feat: 初始化

2026-09-22 20:05:16 +08:00
commit 7d87987e41
54 changed files with 6446 additions and 0 deletions
@@ -0,0 +1,19 @@
+[Unit]
+Description=Sentry chassis daemon (mecanum, 4x GM3508/C620)
+After=network.target
+# 若使用 USB 转 CAN，等待接口就绪：
+# After=systemd-networkd.service
+# RequiresMountsFor=/sys/class/net/can0
+
+[Service]
+Type=simple
+ExecStart=/usr/local/bin/chassisd --interface can0 --config /etc/chassisd/chassis.toml
+Restart=always
+RestartSec=1
+# 实时性：提升调度优先级（按需调整）
+# CPUSchedulingPolicy=fifo
+# CPUSchedulingPriority=20
+# LimitRTPRIO=95
+
+[Install]
+WantedBy=multi-user.target