Notes on setting up my Raspberry Pi for PiWars, no further explanation but might be helpful!

bluetooth-pi-notes.txt

Install 4.15.9 according to https://www.raspberrypi.org/documentation/linux/kernel/building.md
SSH to pi, then...


sudo apt-get install git bc libdbus-1-dev libglib2.0-dev libudev-dev libical-dev libreadline-dev -y
wget www.kernel.org/pub/linux/bluetooth/bluez-5.49.tar.xz
tar -xvf ./bluez-5.49.tar.xz
cd bluez-5.49/
wget https://gist.github.com/pelwell/c8230c48ea24698527cd/archive/3b07a1eb296862da889609a84f8e10b299b7442d.zip
unzip 3b07a1eb296862da889609a84f8e10b299b7442d.zip
git apply -v c8230c48ea24698527cd-3b07a1eb296862da889609a84f8e10b299b7442d/*
./configure --prefix=/usr --mandir=/usr/share/man --sysconfdir=/etc --localstatedir=/var --enable-experimental \\
   --with-systemdsystemunitdir=/lib/systemd/system --with-systemduserunitdir=/usr/lib/systemd --enable-sixaxis \\ 
   --enable-library
make -j4
sudo systemctl stop bluetooth
sudo make install

sudo nano /etc/systemd/system/bluetooth.target.wants/bluetooth.service
---
    [Unit]
    Description=Bluetooth service
    Documentation=man:bluetoothd(8)
    ConditionPathIsDirectory=/sys/class/bluetooth

    [Service]
    Type=dbus
    BusName=org.bluez
    ExecStart=/usr/libexec/bluetooth/bluetoothd --experimental
    NotifyAccess=main
    #WatchdogSec=10
    #Restart=on-failure
    CapabilityBoundingSet=CAP_NET_ADMIN CAP_NET_BIND_SERVICE
    LimitNPROC=1
    ProtectHome=true
    ProtectSystem=full

    [Install]
    WantedBy=bluetooth.target
    Alias=dbus-org.bluez.service
---

sudo nano /etc/dbus-1/system.d/bluetooth.conf
---
    <!-- This configuration file specifies the required security policies
         for Bluetooth core daemon to work. -->

    <!DOCTYPE busconfig PUBLIC "-//freedesktop//DTD D-BUS Bus Configuration 1.0//EN"
     "http://www.freedesktop.org/standards/dbus/1.0/busconfig.dtd">
    <busconfig>

      <!-- ../system.conf have denied everything, so we just punch some holes -->

      <policy user="root">
        <allow own="org.bluez"/>
        <allow send_destination="org.bluez"/>
        <allow send_interface="org.bluez.Agent1"/>
        <allow send_interface="org.bluez.MediaEndpoint1"/>
        <allow send_interface="org.bluez.MediaPlayer1"/>
        <allow send_interface="org.bluez.Profile1"/>
        <allow send_interface="org.bluez.GattCharacteristic1"/>
        <allow send_interface="org.bluez.GattDescriptor1"/>
        <allow send_interface="org.bluez.LEAdvertisement1"/>
        <allow send_interface="org.freedesktop.DBus.ObjectManager"/>
        <allow send_interface="org.freedesktop.DBus.Properties"/>
      </policy>

      <policy user="pi">
        <allow own="org.bluez"/>
        <allow send_destination="org.bluez"/>
        <allow send_interface="org.bluez.Agent1"/>
        <allow send_interface="org.bluez.MediaEndpoint1"/>
        <allow send_interface="org.bluez.MediaPlayer1"/>
        <allow send_interface="org.bluez.Profile1"/>
        <allow send_interface="org.bluez.GattCharacteristic1"/>
        <allow send_interface="org.bluez.GattDescriptor1"/>
        <allow send_interface="org.bluez.LEAdvertisement1"/>
        <allow send_interface="org.freedesktop.DBus.ObjectManager"/>
        <allow send_interface="org.freedesktop.DBus.Properties"/>
      </policy>


      <policy at_console="true">
        <allow send_destination="org.bluez"/>
      </policy>

      <!-- allow users of lp group (printing subsystem) to 
           communicate with bluetoothd -->
      <policy group="lp">
        <allow send_destination="org.bluez"/>
      </policy>

      <policy context="default">
        <deny send_destination="org.bluez"/>
      </policy>

    </busconfig>
---

sudo nano 90-led-permissions.rules
---
    SUBSYSTEM=="leds", ACTION=="add", RUN+="/bin/chgrp -R leds /sys%p", RUN+="/bin/chmod -R g=u /sys%p"
    SUBSYSTEM=="leds", ACTION=="change", ENV{TRIGGER}!="none", RUN+="/bin/chgrp -R leds /sys%p", RUN+="/bin/chmod -R g=u /sys%p"
---

sudo groupadd leds
sudo usermod -a -G leds pi

sudo nano /etc/modprobe.d/bluetooth.conf
---
    options bluetooth disable_ertm=Y
---

sync
sudo reboot

pi@pi3b:~ $ uname -a
Linux pi3b 4.15.9-v7+ #1 SMP Wed Mar 14 18:59:34 GMT 2018 armv7l GNU/Linux
pi@pi3b:~ $ bluetoothctl -v
bluetoothctl: 5.49

XB1 controller:
    pi@pi3b:~ $ bluetoothctl 
    Agent registered
    [bluetooth]# default-agent
    Default agent request successful
    [bluetooth]# scan on
    Discovery started
(put XB1S controller into pairing mode with Home+Share held down on power-on)
    [CHG] Controller B8:27:EB:D4:32:CB Discovering: yes
    [CHG] Device 5C:BA:37:1D:92:07 RSSI: -53
    [bluetooth]# connect 5C:BA:37:1D:92:07
    Attempting to connect to 5C:BA:37:1D:92:07
    [CHG] Device 5C:BA:37:1D:92:07 Connected: yes
    [CHG] Device 5C:BA:37:1D:92:07 Modalias: usb:v045Ep02E0d0903
    [CHG] Device 5C:BA:37:1D:92:07 Modalias: usb:v045Ep02FDd0903
    [CHG] Device 5C:BA:37:1D:92:07 UUIDs: 00001124-0000-1000-8000-00805f9b34fb
    [CHG] Device 5C:BA:37:1D:92:07 UUIDs: 00001200-0000-1000-8000-00805f9b34fb
    [CHG] Device 5C:BA:37:1D:92:07 ServicesResolved: yes
    [CHG] Device 5C:BA:37:1D:92:07 Paired: yes
    Connection successful
    [Xbox Wireless Controller]# trust 5C:BA:37:1D:92:07
    [CHG] Device 5C:BA:37:1D:92:07 Trusted: yes
    Changing 5C:BA:37:1D:92:07 trust succeeded
    [Xbox Wireless Controller]# 

PS3 controller:
    pi@pi3b:~ $ bluetoothctl 
    Agent registered
    [bluetooth]# default-agent
    Default agent request successful
Plug in PS3 controller over USB
    [NEW] Device 00:21:4F:16:32:69 Sony PLAYSTATION(R)3 Controller
    Authorize service
    [blue1m[agent] Authorize service 00001124-0000-1000-8000-00805f9b34fb (yes/no): yes
Remove controller / press PS button
    [CHG] Device 00:21:4F:16:32:69 Trusted: yes
    [CHG] Device 00:21:4F:16:32:69 UUIDs: 00001124-0000-1000-8000-00805f9b34fb
    [CHG] Device 00:21:4F:16:32:69 Class: 0x00000508
    [CHG] Device 00:21:4F:16:32:69 Icon: input-gaming
    [CHG] Device 00:21:4F:16:32:69 Connected: yes


Numpy + OpenBLAS + OpenCV

cd ~
git clone git@github.com:xianyi/OpenBLAS.git --depth=1 --branch=armv7
cd OpenBLAS
make FC=gfortran -j4
sudo make PREFIX=/opt/OpenBLAS install
sudo sh -c "echo '/opt/OpenBLAS/lib' > /etc/ld.so.conf.d/openblas.conf"
sudo ldconfig

cd ~
git clone git@github.com:numpy/numpy.git --depth=1
cd numpy
cp site.cfg.example site.cfg
nano site.cfg
---
    [openblas]
    libraries = openblas
    library_dirs = /opt/OpenBLAS/lib
    include_dirs = /opt/OpenBLAS/include
    runtime_library_dirs = /opt/OpenBLAS/lib
---
pip install cython
python setup.py build --fcompiler=gnu95 -j 4
python setup.py bdist_wheel
pip install .

cd ~
git clone git@github.com:opencv/opencv.git --depth=1
git clone git@github.com:opencv/opencv_contrib.git --depth=1
cd opencv
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE \
    -D CMAKE_INSTALL_PREFIX=/usr/local \
    -D OPENCV_EXTRA_MODULES_PATH=~/opencv_contrib/modules \
    -D ENABLE_NEON=ON \
    -D ENABLE_VFPV3=ON \
    -D BUILD_TESTS=OFF \
    -D INSTALL_PYTHON_EXAMPLES=OFF \
    -D BUILD_EXAMPLES=OFF ..


SensHat installation without debian package:

(from within virtual environment, tested with Python 3.7b3)

sudo apt-get install libqt4-dev
cd ~
git clone git@github.com:RPi-Distro/RTIMULib.git
cd RTIMULib/Linux
mkdir build
cd build
cmake ..
make -j4
sudo make install
sudo ldconfig
cd ../python
python setup.py install

cd ~
git clone git@github.com:RPi-Distro/python-sense-hat.git
cd python-sense-hat
python setup.py install