Add a setup kit for Delta towers, and stop the installer overwriting camera profiles

hardware/lattepanda-3-delta/NOTES.md

@@ -0,0 +1,41 @@
+# LattePanda 3 Delta setup kit
+
+For the Delta fleet: a LattePanda 3 Delta host, an onboard ATmega32U4
+("Arduino Leonardo") driving two TMC5160 boards, yaw and pitch. Run through
+`scripts/install-tower`, or `./install.sh --help` on its own.
+
+## What is known, from tower 111 (surveyed 2026-09-23, read-only)
+
+| | |
+|---|---|
+| OS | Ubuntu 22.04.5 LTS, kernel 6.8 |
+| Motor MCU | `/dev/serial/by-id/usb-Arduino_LLC_Arduino_Leonardo-if00`, USB `2341:8036` |
+| Camera | Alvium, USB `1ab2:0001`, port `2-2` |
+| Modem | Quectel RM520N-GL, four `ttyUSB` nodes |
+| Serial / I2C | `/dev/ttyS0..3`, `/dev/i2c-0..15`; the ambient sensor is on `/dev/i2c-2` |
+| Packages | every entry in `packages.txt` already installed |
+| Preconditions | NOT applied: `usbfs_memory_mb` 16, camera `usb3_lpm_permit` `u1_u2` |
+| `hardware.ini` | none - the tower has never been migrated |
+
+## What this kit has NOT done yet `[untested]`
+
+Nothing here has been applied to a Delta. In particular:
+
+- **`pins.ini` is not a traced loom.** It carries the numbers the firmware ran
+  on before pins moved into `hardware.ini`. Trace one Delta's wiring and replace
+  it with a table the way the IOTA's was done.
+- **The drivetrain is not known in the units `hardware.ini` uses.** The Delta's
+  firmware carried register values (GLOBALSCALER 80 / 50, IRUN 31, SW_MODE
+  0x8A0 / 0x8A3, ENC_DEVIATION 1500). Turning them into milliamps needs each
+  driver board's sense resistor, which has to be read off the board. Until it
+  is, the current keys stay `; TODO` - and so the installer will not flash the
+  new firmware, which would refuse to move without them.
+- **Flashing** keeps the Leonardo's own 1200-baud touch, which is how the Delta
+  fleet has always been flashed; `tools/flash.sh` does nothing extra for it.
+
+## Migrating an existing Delta tower
+
+Host first, firmware second (`docs/hardware-config-plan.md` section 13). The
+installer's order already is: it writes `hardware.ini`, builds the host and runs
+`test hardware` against the OLD firmware before any flash - and blocks the flash
+while a drivetrain value is still a `; TODO`.

hardware/lattepanda-3-delta/install.sh

@@ -0,0 +1,29 @@
+#!/usr/bin/env bash
+#
+# install.sh - set up a LattePanda 3 Delta as a fire-watch tower host (the Delta
+# fleet: ATmega32U4 "Leonardo" motor MCU, two axes). Run it ON the device;
+# --help lists every option. scripts/install-tower drives this for a whole
+# install; this stays usable alone.
+#
+# Everything shared with the other boards' kits is in ../common/kit.sh; what is
+# here is what differs on the Delta. See NOTES.md for what has and has not been
+# run on a real Delta.
+#
+set -euo pipefail
+
+KIT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+KIT_BOARD=lattepanda-3-delta
+KIT_FW_ENV=leonardo
+KIT_MCU_VID=2341
+KIT_DEFAULT_AXES=yaw,pitch
+KIT_IMU_DEVICE=/dev/ttyS0
+KIT_IMU_NOTE="On the Delta the MTi is on the RS-232 header: a hardware UART, not a USB node."
+KIT_ENV_DEVICE=/dev/i2c-2
+KIT_ENV_NOTE="The board's own I2C bus - /dev/i2c-2 on the Delta, not the /dev/i2c-1 default.
+It MUST be a real I2C adapter (i2cdetect -F N: 'I2C = yes'), and i2cdetect
+false-negatives on the SHT4x, so probe with a real measurement."
+
+# shellcheck source=../common/kit.sh
+. "$KIT_DIR/../common/kit.sh"
+# scripts/install-tower sources this file for the facts and probes alone.
+[[ ${KIT_NO_MAIN:-0} == 1 ]] || kit_main "$@"

hardware/lattepanda-3-delta/packages.txt

@@ -0,0 +1,31 @@
+# apt packages for a LattePanda 3 Delta tower host. All present on tower 111
+# (Ubuntu 22.04), 2026-09-23. One per line, '#' comments.
+# Consumed by install.sh --deps.
+
+# --- build toolchain -----------------------------------------------------
+build-essential
+cmake
+git
+pkg-config
+
+# --- fire_gimbal_control build deps --------------------------------------
+# Paho MQTT is fetched by cmake; OpenCV, Boost and libjxl are not.
+libopencv-dev
+libboost-program-options-dev
+libjxl-dev
+libssl-dev
+
+# --- runtime -------------------------------------------------------------
+# tmux: scripts/fgc runs the app detached inside a session.
+tmux
+rsync
+
+# --- firmware build (PlatformIO runs ON the tower, see NOTES.md) ---------
+python3-venv
+python3-pip
+
+# --- diagnostics ---------------------------------------------------------
+# i2c-tools: `i2cdetect -F` proves a bus is real I2C and not SMBus-only.
+# usbutils: lsusb, for camera and MCU enumeration.
+i2c-tools
+usbutils

hardware/lattepanda-3-delta/preconditions/10-fwt-usbfs.conf

@@ -0,0 +1 @@
+../../lattepanda-iota/preconditions/10-fwt-usbfs.conf

hardware/lattepanda-3-delta/preconditions/99-fwt-alvium-usb.rules

@@ -0,0 +1 @@
+../../lattepanda-iota/preconditions/99-fwt-alvium-usb.rules

scripts/install-tower

@@ -182,12 +182,13 @@ py_serial() {
 
 app_running() { "$FGC" status >/dev/null 2>&1; }
 
-# The arguments the running app was started with, from its log header, so a
-# restart puts it back the way it was.
+# The arguments the running app was started with, so a restart puts it back the
+# way it was. From the process itself, not its log: an older build writes no log
+# file, and restarting tower 111 without its --init --start would have left it
+# running but capturing nothing.
 app_args() {
-    local l; l="$(latest_log)" || return 0
-    [[ -n $l ]] || return 0
-    sed -n 's/^argv *//p' "$l" | head -1 | awk '{ for (i = 2; i <= NF; i++) printf "%s%s", $i, (i < NF ? " " : "") }'
+    ps -u "$USER" -o args= 2>/dev/null | grep -m1 -E '^[^ ]*/fire_gimbal_control( |$)' |
+        awk '{ for (i = 2; i <= NF; i++) printf "%s%s", $i, (i < NF ? " " : "") }' || true
 }
 
 # What the firmware on the board reports: "build=... spi=... Y:cs,en P:cs,en".
@@ -588,9 +589,16 @@ else plan platformio change "install PlatformIO Core into ~/.platformio"; fi
 PROFDIR="$REPO/config/camera_profiles/rgb"
 cams="$(ini_get "$HW_VIEW" Hardware cameras 2>/dev/null || echo none)"
 if [[ $cams == none || -z $cams ]]; then plan profiles skip "no camera declared"
-elif [[ -r $PROFDIR/standard.xml && -r $PROFDIR/night.xml ]]; then plan profiles skip "standard + night present"
-elif [[ $HAVE_VIMBA -eq 0 ]]; then plan profiles skip "no Vimba SDK: export later"
-else plan profiles change "export night, then standard, from the camera"; fi
+else
+    # Only what is MISSING. An existing profile was tuned on this camera - tower
+    # 111 has a hand-exported standard.xml and no night.xml - and exporting over
+    # it would replace that tuning with the recipe's defaults.
+    PROF_MISSING=()
+    for prof in night standard; do [[ -r $PROFDIR/$prof.xml ]] || PROF_MISSING+=("$prof"); done
+    if (( ${#PROF_MISSING[@]} == 0 )); then plan profiles skip "standard + night present"
+    elif [[ $HAVE_VIMBA -eq 0 ]]; then plan profiles skip "no Vimba SDK: export ${PROF_MISSING[*]} later"
+    else plan profiles change "export ${PROF_MISSING[*]} from the camera (existing profiles untouched)"; fi
+fi
 
 # Firmware: flash only what differs, and never onto an axis that would sit in
 # NEEDCFG because hardware.ini cannot answer it.
@@ -752,7 +760,7 @@ if [[ ${DO[profiles]} == change ]]; then
         python3 -m venv "$HOME/.venvs/vmbpy"
         "$HOME/.venvs/vmbpy/bin/pip" install -q /opt/VimbaX/api/python/vmbpy-*.whl
     }
-    for prof in night standard; do
+    for prof in "${PROF_MISSING[@]}"; do
         ( cd "$REPO" && GENICAM_GENTL64_PATH=/opt/VimbaX/cti "$HOME/.venvs/vmbpy/bin/python" \
               scripts/export_camera_profile.py --profile "$prof" )
     done