Husqvarna 260 ACX - RTK mod

Reihtaug · 3 Oktober 2025

Below is the compilation error:

Code:

selected: config_ACX260.h

CMake Deprecation Warning at CMakeLists.txt:8 (cmake_minimum_required):

  Compatibility with CMake < 3.10 will be removed from a future version of

  CMake.



  Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax

  to tell CMake that the project requires at least <min> but has been updated

  to work with policies introduced by <max> or earlier.





-- The C compiler identification is GNU 14.2.0

-- The CXX compiler identification is GNU 14.2.0

-- Detecting C compiler ABI info

-- Detecting C compiler ABI info - done

-- Check for working C compiler: /usr/bin/cc - skipped

-- Detecting C compile features

-- Detecting C compile features - done

-- Detecting CXX compiler ABI info

-- Detecting CXX compiler ABI info - done

-- Check for working CXX compiler: /usr/bin/c++ - skipped

-- Detecting CXX compile features

-- Detecting CXX compile features - done

CMAKE_SOURCE_DIR /home/reihtaug01/Sunray/linux

Using firmware path /home/reihtaug01/Sunray/linux/../sunray

CMAKE_SYSTEM_PROCESSOR aarch64

---sunray_cpp---

/home/reihtaug01/Sunray/linux/../sunray/ArduinoUniqueID.cpp

/home/reihtaug01/Sunray/linux/../sunray/LineTracker.cpp

/home/reihtaug01/Sunray/linux/../sunray/PubSubClient.cpp

/home/reihtaug01/Sunray/linux/../sunray/RingBuffer.cpp

/home/reihtaug01/Sunray/linux/../sunray/SparkFunHTU21D.cpp

/home/reihtaug01/Sunray/linux/../sunray/StateEstimator.cpp

/home/reihtaug01/Sunray/linux/../sunray/Stats.cpp

/home/reihtaug01/Sunray/linux/../sunray/Storage.cpp

/home/reihtaug01/Sunray/linux/../sunray/VL53L0X.cpp

/home/reihtaug01/Sunray/linux/../sunray/battery.cpp

/home/reihtaug01/Sunray/linux/../sunray/ble.cpp

/home/reihtaug01/Sunray/linux/../sunray/bumper.cpp

/home/reihtaug01/Sunray/linux/../sunray/buzzer.cpp

/home/reihtaug01/Sunray/linux/../sunray/comm.cpp

/home/reihtaug01/Sunray/linux/../sunray/cpu.cpp

/home/reihtaug01/Sunray/linux/../sunray/events.cpp

/home/reihtaug01/Sunray/linux/../sunray/helper.cpp

/home/reihtaug01/Sunray/linux/../sunray/httpserver.cpp

/home/reihtaug01/Sunray/linux/../sunray/i2c.cpp

/home/reihtaug01/Sunray/linux/../sunray/ioboard.cpp

/home/reihtaug01/Sunray/linux/../sunray/linuxcan.cpp

/home/reihtaug01/Sunray/linux/../sunray/lowpass_filter.cpp

/home/reihtaug01/Sunray/linux/../sunray/map.cpp

/home/reihtaug01/Sunray/linux/../sunray/motor.cpp

/home/reihtaug01/Sunray/linux/../sunray/mqtt.cpp

/home/reihtaug01/Sunray/linux/../sunray/pid.cpp

/home/reihtaug01/Sunray/linux/../sunray/pinman.cpp

/home/reihtaug01/Sunray/linux/../sunray/rcmodel.cpp

/home/reihtaug01/Sunray/linux/../sunray/reset.cpp

/home/reihtaug01/Sunray/linux/../sunray/robot.cpp

/home/reihtaug01/Sunray/linux/../sunray/sdserial.cpp

/home/reihtaug01/Sunray/linux/../sunray/sonar.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/bno/Adafruit_BNO055.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/driver/AmRobotDriver.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/driver/BnoDriver.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/driver/CanRobotDriver.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/driver/IcmDriver.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/driver/MpuDriver.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/driver/SerialRobotDriver.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/driver/SimRobotDriver.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/icm/ICM_20948.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/lidar/lidar.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/linux/linux.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/mpu/SparkFunMPU9250-DMP.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/mpu/arduino_mpu9250_i2c.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/mpu/arduino_mpu9250_log.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/net/WebSocketClient.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/ntrip/base64.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/ntrip/ntripclient.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/op/ChargeOp.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/op/DockOp.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/op/ErrorOp.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/op/EscapeForwardOp.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/op/EscapeReverseOp.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/op/GpsRebootRecoveryOp.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/op/GpsWaitFixOp.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/op/GpsWaitFloatOp.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/op/IdleOp.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/op/ImuCalibrationOp.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/op/KidnapWait.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/op/MowOp.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/op/Op.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/op/RelocalizationOp.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/skytraq/SkyTraqNmeaParser.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/skytraq/skytraq.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/test/PathFinderTest.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/test/Test.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/ublox/SparkFun_Ublox_Arduino_Library.cpp

/home/reihtaug01/Sunray/linux/../sunray/src/ublox/ublox.cpp

/home/reihtaug01/Sunray/linux/../sunray/timetable.cpp

/home/reihtaug01/Sunray/linux/../sunray/udpserial.cpp

---sunray_c---

/home/reihtaug01/Sunray/linux/../sunray/src/icm/util/ICM_20948_C.c

/home/reihtaug01/Sunray/linux/../sunray/src/mpu/arduino_mpu9250_clk.c

/home/reihtaug01/Sunray/linux/../sunray/src/mpu/inv_mpu.c

/home/reihtaug01/Sunray/linux/../sunray/src/mpu/inv_mpu_dmp_motion_driver.c

/home/reihtaug01/Sunray/linux/../sunray/src/ntrip/libb64/cdecode.c

/home/reihtaug01/Sunray/linux/../sunray/src/ntrip/libb64/cencode.c

---pi_sources---

/home/reihtaug01/Sunray/linux/src/BleUartServer.cpp

/home/reihtaug01/Sunray/linux/src/Bridge.cpp

/home/reihtaug01/Sunray/linux/src/BridgeClient.cpp

/home/reihtaug01/Sunray/linux/src/BridgeServer.cpp

/home/reihtaug01/Sunray/linux/src/BridgeUdp.cpp

/home/reihtaug01/Sunray/linux/src/Console.cpp

/home/reihtaug01/Sunray/linux/src/FileIO.cpp

/home/reihtaug01/Sunray/linux/src/IPAddress.cpp

/home/reihtaug01/Sunray/linux/src/LinuxSerial.cpp

/home/reihtaug01/Sunray/linux/src/Print.cpp

/home/reihtaug01/Sunray/linux/src/Process.cpp

/home/reihtaug01/Sunray/linux/src/SPI.cpp

/home/reihtaug01/Sunray/linux/src/Stream.cpp

/home/reihtaug01/Sunray/linux/src/WMath.cpp

/home/reihtaug01/Sunray/linux/src/WString.cpp

/home/reihtaug01/Sunray/linux/src/WiFi.cpp

/home/reihtaug01/Sunray/linux/src/Wire.cpp

/home/reihtaug01/Sunray/linux/src/ble/att.c

/home/reihtaug01/Sunray/linux/src/ble/crypto.c

/home/reihtaug01/Sunray/linux/src/ble/gatt-db.c

/home/reihtaug01/Sunray/linux/src/ble/gatt-helpers.c

/home/reihtaug01/Sunray/linux/src/ble/gatt-server.c

/home/reihtaug01/Sunray/linux/src/ble/io-mainloop.c

/home/reihtaug01/Sunray/linux/src/ble/mainloop-notify.c

/home/reihtaug01/Sunray/linux/src/ble/mainloop.c

/home/reihtaug01/Sunray/linux/src/ble/queue.c

/home/reihtaug01/Sunray/linux/src/ble/timeout-mainloop.c

/home/reihtaug01/Sunray/linux/src/ble/util.c

/home/reihtaug01/Sunray/linux/src/ble/uuid.c

/home/reihtaug01/Sunray/linux/src/cbuf.cpp

/home/reihtaug01/Sunray/linux/src/stdlib_noniso.cpp

/home/reihtaug01/Sunray/linux/src/wiring.c

/home/reihtaug01/Sunray/linux/src/wiring_digital.c

/home/reihtaug01/Sunray/linux/src/wiring_int.c

/home/reihtaug01/Sunray/linux/src/wiring_main.cpp

/home/reihtaug01/Sunray/linux/src/wiring_pulse.c

/home/reihtaug01/Sunray/linux/src/wiring_pwm.c

/home/reihtaug01/Sunray/linux/src/wiring_shift.c

/home/reihtaug01/Sunray/linux/src/wiring_thread.c

--copy CONFIG_FILE to sunray source--

CONFIG_FILE: /home/reihtaug01/Sunray/linux/config_ACX260.h  (to set config file, use: cmake -D CONFIG_FILE=myconfig.h ..)

main file /home/reihtaug01/Sunray/linux/../sunray/sunray.ino

-- Configuring done (2.6s)

-- Generating done (0.0s)

-- Build files have been written to: /home/reihtaug01/Sunray/linux/build

[  0%] Building CXX object CMakeFiles/sunray.dir/src/BleUartServer.cpp.o

[  1%] Building CXX object CMakeFiles/sunray.dir/src/Bridge.cpp.o

[  2%] Building CXX object CMakeFiles/sunray.dir/src/BridgeClient.cpp.o

[  3%] Building CXX object CMakeFiles/sunray.dir/src/BridgeServer.cpp.o

[  4%] Building CXX object CMakeFiles/sunray.dir/src/BridgeUdp.cpp.o

[  5%] Building CXX object CMakeFiles/sunray.dir/src/Console.cpp.o

[  5%] Building CXX object CMakeFiles/sunray.dir/src/FileIO.cpp.o

[  6%] Building CXX object CMakeFiles/sunray.dir/src/IPAddress.cpp.o

[  7%] Building CXX object CMakeFiles/sunray.dir/src/LinuxSerial.cpp.o

[  8%] Building CXX object CMakeFiles/sunray.dir/src/Print.cpp.o

[  9%] Building CXX object CMakeFiles/sunray.dir/src/Process.cpp.o

/home/reihtaug01/Sunray/linux/src/Process.cpp: In member function ‘boolean Process::running()’:

/home/reihtaug01/Sunray/linux/src/Process.cpp:213:18: warning: ‘int pthread_yield()’ is deprecated: pthread_yield is deprecated, use sched_yield instead [-Wdeprecated-declarations]

  213 |     pthread_yield();

      |     ~~~~~~~~~~~~~^~

In file included from /usr/include/features.h:523,

                 from /usr/include/aarch64-linux-gnu/c++/14/bits/os_defines.h:39,

                 from /usr/include/aarch64-linux-gnu/c++/14/bits/c++config.h:683,

                 from /usr/include/c++/14/cstdlib:41,

                 from /usr/include/c++/14/stdlib.h:36,

                 from /home/reihtaug01/Sunray/linux/src/Arduino.h:6,

                 from /home/reihtaug01/Sunray/linux/src/Process.cpp:19:

/usr/include/pthread.h:479:12: note: declared here

  479 | extern int __REDIRECT_NTH (pthread_yield, (void), sched_yield)

      |            ^~~~~~~~~~~~~~

[ 10%] Building CXX object CMakeFiles/sunray.dir/src/SPI.cpp.o

[ 11%] Building CXX object CMakeFiles/sunray.dir/src/Stream.cpp.o

[ 11%] Building CXX object CMakeFiles/sunray.dir/src/WMath.cpp.o

[ 12%] Building CXX object CMakeFiles/sunray.dir/src/WString.cpp.o

[ 13%] Building CXX object CMakeFiles/sunray.dir/src/WiFi.cpp.o

[ 14%] Building CXX object CMakeFiles/sunray.dir/src/Wire.cpp.o

[ 15%] Building C object CMakeFiles/sunray.dir/src/ble/att.c.o

[ 16%] Building C object CMakeFiles/sunray.dir/src/ble/crypto.c.o

[ 16%] Building C object CMakeFiles/sunray.dir/src/ble/gatt-db.c.o

[ 17%] Building C object CMakeFiles/sunray.dir/src/ble/gatt-helpers.c.o

[ 18%] Building C object CMakeFiles/sunray.dir/src/ble/gatt-server.c.o

[ 19%] Building C object CMakeFiles/sunray.dir/src/ble/io-mainloop.c.o

[ 20%] Building C object CMakeFiles/sunray.dir/src/ble/mainloop-notify.c.o

[ 21%] Building C object CMakeFiles/sunray.dir/src/ble/mainloop.c.o

[ 22%] Building C object CMakeFiles/sunray.dir/src/ble/queue.c.o

[ 22%] Building C object CMakeFiles/sunray.dir/src/ble/timeout-mainloop.c.o

[ 23%] Building C object CMakeFiles/sunray.dir/src/ble/util.c.o

[ 24%] Building C object CMakeFiles/sunray.dir/src/ble/uuid.c.o

[ 25%] Building CXX object CMakeFiles/sunray.dir/src/cbuf.cpp.o

[ 26%] Building CXX object CMakeFiles/sunray.dir/src/stdlib_noniso.cpp.o

[ 27%] Building C object CMakeFiles/sunray.dir/src/wiring.c.o

[ 27%] Building C object CMakeFiles/sunray.dir/src/wiring_digital.c.o

[ 28%] Building C object CMakeFiles/sunray.dir/src/wiring_int.c.o

/home/reihtaug01/Sunray/linux/src/wiring_int.c: In function ‘_isr_check_task’:

/home/reihtaug01/Sunray/linux/src/wiring_int.c:59:54: warning: cast to pointer from integer of different size [-Wint-to-pointer-cast]

   59 |                     thread_create(isr_executor_task, (void *)i);

      |                                                      ^

/home/reihtaug01/Sunray/linux/src/wiring_int.c:61:54: warning: cast to pointer from integer of different size [-Wint-to-pointer-cast]

   61 |                     thread_create(isr_executor_task, (void *)i);

      |                                                      ^

/home/reihtaug01/Sunray/linux/src/wiring_int.c:66:13: error: implicit declaration of function ‘usleep’ [-Wimplicit-function-declaration]

   66 |             usleep(100);

      |             ^~~~~~

/home/reihtaug01/Sunray/linux/src/wiring_int.c: In function ‘attachInterrupt’:

/home/reihtaug01/Sunray/linux/src/wiring_int.c:81:13: error: implicit declaration of function ‘pthread_setname_np’; did you mean ‘thread_set_name’? [-Wimplicit-function-declaration]

   81 |             pthread_setname_np(_pin_isr_thread, "arduino-isr");

      |             ^~~~~~~~~~~~~~~~~~

      |             thread_set_name

make[2]: *** [CMakeFiles/sunray.dir/build.make:541: CMakeFiles/sunray.dir/src/wiring_int.c.o] Error 1

make[1]: *** [CMakeFiles/Makefile2:87: CMakeFiles/sunray.dir/all] Error 2

make: *** [Makefile:91: all] Error 2

KadaverJoe · 3 Oktober 2025

hm this is really weird...I never had such a failure...is this the latest Sunray version? How did you get sunray on your Pi?

KadaverJoe · 3 Oktober 2025

I see, its the latest Version of Sunray....I could try it on my Husqvarna and see, if theres a problem too...

Reihtaug · 3 Oktober 2025

I followed your tutorial. It worked well with the Pi 5.

KadaverJoe · 3 Oktober 2025

did you make an update of the Pi before? When I do a git pull on my Alfred, it works as expected...hmm

Reihtaug · 3 Oktober 2025

Yes, I used the following commands:
sudo apt update
sudo apt upgrade -y

KadaverJoe · 3 Oktober 2025

did you start compiling with ./service.sh -> 1 -> 1 -> your config.h?
Have you tried to compile it this way again?

Reihtaug · 3 Oktober 2025

This is the command I used

Reihtaug · 3 Oktober 2025

If I use sudo as in your tutorial, I get this error:

reihtaug01@raspberrypi:~/Sunray/linux $ sudo ./service.sh
EUID=0
PWD=/home/reihtaug01/Sunray/linux
Please run as non-root (not sudo)

Reihtaug · 3 Oktober 2025

Does the Pi4 need to be connected to the I/O board for the build to work?

KadaverJoe · 3 Oktober 2025

Reihtaug schrieb:
Does the Pi4 need to be connected to the I/O board for the build to work?

No, I think it would work without the board.
It is possible, that you don't need to sudo anymore because Alexander changed it in the latest version...

KadaverJoe · 3 Oktober 2025

Do you use a 64bit version of Raspberry Pi OS Lite?

Reihtaug · 3 Oktober 2025

No, I don't think so. I installed it from the Pi imager. I took the normal 64-bit version.

KadaverJoe · 4 Oktober 2025

I would recommend to try the Lite version. You find it under „Other“ in the Raspberry Pi Imager.

You could also try to pull a new version of sunray with git pull in your Sunray-Folder. Alexander did some compiler changes because of your fault. Try if this helps.

Reihtaug · 4 Oktober 2025

The lite version works

Thanks so much for your help!

Reihtaug · 4 Oktober 2025

Well, the success was short-lived.

I launched Sunray, and it gave a CAN error.

I tried flashing and reconfiguring owlDrive. Everything went well, except at step 11, "start serial monitor with the specific owl-board."
There, I got an error telling me it was misconfigured.

I then rebooted, and my Pi 4 died.
My green and red LEDs are solid

KadaverJoe · 4 Oktober 2025

Did you do this before the sunray start?

Code:

sudo nano /boot/firmware/config.txt

and insert this line:

Code:

dtoverlay=mcp2515-can0,oscillator=16000000,interrupt=6

with a CAN error, you wouln't need to recofigure the owlDrives I guess...it seems more like a problem of the Pi config...

If you want to use my Arduino code for the bumper, lift and sonar, just let me know!

Reihtaug · 4 Oktober 2025

Yes I do this before.

KadaverJoe · 4 Oktober 2025

What was the CAN error? What happens if you restart your System?

Reihtaug · 4 Oktober 2025

My Raspberry Pi won't boot anymore.
I swapped the SD card with a different OS and tried repairing the bootloader.
Nothing worked. I still have both LEDs lit solid and nothing on the screen.

Husqvarna 260 ACX - RTK mod

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