树莓派4b，安装ubuntu 20.04 + raspi-config，出现dtparam no found 的根治办法

背景：raspi os 的更新比较慢，使用ros不方便，于是想到用ubuntu20.04 server + raspi-config尝试

1. 关于dtparam 这里有比较详细的介绍

docs/0012_dtparam_dtoverlay_DTS动态设备树.md · LowLevelOfLogic/RaspberryPi - Gitee.com

2. 根本问题是缺少dtparm相关的程序

直接 git clone https://github.com/raspberrypi/userland

 然后 ./buildme 就可以

然后会在 /opt/vc 下发现install的结果，也能在/opt/vc/bin下看到dtparam

3. 让sudo下dtparam能找到

sudo chmod +w /etc/sudoers

sudo vim /etc/sudoers

修改 secure_path ，增加 /opt/vc/bin

Defaults        secure_path="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/snap/bin:/opt/vc/bin"

sudo chmod -w /etc/sudoers

4. 然后sudo raspi-config 正常

5. 用命令尝试也ok

sudo dtparam -v i2c_arm=on

DTOVERLAY[debug]: using platform 'bcm2711'
DTOVERLAY[debug]: overlay map loaded
run_cmd: which dtoverlay-pre >/dev/null 2>&1 && dtoverlay-pre
run_cmd: dtc -I fs -O dtb -o '/tmp/.dtoverlays/base.dtb' /proc/device-tree 1>/dev/null 2>&1
DTOVERLAY[debug]: loading file '/tmp/.dtoverlays/base.dtb'
DTOVERLAY[debug]: found override i2c_arm
DTOVERLAY[debug]:   override i2c_arm: string target 'status'
DTOVERLAY[debug]: wrote 162 bytes to '/tmp/.dtoverlays/2_dtparam.dtbo'
DTOVERLAY[debug]: wrote 174 bytes to '/sys/kernel/config/device-tree/overlays/2_dtparam/dtbo'
run_cmd: which dtoverlay-post >/dev/null 2>&1 && dtoverlay-post