Add the LattePanda IOTA setup kit and headless camera profile export
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# Board setup kits
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One directory per board the fleet runs on. A kit holds everything that turns a
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freshly imaged machine into a tower host, and nothing that differs between two
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towers built on the same board:
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```
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<board>/
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packages.txt apt packages the build and the runtime need
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preconditions/ udev rules, tmpfiles.d - the settings that must survive a reboot
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install.sh apply the preconditions, install the packages, probe the
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machine and emit a starting hardware.ini
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NOTES.md quirks found on this board, and when they were last verified
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```
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`install.sh` fills in what a machine can be *asked* - board model, the motor
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MCU's by-id path, the camera's `DEV_` id - and leaves to a human what no probe
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can distinguish from a fault: which axes the gimbal has, whether an IMU or an
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ambient sensor was fitted, and the drivetrain figures. See
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[docs/hardware-config-plan.md](../docs/hardware-config-plan.md) §8 and §10.
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The file it writes is `/etc/fire_gimbal_control/hardware.ini`, deliberately
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outside the directory `deploy.sh` rsyncs: a deploy cannot overwrite what it never
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touches.
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| Kit | Board | State |
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|-----|-------|-------|
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| [lattepanda-iota/](lattepanda-iota/) | LattePanda IOTA (N150, RP2040 MCU) | in use on FWT tower 10.11.12.121 |
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| lattepanda-3-delta/ | LattePanda 3 Delta (N5105, ATmega32U4 MCU) | not written - the Delta fleet predates the kits |
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#!/usr/bin/env bash
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#
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# install.sh - turn a freshly imaged LattePanda IOTA into a fire-watch tower host.
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#
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# Run it ON the device:
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# sudo ./install.sh # everything: deps, preconditions, hardware.ini
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# sudo ./install.sh --deps # apt packages only
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# sudo ./install.sh --preconditions # udev + tmpfiles only, applied immediately
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# ./install.sh --probe # print what this machine looks like, change nothing
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# sudo ./install.sh --vimba ~/VimbaX_2025-3 # install a staged Vimba X SDK
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# ./install.sh --stdout # print the hardware.ini it would write
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#
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# What it can work out for itself: the board, the motor MCU's stable by-id path,
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# the camera's DEV_ id, whether the USB preconditions took. What it cannot, and
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# takes from flags, is what was ASSEMBLED - a missing pitch axis and a broken
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# pitch axis look identical to a probe:
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#
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# --axes yaw (default: yaw,pitch) which axes the gimbal has
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# --imu none (default: none) IMU model, or none
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# --env none (default: none) ambient sensor model, or none
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# --cameras rgb (default: rgb) expected [Camera.<name>] blocks
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#
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# Other flags:
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# --force overwrite an existing hardware.ini (backs it up first)
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# --no-apt-update skip 'apt-get update'
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#
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set -euo pipefail
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HERE="$(cd "$(dirname "$0")" && pwd)"
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ETC_DIR=/etc/fire_gimbal_control
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HW_FILE="$ETC_DIR/hardware.ini"
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AXES="yaw,pitch"
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IMU="none"
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ENV_SENSOR="none"
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CAMERAS="rgb"
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DO_DEPS=0 DO_PRE=0 DO_HW=0 DO_VIMBA=0 PROBE_ONLY=0 TO_STDOUT=0 FORCE=0 APT_UPDATE=1
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VIMBA_SRC=""
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EXPLICIT=0
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while [[ $# -gt 0 ]]; do
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case "$1" in
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--deps) DO_DEPS=1; EXPLICIT=1 ;;
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--preconditions) DO_PRE=1; EXPLICIT=1 ;;
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--hardware-ini) DO_HW=1; EXPLICIT=1 ;;
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--probe) PROBE_ONLY=1; EXPLICIT=1 ;;
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--stdout) TO_STDOUT=1; DO_HW=1; EXPLICIT=1 ;;
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--axes) AXES="$2"; shift ;;
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--imu) IMU="$2"; shift ;;
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--env) ENV_SENSOR="$2"; shift ;;
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--cameras) CAMERAS="$2"; shift ;;
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--vimba) VIMBA_SRC="$2"; DO_VIMBA=1; EXPLICIT=1; shift ;;
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--force) FORCE=1 ;;
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--no-apt-update) APT_UPDATE=0 ;;
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-h|--help) sed -n '2,30p' "$0"; exit 0 ;;
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*) echo "unknown option: $1" >&2; exit 1 ;;
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esac
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shift
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done
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if [[ $EXPLICIT -eq 0 ]]; then DO_DEPS=1; DO_PRE=1; DO_HW=1; fi
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say() { printf '>> %s\n' "$*"; }
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warn() { printf '!! %s\n' "$*" >&2; }
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die() { printf 'error: %s\n' "$*" >&2; exit 1; }
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need_root() { [[ $EUID -eq 0 ]] || die "$1 needs root - re-run with sudo"; }
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# ---------------------------------------------------------------- probing ---
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# Board, from DMI. A kit applied to the wrong board is a real mistake, not a
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# nuisance: the pin map and the device paths below are IOTA-specific.
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probe_board() {
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local dmi=/sys/class/dmi/id/product_name
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[[ -r $dmi ]] || { echo "unknown"; return; }
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case "$(tr -d '\0' < "$dmi")" in
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*IOTA*|*Iota*|*iota*) echo "lattepanda-iota" ;;
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*"3 Delta"*) echo "lattepanda-3-delta" ;;
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*Sigma*) echo "lattepanda-sigma" ;;
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*) echo "unknown" ;;
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esac
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}
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# The motor MCU's stable path. /dev/ttyACM0 is enumeration order and moves when
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# any other USB serial device appears - and this tower has a 5G modem that
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# claims three ttyUSB nodes. Match on what the MCU calls itself:
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# RP2040 running the gimbal firmware (arduino-pico) : "Raspberry_Pi_Pico"
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# RP2040 as shipped, still on MicroPython : "MicroPython_Board"
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# ATmega32U4 (Delta fleet) : "Arduino_LLC_Arduino_Leonardo"
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probe_mcu() {
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local d found=()
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for d in /dev/serial/by-id/*; do
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[[ -e $d ]] || continue
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case "$d" in
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*Raspberry_Pi_Pico*|*MicroPython_Board*|*Arduino_LLC_Arduino*|*Pico*) found+=("$d") ;;
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esac
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done
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(( ${#found[@]} == 1 )) && { echo "${found[0]}"; return; }
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(( ${#found[@]} == 0 )) && { echo ""; return; }
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printf '%s\n' "${found[@]}"
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}
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# The camera's DEV_ id, which is what [Camera.<name>] id takes. Only Vimba knows
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# it - it is NOT the USB serial number - so this needs the SDK installed.
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#
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# Two traps, both hit on tower 121:
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# - The example is called ListCameras_VmbC, not ListCameras.
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# - The SDK ships a Camera Simulator transport layer that is enabled by
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# default and reports three cameras that do not exist (DEV_Cam1..3). Ids are
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# therefore taken only from a block whose transport layer is the USB or GigE
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# TL. A tower configured with DEV_Cam1 would "find its camera" and capture
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# synthetic images forever.
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probe_camera_id() {
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local tool
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for tool in /opt/VimbaX*/bin/ListCameras_VmbC /opt/VimbaX*/bin/ListCameras; do
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[[ -x $tool ]] || continue
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# Non-interactive shells do not source /etc/profile.d, so the GenTL path
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# has to be set here or VmbStartup() fails with error -16 (no transport
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# layer) on a perfectly good installation.
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local cti
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for cti in "${GENICAM_GENTL64_PATH:-}" /opt/VimbaX/cti /opt/VimbaX_*/cti; do
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[[ -d $cti ]] && { export GENICAM_GENTL64_PATH="$cti"; break; }
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done
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"$tool" 2>/dev/null | awk '
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/Camera ID/ { id = $NF }
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/Transport Layer Path/ { if (id != "" && $NF !~ /Simulator/) { print id; exit } }
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'
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return
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done
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echo ""
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}
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probe_report() {
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local board mcu cam
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board="$(probe_board)"; mcu="$(probe_mcu)"; cam="$(probe_camera_id)"
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echo "board : $board"
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echo "os : $(. /etc/os-release && echo "$PRETTY_NAME") ($(uname -r))"
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echo "motor MCU : ${mcu:-NOT FOUND}"
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echo "camera DEV_ id : ${cam:-NOT FOUND (needs the Vimba X SDK installed)}"
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echo "alvium on usb : $(lsusb 2>/dev/null | grep -c '1ab2:' || true) device(s)"
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echo "usbfs_memory_mb : $(cat /sys/module/usbcore/parameters/usbfs_memory_mb 2>/dev/null || echo '?') (want >= 1000)"
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local p
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for p in /sys/bus/usb/devices/*/port/usb3_lpm_permit; do
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[[ -r $p ]] || continue
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local dev; dev="$(basename "$(dirname "$(dirname "$p")")")"
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local vid; vid="$(cat "/sys/bus/usb/devices/$dev/idVendor" 2>/dev/null || true)"
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[[ $vid == 1ab2 ]] && echo "camera lpm_permit: $(cat "$p") (want 0)"
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done
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echo "i2c buses : $(ls /dev/i2c-* 2>/dev/null | tr '\n' ' ')"
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echo "ttyS : $(ls /dev/ttyS[0-9] 2>/dev/null | tr '\n' ' ')"
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}
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# ------------------------------------------------------------------- deps ---
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do_deps() {
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need_root "--deps"
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local pkgs=()
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while read -r line; do
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line="${line%%#*}"; line="$(echo "$line" | tr -d '[:space:]')"
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[[ -n $line ]] && pkgs+=("$line")
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done < "$HERE/packages.txt"
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say "installing ${#pkgs[@]} packages"
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[[ $APT_UPDATE -eq 1 ]] && apt-get update
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DEBIAN_FRONTEND=noninteractive apt-get install -y "${pkgs[@]}"
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say "packages done"
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}
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# ---------------------------------------------------------- preconditions ---
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do_preconditions() {
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need_root "--preconditions"
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install -m 0644 "$HERE/preconditions/99-fwt-alvium-usb.rules" /etc/udev/rules.d/
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install -m 0644 "$HERE/preconditions/99-fwt-rp2040.rules" /etc/udev/rules.d/
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install -m 0644 "$HERE/preconditions/10-fwt-usbfs.conf" /etc/tmpfiles.d/
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say "installed 2 udev rules + tmpfiles.d entry"
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udevadm control --reload
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udevadm trigger --subsystem-match=usb --action=add
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systemd-tmpfiles --create /etc/tmpfiles.d/10-fwt-usbfs.conf
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say "applied to the running system"
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# Report rather than assume: a rule that did not take is the whole point of
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# known-issues #19, and it fails quietly.
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local now; now="$(cat /sys/module/usbcore/parameters/usbfs_memory_mb 2>/dev/null || echo '?')"
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[[ $now == 1000 ]] && say "usbfs_memory_mb = $now" || warn "usbfs_memory_mb is $now, expected 1000"
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local p any=0
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for p in /sys/bus/usb/devices/*/port/usb3_lpm_permit; do
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[[ -r $p ]] || continue
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local dev vid; dev="$(basename "$(dirname "$(dirname "$p")")")"
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vid="$(cat "/sys/bus/usb/devices/$dev/idVendor" 2>/dev/null || true)"
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[[ $vid == 1ab2 ]] || continue
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any=1
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[[ "$(cat "$p")" == 0 ]] && say "camera USB3 LPM disabled ($dev)" \
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|| warn "camera USB3 LPM still $(cat "$p") on $dev"
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done
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[[ $any -eq 0 ]] && warn "no Alvium camera on the bus - LPM rule untested until one is plugged in"
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# The MCU rule is what makes the firmware flashable over ssh, so check it the
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# same way rather than trusting that the rule took.
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local mcu_dev
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mcu_dev="$(grep -l '^2e8a$' /sys/bus/usb/devices/*/idVendor 2>/dev/null | head -1)"
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if [[ -n $mcu_dev ]]; then
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local devnum busnum node
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busnum="$(cat "$(dirname "$mcu_dev")/busnum" 2>/dev/null)"
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devnum="$(cat "$(dirname "$mcu_dev")/devnum" 2>/dev/null)"
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node="$(printf '/dev/bus/usb/%03d/%03d' "$busnum" "$devnum")"
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if [[ -w $node ]]; then
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say "MCU (2e8a) writable at $node - picotool can flash it"
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else
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warn "MCU (2e8a) at $node is not writable; flashing will need sudo"
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ls -l "$node" >&2
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fi
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else
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warn "no 2e8a MCU on the bus - the flashing rule is untested until one is plugged in"
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fi
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return 0
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}
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# ------------------------------------------------------------------ vimba ---
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# The Vimba X SDK is proprietary and login-walled, so it cannot be fetched by a
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# script. Stage it on the device first (rsync it from a machine that has it),
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# then point this at the staged directory:
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#
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# rsync -a ~/Programs/VimbaX_2025-3 ggs@<tower>:~/ # from the dev box
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# sudo ./install.sh --vimba ~ggs/VimbaX_2025-3 # on the tower
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#
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do_vimba() {
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need_root "--vimba"
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[[ -d $VIMBA_SRC ]] || die "--vimba: no such directory: $VIMBA_SRC"
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[[ -x $VIMBA_SRC/cti/Install_GenTL_Path.sh ]] || die "--vimba: $VIMBA_SRC does not look like a Vimba X SDK (no cti/Install_GenTL_Path.sh)"
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local name dest
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name="$(basename "$VIMBA_SRC")"
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dest="/opt/$name"
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if [[ -d $dest && $FORCE -ne 1 ]]; then
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say "$dest already present - not re-copying (--force to replace)"
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else
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say "installing $name to $dest"
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rm -rf "$dest.new"
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cp -a "$VIMBA_SRC" "$dest.new"
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rm -rf "$dest"
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mv "$dest.new" "$dest"
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fi
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# cp -a preserves the staging copy's ownership, which is the ggs user. The
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# SDK is read-only system software and belongs to root.
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chown -R root:root "$dest"
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ln -sfn "$dest" /opt/VimbaX
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say "/opt/VimbaX -> $dest"
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# GENICAM_GENTL64_PATH, or VmbStartup() fails with "Could not start Vimba X
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# API". The SDK's own installer writes /etc/profile.d + the 1ab2 udev rule.
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"$dest/cti/Install_GenTL_Path.sh"
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# Non-interactive ssh shells do not source /etc/profile.d, which is why
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# deploy.sh resolves the path itself - but the loader needs the libraries
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# findable regardless of how the app was started.
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echo "$dest/api/lib" > /etc/ld.so.conf.d/vimbax.conf
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ldconfig
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say "registered $dest/api/lib with the dynamic loader"
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udevadm control --reload && udevadm trigger --subsystem-match=usb --action=add
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local id
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id="$(probe_camera_id)"
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if [[ -n $id ]]; then
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say "camera found: $id"
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else
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warn "no camera reported by ListCameras yet"
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warn "the SDK asks for a reboot before the transport layers are usable"
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fi
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return 0
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}
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# ------------------------------------------------------------ hardware.ini ---
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emit_hardware_ini() {
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local board mcu cam fw_env
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board="$(probe_board)"
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mcu="$(probe_mcu)"
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cam="$(probe_camera_id)"
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case "$board" in
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lattepanda-iota) fw_env="iota_rp2040" ;;
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lattepanda-3-delta|lattepanda-sigma) fw_env="leonardo" ;;
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*) fw_env="UNKNOWN" ;;
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esac
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if [[ $(wc -l <<< "$mcu") -gt 1 ]]; then
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warn "several candidate MCU ports found; pick one by hand:"
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warn "$mcu"
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mcu="CHOOSE_ONE"
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fi
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cat <<EOF
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; hardware.ini - what this machine IS. Generated by hardware/$board/install.sh
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||||||
|
; on $(date -Is) from what the machine reports, plus the assembly
|
||||||
|
; facts given on the command line. See config/hardware.example.ini for the full
|
||||||
|
; reference, and docs/hardware-config-plan.md for why this file exists.
|
||||||
|
|
||||||
|
[Board]
|
||||||
|
model = $board
|
||||||
|
firmware_env = $fw_env
|
||||||
|
|
||||||
|
[Hardware]
|
||||||
|
; DECLARED, not probed: these are what the tower was built with, so that a part
|
||||||
|
; that stops answering is a fault and not a silent reconfiguration.
|
||||||
|
axes = $AXES
|
||||||
|
imu = $IMU
|
||||||
|
env = $ENV_SENSOR
|
||||||
|
cameras = $CAMERAS
|
||||||
|
|
||||||
|
[Serial]
|
||||||
|
; The motor controller MCU, by stable id - /dev/ttyACM* moves when the modem
|
||||||
|
; enumerates first.
|
||||||
|
device = ${mcu:-NOT_FOUND_SET_THIS_BY_HAND}
|
||||||
|
baud = 115200
|
||||||
|
EOF
|
||||||
|
|
||||||
|
if [[ $IMU != none ]]; then
|
||||||
|
cat <<'EOF'
|
||||||
|
|
||||||
|
[IMU]
|
||||||
|
; On the IOTA the only PCH serial on the header is COM1. Confirm it enumerates
|
||||||
|
; and at what levels before trusting this path.
|
||||||
|
device = /dev/ttyS0
|
||||||
|
EOF
|
||||||
|
fi
|
||||||
|
if [[ $ENV_SENSOR != none ]]; then
|
||||||
|
cat <<'EOF'
|
||||||
|
|
||||||
|
[Env]
|
||||||
|
; MUST be a real I2C adapter, not SMBus-only: check with `i2cdetect -F <n>`.
|
||||||
|
; The IOTA exposes no PCH-side I2C on the header, so this is normally a USB-I2C
|
||||||
|
; bridge (MCP2221A), whose bus number depends on enumeration order.
|
||||||
|
i2c_device = SET_THIS_BY_HAND
|
||||||
|
i2c_addr = 0x44
|
||||||
|
EOF
|
||||||
|
fi
|
||||||
|
|
||||||
|
local c
|
||||||
|
for c in ${CAMERAS//,/ }; do
|
||||||
|
c="$(echo "$c" | tr -d '[:space:]')"
|
||||||
|
cat <<EOF
|
||||||
|
|
||||||
|
[Camera.$c]
|
||||||
|
; The Vimba DEV_ id of the physical camera fitted to this tower. Not the USB
|
||||||
|
; serial: read it with VimbaX's ListCameras, which is what this probe does.
|
||||||
|
id = ${cam:-NOT_FOUND_SET_THIS_BY_HAND}
|
||||||
|
EOF
|
||||||
|
done
|
||||||
|
}
|
||||||
|
|
||||||
|
do_hardware_ini() {
|
||||||
|
if [[ $TO_STDOUT -eq 1 ]]; then emit_hardware_ini; return; fi
|
||||||
|
need_root "--hardware-ini"
|
||||||
|
mkdir -p "$ETC_DIR"
|
||||||
|
if [[ -f $HW_FILE && $FORCE -ne 1 ]]; then
|
||||||
|
warn "$HW_FILE exists - leaving it alone (--force to replace)"
|
||||||
|
warn "the file it would write instead:"
|
||||||
|
emit_hardware_ini | sed 's/^/ /' >&2
|
||||||
|
return
|
||||||
|
fi
|
||||||
|
if [[ -f $HW_FILE ]]; then
|
||||||
|
cp -p "$HW_FILE" "$HW_FILE.bak-$(date +%Y%m%d-%H%M%S)"
|
||||||
|
say "backed the previous hardware.ini up"
|
||||||
|
fi
|
||||||
|
emit_hardware_ini > "$HW_FILE"
|
||||||
|
chmod 0644 "$HW_FILE"
|
||||||
|
say "wrote $HW_FILE"
|
||||||
|
grep -n 'SET_THIS_BY_HAND\|CHOOSE_ONE\|UNKNOWN' "$HW_FILE" >/dev/null 2>&1 && {
|
||||||
|
warn "it still has placeholders - edit them before starting the app:"
|
||||||
|
grep -n 'SET_THIS_BY_HAND\|CHOOSE_ONE\|UNKNOWN' "$HW_FILE" | sed 's/^/ /' >&2
|
||||||
|
}
|
||||||
|
return 0
|
||||||
|
}
|
||||||
|
|
||||||
|
# ------------------------------------------------------------------- main ---
|
||||||
|
board="$(probe_board)"
|
||||||
|
if [[ $board != lattepanda-iota ]]; then
|
||||||
|
warn "this kit is for the LattePanda IOTA; this machine reports '$board'"
|
||||||
|
[[ $PROBE_ONLY -eq 1 ]] || die "refusing to apply IOTA preconditions to a $board"
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [[ $PROBE_ONLY -eq 1 ]]; then probe_report; exit 0; fi
|
||||||
|
|
||||||
|
# --stdout has to emit the file and nothing else: its whole purpose is being
|
||||||
|
# redirected into one. The banner belongs on stderr in that case, or it lands in
|
||||||
|
# the middle of the hardware.ini somebody just generated.
|
||||||
|
if [[ $TO_STDOUT -eq 1 ]]; then
|
||||||
|
do_hardware_ini
|
||||||
|
exit 0
|
||||||
|
fi
|
||||||
|
say "LattePanda IOTA setup kit"
|
||||||
|
probe_report | sed 's/^/ /'
|
||||||
|
# if/fi rather than '[[ ]] && cmd': under `set -e` a false test as the last
|
||||||
|
# command of an AND list exits the script.
|
||||||
|
if [[ $DO_DEPS -eq 1 ]]; then do_deps; fi
|
||||||
|
if [[ $DO_VIMBA -eq 1 ]]; then do_vimba; fi
|
||||||
|
if [[ $DO_PRE -eq 1 ]]; then do_preconditions; fi
|
||||||
|
if [[ $DO_HW -eq 1 ]]; then do_hardware_ini; fi
|
||||||
|
say "done"
|
||||||
|
|
@ -0,0 +1,30 @@
|
||||||
|
# apt packages for a LattePanda IOTA tower host. 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
|
||||||
|
|
@ -0,0 +1,12 @@
|
||||||
|
# systemd-tmpfiles: raise the USB filesystem buffer for large camera frames.
|
||||||
|
#
|
||||||
|
# WHY: known-issues #19. usbcore.usbfs_memory_mb defaults to 16 MB, far below a
|
||||||
|
# single full-resolution frame, and reverts on every reboot. 1000 is the value
|
||||||
|
# the Allied Vision documentation asks for.
|
||||||
|
#
|
||||||
|
# 'w' writes the value if the file exists and never creates it, so this is inert
|
||||||
|
# on a machine without usbcore. Applied at boot by systemd-tmpfiles-setup.
|
||||||
|
# The kernel-cmdline alternative (usbcore.usbfs_memory_mb=1000 in GRUB) does the
|
||||||
|
# same job earlier; this one is chosen because it needs no bootloader edit and is
|
||||||
|
# undone by deleting one file.
|
||||||
|
w /sys/module/usbcore/parameters/usbfs_memory_mb - - - - 1000
|
||||||
|
|
@ -0,0 +1,16 @@
|
||||||
|
# Alvium USB3 camera preconditions - fire-watch tower hosts.
|
||||||
|
#
|
||||||
|
# WHY: known-issues #19. On the camera's USB3 link the host re-enables hardware
|
||||||
|
# LPM (U1/U2) on every enumeration; the camera then logs link errors and frame
|
||||||
|
# delivery stalls. The setting lives on the PORT, not on the device, which is
|
||||||
|
# why this writes through the device's 'port' symlink rather than using ATTR{}.
|
||||||
|
#
|
||||||
|
# Verified on the IOTA 2026-09-15: /sys/bus/usb/devices/2-1/port ->
|
||||||
|
# ../2-0:1.0/usb2-port1, usb3_lpm_permit was 'u1_u2' out of the box.
|
||||||
|
#
|
||||||
|
# The MODE line duplicates what the Vimba X transport-layer installer writes to
|
||||||
|
# 99-AVTUSBTL.rules. Kept here so a host that has not run that installer yet
|
||||||
|
# still gets a camera it can open, and harmless where it has.
|
||||||
|
|
||||||
|
ACTION=="add", SUBSYSTEM=="usb", ATTR{idVendor}=="1ab2", MODE="0666"
|
||||||
|
ACTION=="add", SUBSYSTEM=="usb", ATTR{idVendor}=="1ab2", RUN+="/bin/sh -c 'echo 0 > /sys%p/port/usb3_lpm_permit 2>/dev/null || true'"
|
||||||
|
|
@ -0,0 +1,18 @@
|
||||||
|
# RP2040 motor-controller MCU - fire-watch tower hosts (LattePanda IOTA).
|
||||||
|
#
|
||||||
|
# WHY: flashing the firmware needs write access to the board's USB device, and
|
||||||
|
# the default mode is root-only. Without this, picotool finds the board and then
|
||||||
|
# refuses it:
|
||||||
|
#
|
||||||
|
# RP2040 device at bus 1, address 4 appears to be in BOOTSEL mode, but
|
||||||
|
# picotool was unable to connect. Maybe try 'sudo' or check your permissions.
|
||||||
|
#
|
||||||
|
# Matching on the vendor alone covers every mode the board appears in, which is
|
||||||
|
# the point - it changes identity as it is flashed:
|
||||||
|
# 2e8a:0003 RP2 Boot BOOTSEL / mass storage, what picotool writes to
|
||||||
|
# 2e8a:0005 MicroPython the image these boards ship with
|
||||||
|
# 2e8a:000a Pico SDK CDC the gimbal firmware, once flashed
|
||||||
|
#
|
||||||
|
# uaccess covers a logged-in user; the 0666 mode covers a plain ssh session,
|
||||||
|
# which is how a tower is actually reached.
|
||||||
|
SUBSYSTEM=="usb", ATTRS{idVendor}=="2e8a", MODE="0666", TAG+="uaccess"
|
||||||
|
|
@ -0,0 +1,199 @@
|
||||||
|
#!/usr/bin/env python3
|
||||||
|
"""
|
||||||
|
export_camera_profile.py - build a camera profile XML on the tower, headlessly.
|
||||||
|
|
||||||
|
The documented way to make a profile is the VimbaX Viewer: configure the camera
|
||||||
|
in a GUI, save the settings XML. On a tower that is awkward - the machine is
|
||||||
|
headless and reached over ssh - and it is impossible during an unattended
|
||||||
|
install. This does the same job through the SDK's Python API:
|
||||||
|
|
||||||
|
apply a recipe feature by feature, let the CAMERA validate each write,
|
||||||
|
then export what it actually accepted.
|
||||||
|
|
||||||
|
That keeps the property the Viewer workflow is there to provide. GenICam
|
||||||
|
validity is stateful - AcquisitionFrameRate is only writable once
|
||||||
|
AcquisitionFrameRateEnable is set, Width's maximum depends on binning - so a
|
||||||
|
hand-written XML can be individually plausible and collectively wrong. Here
|
||||||
|
every value is written to the real camera in dependency order and read back, and
|
||||||
|
anything the camera refused is reported rather than silently kept.
|
||||||
|
|
||||||
|
Usage, on the tower:
|
||||||
|
|
||||||
|
GENICAM_GENTL64_PATH=/opt/VimbaX/cti ~/.venvs/vmbpy/bin/python \
|
||||||
|
scripts/export_camera_profile.py --profile standard --out config/camera_profiles/rgb
|
||||||
|
|
||||||
|
... --dry-run report what would change, write nothing
|
||||||
|
... --camera DEV_xxx pick a camera explicitly
|
||||||
|
|
||||||
|
Needs vmbpy, which ships with the SDK:
|
||||||
|
|
||||||
|
python3 -m venv ~/.venvs/vmbpy
|
||||||
|
~/.venvs/vmbpy/bin/pip install /opt/VimbaX/api/python/vmbpy-*.whl
|
||||||
|
"""
|
||||||
|
import argparse
|
||||||
|
import os
|
||||||
|
import sys
|
||||||
|
|
||||||
|
try:
|
||||||
|
import vmbpy
|
||||||
|
except ImportError:
|
||||||
|
sys.exit("vmbpy not installed - see the header of this file")
|
||||||
|
|
||||||
|
# Recipes are ordered: binning changes the sensor geometry, and the throughput
|
||||||
|
# limit caps the frame rate, so both come before the rate is set. A feature the
|
||||||
|
# camera does not have is reported and skipped, not fatal: the fleet runs several
|
||||||
|
# Alvium generations and their feature vocabularies differ.
|
||||||
|
RECIPES = {
|
||||||
|
# Daylight. 2x2 binning is not optional at 10 Hz: unbinned RGB8 on a 16 MP
|
||||||
|
# sensor is a 48 MB frame, which is both over the USB ceiling in
|
||||||
|
# known-issues #19 and far too slow to reach 10 fps under any throughput
|
||||||
|
# limit this camera offers.
|
||||||
|
"standard": [
|
||||||
|
("BinningHorizontal", 2),
|
||||||
|
("BinningVertical", 2),
|
||||||
|
("PixelFormat", "RGB8"),
|
||||||
|
("DeviceLinkThroughputLimit", 250000000),
|
||||||
|
("AcquisitionFrameRateEnable", True),
|
||||||
|
("AcquisitionFrameRate", 10.0),
|
||||||
|
("ExposureAuto", "Continuous"),
|
||||||
|
("ExposureAutoMin", 200.0),
|
||||||
|
("ExposureAutoMax", 20000.0),
|
||||||
|
("GainAuto", "Continuous"),
|
||||||
|
("GainAutoMax", 24.0),
|
||||||
|
("IntensityAutoPrecedence", "MinimizeBlur"),
|
||||||
|
("DeviceIndicatorMode", "Active"),
|
||||||
|
("DeviceIndicatorLuminance", 10),
|
||||||
|
],
|
||||||
|
# Night: 1 Hz, long exposures, more gain allowed, noise over motion blur,
|
||||||
|
# and the status LED off so it cannot contaminate a long exposure.
|
||||||
|
"night": [
|
||||||
|
("BinningHorizontal", 2),
|
||||||
|
("BinningVertical", 2),
|
||||||
|
("PixelFormat", "RGB8"),
|
||||||
|
("DeviceLinkThroughputLimit", 250000000),
|
||||||
|
("AcquisitionFrameRateEnable", True),
|
||||||
|
("AcquisitionFrameRate", 1.0),
|
||||||
|
("ExposureAuto", "Continuous"),
|
||||||
|
("ExposureAutoMin", 1000.0),
|
||||||
|
("ExposureAutoMax", 500000.0),
|
||||||
|
("GainAuto", "Continuous"),
|
||||||
|
("GainAutoMax", 48.0),
|
||||||
|
("IntensityAutoPrecedence", "MinimizeNoise"),
|
||||||
|
("DeviceIndicatorMode", "Inactive"),
|
||||||
|
("DeviceIndicatorLuminance", 0),
|
||||||
|
],
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
def apply_feature(cam, name, value, dry_run):
|
||||||
|
try:
|
||||||
|
feat = cam.get_feature_by_name(name)
|
||||||
|
except Exception:
|
||||||
|
return ("missing", name, None, value)
|
||||||
|
try:
|
||||||
|
before = feat.get()
|
||||||
|
except Exception:
|
||||||
|
before = None
|
||||||
|
|
||||||
|
# Clamp a numeric value the camera cannot reach, rather than letting the
|
||||||
|
# write fail and leaving whatever was there before. Without this, exporting
|
||||||
|
# 'standard' right after 'night' wrote a standard profile running at the
|
||||||
|
# night rate: the 10 fps write was refused and 1 fps simply stayed. A
|
||||||
|
# refused write is not a no-op, it is a silently inherited value.
|
||||||
|
clamped = False
|
||||||
|
if isinstance(value, (int, float)) and not isinstance(value, bool):
|
||||||
|
try:
|
||||||
|
lo, hi = feat.get_range()
|
||||||
|
if value > hi:
|
||||||
|
value, clamped = (type(value)(hi) if not isinstance(value, int) else int(hi)), True
|
||||||
|
elif value < lo:
|
||||||
|
value, clamped = (type(value)(lo) if not isinstance(value, int) else int(lo)), True
|
||||||
|
except Exception:
|
||||||
|
pass
|
||||||
|
|
||||||
|
if dry_run:
|
||||||
|
return ("would-clamp" if clamped else "would-set", name, before, value)
|
||||||
|
try:
|
||||||
|
feat.set(value)
|
||||||
|
except Exception as exc:
|
||||||
|
return ("refused", name, before, f"{value} ({type(exc).__name__}: {exc})")
|
||||||
|
try:
|
||||||
|
after = feat.get()
|
||||||
|
except Exception:
|
||||||
|
after = value
|
||||||
|
return ("clamped" if clamped else "set", name, before, after)
|
||||||
|
|
||||||
|
|
||||||
|
def main():
|
||||||
|
ap = argparse.ArgumentParser()
|
||||||
|
ap.add_argument("--profile", default="standard", choices=sorted(RECIPES))
|
||||||
|
ap.add_argument("--out", default="config/camera_profiles/rgb",
|
||||||
|
help="directory to write <profile>.xml into")
|
||||||
|
ap.add_argument("--camera", default=None, help="camera id (default: the first real one)")
|
||||||
|
ap.add_argument("--dry-run", action="store_true")
|
||||||
|
args = ap.parse_args()
|
||||||
|
|
||||||
|
if not os.environ.get("GENICAM_GENTL64_PATH"):
|
||||||
|
for cti in ("/opt/VimbaX/cti",):
|
||||||
|
if os.path.isdir(cti):
|
||||||
|
os.environ["GENICAM_GENTL64_PATH"] = cti
|
||||||
|
break
|
||||||
|
|
||||||
|
with vmbpy.VmbSystem.get_instance() as vmb:
|
||||||
|
cams = vmb.get_all_cameras()
|
||||||
|
if args.camera:
|
||||||
|
cams = [c for c in cams if c.get_id() == args.camera]
|
||||||
|
else:
|
||||||
|
# The SDK's camera simulator transport layer is enabled by default
|
||||||
|
# and offers DEV_Cam1..3. Exporting a profile from one of those
|
||||||
|
# would produce a file that configures nothing real.
|
||||||
|
cams = [c for c in cams if not c.get_id().startswith("DEV_Cam")]
|
||||||
|
if not cams:
|
||||||
|
sys.exit("no real camera found")
|
||||||
|
cam = cams[0]
|
||||||
|
|
||||||
|
with cam:
|
||||||
|
print(f"camera : {cam.get_id()} {cam.get_model()}")
|
||||||
|
print(f"profile : {args.profile}{' (dry run)' if args.dry_run else ''}")
|
||||||
|
refused = []
|
||||||
|
for name, value in RECIPES[args.profile]:
|
||||||
|
state, n, before, after = apply_feature(cam, name, value, args.dry_run)
|
||||||
|
mark = {"set": " ", "would-set": " ?", "missing": " !", "refused": " X",
|
||||||
|
"clamped": " ~", "would-clamp": " ~"}[state]
|
||||||
|
note = " (clamped: the camera cannot reach the recipe's value)" \
|
||||||
|
if state in ("clamped", "would-clamp") else ""
|
||||||
|
print(f"{mark} {n:28} {before} -> {after}{note}")
|
||||||
|
if state in ("missing", "refused"):
|
||||||
|
refused.append(n)
|
||||||
|
|
||||||
|
# What the settings actually cost per frame - the number that decides
|
||||||
|
# whether this profile can be delivered over USB at all.
|
||||||
|
try:
|
||||||
|
w = cam.get_feature_by_name("Width").get()
|
||||||
|
h = cam.get_feature_by_name("Height").get()
|
||||||
|
fmt = cam.get_feature_by_name("PixelFormat").get()
|
||||||
|
bpp = 3 if str(fmt) in ("RGB8", "BGR8") else 1
|
||||||
|
rate = cam.get_feature_by_name("AcquisitionFrameRate").get()
|
||||||
|
mb = w * h * bpp / 1e6
|
||||||
|
print(f"\nresult : {w}x{h} {fmt} {mb:.1f} MB/frame "
|
||||||
|
f"{rate:.2f} fps = {mb * rate:.0f} MB/s")
|
||||||
|
if mb > 20:
|
||||||
|
print("WARNING : over the ~20 MB/frame ceiling in known-issues #19")
|
||||||
|
except Exception:
|
||||||
|
pass
|
||||||
|
|
||||||
|
if args.dry_run:
|
||||||
|
return 0
|
||||||
|
|
||||||
|
os.makedirs(args.out, exist_ok=True)
|
||||||
|
path = os.path.join(args.out, f"{args.profile}.xml")
|
||||||
|
cam.save_settings(path, vmbpy.PersistType.All)
|
||||||
|
print(f"\nwrote : {path}")
|
||||||
|
if refused:
|
||||||
|
print(f"NOTE : not applied: {', '.join(refused)}")
|
||||||
|
print(" the XML records what the camera accepted, not the recipe")
|
||||||
|
return 0
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
sys.exit(main())
|
||||||
Loading…
Reference in New Issue