v1.1.0

- CM5 variant (`Dockerfile.cm5`): build the image for a Compute Module 5 swapped into the Wireless carrier (uart2-pi5 motor bus, external antenna, CSI camera kept on libcamera, x264 software encoder for the WebRTC stream since the CM5 has no hardware encoder).

Source: 7020aa91cdfb58abd26aac56e2d0cf57055f7ee8
Auto-sync: ReachyPi

CHANGELOG.md

@@ -0,0 +1,14 @@
+# Changelog
+
+Condensed, one entry per release. The top entry must match `VERSION`: `publish.sh`
+refuses to publish otherwise, and ships these bullets as the commit message.
+
+## v1.1.0 (2026-07-19)
+
+- CM5 variant (`Dockerfile.cm5`): build the image for a Compute Module 5 swapped into the Wireless carrier (uart2-pi5 motor bus, external antenna, CSI camera kept on libcamera, x264 software encoder for the WebRTC stream since the CM5 has no hardware encoder).
+
+## v1.0.0 (2026-06-27)
+
+- Pi 5 SD-card image to run a Reachy Mini Lite USB wirelessly, over reachy-mini-os.
+- Motors, camera, sound and the official app over Bluetooth all work (daemon v1.8.4).
+- A prebuilt image to flash, plus a reproducible Docker build.

Dockerfile.cm5

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+# Build a CM5 image of reachy-mini-os, inside Docker: for a CM5 swapped into the
+# Reachy Mini Wireless carrier (the stock robot ships a CM4). Usage: see README.md.
+FROM debian:bookworm
+
+# pi-gen build tools
+RUN apt-get update && apt-get install -y --no-install-recommends \
+      ca-certificates git git-lfs curl \
+      quilt parted debootstrap zerofree zip dosfstools e2fsprogs fdisk \
+      libarchive-tools libcap2-bin rsync xz-utils file kmod bc gpg pigz xxd \
+      arch-test binfmt-support qemu-user-static \
+    && rm -rf /var/lib/apt/lists/*
+
+# reachy-mini-os source (pi-gen fork) + its Git LFS files
+RUN git lfs install \
+ && git clone --depth 1 https://github.com/pollen-robotics/reachy-mini-os.git /pi-gen
+WORKDIR /pi-gen
+RUN git lfs pull
+
+# CM5 boot tweaks + pinned daemon version. Unlike the Pi 5 build:
+# - dtparam=ant2 stays (the CM5 has the U.FL connector, the Wireless uses the external antenna)
+# - the imx708/i2c overlays stay (the Wireless camera is CSI)
+# The motor bus keeps GPIO4/5, which on the CM5 is RP1 uart2 (ttyAMA2), not the CM4's uart3.
+ARG DAEMON_VERSION=v1.8.4
+RUN set -e; \
+    sed -i 's/^IMG_NAME="reachyminios"$/IMG_NAME="reachyminios-cm5"/' config; \
+    cfg=stage1/00-boot-files/files/config.txt; \
+    sed -i 's/^dtoverlay=uart3$/dtoverlay=uart2-pi5/' "$cfg"; \
+    sed -i -E "s/reachy-mini\[wireless-version\]==v[0-9.]+/reachy-mini[wireless-version]==${DAEMON_VERSION}/" \
+        stage2/05-reachy-mini/01-run-chroot.sh
+
+# CM5 runtime fixes (motors, shutdown, software H264 encoder)
+COPY docker/stage-cm5-fixes.sh stage2/05-reachy-mini/02-run-chroot.sh
+RUN chmod +x stage2/05-reachy-mini/02-run-chroot.sh
+
+# the build itself runs at `docker run` (needs --privileged: loop devices + ARM emulation)
+COPY docker/entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]

README.md

@@ -47,6 +47,17 @@ Image lands in `./deploy/*.zip`, then flash it (see [Getting started](#getting-s
 
 > Override the daemon version with `docker build --build-arg DAEMON_VERSION=v1.8.4 -t reachy-pi5 .`
 
+### CM5 variant (Wireless carrier)
+
+The **Reachy Mini Wireless** ships a CM4; a CM5 pops right into the carrier (see [the community swap thread](https://github.com/geerlingguy/raspberry-pi-pcie-devices/issues/800)). [Dockerfile.cm5](Dockerfile.cm5) builds the image for that swap: motor UART on `uart2-pi5` with the same udev alias, external antenna kept, the CSI camera keeps libcamera (do **not** use the Pi 5 image there, its camera fix targets the Lite's USB camera), and the WebRTC stream encodes with x264 in software since the CM5 has no hardware encoder ([docker/stage-cm5-fixes.sh](docker/stage-cm5-fixes.sh)).
+
+```bash
+docker build -f Dockerfile.cm5 -t reachy-cm5 .
+docker run --rm --privileged -v "$PWD/deploy:/pi-gen/deploy" reachy-cm5
+```
+
+An eMMC CM5 flashes through `rpiboot`/usbboot rather than an SD card. ⚠️ Not yet tested on hardware: the [CM5 camera timeout](https://github.com/geerlingguy/raspberry-pi-pcie-devices/issues/800) reported by the community is an open question this image may still hit.
+
 ## First boot & SSH if needed
 
 The image ships the `pollen` user with SSH enabled — nothing to set up in Imager.
@@ -64,3 +75,7 @@ Everything (services, the venv, sudo) is built around `pollen` — that's why yo
 ## How it works
 
 The [Dockerfile](Dockerfile) downloads `reachy-mini-os`, patches `config.txt` (Pi 5 motor UART, antenna), pins the daemon, and bakes the fixes from [docker/stage-pi5-fixes.sh](docker/stage-pi5-fixes.sh). Each fix lives in `/etc`, `/usr/local`, or `sitecustomize.py`, so it survives reboots and daemon self-updates.
+
+## Changelog
+
+Each release and what it brought is in [CHANGELOG.md](CHANGELOG.md).

VERSION

@@ -0,0 +1 @@
+1.1.0

docker/stage-cm5-fixes.sh

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+#!/bin/bash -e
+# CM5 fixes baked into the image, kept outside the Python package so daemon updates don't wipe them.
+# Target: a CM5 swapped into the Reachy Mini Wireless carrier (issue geerlingguy/raspberry-pi-pcie-devices#800).
+# Same BCM2712+RP1 silicon as the Pi 5; the camera path is where the two variants differ:
+# the Wireless camera is CSI (imx708) and NEEDS libcamera, so unlike stage-pi5-fixes.sh
+# nothing is disabled here, and the WebRTC encoder goes software (no HW encoder on BCM2712).
+
+echo "Fix 1/3: motor port -> /dev/ttyAMA3 (udev)"
+# the carrier's motor bus is on GPIO4/5: RP1 uart2 on the CM5 (ttyAMA2), not the CM4's uart3
+install -d -m 0755 /etc/udev/rules.d
+cat > /etc/udev/rules.d/99-reachy-cm5-motor.rules <<'RULE'
+# /dev/ttyAMA3 = whichever motor bus exists (USB controller, or GPIO uart2)
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d3", SYMLINK+="ttyAMA3", GROUP="dialout", MODE="0660"
+KERNEL=="ttyAMA2", SYMLINK+="ttyAMA3", GROUP="dialout", MODE="0660"
+RULE
+
+echo "Fix 2/3: shutdown button -> gpiozero lgpio backend"
+install -d -m 0755 /etc/systemd/system/gpio-shutdown-daemon.service.d
+cat > /etc/systemd/system/gpio-shutdown-daemon.service.d/10-cm5-lgpio.conf <<'DROP'
+[Service]
+Environment=GPIOZERO_PIN_FACTORY=lgpio
+DROP
+source /opt/uv/env 2>/dev/null || true
+if [ -f /venvs/mini_daemon/bin/activate ]; then
+  source /venvs/mini_daemon/bin/activate
+  uv pip install lgpio || pip install lgpio || true
+fi
+
+echo "Fix 3/3: software H264 encoder for the WebRTC stream"
+# the daemon's CSI path hardcodes v4l2h264enc, a hardware element the CM5 does not have:
+# swap that one method for an x264enc version at import time
+cat > /venvs/mini_daemon/lib/python3.12/site-packages/sitecustomize.py <<'PY'
+# ReachyPi CM5: no hardware H264 encoder on BCM2712 -> encode the WebRTC branch in software
+def _sw_encoder():
+    try:
+        from reachy_mini.media import media_server as ms
+        from gi.repository import Gst
+    except Exception:
+        return
+    def sw_branch(self, queue_webrtc, pipeline, webrtcsink):
+        convert = Gst.ElementFactory.make("videoconvert")
+        x264 = Gst.ElementFactory.make("x264enc")
+        caps_h264 = Gst.ElementFactory.make("capsfilter")
+        if not all([convert, x264, caps_h264]):
+            raise RuntimeError("Failed to create x264 encoder elements")
+        Gst.util_set_object_arg(x264, "tune", "zerolatency")
+        Gst.util_set_object_arg(x264, "speed-preset", "ultrafast")
+        x264.set_property("bitrate", 5000)    # kbit/s, same 5 Mb/s as the hardware branch
+        x264.set_property("key-int-max", 60)  # same keyframe period
+        caps_h264.set_property("caps", Gst.Caps.from_string(
+            "video/x-h264,stream-format=byte-stream,alignment=au,"
+            "level=(string)3.1,profile=(string)constrained-baseline"))
+        for elem in (convert, x264, caps_h264):
+            pipeline.add(elem)
+        queue_webrtc.link(convert)
+        convert.link(x264)
+        x264.link(caps_h264)
+        caps_h264.link(webrtcsink)
+    ms.GstMediaServer._build_rpi_encoder_branch = sw_branch
+_sw_encoder()
+PY
+
+echo "CM5 fixes applied."

image_2026-07-19-reachyminios-cm5.zip

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8c8d55c80e034f9d497804934717d99acd739700dd6434ccea198d6a3e7a9d44
+size 1719753241