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Markdown
368 lines
No EOL
19 KiB
Markdown
---
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title: "Installing Tailscale on a Robot Vacuum"
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date: 2024-08-29
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# lastmod: 2024-08-29
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draft: true
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description: "This is a new post about..."
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featured: false
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toc: true
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reply: true
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tags:
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- api
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- automation
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- homeassistant
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- linux
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- tailscale
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---
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Continuing my mission to *[Tailscale](/tags/tailscale/) all the things!*, I recently added my robot vacuum (a [Roborock S5 Max](https://us.roborock.com/pages/roborock-s5-max)) to my tailnet.
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Okay, installing Tailscale wasn't the *only* thing I did. I also loaded it with software to control it locally so that it no longer has to talk to The Cloud. (And then I installed Tailscale because I can.)
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I was inspired to give this a go after reading the [Tailscale sucks](https://tailscale.dev/blog/tailscale-sucks) post on the Tailscale developer blog. That post educated me about a couple of very helpful projects:
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- [Valetudo](https://valetudo.cloud/), a web-based front-end for robot vacuums by Sören Beye
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- [DustBuilder](https://builder.dontvacuum.me/), a custom firmware builder for a variety of robot vacuums by Dennis Giese
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Both sites also include a wealth of documentation to guide you along your robot-hacking journey, including a [list of supported robots](https://valetudo.cloud/pages/general/supported-robots.html) and a [detailed technical/feature comparison of a variety of robots[(https://robotinfo.dev/).
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This post will detail all the steps I took to hack my robot, install Tailscale, configure Valetudo, and get it connected to Home Assistant. (I also semi-live-blogged the process on [social.lol](https://social.lol/@jbowdre/112911333551545789)).
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### Getting started
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I started by looking at the Valetudo [supported robots list](https://valetudo.cloud/pages/general/supported-robots.html) to see that `Rooting [my S5 Max] requires full disassembly.` Clicking through to the [FEL rooting instructions](https://valetudo.cloud/pages/installation/roborock.html#fel) further warned that `This rooting method is not suited for beginners.`.
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> Don't threaten me with a good time.
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Before getting into the robots guts, though, I went ahead and requested the appropriate firmware so that I wouldn't have to wait on it later.
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### Firmware generation
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I went to the [Dustbuilder](https://builder.dontvacuum.me/) page, scrolled until I found the entry for the S5 Max (which also goes by `s5e` in some circles), and clicked to access [that builder](https://builder.dontvacuum.me/_s5e.html).
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I generated a new RSA keypair to use for the initial SSH connection:
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```shell
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ssh-keygen -t rsa -f ~/.ssh/id_rsa-robot # [tl! .cmd]
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```
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And I uploaded the resulting `id_rsa-robot.pub` to the Dustbuilder interface.
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I also made sure to select the `Create FEL image (for initial rooting via USB)` option. Otherwise I left the other options alone, entered a Cloaked email address, and clicked the **Create job** button to kick things off.
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### Robot surgery
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While my firmware was in the oven I went ahead and began the disassembly process. I started by watching [a disassembly video](https://www.youtube.com/watch?v=68flJFSOK8A) but quickly realized that my S5 Max apparently differs from the one being taken apart: after carefully prying off the top cover I found that my robot doesn't have a set of screws surrounding the spinning laser assembly. The inner top cover is a single, solid piece of plastic rather than having a separate cover for the laser.
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So I ditched the video and forged my own path:
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1. Remove the dustbin and water basin.
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2. Turn robot upside-down.
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3. Remove main roller assembly.
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4. Unscrew side brush.
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5. Unscrew 6 large screws and remove the bottom cover, exposing the battery.
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6. Unscrew 8 small screws securing the two-piece bumper to the edge of the robot and remove the bumper.
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7. Disconnect and remove battery.
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8. Unscrew 3 small screws holding the side brush motor and remove the motor (my pictures got out of order so I don't actually show the motor removal until much later... please just pretend that I removed it like I said I did).
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9. There are several groups of screws to extract so you can separate the top and bottom halves of the robot:
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1. 2 screws in the battery compartment.
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2. 4 short screws near the rear of the robot, where the water basin attaches.
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3. 1 screw next to one of the main wheel motors.
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4. 1 recessed screw next to the other motor.
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5. And 8 recessed screws along the robot edges, including one which was covered by the side brush motor.
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10. Now lift the entire bottom shell to separate it from the top, and flip it over to expose the electronic goodies.
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11. Carefully remove the 8 connectors along the front edges of the mainboard; the ones along the rear can stay connected.
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12. Remove 6 screws from the mainboard.
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13. Carefully lift the mainboard into a vertical position.
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That's it! Just 40 screws to be able to access the bottom side of the mainboard, and I was finally ready to launch the attack.
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### Launching the hack
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I checked my email and found that I had indeed received notification of a successful Dustbuilder build so I downloaded those files:
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```shell
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ls -l robo* # [tl! .cmd .nocopy:1,2]
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.rw-r--r-- 5.3M john 9 Aug 19:02 roborock.vacuum.s5e_1668_fel.zip
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.rw-r--r-- 28M john 9 Aug 19:00 roborock.vacuum.s5e_1668_fw.tar.gz
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```
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I also grabbed the [latest `valetudo-armv7-lowmem.upx` binary](https://github.com/Hypfer/Valetudo/releases/latest/download/valetudo-armv7-lowmem.upx) from the [Valetudo GitHub](https://github.com/Hypfer/Valetudo/).
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And I installed the `sunxi-tools` package needed for communicating with the robot over USB:
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```shell
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sudo apt update # [tl! .cmd:1]
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sudo apt install sunxi-tools
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```
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I used a micro-USB cable to connect the mainboard's debugging port to my laptop.
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And I then connected the robot's battery to the mainboard (but without powering on the robot).
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Next came the only truly tricky part of this whole process: shorting the `TPA17` test point on the bottom side of the mainboard to ground, while *also* pressing and holding the power button on the *top* side of the board (it's the button labeled `KEYI3`).
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I used my fingernail to gently scrape the coating off the pad to make good contact, and settled on using a bent paperclip for the shunt. I was able to hook one end of the clip through one of the (grounded) screw holes and then only have to worry about precisely placing the other end on `TPA17`, which freed up my other hand for mashing the button.
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The technique is to short `TPA17`, press-and-hold the power button for three seconds, and keep `TPA17` shorted to ground for five more seconds after that.
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I did that, the status LEDs on the robot came alive, and I went to my terminal to check the status with `lsusb` to see if the `Allwinner Technology sunxi SoC OTG connector in FEL/flashing mode` showed up.
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> For a moment, nothing happened.
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> Then, after a second or so, nothing continued to happen.
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>
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> - Douglas Adams
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"Okay," I thought to myself, "It must be ChromeOS getting in the way." So I tried my backup laptop (which, admittedly, started as a Chromebook but now runs NixOS). Interestingly, the same thing there - no Allwinner Chicken Dinner.
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After half an hour of repeating the same steps and hoping for different results, I had the bright idea to try a different micro-USB cable.
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Unfortunately, that didn't change things. So I kept repeating the same steps some more and hoping for different results. Eventually, I tried *another* micro-USB cable, and that seemed to do the trick! ChromeOS prompted me to connect the device to the Linux environment, and `lsusb` then returned the desired result:
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```shell
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lsusb # [tl! .cmd]
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Bus 001 Device 014: ID 1f3a:efe8 Allwinner Technology sunxi SoC OTG connector in FEL/flashing mode # [tl! .nocopy ~~]
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```
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{{% notice note "\"Universal\" Serial Bus" %}}
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I don't have many micro-USB cables left in my house at this point, and most of the ones I do still have arrived as charging cables for various cheap devices. As it turns out, those two other cables I tried first were charging-only cables without any wires to carry the USB data signals.
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I had to go digging through my cable drawer to find a quality braided cable (that I knew supported data transfer). If I had just started with a decent cable from the start I could have saved a lot of time and trouble.
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{{% /notice %}}
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Once I knew that my Chromebook would actually be able to communicate with the robot, I extracted the contents of the `roborock.vacuum.s5e_1668_fel.zip` archive:
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```shell
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unzip -d fel roborock.vacuum.s5e_1668_fel.zip # [tl! .cmd:2]
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cd fel
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ls -l
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.rw-r--r-- 184 john 9 Aug 19:02 activation.lic # [tl! .nocopy:10]
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.rwxr-xr-x 66k john 1 Jul 2023 dtb.bin
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.rw-r--r-- 33k john 1 Jul 2023 dtb_stripped.bin
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.rw-r--r-- 31k john 1 Jul 2023 felnand.config
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.rwxr-xr-x 14k john 1 Jul 2023 fsbl.bin
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.rwxr-xr-x 240 john 1 Jul 2023 run.bat
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.rwxr-xr-x 281 john 1 Jul 2023 run.sh
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.rwxr-xr-x 2.0M john 1 Jul 2023 sunxi-fel.exe
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.rw-r--r-- 852k john 1 Jul 2023 ub.bin
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.rwxr-xr-x 852k john 1 Jul 2023 ub_full.bin
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.rw-r--r-- 3.9M john 9 Aug 19:02 uImage
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```
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And then executed `run.sh` as root:
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```shell
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sudo su # [tl! .cmd]
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./run.sh # [tl! .cmd_root]
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waiting for 3 seconds # [tl! .nocopy:4]
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100% [================================================] 852 kB, 152.2 kB/s
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100% [================================================] 66 kB, 162.1 kB/s
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100% [================================================] 0 kB, 93.2 kB/s
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100% [================================================] 3647 kB, 153.6 kB/s
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```
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After a minute or two the robot rebooted and began broadcasting its own Wi-Fi AP. I connected to that, and then used my RSA key to log in via SSH:
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```shell
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ssh -i ~/.ssh/id_rsa-robot root@192.168.8.1 # [tl! .cmd]
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[root@rockrobo ~]# # [tl! .nocopy]
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```
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At this point, the robot was temporarily running on a rooted live image with [busybox](https://busybox.net/about.html) to provide a lot of shell functionality; I still needed to install the patched firmware to maintain control though.
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I backed up the `nandb` and `nandk` flash partitions, which apparently contain unique calibration and identity data that can't be recovered if I break something:
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```shell
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dd if=/dev/nandb | gzip > /tmp/nandb.img.gz # [tl! .cmd_root:1]
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dd if=/dev/nandk | gzip > /tmp/nandk.img.gz
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```
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I spawned another shell from my laptop to retrieve those important files:
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```shell
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scp -O -i ~/.ssh/id_rsa-robot root@192.168.8.1:/tmp/nand* . # [tl! .cmd]
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```
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Back on the robot's shell, I deleted some logs to make sure I'd have enough space to load the new firmware image:
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```shell
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rm -rf /mnt/data/rockrobo/rrlog/* # [tl! .cmd_root]
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```
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And used the laptop's shell to transfer over the firmware image:
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```shell
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scp -O -i ~/.ssh/id_rsa-robot roborock.vacuum.s5e_1668_fw.tar.gz root@192.168.8.1:/mnt/data/ # [tl! .cmd]
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```
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I switched back to the robot session, extracted the firmware package, ran the installer, and rebooted the robot once it was complete:
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```shell
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cd /mnt/data/ # [tl! .cmd_root:2]
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tar xvzf roborock.vacuum.s5e_1668_fw.tar.gz
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./install.sh
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reboot # [tl! .cmd_root]
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```
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After the reboot, I reconnected to the robot's AP, logged back in to SSH, and ran the install again, followed by another reboot:
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```shell
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cd /mnt/data/ # [tl! .cmd_root:1]
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./install.sh
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reboot # [tl! .cmd_root]
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```
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I reconnected to the robot's AP once again, and transferred the Valetudo binary to the robot:
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```shell
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scp -O -i ~/.ssh/id_rsa-robot valetudo-armv7-lowmem.upx root@192.168.8.1:/mnt/data/valetudo # [tl! .cmd]
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```
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And then I logged back into the robot via SSH, cleaned up some of the installation files, configured Valetudo to automatically start at boot, and rebooted once again:
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```shell
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ssh -i ~/.ssh/id_rsa-robot root@192.168.8.1 # [tl! .cmd]
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cd /mnt/data # [tl! .cmd_root:3]
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rm roborock.vacuum.*.gz boot.img firmware.md5sum rootfs.img install.sh
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cp /root/_root.sh.tpl /mnt/reserve/_root.sh
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chmod +x /mnt/reserve/_root.sh /mnt/data/valetudo
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reboot # [tl! .cmd_root]
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```
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I connected to the robot's AP for the last time, and pointed my web browser to `http://192.168.8.1/` to start the Valetudo setup process.
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After the robot successfully connected to my Wi-Fi network, I was able to use the [Valetudo Companion Android app](https://f-droid.org/packages/cloud.valetudo.companion/) to easily find the robot on my network. I could then connect to its web interface at `http://192.168.1.172/` and see the fruits of my labor:
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The hack was a success!
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### Tailscale time
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Needing to find the robot's IP before I can interact with it is kind of lame. I'd rather leverage Tailscale's [MagicDNS](https://tailscale.com/kb/1081/magicdns) so that I can connect to the robot without knowing its IP (or even being on the same network).
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That Tailscale blog post I mentioned earlier offered some [notes on installing Tailscale on a robot vacuum](https://tailscale.dev/blog/tailscale-sucks#:~:text=Getting%20Tailscale%20on%20the%20robot), which I used as a guide for my efforts.
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There's plenty (~260MB) of free space on the robot's `/mnt/data/` persistent partition so I logged back in via SSH and did all the work there, starting with downloading the appropriate ARM package from [Tailscale's package server](https://pkgs.tailscale.com/stable/#static)
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```shell
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ssh -i ~/.ssh/id_rsa-robot root@192.168.1.169 # [tl! .cmd]
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cd /mnt/data # [tl! .cmd_root:1]
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wget --no-check-certificate https://pkgs.tailscale.com/stable/tailscale_1.72.1_arm.tgz
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```
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Then I extracted the binaries, moved them to an appropriate location, and cleaned up the downloaded package:
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```shell
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tar xvf tailscale_1.72.1_arm.tgz # [tl! .cmd_root:1]
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mv tailscale_1.72.1_arm/tailscale \
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tailscale_1.72.1_arm/tailscaled \
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/mnt/data/
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rm -rf tailscale_1.72.1_arm* # [tl! .cmd_root]
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```
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Remember that `/mnt/reserve/_root.sh` script that I copied earlier so that Valetudo would run at boot? I can hijack that to launch Tailscale as well.
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Here's the original script:
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```shell
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# torchlight! {"lineNumbers":true}
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#!/bin/bash
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if [[ -f /mnt/data/valetudo ]]; then
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mkdir -p /mnt/data/miio/
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if grep -q -e "cfg_by=tuya" -e "cfg_by=rriot" /mnt/data/miio/wifi.conf; then
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sed -i "s/cfg_by=tuya/cfg_by=miot/g" /mnt/data/miio/wifi.conf
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sed -i "s/cfg_by=rriot/cfg_by=miot/g" /mnt/data/miio/wifi.conf
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echo region=de >> /mnt/data/miio/wifi.conf
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echo 0 > /mnt/data/miio/device.uid
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echo "de" > /mnt/data/miio/device.country
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fi
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# Delete useless cleanup logs on each boot to enable Valetudo to update itself
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rm -r /mnt/data/rockrobo/rrlog/*REL
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VALETUDO_CONFIG_PATH=/mnt/data/valetudo_config.json /mnt/data/valetudo >> /dev/null 2>&1 &
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fi
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### It is strongly recommended that you put your changes inside the IF-statement above. In case your changes cause a problem, a factory reset will clean the data partition and disable your chances.
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### Keep in mind that your robot model does not have a recovery partition. A bad script can brick your device!
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```
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See that note at the bottom? Sounds like a good idea, so I'll put my Tailscale code inside the existing `if` statement:
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```shell
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# torchlight! {"lineNumbers":true}
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#!/bin/bash
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if [[ -f /mnt/data/valetudo ]]; then
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mkdir -p /mnt/data/miio/
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if grep -q -e "cfg_by=tuya" -e "cfg_by=rriot" /mnt/data/miio/wifi.conf; then
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sed -i "s/cfg_by=tuya/cfg_by=miot/g" /mnt/data/miio/wifi.conf
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sed -i "s/cfg_by=rriot/cfg_by=miot/g" /mnt/data/miio/wifi.conf
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echo region=de >> /mnt/data/miio/wifi.conf
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echo 0 > /mnt/data/miio/device.uid
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echo "de" > /mnt/data/miio/device.country
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fi
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# Delete useless cleanup logs on each boot to enable Valetudo to update itself
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rm -r /mnt/data/rockrobo/rrlog/*REL
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VALETUDO_CONFIG_PATH=/mnt/data/valetudo_config.json /mnt/data/valetudo >> /dev/null 2>&1 &
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# tailscale # [tl! **:7 ++:7]
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if [[ -f /mnt/data/tailscaled ]]; then
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mkdir -p /mnt/data/tailscale-state /tmp/tailscale
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STATE_DIRECTORY=/tmp/tailscale /mnt/data/tailscaled \
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--tun=userspace-networking \
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--socket=/tmp/tailscale/tailscaled.sock \
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--statedir=/mnt/data/tailscale-state > /dev/null 2>&1 &
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fi
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fi
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```
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I rebooted the robot, then reconnected and logged in to Tailscale, also setting a custom hostname and enabling [Tailscale SSH](/tailscale-ssh-serve-funnel/#tailscale-ssh) along the way:
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```shell
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/mnt/data/tailscale --socket=/tmp/tailscale/tailscaled.sock \
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up --ssh --hostname=derpmop # [tl! .cmd_root:-1,1]
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```
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Now I won't have to keep up with the robot's IP address anymore; I can just point a browser to `http://derpmop.tailnet-name.ts.net/`. I can also SSH in without having to specify a key since Tailscale is handling the authentication for me:
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```shell
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ssh root@derpmop # [tl! .cmd]
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```
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### Home Assistant integration
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- Set up [Mosquito MQTT Broker](https://www.home-assistant.io/integrations/mqtt/#setting-up-a-broker) for Home Assistant.
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- Connect Valetudo following [these instructions](https://valetudo.cloud/pages/integrations/home-assistant-integration.html).
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- Render map status in HA with [MQTT Vacuum's Camera Add-On](https://github.com/sca075/mqtt_vacuum_camera).
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- Make a pretty dashboard card with [Lovelace Vacuum Map Card](https://github.com/PiotrMachowski/lovelace-xiaomi-vacuum-map-card). |