with git:
 opkg install git
 git clone https://github.com/gimx/dbus_ubms.git
 cd dbus_ubms/ext
 git clone https://github.com/victronenergy/velib_python.git

or download the above projects as archives, copy and unzip to root home

 sudo apt-get install libgtk2.0-dev  libdbus-1-dev libgirepository1.0-dev python-gobject python-can
 sudo pip install dbus-python can pygobject

 dbus_ubms/prep_ubms.sh

 python dbus_ubms.py -i can0 -v 29.0 -c 650
 or
 nohup python dbus_ubms.py -i can0 -v 29.0 -c 650 &

 ln -s /home/root/dbus_ubms/service /service/dbus-ubms.can0
 cp rc.local /data/rc.local
 svc -u /service/dbus-ubms.can0

 set SOC calculation to minimum (not average)
 set voltage scaling factor to 1
 set VMU slave mode (error on timeout maybe on or off)
 configure C3 to single discharge/charge contactor, ie no separate charge path, no pre-charge, no on/off charge control
 connect C3 (and route battery + through it)
 connect battery voltage
 connect CAN and CAN 5V supply
 connect +12V for System and Ignition
 in a system with x modules in series and multiple in parallel, module numbers 1 to x have to be assigned to one string, pack voltage calculation depends on this