified `/var` partition directly to that specific starting point on Jibo's memory.


```shell
	
	./shofel2_t124 EMMC_WRITE <Your HEX Sector> var_partition.bin
	
	#my version example
	#./shofel2_t124 EMMC_WRITE 0x7E9022 var_partition.bin
```



# Part 6 | Almost there!

Actually who am i tricking , you typed the write command , it hopefully succeeded so why are we not done?

well its done but i like to do a check myself to make sure its done correctly, SO

were gonna read back that part of memory:

```Bash
./shofel2_t124 EMMC_READ 0x7E9022 0xFA000 verify_var.bin
```

and were gonna compare their hashes If the two files are identical, the math was right.

```Bash
md5sum var_partition.bin verify_var.bin
```

**If the strings of letters/numbers match exactly WERE DONE!!!!

Go and unplug your jibo , and to be safe hold the power button until the red LED goes off
then power him on , and wait for it to boot normally

what we expect is to not start his eye but show a big check mark on his display, if thats the case , go ssh to jibos IP

```shell
	ssh root@<jibos-ip>
	password: jibo
```


And Boom , you are IN!