Valetudo

https://valetudo.cloud/pages/
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Valetudo is an open-source project that allows users to control their robotic vacuum cleaners...
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### Cleanup and Autostart Setup via SSH

Source: https://valetudo.cloud/pages/installation/roborock

Connect via SSH to clean up installer files, copy the autostart script, set execute permissions, and reboot the robot to apply changes.

```bash
cd /mnt/data
rm roborock.vacuum.*.gz boot.img firmware.md5sum rootfs.img install.sh

cp /root/_root.sh.tpl /mnt/reserve/_root.sh
chmod +x /mnt/reserve/_root.sh /mnt/data/valetudo

reboot
```

--------------------------------

### Initial Firmware Installation via SSH

Source: https://valetudo.cloud/pages/installation/roborock

Connect to the robot via SSH, extract the firmware, install it using the provided script, and reboot the device.

```bash
cd /mnt/data/
tar xvzf roborock.vacuum.s5e_1566_fw.tar.gz
./install.sh

reboot
```

--------------------------------

### Extract and Install Firmware

Source: https://valetudo.cloud/pages/installation/dreame

After downloading the firmware, extract the tarball and run the installation script. Ensure the robot is docked before execution.

```bash
tar -xvzf dreame.vacuum.pxxxx_fw.tar.gz
./install.sh

```

--------------------------------

### Extract and Run Install Script

Source: https://valetudo.cloud/pages/installation/midea

Extracts the firmware update package, makes the install script executable, and runs it. This is the initial step for installing Valetudo.

```shell
tar xvf midea.*_fw.tar.gz && rm -f midea.*_fw.tar.gz && chmod +x ./install.sh && ./install.sh

```

--------------------------------

### Complete Valetudo Installation

Source: https://valetudo.cloud/pages/installation/dreame

Run these commands on the robot via SSH to move the Valetudo binary to the correct directory, make it executable, and set up the post-boot script. A reboot is required to finalize the installation.

```bash
mv /tmp/valetudo /data/valetudo
chmod +x /data/valetudo
cp /misc/_root_postboot.sh.tpl /data/_root_postboot.sh
chmod +x /data/_root_postboot.sh

reboot

```

--------------------------------

### Second Firmware Installation via SSH

Source: https://valetudo.cloud/pages/installation/roborock

After the initial reboot, reconnect to the robot's Wi-Fi AP and run the install script again to complete the firmware installation. Reboot afterwards.

```bash
cd /mnt/data/
./install.sh

reboot
```

--------------------------------

### Relaunch Install Script from /userdata

Source: https://valetudo.cloud/pages/installation/midea

Relaunches the Valetudo installer script from its location in /userdata/dust_update/. This is used after the robot has rebooted during the installation process.

```shell
/userdata/dust_update/install.sh

```

--------------------------------

### Install Rooted Firmware using valetudo-helper-miioota

Source: https://valetudo.cloud/pages/installation/roborock

Use this command to install a custom rooted firmware package (.pkg) onto your Roborock vacuum. Ensure your laptop is connected to the robot's Wi-Fi and the robot is docked. Disable firewalls and VPNs if you encounter issues.

```bash
./valetudo-helper-miioota install-firmware v11_2034.pkg 
Starting installer.
If you experience issues, make sure to disable your firewall and/or VPN.
Also, make sure that the robot is docked during the firmware update procedure.
If the install still fails, try turning the robot off and back on again and/or moving the laptop closer to it.

Robot discovery started...
Scan done.
Successfully discovered robot at 192.168.8.1
Reading firmware image..
Successfully read firmware image. Size: 78.62 MiB MD5Sum: fe820a713ec9efdfa3990b5d776e2cda

Listing for firmware download requests on http://192.168.8.10:34505/firmware
Response from robot: [ 'ok' ]
Received firmware download request from ::ffff:192.168.8.1..

Download seems to have finished.
The robot should now install the firmware. It will take 5-10 minutes.
Exiting..


```

--------------------------------

### Verify Valetudo Installation

Source: https://valetudo.cloud/pages/installation/dreame

Check for this specific MOTD on your UART shell after the robot reboots to confirm a successful rooting and Valetudo installation.

```text
built with dustbuilder (https://builder.dontvacuum.me)
Fri 04 Feb 2022 10:08:21 PM UTC
1099

```

--------------------------------

### Get Dust Version

Source: https://valetudo.cloud/pages/installation/dreame

Retrieve the installed dust version from the device. This is a verification step after establishing a Fastboot connection.

```bash
root@T420:/home/hypfer# fastboot getvar dustversion 
dustversion: 2024.12.00 
Finished. Total time: 0.003s 

```

--------------------------------

### Midea Robot dmesg Output Example

Source: https://valetudo.cloud/pages/installation/midea

Example output from the 'dmesg' command showing USB device detection for a Midea robot. This is used to identify device details like idVendor and idProduct.

```text
[ 4479.875489] usb 1-4: new high-speed USB device number 11 using xhci_hcd
[ 4480.016640] usb 1-4: New USB device found, idVendor=2207, idProduct=0019, bcdDevice= 3.10
[ 4480.016658] usb 1-4: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 4480.016665] usb 1-4: Product: robot
[ 4480.016670] usb 1-4: Manufacturer: world
[ 4480.016674] usb 1-4: SerialNumber: 243f6a8885a308d3
[ 4480.020308] cdc_acm 1-4:1.1: ttyACM0: USB ACM device

```

--------------------------------

### Get Configuration Value

Source: https://valetudo.cloud/pages/installation/dreame

Fetch the unique configuration value for the device. This value is crucial for selecting correct bootloader patches and is needed for future firmware updates.

```bash
root@T420:/home/hypfer# fastboot getvar config 
config: 836064ae31f4806c844f708ab8398367 
Finished. Total time: 0.215s

```

--------------------------------

### Mop Status Sample Value

Source: https://valetudo.cloud/pages/integrations/mqtt

This boolean value indicates whether the mop attachment is currently installed on the Valetudo device.

```json
false
```

--------------------------------

### Zone Cleaning Start Payload

Source: https://valetudo.cloud/pages/integrations/mqtt

Sample JSON payload for initiating zone cleaning. Define zones by points (pA, pB, pC, pD) and specify the number of cleaning iterations.

```json
{
  "zones": [
    {
      "points": {
        "pA": {
          "x": 50,
          "y": 50
        },
        "pB": {
          "x": 100,
          "y": 50
        },
        "pC": {
          "x": 100,
          "y": 100
        },
        "pD": {
          "x": 50,
          "y": 100
        }
      }
    }
  ],
  "iterations": 1
}

```

--------------------------------

### Dust Bin Status Sample Value

Source: https://valetudo.cloud/pages/integrations/mqtt

This boolean value indicates whether the dust bin attachment is currently installed on the Valetudo device.

```json
true
```

--------------------------------

### Create NAND Backups

Source: https://valetudo.cloud/pages/installation/roborock

Before proceeding with further modifications, create backup images of the 'nandb' and 'nandk' partitions. These images are compressed using gzip for space efficiency.

```bash
dd if=/dev/nandb | gzip > /tmp/nandb.img.gz
dd if=/dev/nandk | gzip > /tmp/nandk.img.gz
```

--------------------------------

### Download Valetudo Binary

Source: https://valetudo.cloud/pages/installation/dreame

Use this wget command to download the Valetudo binary from the httpbridge server to your robot. The command will be provided by the httpbridge output.

```bash
wget http://192.168.5.101:1337/valetudo

```

--------------------------------

### Fastboot Commands for Rooting

Source: https://valetudo.cloud/pages/installation/dreame

A sequence of fastboot commands to prepare, flash, and reboot the device for rooting. Ensure each command returns 'OKAY' before proceeding.

```bash
fastboot getvar config
```

```bash
fastboot oem dust <value>
```

```bash
fastboot oem prep
```

```bash
fastboot flash toc1 toc1.img
```

```bash
fastboot flash boot1 boot.img
fastboot flash rootfs1 rootfs.img

fastboot flash boot2 boot.img
fastboot flash rootfs2 rootfs.img
```

```bash
fastboot reboot
```

--------------------------------

### Download Firmware Image with wget

Source: https://valetudo.cloud/pages/installation/dreame

Use this wget command to download the firmware image tarball from the valetudo-helper-httpbridge utility to your working directory.

```bash
wget http://192.168.5.101:33671/file.tar

```

--------------------------------

### Write and Execute FSBL

Source: https://valetudo.cloud/pages/installation/dreame

This sequence writes the appropriate FSBL (First Stage Bootloader) binary to the SoC's memory and then executes it to initialize DRAM. Choose ddr3 for D10s Pro/Plus or W10 Pro, and ddr4 for other models.

```bash
sunxi-fel write 0x28000 fsbl_ddr4.bin
sunxi-fel exe 0x28000
sleep 5

```

--------------------------------

### Stage 1 and Stage 2 Data Sampling

Source: https://valetudo.cloud/pages/installation/dreame

Execute stage 1 and stage 2 commands to sample 'dustx101.bin' and 'dustx102.bin'. Verify that each file is approximately 400MB.

```bash
root@T420:/home/hypfer# fastboot oem stage1 
                                                   OKAY [  0.000s] 
Finished. Total time: 0.000s 
root@T420:/home/hypfer# fastboot get_staged dustx101.bin 
Uploading 'dustx101.bin'                           OKAY [ 38.173s] 
Finished. Total time: 38.173s 
root@T420:/home/hypfer# du -h dustx101.bin  
399M    dustx101.bin 

```

```bash
root@T420:/home/hypfer# fastboot oem stage2 
                                                   OKAY [  0.000s] 
Finished. Total time: 0.000s 
root@T420:/home/hypfer# fastboot get_staged dustx102.bin 
Uploading 'dustx102.bin'                           OKAY [ 37.992s] 
Finished. Total time: 37.992s 
root@T420:/home/hypfer# du -h dustx102.bin  
399M    dustx102.bin 

```

--------------------------------

### Get Total Statistics Time

Source: https://valetudo.cloud/pages/integrations/mqtt

Retrieve the total time spent cleaning in seconds. The value is an integer.

```mqtt
7200
```

--------------------------------

### Execute Rooting Script

Source: https://valetudo.cloud/pages/installation/roborock

Once the robot is detected in FEL mode, navigate to the directory containing the unpacked zip file and execute the 'run.sh' script to flash the rooted firmware. This process involves several data transfer stages.

```bash
root@crozier:/home/hypfer/playground/roborock/s5e# ./run.sh
waiting for 3 seconds
100% [================================================]   852 kB,  152.2 kB/s
100% [================================================]    66 kB,  162.1 kB/s
100% [================================================]     0 kB,   93.2 kB/s
100% [================================================]  3647 kB,  153.6 kB/s
root@crozier:/home/hypfer/playground/roborock/s5e#
```

--------------------------------

### Get Total Statistics Count

Source: https://valetudo.cloud/pages/integrations/mqtt

Retrieve the total number of cleaning cycles completed. The value is an integer.

```mqtt
5
```

--------------------------------

### Get Total Statistics Area

Source: https://valetudo.cloud/pages/integrations/mqtt

Retrieve the total area cleaned by the robot. The value is an integer representing cm².

```mqtt
3150000
```

--------------------------------

### Fan Speed Control

Source: https://valetudo.cloud/pages/integrations/mqtt

Set or get the fan speed preset. This capability manages the fan speed state.

```APIDOC
## SET/GET Fan Speed Preset

### Description
Allows setting and getting the fan speed preset. Accepts predefined payloads or HAss json attributes.

### Method
GET/SET

### Endpoint
Read topic: `<TOPIC PREFIX>/<IDENTIFIER>/FanSpeedControlCapability/preset`
Set topic: `<TOPIC PREFIX>/<IDENTIFIER>/FanSpeedControlCapability/preset/set`

### Data Type
enum

### Allowed Payloads
`off`, `min`, `low`, `medium`, `high`, `turbo`, `max`

### Sample Value
```
max
```
```

--------------------------------

### Upload Backup File using curl

Source: https://valetudo.cloud/pages/installation/dreame

Execute this curl command to upload the created backup archive to your laptop via the valetudo-helper-httpbridge utility.

```bash
curl -X POST http://192.168.5.101:1337/upload -F 'file=@./file.tar'

```

--------------------------------

### Verify FEL Connection

Source: https://valetudo.cloud/pages/installation/dreame

After entering fastboot mode and connecting the device, run this command to verify the FEL connection. It should output information about the SoC.

```bash
Warning: no 'soc_sram_info' data for your SoC (id=1855)
AWUSBFEX soc=00001855(unknown) 00000001 ver=0001 44 08 scratchpad=00042200 00000000 00000000


```

--------------------------------

### Create Backup Archive with tar

Source: https://valetudo.cloud/pages/installation/dreame

Use this command in the UART shell to create a tar archive of essential robot data for backup purposes.

```bash
tar cvf /tmp/backup.tar /mnt/private/ /mnt/misc/ /etc/OTA_Key_pub.pem /etc/publickey.pem

```

--------------------------------

### Upgrade Dreame Vacuum Binary via SSH

Source: https://valetudo.cloud/pages/usage/upgrading

Replace the Valetudo binary on Dreame vacuums by SSHing into the device, killing the current process, downloading the new binary, and rebooting.

```bash
killall valetudo
```

```bash
wget https://github.com/Hypfer/Valetudo/releases/latest/download/valetudo-{armv7,armv7-lowmem,aarch64} -O /data/valetudo
```

```bash
reboot
```

--------------------------------

### Start Race Condition Exploit Loop

Source: https://valetudo.cloud/pages/installation/midea

Continuously pushes 'test.mod' and 'payload.sh' to the robot via ADB. This loop is used to exploit a race condition to spawn a telnetd service.

```shell
while true; do adb push test.mod /oem/test.mod; adb push payload.sh /userdata/echo_pcbatest_server; done

```

--------------------------------

### Write and Execute Payload using sunxi-fel

Source: https://valetudo.cloud/pages/installation/dreame

Use `sunxi-fel` to write the `payload.bin` to the specified memory address and then execute it. This boots the robot into Fastboot mode.

```bash
sunxi-fel write 0x4a000000 payload.bin
sunxi-fel exe 0x4a000000
```

--------------------------------

### Push Valetudo Binary via SCP

Source: https://valetudo.cloud/pages/installation/roborock

Transfer the compiled Valetudo binary to the robot's data partition. Ensure the destination path specifies the binary file itself, not a directory.

```bash
scp -O -i ~/.ssh/your_keyfile Downloads/valetudo-armv7-lowmem.upx root@192.168.8.1:/mnt/data/valetudo
```

--------------------------------

### Create Payload Files for Unhappy Path

Source: https://valetudo.cloud/pages/installation/midea

Creates two files, 'test.mod' and 'payload.sh', required for exploiting a race condition on Midea robots. 'payload.sh' is a shell script that starts a telnet daemon.

```shell
echo -n 'LMAO' > test.mod

echo '#!/bin/sh' > payload.sh
echo '/bin/busybox telnetd -l /bin/sh -p 1337 &' >> payload.sh

chmod +x payload.sh

```

--------------------------------

### Basic Control Operation

Source: https://valetudo.cloud/pages/integrations/mqtt

Provides basic control over the robot's operation, allowing it to start, stop, pause, or return to its dock. Commands are sent to a 'set' topic, and responses are received on a separate topic.

```APIDOC
## Basic Control (`BasicControlCapability`)

### Description
Controls the basic operation of the robot, such as starting, stopping, or pausing.

### Method
PUBLISH to command topic, SUBSCRIBE to response topic

### Endpoint
Command topic: `<TOPIC PREFIX>/<IDENTIFIER>/BasicControlCapability/operation/set`
Response topic: `<TOPIC PREFIX>/<IDENTIFIER>/BasicControlCapability/operation`

### Parameters
#### Request Body
- **operation** (enum) - Required - The operation to perform. Allowed values: `START`, `STOP`, `PAUSE`, `HOME`

### Request Example
```json
{
  "operation": "START"
}
```

### Response
#### Success Response (200)
- **status** (string) - Indicates the status of the operation.

#### Response Example
```json
{
  "status": "OK"
}
```
```

--------------------------------

### Upload Backup Archive

Source: https://valetudo.cloud/pages/installation/dreame

Execute this curl command to upload the created backup archive from the robot to your laptop. Adjust the IP address and port if necessary, and ensure the file path is correct.

```bash
curl -X POST http://192.168.5.101:1337/upload -F 'file=@/tmp/backup.tar'

```

--------------------------------

### Stage 1 Data Sampling

Source: https://valetudo.cloud/pages/installation/dreame

Initiate the sampling of stage 1 data by requesting 'dustx100.bin'. This command creates a file that should be approximately 400MB in size.

```bash
root@T420:/home/hypfer# fastboot get_staged dustx100.bin 
Uploading 'dustx100.bin'                           OKAY [ 37.898s] 
Finished. Total time: 37.898s 

```

```bash
root@T420:/home/hypfer# du -h dustx100.bin  
400M    dustx100.bin 

```

--------------------------------

### Upgrade Roborock Vacuum via SSH

Source: https://valetudo.cloud/pages/usage/upgrading

Use these commands to download, extract, and install a new Valetudo image on Roborock vacuums via SSH. This process involves updating the inactive system partition and then rebooting.

```bash
cd /mnt/data
wget <url to tar from dustbuilder>
tar xzf <file.tar.gz>
```

```bash
./install_b.sh
reboot
```

```bash
cd /mnt/data
./install_a.sh
rm -f <file.tar.gz>
reboot
```

--------------------------------

### Backup NAND Data via SCP

Source: https://valetudo.cloud/pages/installation/roborock

Use SCP to pull factory calibration and identity data from the robot's NAND partitions to your laptop. Ensure you have the correct keyfile and IP address.

```bash
scp -O -i ./your_keyfile root@192.168.8.1:/tmp/nand* .
```

--------------------------------

### Push Rooted Firmware via SCP

Source: https://valetudo.cloud/pages/installation/roborock

Transfer the full rooted firmware image tarball to the robot's data partition using SCP. Verify the keyfile path and the destination directory.

```bash
scp -O -i ~/.ssh/your_keyfile Downloads/roborock.vacuum.s5e_1566_fw.tar.gz root@192.168.8.1:/mnt/data/
```

--------------------------------

### Create Backup Archive

Source: https://valetudo.cloud/pages/installation/dreame

Use this command in the SSH shell to create a tar archive of essential robot data for backup. Ensure the path to the data is correct.

```bash
tar cvf /tmp/backup.tar /mnt/private/ /mnt/misc/

```

--------------------------------

### Write and Execute FSBL using sunxi-fel

Source: https://valetudo.cloud/pages/installation/dreame

Use `sunxi-fel` to write the `fsbl.bin` to the specified memory address and then execute it. A 5-second delay is required after execution.

```bash
sunxi-fel write 0x28000 fsbl.bin
sunxi-fel exe 0x28000
sleep 5
```

--------------------------------

### Verify Fastboot Connection

Source: https://valetudo.cloud/pages/installation/dreame

Once the robot is in Fastboot mode, use this command to check if the device is recognized by your computer. A successful connection will list the device.

```bash
root@T420:/home/hypfer# fastboot devices 
Android Fastboot        fastboot 

```

--------------------------------

### Wi-Fi SSID Sample

Source: https://valetudo.cloud/pages/integrations/mqtt

Sample value for the Wi-Fi SSID property. This is the name of the wireless network the robot is connected to.

```text
Valetudo Wi-Fi

```
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