Support the legacy towers' DHT11 and fan, and fix the installer's reflash and test steps

CMakeLists.txt

@@ -95,6 +95,7 @@ add_library(fgc_core STATIC
   src/core/ChannelTopics.cpp
   src/sensors/I2cBus.cpp
   src/sensors/Sht41Protocol.cpp
+  src/sensors/McuEnvSensor.cpp
   src/ui/UiSnapshot.cpp
   src/ui/Scroll.cpp
   src/ui/HeadlessUi.cpp

config/hardware.example.ini

@@ -46,7 +46,13 @@ axes    = yaw, pitch
 ; is warned about and ignored.
 imu     = none
 ; Ambient temperature/humidity sensor: a model name, or 'none'. Same rule.
+;   sht41  on the host's own I2C bus ([Env] below)
+;   dht11  on the motor MCU, which reads it (the legacy towers; needs [Pins] dht)
 env     = sht41
+; An enclosure fan the motor MCU runs from its DHT11: 'fan', or 'none' (default).
+; The legacy towers: off to 25 C, +20/255 per degree, full from 37.75 C, and full
+; whenever the sensor cannot be read. Needs env = dht11 and [Pins] fan_pwm.
+;cooling = fan
 ; The [Camera.<name>] blocks expected to be present and found.
 cameras = rgb
 ; How much bearing one picture covers, in degrees. Pan mode ('mode pan') cuts
@@ -91,6 +97,13 @@ yaw_cs   = 8
 yaw_en   = 7
 pitch_cs = 1
 pitch_en = 0
+; Parts on the MCU itself - the legacy towers (hardware/lattepanda-3-delta/
+; pins-legacy.ini). Each only with its declaration above; the firmware is built
+; with them only where they are declared, and is unchanged elsewhere.
+;dht         = 9     ; env = dht11
+;fan_pwm     = 10    ; cooling = fan; a PWM pin (Leonardo: 3 5 6 9 10 11 13)
+;fan_tach    = 11    ; optional; lets the host see a fan that has stopped
+;spi_idle_cs = 2     ; another device on the drivers' SPI bus, held deselected
 
 [IMU]
 ; Only read when [Hardware] imu is not 'none'. On the LattePanda 3 Delta the MTi

docs/configuration.md

@@ -430,6 +430,42 @@ measured), both edges included - so `mode pan 90 30` takes six pictures, 75°
 to 105°. It is a property of the camera and lens, so it lives in
 `hardware.ini`. Must be above 0. See [mqtt-api.md](mqtt-api.md#modes-auto-pan-manual).
 
+### The legacy towers: a DHT11 and a fan on the motor MCU
+
+Four towers carry an ambient DHT11 and an enclosure fan wired to the Leonardo
+itself, not to the host. They are declared, not branched:
+
+```ini
+[Hardware]
+axes    = yaw
+env     = dht11          ; read by the motor MCU
+cooling = fan            ; the MCU runs the fan from it
+
+[Pins]                   ; hardware/lattepanda-3-delta/pins-legacy.ini
+yaw_cs = 8
+yaw_en = 7
+dht = 9
+fan_pwm = 10
+fan_tach = 11
+spi_idle_cs = 2
+```
+
+- **The firmware is built with them only where they are declared**
+  (`firmware/tools/gen_wiring.py`); a tower without them gets byte-for-byte the
+  firmware it had.
+- **The fan is the MCU's job**, and keeps running with the host down. The law
+  is the legacy firmware's: off up to 25 °C, +20/255 per degree, full from
+  37.75 °C. The fan runs **at full speed until the first good reading, and
+  after three failed reads in a row**.
+- **What the host does:** the MCU reports every 10 s as
+  `ENV t=<C> h=<%> ok=<0|1> fan=<duty> rpm=<n>`. The host shows it as the
+  ambient sensor ("DHT11 (ambient, via MCU)"), with the fan's duty and rpm.
+- **A fan driven at half speed or more that reads 0 rpm on two readings** is
+  logged as a warning, marked `FAN` on the Sensors panel, and fails
+  `test hardware env`. This needs `fan_tach`.
+- **`spi_idle_cs`** holds a second SPI device's chip select high from power-up,
+  so it never answers on the drivers' bus.
+
 ### One key, not two: declaring a sensor is what enables it
 
 `[Hardware] imu` and `[Hardware] env` name what is fitted. `[Features] enable_imu`

docs/tower-installation.md

@@ -833,6 +833,18 @@ Each tower runs its own RabbitMQ, in Docker, with the `rabbitmq_mqtt` and
 `rabbitmq_shovel` plugins - the shovel is what forwards this tower's messages to
 the ground station. That lives in `~/zkms-client/`, outside this repository.
 
+### A legacy tower (DHT11 and fan on the MCU)
+
+Answer the installer's ambient sensor question with `dht11` and the fan
+question with yes, and choose `loom = legacy`. The firmware is then built with
+the DHT11 and fan (see configuration.md, "The legacy towers").
+
+Check it **on site** after the first flash:
+1. The fan runs at full speed from power-up.
+2. It drops once readings come in, if the box is below 25 °C.
+3. Warming the DHT11 by hand, or with a hair-dryer, spins it up.
+4. `test hardware env` passes, fan leaf included.
+
 ### Phase 4 - IMU and ambient sensor
 
 Only if fitted, and declared in `hardware.ini` (`imu`, `env`) - the declaration

hardware/common/kit.sh

@@ -303,11 +303,36 @@ kv_or_todo() {
     printf '%s\n' "$why" | fold -s -w 72 | sed 's/^/;        /' | sed 's/[[:space:]]*$//'
 }
 
-# `--pin k=v` values as a [Pins] block, or the kit's reference loom, or a TODO.
+# A loom file's lines, keeping only the pins of what this tower declares: a
+# yaw-only tower drops the pitch lines, one without the DHT11 or fan drops
+# theirs. The firmware build refuses a pin for an undeclared part, so copying a
+# loom whole stopped every yaw-only install on the standard Delta loom.
+kit_loom_file() {
+    case "$1" in
+        standard) echo "$KIT_DIR/pins.ini" ;;
+        legacy)   echo "$KIT_DIR/pins-legacy.ini" ;;
+        *)        echo "" ;;
+    esac
+}
+emit_loom() {
+    local file="$1" axes="$2" env="$3" cooling="$4"
+    awk -v axes=",${axes// /}," -v env="$env" -v cooling="$cooling" '
+        /^[[:space:]]*[;#]/ || /^[[:space:]]*\[/ || !index($0, "=") { print; next }
+        {
+            k = substr($0, 1, index($0, "=") - 1); gsub(/[[:space:]]/, "", k)
+            if (k ~ /^pitch_/ && index(axes, ",pitch,") == 0) next
+            if (k == "dht" && env != "dht11") next
+            if (k ~ /^fan_/ && cooling != "fan") next
+            print
+        }' "$file"
+}
+
+# `--pin k=v` values as a [Pins] block, or one of the kit's looms, or a TODO.
 emit_pins() {
-    if [[ $LOOM == standard ]]; then
+    if [[ -n $LOOM ]]; then
-        [[ -r $KIT_DIR/pins.ini ]] || die "--loom standard: this kit has no pins.ini"
+        local file; file="$(kit_loom_file "$LOOM")"
-        cat "$KIT_DIR/pins.ini"
+        [[ -r $file ]] || die "--loom $LOOM: this kit has no $(basename "${file:-pins-$LOOM.ini}")"
+        emit_loom "$file" "$AXES" "$ENV_SENSOR" "$COOLING"
         return
     fi
     if (( ${#PINS[@]} > 0 )); then
@@ -349,6 +374,7 @@ firmware_env = $KIT_FW_ENV
 axes    = $AXES
 imu     = $IMU
 env     = $ENV_SENSOR
+cooling = $COOLING
 cameras = $CAMERAS
 
 [Serial]
@@ -363,7 +389,8 @@ EOF
     if [[ $IMU != none ]]; then
         printf '\n[IMU]\n; %s\ndevice = %s\n' "$KIT_IMU_NOTE" "${IMU_DEVICE:-$KIT_IMU_DEVICE}"
     fi
-    if [[ $ENV_SENSOR != none ]]; then
+    # A DHT11 is read by the motor MCU: there is no bus of the host's to name.
+    if [[ $ENV_SENSOR != none && $ENV_SENSOR != dht11 ]]; then
         printf '\n[Env]\n'
         printf '%s\n' "$KIT_ENV_NOTE" | sed 's/^/; /'
         printf 'i2c_device = %s\ni2c_addr   = 0x44\n' "${I2C_DEVICE:-${KIT_ENV_DEVICE:-SET_THIS_BY_HAND}}"
@@ -444,13 +471,15 @@ hardware/$KIT_BOARD/install.sh - set up a $KIT_BOARD tower host. Run ON the devi
 
 What was ASSEMBLED (a probe cannot tell missing from broken):
     --axes yaw|yaw,pitch    (default: $KIT_DEFAULT_AXES)
-    --imu none|mti          --env none|sht41          --cameras rgb|none
+    --imu none|mti          --env none|sht41|dht11    --cameras rgb|none
+    --cooling none|fan      a fan the motor MCU runs from its DHT11 (legacy towers)
 Overrides for what is otherwise probed:
     --serial PATH           the MCU's /dev/serial/by-id path
     --camera-id DEV_...     the camera's Vimba id
     --imu-device PATH       --i2c-device PATH
 Wiring ([Pins], which the firmware is built from):
-    --loom standard         this kit's reference loom (pins.ini)
+    --loom standard|legacy  one of this kit's looms (pins.ini, pins-legacy.ini), keeping
+                            only the lines for what is declared
     --pin KEY=N             one pin at a time instead (yaw_cs=1, spi_sck=2, ...)
 The drivetrain, per axis - anything not given is written as a ; TODO:
     --motor AXIS.KEY=VALUE  KEY one of: ${KIT_AXIS_KEYS[*]}
@@ -463,7 +492,7 @@ EOF
 }
 
 kit_main() {
-    AXES="$KIT_DEFAULT_AXES" IMU="none" ENV_SENSOR="none" CAMERAS="rgb"
+    AXES="$KIT_DEFAULT_AXES" IMU="none" ENV_SENSOR="none" CAMERAS="rgb" COOLING="none"
     SERIAL_DEVICE="" CAMERA_ID="" IMU_DEVICE="" I2C_DEVICE="" LOOM=""
     DO_DEPS=0 DO_PRE=0 DO_HW=0 DO_VIMBA=0 PROBE_ONLY=0 TO_STDOUT=0 FORCE=0 APT_UPDATE=1
     VIMBA_SRC=""
@@ -483,6 +512,7 @@ kit_main() {
             --axes)          AXES="$2"; shift ;;
             --imu)           IMU="$2"; shift ;;
             --env)           ENV_SENSOR="$2"; shift ;;
+            --cooling)       COOLING="$2"; shift ;;
             --cameras)       CAMERAS="$2"; shift ;;
             --serial)        SERIAL_DEVICE="$2"; shift ;;
             --camera-id)     CAMERA_ID="$2"; shift ;;
@@ -510,7 +540,11 @@ kit_main() {
         shift
     done
     [[ $explicit -eq 0 ]] && { DO_DEPS=1; DO_PRE=1; DO_HW=1; }
-    [[ -z $LOOM || $LOOM == standard ]] || die "--loom takes 'standard' (or use --pin)"
+    [[ -z $LOOM || $LOOM == standard || $LOOM == legacy ]] ||
+        die "--loom takes 'standard' or 'legacy' (or use --pin)"
+    [[ $COOLING == none || $COOLING == fan ]] || die "--cooling takes 'none' or 'fan'"
+    [[ $COOLING == none || $ENV_SENSOR == dht11 ]] ||
+        die "--cooling fan needs --env dht11: the fan runs from the DHT11 on the MCU"
     [[ -n $LOOM && ${#PINS[@]} -gt 0 ]] && die "--loom and --pin are alternatives; give one"
 
     local first key

hardware/lattepanda-3-delta/NOTES.md

@@ -53,6 +53,16 @@ In particular:
   not copy them to another tower without reading that tower's boards and
   firmware revision the same way.
 
+## The legacy loom (`pins-legacy.ini`)
+
+For the four legacy towers: yaw only, with a DHT11 (pin 9) and the enclosure fan
+it runs (PWM 10, tach 11) on the Leonardo, and a second SPI device's chip select
+(pin 2) held high. The pins are transcribed from the legacy firmware (a TMC-API
+Arduino sketch); the yaw pins match the standard loom. Declare it with
+`env = dht11` and `cooling = fan`. The installer offers it as `loom = legacy`,
+and keeps only the lines for what is declared. Not yet run on a real legacy
+tower.
+
 ## Migrating an existing Delta tower
 
 Host first, firmware second (`docs/hardware-config-plan.md` section 13). The

hardware/lattepanda-3-delta/pins-legacy.ini

@@ -0,0 +1,18 @@
+; The legacy loom for a LattePanda 3 Delta tower: the ATmega32U4 (Leonardo) ->
+; one TMC5160 driver board (yaw only), plus parts wired to the MCU itself - an
+; ambient DHT11 and the enclosure fan it runs, and a second SPI device's chip
+; select that must be held high.
+;
+; Transcribed from the legacy firmware these towers ran (a TMC-API Arduino
+; sketch): chipCS 8, enable 7, DHTPIN 9, FAN_PWM 10, FAN_SENS 11, chipCS_enc 2.
+; The yaw pins are the same as the standard loom's.
+;
+; Declares with it, in [Hardware]: axes = yaw, env = dht11, cooling = fan.
+; The installer keeps only the lines for what is declared.
+[Pins]
+yaw_cs      = 8
+yaw_en      = 7
+dht         = 9
+fan_pwm     = 10
+fan_tach    = 11
+spi_idle_cs = 2

include/fgc/Config.h

@@ -39,7 +39,10 @@ struct HardwareConfig {
     // This is the state every existing tower is in until it gets a hardware.ini.
     std::vector<std::string> axes;     // e.g. {"yaw", "pitch"}
     std::string              imu;      // sensor model, or "none"
-    std::string              env;      // sensor model, or "none"
+    std::string              env;      // sensor model, or "none"; dht11 = on the motor MCU
+    // "fan": the motor MCU runs an enclosure fan from its DHT11 (legacy towers).
+    // Needs env = dht11. Empty or "none": no fan.
+    std::string              cooling;
     std::vector<std::string> cameras;  // the [Camera.<name>] blocks expected to exist
     // How much bearing one picture covers, in degrees. Pan mode steps by it:
     // a span is cut into as many pictures as it takes (OperatingMode.h).
@@ -59,6 +62,8 @@ struct HardwareConfig {
     struct Pins {
         long yaw_cs = -1, yaw_en = -1, pitch_cs = -1, pitch_en = -1;
         long spi_sck = -1, spi_mosi = -1, spi_miso = -1;  // RP2040 only
+        // Parts on the MCU itself (legacy towers). -1 = not wired.
+        long dht = -1, fan_pwm = -1, fan_tach = -1, spi_idle_cs = -1;
         bool declared() const { return yaw_cs >= 0 || yaw_en >= 0 || pitch_cs >= 0 ||
                                        pitch_en >= 0 || spi_sck >= 0; }
     } pins;

include/fgc/IMotorController.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <optional>
 #include <string>
 #include <vector>
 
@@ -42,6 +43,17 @@ struct AxisTelemetry {
 };
 
 // Telemetry snapshot from the motor controller: one segment per axis.
+// One "ENV t=<C> h=<%> ok=<0|1> fan=<duty> rpm=<n>" line from the firmware: the
+// DHT11 on the MCU and the enclosure fan it runs (see firmware src/cooling.h).
+struct McuEnvReading {
+    int       temp_c     = 0;
+    int       humidity   = 0;
+    bool      sensor_ok  = false;   // the last read had a good checksum
+    int       fan_duty   = 0;       // 0-255 as driven; 255 is also the failsafe
+    int       fan_rpm    = 0;       // 0 with no tach wired, or a stopped fan
+    long long epoch_ms   = 0;       // when the host received it
+};
+
 struct MotorTelemetry {
     AxisTelemetry yaw;
     AxisTelemetry pitch;
@@ -85,6 +97,11 @@ public:
     // firmware to ask, and a null implementation would have nothing to say.
     virtual std::vector<std::string> takeNeedLines() { return {}; }
 
+    // The latest reading of an ambient DHT11 on the motor MCU and the fan it
+    // drives (firmware "ENV" lines, every 10 s), or nothing on a tower without
+    // one. Thread-safe in implementations. Default: none.
+    virtual std::optional<McuEnvReading> latestEnv() const { return std::nullopt; }
+
     // Whether the underlying link is usable.
     virtual bool connected() const = 0;
 };

include/fgc/SerialMotorController.h

@@ -25,6 +25,7 @@ public:
     std::string    lastDiag() override;
     unsigned       diagSeq() const override;
     std::vector<std::string> takeNeedLines() override;
+    std::optional<McuEnvReading> latestEnv() const override;
     bool           connected() const override;
 
 private:

include/fgc/TelemetryParser.h

@@ -22,4 +22,8 @@ std::optional<MotorTelemetry> parseTelemetryLine(const std::string& line);
 // Parse a single "Y:..." / "P:..." axis segment. Exposed for unit testing.
 std::optional<AxisTelemetry> parseAxisSegment(const std::string& seg);
 
+// "ENV t=23 h=45 ok=1 fan=0 rpm=0" -> a reading (epoch_ms left 0). Keys in any
+// order; t, h and ok required, fan and rpm optional. Nothing for anything else.
+std::optional<McuEnvReading> parseEnvLine(const std::string& line);
+
 }  // namespace fgc

include/fgc/sensors/McuEnvSensor.h

@@ -0,0 +1,43 @@
+#pragma once
+
+#include "fgc/IEnvSensor.h"
+#include "fgc/IMotorController.h"
+
+#include <functional>
+
+namespace fgc {
+
+// A fan driven at half speed or more whose tach reads nothing: dead, jammed or
+// unplugged. Only meaningful where a tach is wired - without one rpm is always 0.
+inline bool fanLooksStalled(const McuEnvReading& r) {
+    return r.fan_duty >= 128 && r.fan_rpm == 0;
+}
+
+// An ambient DHT11 wired to the motor MCU ([Hardware] env = dht11) - the legacy
+// towers' sensor. The firmware reads it every 10 s and prints an ENV line; this
+// serves the latest one through the ordinary IEnvSensor interface, so the
+// sensors panel, the log and `test hardware env` treat it like any other.
+//
+// No reading when the firmware's last read failed its checksum, or when no ENV
+// line has arrived for 2.5 read periods - a firmware built without the sensor,
+// or a link that has gone quiet.
+class McuEnvSensor : public IEnvSensor {
+public:
+    static constexpr long long kStaleMs = 25000;
+
+    explicit McuEnvSensor(IMotorController& motor, std::function<long long()> now_ms = {});
+
+    void start() override {}
+    void stop() override {}
+    bool connected() const override;
+    std::optional<EnvSample> sample() override;
+    std::string name() const override { return "DHT11"; }
+
+private:
+    std::optional<EnvSample> current() const;
+
+    IMotorController&          motor_;
+    std::function<long long()> now_ms_;
+};
+
+}  // namespace fgc

include/fgc/ui/UiSnapshot.h

@@ -95,6 +95,9 @@ struct SensorsView {
     // ImuConfigView::problems). Flagged on the compact panel too, because the
     // readings above are wrong in a way that reading them cannot reveal.
     bool imu_config_alert = false;
+    // An enclosure fan driven hard but not turning (legacy towers). Flagged here
+    // too: it is the fault that stays invisible until the box overheats.
+    bool fan_alert = false;
 };
 
 // One auto-sweep scan-grid waypoint, for the expanded camera view.
@@ -264,6 +267,14 @@ struct EnvView {
     std::string i2c_device;       // from EnvConfig, for the bus row
     unsigned    i2c_addr  = 0;
     int         period_ms = 0;
+    // A DHT11 on the motor MCU (legacy towers) - no bus of our own to show - and
+    // the enclosure fan the MCU runs from it.
+    bool        on_mcu      = false;
+    bool        fan         = false;   // [Hardware] cooling = fan
+    bool        fan_tach    = false;   // a tach is wired, so rpm means something
+    int         fan_duty    = 0;       // 0-255
+    int         fan_rpm     = 0;
+    bool        fan_stalled = false;   // driven, but the tach reads nothing
 };
 
 // Status of the currently-running special operation (calibration, diagnostics,

scripts/install-tower

@@ -202,7 +202,7 @@ firmware_report() {
             [[ -n $l ]] && grep -q '^DUMP BEGIN' "$l" && break
             sleep 1; l="$(latest_log)"
         done
-        [[ -n $l ]] && text="$(grep -E '^DUMP (BEGIN|[YP] state)' "$l" | tail -3)"
+        [[ -n $l ]] && text="$(grep -E '^DUMP (BEGIN|[YP] state|ENV )' "$l" | tail -4)"
     else
         local py port; py="$(py_serial)" || return 0
         port="$(ini_get "$HW" Serial device 2>/dev/null || true)"
@@ -215,7 +215,7 @@ time.sleep(1.5); s.reset_input_buffer(); s.write(b"DUMP\r\n")
 end = time.time() + 3
 while time.time() < end:
     l = s.readline().decode(errors="replace").strip()
-    if l.startswith("DUMP BEGIN") or (l.startswith("DUMP ") and " state=" in l): print(l)
+    if l.startswith("DUMP BEGIN") or l.startswith("DUMP ENV ") or (l.startswith("DUMP ") and " state=" in l): print(l)
     if l.startswith("DUMP END"): break
 PYEOF
 )"
@@ -226,17 +226,27 @@ PYEOF
     spi="$(sed -n 's/.*DUMP BEGIN.* spi=\([0-9,]*\).*/\1/p' <<< "$text" | tail -1)"
     y="$(sed -n 's/^DUMP Y .* cs=\([0-9]*\) en=\([0-9]*\).*/\1,\2/p' <<< "$text" | tail -1)"
     p="$(sed -n 's/^DUMP P .* cs=\([0-9]*\) en=\([0-9]*\).*/\1,\2/p' <<< "$text" | tail -1)"
-    echo "build=${build:-?} spi=${spi:--} Y=${y:--} P=${p:--}"
+    # The parts on the MCU itself (legacy towers): dht,fan_pwm,fan_tach, - when absent.
+    local e="" ln; ln="$(grep '^DUMP ENV ' <<< "$text" | tail -1)"
+    if [[ -n $ln ]]; then
+        local d f t
+        d="$(sed -n 's/.* dht=\([0-9]*\).*/\1/p' <<< "$ln")"
+        f="$(sed -n 's/.* fan_pwm=\([0-9]*\).*/\1/p' <<< "$ln")"
+        t="$(sed -n 's/.* fan_tach=\([0-9]*\).*/\1/p' <<< "$ln")"
+        e="${d:--},${f:--},${t:--}"
+    fi
+    echo "build=${build:-?} spi=${spi:--} Y=${y:--} P=${p:--} E=${e:--}"
 }
 
-# Does what the firmware reports match what hardware.ini declares? Only the
+# Does what the firmware reports match what hardware.ini declares? Every field
-# declared fields count, as in `test hardware motor`: a Leonardo declares no SPI
+# counts - an axis or a DHT11 the firmware has and the file does not, or the
-# pins (they are fixed), so whatever an older build reports for them is moot.
+# other way round, needs a rebuild - except undeclared SPI pins: a Leonardo
+# declares none (they are fixed), so whatever a build reports for them is moot.
 pins_match() {
-    local now="$1" want="$2" f v
+    local now="$1" want="$2" f
     [[ -n $now ]] || return 1
     for f in $want; do
-        v="${f#*=}"; [[ $v == - ]] && continue
+        [[ $f == spi=- ]] && continue
         [[ " $now " == *" $f "* ]] || return 1
     done
 }
@@ -252,7 +262,13 @@ declared_pins() {
     [[ -n $a ]] && y="$a,$b"
     a="$(ini_get "$HW" Pins pitch_cs 2>/dev/null || true)"; b="$(ini_get "$HW" Pins pitch_en 2>/dev/null || true)"
     [[ -n $a ]] && p="$a,$b"
-    echo "spi=$spi Y=$y P=$p"
+    local e="-"
+    a="$(ini_get "$HW" Pins dht 2>/dev/null || true)"
+    if [[ -n $a ]]; then
+        b="$(ini_get "$HW" Pins fan_pwm 2>/dev/null || true)"; c="$(ini_get "$HW" Pins fan_tach 2>/dev/null || true)"
+        e="$a,${b:--},${c:--}"
+    fi
+    echo "spi=$spi Y=$y P=$p E=$e"
 }
 
 # Each gap in hardware.ini, named with its section: "[Motor.pitch] sw_mode".
@@ -321,13 +337,26 @@ run_test() {
     # The app holds the serial port, so a test runs INSIDE it when it is up, and
     # as a one-shot run of the binary when it is not.
     if app_running; then
-        local pane before after
+        local pane before after restore=""
         pane="$(tmux list-panes -t "=${FGC_SESSION:-fgc}" -F '#{pane_id}' | head -1)"
         before="$(ls -t "$LOGDIR"/test_*.log 2>/dev/null | head -1)"
-        if tmux capture-pane -p -t "$pane" | grep -q '╭'; then
+        app_cmd() {   # one command line into the running program, dashboard or console
-            tmux send-keys -t "$pane" ':'; sleep 0.5
+            if tmux capture-pane -p -t "$pane" | grep -q '╭'; then
-        fi
+                tmux send-keys -t "$pane" ':'; sleep 0.5
-        tmux send-keys -t "$pane" "test $sel" Enter
+            fi
+            tmux send-keys -t "$pane" -l "$1"; tmux send-keys -t "$pane" Enter
+        }
+        # Tests run in manual mode only - auto and pan refuse them. Note the mode,
+        # switch for the test, and put it back afterwards, pan's arguments and all.
+        app_cmd "mode"; sleep 1
+        local m; m="$(grep -oE '\] mode (auto|manual|pan: heading [^,]+, span [^,]+, pitch [^ ]+)' \
+                      "$(latest_log)" 2>/dev/null | tail -1 | sed 's/^\] //')"
+        case "$m" in
+            "mode auto") restore="mode auto" ;;
+            "mode pan: "*) restore="$(sed -E 's/mode pan: heading ([^,]+), span ([^,]+), pitch (.+)/mode pan \1 \2 \3/' <<< "$m")" ;;
+        esac
+        if [[ -n $restore ]]; then say "switching to manual for the test (was: $restore)"; app_cmd "mode manual"; sleep 2; fi
+        app_cmd "test $sel"
         for _ in $(seq 1 60); do
             after="$(ls -t "$LOGDIR"/test_*.log 2>/dev/null | head -1)"
             [[ -n $after && $after != "$before" ]] && break
@@ -340,10 +369,13 @@ run_test() {
             else
                 warn "no test report appeared"
             fi
-            TEST_RC=5; return
+            TEST_RC=5
+            [[ -n $restore ]] && app_cmd "$restore"
+            return
         fi
         grep -E '^\[|  ; ' "$after" | sed 's/^/   /'
         grep -q '^result = PASS' "$after" && TEST_RC=0 || TEST_RC=4
+        if [[ -n $restore ]]; then sleep 2; app_cmd "$restore"; say "back to: $restore"; fi
     else
         local out="$WORK/test.out"
         TEST_RC=0
@@ -452,13 +484,31 @@ declare -a HW_SETS=()     # key edits, when there is one
 declare -a HW_FILLS=()    # "axis key value": a ; TODO answered now, filled in place
 TODO_LEFT=0
 HW_APPEND_PINS=0
+# Sets LOOM_A to the loom chosen (standard / legacy), or "" to give each pin.
+# Returns 0 when a loom was chosen. Only the lines for what the tower declares
+# are kept, so a yaw-only tower takes the standard loom without its pitch pins.
+LOOM_A=""
 choose_pins() {
+    local names="standard" n
+    [[ -r $KIT/pins-legacy.ini ]] && names+=" legacy"
     echo
     echo "Wiring ([Pins]) - the firmware is built from it, and a chip-select on the"
-    echo "wrong pin writes into a driver that was never meant to hear it. The standard"
+    echo "wrong pin writes into a driver that was never meant to hear it. This board's looms:"
-    echo "loom for this board is hardware/$S_BOARD/pins.ini:"
+    for n in $names; do
-    sed -n '/^\[Pins\]/,$p' "$KIT/pins.ini" | sed 's/^/    /'
+        echo "  $n  (hardware/$S_BOARD/$(basename "$(kit_loom_file "$n")")):"
-    ask_yn loom "Is this tower wired exactly to that loom?" n
+        emit_loom "$(kit_loom_file "$n")" "${AXES_A:-$declared_axes_now}" "${ENV_A:-none}" \
+                  "${COOLING_A:-none}" | sed -n '/^\[Pins\]/,$p' | sed 's/^/      /'
+    done
+    while :; do
+        ask loom "Is this tower wired exactly to one of them? (${names// /, }, or n to give each pin)" n
+        case "${REPLY_VAL,,}" in
+            y|yes|standard) LOOM_A=standard; return 0 ;;
+            legacy) [[ $names == *legacy* ]] && { LOOM_A=legacy; return 0; } ;;
+            n|no)   LOOM_A=""; return 1 ;;
+        esac
+        warn "'$REPLY_VAL' is not one of: ${names// /, }, n"; unset "ANS[loom]"
+        [[ $NONINTERACTIVE -eq 1 ]] && die "bad value for 'loom'"
+    done
 }
 if [[ ! -r $HW ]]; then
     echo
@@ -467,9 +517,16 @@ if [[ ! -r $HW ]]; then
     ask axes "Axes fitted (yaw, or yaw,pitch)" "$KIT_DEFAULT_AXES"; AXES_A="${REPLY_VAL// /}"
     [[ $AXES_A == yaw || $AXES_A == yaw,pitch ]] || die "axes must be 'yaw' or 'yaw,pitch' (the firmware's axis 0 is yaw)"
     ask imu "IMU model, or none" none; IMU_A="$REPLY_VAL"
-    ask env "Ambient sensor model, or none" none; ENV_A="$REPLY_VAL"
+    ask env "Ambient sensor model (sht41 on the host's I2C, dht11 on the motor MCU), or none" none
+    ENV_A="${REPLY_VAL,,}"
+    COOLING_A=none
+    if [[ $ENV_A == dht11 ]]; then
+        explain "the legacy towers: the motor MCU reads the DHT11 and runs the enclosure fan from it - off to 25 C, full from 37.75 C, full whenever the sensor cannot be read"
+        ask_yn fan "Does the motor MCU run an enclosure fan from it?" y && COOLING_A=fan
+    fi
     ask cameras "Cameras (rgb, or none)" "$([[ $HAVE_VIMBA -eq 1 ]] && echo rgb || echo none)"; CAMS_A="$REPLY_VAL"
-    KIT_ARGS=(--stdout --axes "$AXES_A" --imu "$IMU_A" --env "$ENV_A" --cameras "$CAMS_A")
+    KIT_ARGS=(--stdout --axes "$AXES_A" --imu "$IMU_A" --env "$ENV_A" --cooling "$COOLING_A"
+              --cameras "$CAMS_A")
     if (( S_MCU_N > 1 )); then
         echo "Several MCU candidates:"; nl -w2 -s') ' <<< "$S_MCU"
         ask serial "Which is the motor MCU (full path)"
@@ -483,15 +540,17 @@ if [[ ! -r $HW ]]; then
         KIT_ARGS+=(--camera-id "$REPLY_VAL")
     fi
     [[ $IMU_A != none ]] && { ask imu_device "IMU serial device" "$KIT_IMU_DEVICE"; KIT_ARGS+=(--imu-device "$REPLY_VAL"); }
-    if [[ $ENV_A != none ]]; then
+    if [[ $ENV_A != none && $ENV_A != dht11 ]]; then
         ask i2c_device "Ambient sensor I2C bus (check it with i2cdetect -F)" "$KIT_ENV_DEVICE"
         KIT_ARGS+=(--i2c-device "$REPLY_VAL")
     fi
-    if choose_pins; then KIT_ARGS+=(--loom standard)
+    if choose_pins; then KIT_ARGS+=(--loom "$LOOM_A")
     else
         echo "Then give each pin (GPn number):"
         keys=(); [[ $KIT_FW_ENV == *rp2040* ]] && keys+=(spi_sck spi_mosi spi_miso)
         for ax in ${AXES_A//,/ }; do keys+=("${ax}_cs" "${ax}_en"); done
+        [[ $ENV_A == dht11 ]] && keys+=(dht)
+        [[ $COOLING_A == fan ]] && keys+=(fan_pwm fan_tach)
         for k in "${keys[@]}"; do ask "pin.$k" "  $k"; KIT_ARGS+=(--pin "$k=$REPLY_VAL"); done
     fi
     echo
@@ -521,6 +580,7 @@ else
     # An existing file is the tower's record: never regenerated, only topped up.
     if ! grep -q '^\[Pins\]' "$HW"; then
         echo; echo "hardware.ini has no [Pins], and the firmware cannot be built without it."
+        declared_axes_now="$(ini_get "$HW" Hardware axes 2>/dev/null | tr -d ' ' || echo yaw)"
         choose_pins && HW_APPEND_PINS=1 ||
             warn "add [Pins] to $HW by hand (the format is in config/hardware.example.ini)"
     fi
@@ -664,7 +724,7 @@ else
     grep -q '^\[Pins\]' "$HW" || [[ $HW_APPEND_PINS -eq 1 ]] || todo_n=$((todo_n + 1))
 fi
 (( todo_n > 0 )) && FW_BLOCK="hardware.ini still has $todo_n gap(s): the firmware would sit in NEEDCFG, or not build"
-want_pins="$( (HW="$HW_VIEW"; [[ $HW_APPEND_PINS -eq 1 ]] && { cat "$HW" "$KIT/pins.ini" > "$WORK/hw_pins.ini"; HW="$WORK/hw_pins.ini"; }; declared_pins) )"
+want_pins="$( (HW="$HW_VIEW"; [[ $HW_APPEND_PINS -eq 1 ]] && { cat "$HW" "$(kit_loom_file "$LOOM_A")" > "$WORK/hw_pins.ini"; HW="$WORK/hw_pins.ini"; }; declared_pins) )"
 if [[ -n $FW_BLOCK ]]; then plan firmware blocked "$FW_BLOCK"
 elif [[ -n $S_FW_NOW && ${S_FW_NOW%% *} == "build=$S_FW_REV" ]] && pins_match "$S_FW_NOW" "$want_pins"; then
     plan firmware skip "running $S_FW_REV, built with the declared pins"
@@ -765,7 +825,10 @@ elif [[ ${DO[hardware.ini]} == change ]]; then
     hr hardware.ini
     sudo cp -p "$HW" "$HW.bak-$(date +%Y%m%d-%H%M%S)"
     if [[ $HW_APPEND_PINS -eq 1 ]]; then
-        { printf '\n'; cat "$KIT/pins.ini"; } | sudo tee -a "$HW" > /dev/null; say "added [Pins]"
+        { printf '\n'; emit_loom "$(kit_loom_file "$LOOM_A")" "$declared_axes_now" \
+              "$(ini_get "$HW" Hardware env 2>/dev/null || echo none)" \
+              "$(ini_get "$HW" Hardware cooling 2>/dev/null || echo none)"; } |
+            sudo tee -a "$HW" > /dev/null; say "added [Pins]"
     fi
     if (( ${#HW_FILLS[@]} )); then
         # In place of the ; TODO and its explanation, so the value sits where the

src/core/Application.cpp

@@ -34,6 +34,7 @@
 #include "fgc/mock/MockImuSource.h"
 #include "fgc/mock/MockMotorController.h"
 #include "fgc/mock/NullControlChannel.h"
+#include "fgc/sensors/McuEnvSensor.h"
 #include "fgc/sensors/Sht41EnvSensor.h"
 #include "fgc/ui/HeadlessUi.h"
 #include "fgc/ui/IUserInterface.h"
@@ -282,6 +283,9 @@ struct Application::Impl {
     std::atomic<bool>        imu_pitch_warned_{false};
     // The TUI heading wizard is aiming by hand; blocks a scan from starting.
     bool                     heading_setup_active_ = false;
+    long long                fan_seen_ms_ = 0;       // last ENV reading checkFan() judged
+    int                      fan_stall_count_ = 0;   // consecutive stalled readings
+    bool                     fan_stalled_ = false;
     std::vector<HeadingSighting> heading_marks_;   // `gimbal heading mark`s this setup
 
     std::atomic<bool>       running{true};
@@ -363,6 +367,9 @@ struct Application::Impl {
             return nullptr;  // sensors panel stays "pending"
         if (force_mock || cfg.features.mock_env)
             return std::make_unique<MockEnvSensor>(std::chrono::milliseconds(cfg.env.period_ms));
+        // The legacy towers' DHT11 hangs off the motor MCU, which reads it and
+        // reports each reading on the serial link - there is no bus here to open.
+        if (cfg.hardware.env == "dht11") return std::make_unique<McuEnvSensor>(*motor);
         if (cfg.env.i2c_device.empty()) {
             LOG_WARN << "Env sensor enabled but [Env] i2c_device is empty; disabling";
             return nullptr;
@@ -823,6 +830,25 @@ struct Application::Impl {
             s.env.i2c_device = cfg.env.i2c_device;
             s.env.i2c_addr   = cfg.env.i2c_addr;
             s.env.period_ms  = cfg.env.period_ms;
+            if (cfg.hardware.env == "dht11") {
+                s.env.on_mcu    = true;
+                s.env.period_ms = 10000;   // the firmware's own read period
+            }
+            s.env.fan      = cfg.hardware.cooling == "fan";
+            s.env.fan_tach = cfg.hardware.pins.fan_tach >= 0;
+            if (auto r = motor ? motor->latestEnv() : std::nullopt) {
+                s.env.fan_duty = r->fan_duty;
+                s.env.fan_rpm  = r->fan_rpm;
+            }
+            s.env.fan_stalled = fan_stalled_;
+            s.sensors.env.title = env->name() + (s.env.on_mcu ? " (ambient, via MCU)" : " (ambient)");
+            s.sensors.fan_alert = fan_stalled_;
+            if (s.env.fan) {
+                // The duty as a percentage, and the rpm where a tach says what it is.
+                std::string v = std::to_string(s.env.fan_duty * 100 / 255) + "%";
+                if (s.env.fan_tach) v += "  " + std::to_string(s.env.fan_rpm) + " rpm";
+                s.sensors.env.fields.push_back({"Fan", v, "", true});
+            }
             if (auto m = env->sample()) {
                 s.env.present      = true;
                 s.env.temp_c       = m->temp_c;
@@ -1057,6 +1083,25 @@ struct Application::Impl {
     // Warn (once per excursion) when an axis's live encoder error |xactual-xenc|
     // crosses the configured limit, so positional slip is visible in the log
     // without watching the gimbal view. Hysteresis re-arms at 75% of the limit.
+    // A legacy tower's enclosure fan, driven hard but not turning, on two
+    // readings in a row (20 s): said once, and again when it recovers. Nothing
+    // on a tower without a fan, or without a tach to tell.
+    void checkFan() {
+        if (cfg.hardware.cooling != "fan" || cfg.hardware.pins.fan_tach < 0) return;
+        const auto r = motor->latestEnv();
+        if (!r || r->epoch_ms == fan_seen_ms_) return;
+        fan_seen_ms_ = r->epoch_ms;
+        fan_stall_count_ = fanLooksStalled(*r) ? fan_stall_count_ + 1 : 0;
+        const bool stalled = fan_stall_count_ >= 2;
+        if (stalled && !fan_stalled_)
+            LOG_WARN << "enclosure fan driven at " << r->fan_duty
+                     << "/255 but its tach reads 0 rpm - dead, jammed or unplugged; the box "
+                        "is not being cooled (" << r->temp_c << " C inside)";
+        else if (!stalled && fan_stalled_)
+            LOG_INFO << "enclosure fan turning again (" << r->fan_rpm << " rpm)";
+        fan_stalled_ = stalled;
+    }
+
     void checkTrackingError() {
         const long limit = cfg.enc_error_warn_counts;
         if (limit <= 0) return;  // disabled
@@ -2396,6 +2441,11 @@ struct Application::Impl {
         resume_pan_after_test_  = scheduler->pan();
         if (resume_mode_after_test_ != Mode::Manual)
             setMode(Mode::Manual);  // free the serial link; don't fight the routine's moves
+        // Manual mode stops the camera's stream, and `test camera` counts the
+        // frames it delivers: without this, every test run in manual - which is
+        // every typed one - failed "the camera delivers whole frames" on a camera
+        // that was fine. Left running afterwards, as a snapshot leaves it.
+        if (camera) camera->start();
         LOG_INFO << "starting hardware test (profile '" << profile.name << "')";
         // What `test hardware` needs beyond the motor and IMU: the declaration to
         // check against, and the subsystems that answer for themselves.
@@ -2990,6 +3040,7 @@ struct Application::Impl {
             pollBackgroundResults();  // apply calibration result / emit DIAG summary+log
             scheduler->tick();
             checkTrackingError();     // warn on live encoder-error excursions
+            checkFan();               // a legacy tower's fan, driven but not turning
             publishSnapshot();
             std::this_thread::sleep_for(std::chrono::milliseconds(10));
         }

src/core/Config.cpp

@@ -246,6 +246,16 @@ AppConfig ConfigLoader::fromMap(const std::map<std::string, std::string>& kv) {
     cfg.hardware.cameras = splitList(get(kv, "Hardware.cameras"));
     cfg.hardware.imu     = lowered(get(kv, "Hardware.imu"));
     cfg.hardware.env     = lowered(get(kv, "Hardware.env"));
+    cfg.hardware.cooling = lowered(get(kv, "Hardware.cooling"));
+    // The same rules the firmware build applies (firmware/tools/gen_wiring.py):
+    // the fan is run from the DHT11's temperature, on the MCU.
+    if (!cfg.hardware.cooling.empty() && cfg.hardware.cooling != "none" &&
+        cfg.hardware.cooling != "fan")
+        throw std::runtime_error("Hardware.cooling must be 'none' or 'fan' (got '" +
+                                 cfg.hardware.cooling + "')");
+    if (cfg.hardware.cooling == "fan" && cfg.hardware.env != "dht11")
+        throw std::runtime_error("Hardware.cooling = fan needs Hardware.env = dht11: the fan "
+                                 "is driven from the temperature the motor MCU reads");
     {
         auto& p = cfg.hardware.pins;
         p.yaw_cs   = getInt(kv, "Pins.yaw_cs", -1);
@@ -255,6 +265,10 @@ AppConfig ConfigLoader::fromMap(const std::map<std::string, std::string>& kv) {
         p.spi_sck  = getInt(kv, "Pins.spi_sck", -1);
         p.spi_mosi = getInt(kv, "Pins.spi_mosi", -1);
         p.spi_miso = getInt(kv, "Pins.spi_miso", -1);
+        p.dht         = getInt(kv, "Pins.dht", -1);
+        p.fan_pwm     = getInt(kv, "Pins.fan_pwm", -1);
+        p.fan_tach    = getInt(kv, "Pins.fan_tach", -1);
+        p.spi_idle_cs = getInt(kv, "Pins.spi_idle_cs", -1);
     }
     if (kv.count("Hardware.pan_step_deg")) {
         cfg.hardware.pan_step_deg = getDouble(kv, "Hardware.pan_step_deg", 0.0);

src/core/HardwarePresence.cpp

@@ -87,9 +87,12 @@ PresenceReport reconcilePresence(const HardwareConfig& declared, const FoundHard
     // ---- env sensor ----
     if (names(declared.env) && !found.env)
         missing(r, "env",
-                "declared as '" + declared.env +
+                "declared as '" + declared.env + "' but no ambient sensor came up -- " +
-                    "' but no ambient sensor came up -- check [Env] i2c_device, and that it is a "
+                    (declared.env == "dht11"
-                    "real I2C adapter rather than SMBus-only");
+                         ? std::string("the motor MCU reads it: was the firmware built with "
+                                       "[Pins] dht?")
+                         : std::string("check [Env] i2c_device, and that it is a real I2C "
+                                       "adapter rather than SMBus-only")));
     if (stated(declared.env) && !names(declared.env) && found.env)
         undeclared(r, "env", "running, but [Hardware] env says none -- the declaration is stale");
 

src/core/TelemetryParser.cpp

@@ -95,4 +95,31 @@ std::optional<MotorTelemetry> parseTelemetryLine(const std::string& line) {
     return t;
 }
 
+std::optional<McuEnvReading> parseEnvLine(const std::string& line) {
+    if (line.rfind("ENV ", 0) != 0) return std::nullopt;
+    McuEnvReading r;
+    bool t = false, h = false, ok = false;
+    std::istringstream in(line.substr(4));
+    for (std::string kv; in >> kv;) {
+        const auto eq = kv.find('=');
+        if (eq == std::string::npos) continue;
+        const std::string k = kv.substr(0, eq);
+        int v = 0;
+        try {
+            size_t used = 0;
+            v = std::stoi(kv.substr(eq + 1), &used);
+            if (used != kv.size() - eq - 1) return std::nullopt;
+        } catch (const std::exception&) {
+            return std::nullopt;
+        }
+        if (k == "t")        { r.temp_c = v;    t = true; }
+        else if (k == "h")   { r.humidity = v;  h = true; }
+        else if (k == "ok")  { r.sensor_ok = v != 0; ok = true; }
+        else if (k == "fan") r.fan_duty = v;
+        else if (k == "rpm") r.fan_rpm = v;
+    }
+    if (!t || !h || !ok) return std::nullopt;
+    return r;
+}
+
 }  // namespace fgc

src/core/TestRunner.cpp

@@ -1,5 +1,7 @@
 #include "fgc/TestRunner.h"
 
+#include "fgc/sensors/McuEnvSensor.h"
+
 #include "fgc/Calibration.h"  // unwrapNear
 
 #include "fgc/DiagParser.h"
@@ -1047,7 +1049,7 @@ void TestRunner::testHwImu(TestReport& r) {
 }
 
 void TestRunner::testHwEnv(TestReport& r) {
-    TestSection s; s.id = "hw_env"; s.title = "declared ambient sensor, on a real I2C bus";
+    TestSection s; s.id = "hw_env"; s.title = "declared ambient sensor, and the fan it runs";
     setProgress(s.id, 1, 2, "probing bus");
 
     const bool declared =
@@ -1060,9 +1062,14 @@ void TestRunner::testHwEnv(TestReport& r) {
         return;
     }
 
+    // A DHT11 on the motor MCU (legacy towers) has no bus of ours to check: the
+    // firmware reads it, and its ENV lines are the reading below.
+    const bool on_mcu = hw_.declared->env == "dht11";
+    if (on_mcu) {
+        s.notes.push_back("dht11: read by the motor MCU, not on an I2C bus of this host");
     // The adapter class first: an SMBus-only bus makes every later symptom look
     // like a dead sensor, so naming it first is what saves the debugging time.
-    if (hw_.i2c_device.empty()) {
+    } else if (hw_.i2c_device.empty()) {
         CheckResult c;
         c.pass   = false;
         c.detail = "declared as '" + hw_.declared->env + "' but [Env] i2c_device is empty";
@@ -1094,6 +1101,13 @@ void TestRunner::testHwEnv(TestReport& r) {
                    "what enables it";
     } else if (auto sample = hw_.env->sample()) {
         m.detail = "CRC-valid reading from " + hw_.env->name();
+    } else if (on_mcu) {
+        m.pass   = false;
+        m.detail = motor_.latestEnv()
+                       ? "the firmware reports the DHT11 but its reads are failing the checksum, "
+                         "or its ENV lines stopped -- check the sensor and its wiring"
+                       : "no ENV line from the firmware -- was it built with [Pins] dht? "
+                         "(re-flash after declaring the sensor)";
     } else {
         m.pass   = false;
         m.detail = "no valid reading within the staleness window -- every transfer is failing, or "
@@ -1101,6 +1115,29 @@ void TestRunner::testHwEnv(TestReport& r) {
     }
     verdict(s, "env_reading", m);
 
+    // The enclosure fan the MCU runs from that reading. Driven hard but reading
+    // no rpm is a dead or unplugged fan - the one fault that would otherwise stay
+    // invisible until the box overheats.
+    if (hw_.declared->cooling == "fan") {
+        CheckResult f;
+        const auto  r = motor_.latestEnv();
+        if (!r) {
+            f.pass   = false;
+            f.detail = "no ENV line from the firmware, so nothing is known about the fan";
+        } else if (hw_.declared->pins.fan_tach < 0) {
+            f.detail = "driven at " + std::to_string(r->fan_duty) +
+                       "/255; no tach wired, so whether it turns is not known";
+        } else if (fanLooksStalled(*r)) {
+            f.pass   = false;
+            f.detail = "driven at " + std::to_string(r->fan_duty) +
+                       "/255 but the tach reads 0 rpm -- dead, jammed or unplugged";
+        } else {
+            f.detail = "driven at " + std::to_string(r->fan_duty) + "/255, " +
+                       std::to_string(r->fan_rpm) + " rpm";
+        }
+        verdict(s, "fan", f);
+    }
+
     rollup(s);
     r.sections.push_back(std::move(s));
 }

src/sensors/McuEnvSensor.cpp

@@ -0,0 +1,34 @@
+#include "fgc/sensors/McuEnvSensor.h"
+
+#include <chrono>
+
+namespace fgc {
+
+namespace {
+long long epochMs() {
+    return std::chrono::duration_cast<std::chrono::milliseconds>(
+               std::chrono::system_clock::now().time_since_epoch())
+        .count();
+}
+}  // namespace
+
+McuEnvSensor::McuEnvSensor(IMotorController& motor, std::function<long long()> now_ms)
+    : motor_(motor), now_ms_(now_ms ? std::move(now_ms) : epochMs) {}
+
+std::optional<EnvSample> McuEnvSensor::current() const {
+    const auto r = motor_.latestEnv();
+    if (!r || !r->sensor_ok) return std::nullopt;
+    if (now_ms_() - r->epoch_ms > kStaleMs) return std::nullopt;
+    EnvSample s;
+    s.valid        = true;
+    s.temp_c       = static_cast<float>(r->temp_c);
+    s.humidity_pct = static_cast<float>(r->humidity);
+    s.timestamp_ms = r->epoch_ms;
+    return s;
+}
+
+bool McuEnvSensor::connected() const { return current().has_value(); }
+
+std::optional<EnvSample> McuEnvSensor::sample() { return current(); }
+
+}  // namespace fgc

src/serial/SerialMotorController.cpp

@@ -83,6 +83,9 @@ struct SerialMotorController::Impl {
     // NEED capture: single lines, queued for the control thread to answer once.
     std::vector<std::string>     need_lines;
 
+    // ENV: the latest reading of a DHT11 on the MCU and its fan (under mutex).
+    std::optional<McuEnvReading> latest_env;
+
     // Lines waiting to go out, oldest first. Touched only on the io_context
     // thread (every access is inside a posted handler or a completion), so it
     // needs no lock.
@@ -171,9 +174,21 @@ struct SerialMotorController::Impl {
             captureDump(line);
             captureDiag(line);
             captureNeed(line);
+            captureEnv(line);
         }
     }
 
+    // Keep the latest ENV line: one every 10 s from a tower with a DHT11 on the
+    // MCU, never from one without.
+    void captureEnv(const std::string& line) {
+        auto r = parseEnvLine(line);
+        if (!r) return;
+        r->epoch_ms = std::chrono::duration_cast<std::chrono::milliseconds>(
+                          std::chrono::system_clock::now().time_since_epoch()).count();
+        std::lock_guard<std::mutex> lock(mutex);
+        latest_env = *r;
+    }
+
     // Queue a NEED line for the control thread to answer. Unlike DUMP and DIAG
     // this is not a block to assemble - each line stands alone and is actionable
     // immediately, so it is queued rather than accumulated, and taking it clears
@@ -328,6 +343,11 @@ std::string SerialMotorController::lastDiag() {
 
 unsigned SerialMotorController::diagSeq() const { return impl_->diag_seq.load(); }
 
+std::optional<McuEnvReading> SerialMotorController::latestEnv() const {
+    std::lock_guard<std::mutex> lock(impl_->mutex);
+    return impl_->latest_env;
+}
+
 std::vector<std::string> SerialMotorController::takeNeedLines() {
     std::lock_guard<std::mutex> lock(impl_->mutex);
     std::vector<std::string> out;

src/ui/TuiUi.cpp

@@ -368,9 +368,10 @@ Element sensorsPanel(const SensorsView& s) {
     Element imu_badge = s.imu_config_alert
                             ? (text(" IMU CFG ") | color(Color::Red) | bold)
                             : text("");
+    Element fan_badge = s.fan_alert ? (text(" FAN ") | color(Color::Red) | bold) : text("");
     return panel("[s] SENSORS", Color::Magenta,
                  vbox({group(s.imu, std::move(imu_badge)), separator(),
-                       group(s.env, text(""))}));
+                       group(s.env, std::move(fan_badge))}));
 }
 
 Element cameraPanel(const CaptureView& c) {
@@ -1057,7 +1058,9 @@ Element sensorsDetailPanel(const ImuView& v, const EnvView& e, ScrollState& st)
         };
         body.push_back(separator());
         body.push_back(text((e.name.empty() ? std::string("SHT41") : e.name) +
-                            " \xE2\x80\x94 ambient (I2C)") | bold | color(Color::Magenta));
+                            (e.on_mcu ? " \xE2\x80\x94 ambient (on the motor MCU)"
+                                      : " \xE2\x80\x94 ambient (I2C)")) |
+                       bold | color(Color::Magenta));
         if (!e.enabled) {
             body.push_back(text("(env sensor disabled)") | dim);
             body.push_back(
@@ -1078,7 +1081,19 @@ Element sensorsDetailPanel(const ImuView& v, const EnvView& e, ScrollState& st)
         }
         // The configured bus is meaningless for the mock, so only show it for real
         // hardware — where it is exactly what you need to debug a missing reading.
-        if (e.enabled && !e.mock) {
+        if (e.fan) {
+            std::string v = std::to_string(e.fan_duty) + "/255";
+            v += e.fan_tach ? ", " + std::to_string(e.fan_rpm) + " rpm" : ", no tach wired";
+            body.push_back(envRow("FAN", e.fan_stalled
+                                             ? text(v + "  NOT TURNING") | color(Color::Red) | bold
+                                             : text(v) | bold));
+            body.push_back(text("off to 25 \xC2\xB0""C, full from 37.75 \xC2\xB0""C, full "
+                                "while the sensor is unread") | dim);
+        }
+        if (e.on_mcu) {
+            body.push_back(envRow("Bus", text("read by the motor MCU, every " +
+                                              std::to_string(e.period_ms) + " ms") | dim));
+        } else if (e.enabled && !e.mock) {
             char addr[16];
             std::snprintf(addr, sizeof(addr), "0x%02X", e.i2c_addr);
             body.push_back(envRow("Bus", text(e.i2c_device + " @ " + addr + ", every " +

tests/CMakeLists.txt

@@ -25,6 +25,7 @@ add_executable(fgc_tests
   test_iniedit.cpp
   test_camerastall.cpp
   test_remotecommands.cpp
+  test_mcuenv.cpp
   test_operatingmode.cpp
   test_tmccurrent.cpp
   test_hardwarepresence.cpp

tests/test_mcuenv.cpp

@@ -0,0 +1,136 @@
+#include <doctest/doctest.h>
+
+#include "fgc/Config.h"
+#include "fgc/TelemetryParser.h"
+#include "fgc/sensors/McuEnvSensor.h"
+
+#include <cstdio>
+#include <fstream>
+#include <stdexcept>
+#include <string>
+
+using namespace fgc;
+
+namespace {
+
+// Only latestEnv() matters here; the rest is the minimum the interface demands.
+struct EnvOnlyMotor : IMotorController {
+    std::optional<McuEnvReading> env;
+    void           start() override {}
+    void           stop() override {}
+    void           sendCommand(const std::string&) override {}
+    MotorTelemetry telemetry() override { return {}; }
+    std::string    lastDump() override { return ""; }
+    std::string    lastDiag() override { return ""; }
+    unsigned       diagSeq() const override { return 0; }
+    bool           connected() const override { return true; }
+    std::optional<McuEnvReading> latestEnv() const override { return env; }
+};
+
+McuEnvReading reading(int t, int h, bool ok, int fan, int rpm, long long at) {
+    McuEnvReading r;
+    r.temp_c = t; r.humidity = h; r.sensor_ok = ok; r.fan_duty = fan; r.fan_rpm = rpm;
+    r.epoch_ms = at;
+    return r;
+}
+
+}  // namespace
+
+TEST_CASE("an ENV line from the firmware parses, keys in any order") {
+    auto r = parseEnvLine("ENV t=23 h=45 ok=1 fan=0 rpm=0");
+    REQUIRE(r);
+    CHECK(r->temp_c == 23);
+    CHECK(r->humidity == 45);
+    CHECK(r->sensor_ok);
+    CHECK(r->fan_duty == 0);
+    r = parseEnvLine("ENV rpm=1180 fan=255 ok=0 h=51 t=-4");
+    REQUIRE(r);
+    CHECK(r->temp_c == -4);
+    CHECK_FALSE(r->sensor_ok);
+    CHECK(r->fan_duty == 255);
+    CHECK(r->fan_rpm == 1180);
+}
+
+TEST_CASE("anything that is not a whole ENV line is not a reading") {
+    CHECK_FALSE(parseEnvLine("ST Y:A,1,2,0,0,0,0,S"));
+    CHECK_FALSE(parseEnvLine("DUMP ENV t=23 h=45 ok=1"));   // the dump's copy, handled there
+    CHECK_FALSE(parseEnvLine("ENV t=23 h=45"));             // no ok: cannot tell good from bad
+    CHECK_FALSE(parseEnvLine("ENV t=2x h=45 ok=1"));
+}
+
+TEST_CASE("the MCU sensor serves a fresh good reading, and nothing else") {
+    EnvOnlyMotor motor;
+    long long    now = 1'000'000;
+    McuEnvSensor s(motor, [&] { return now; });
+
+    CHECK_FALSE(s.sample());                        // no ENV line yet
+    motor.env = reading(24, 40, true, 0, 0, now);
+    auto v = s.sample();
+    REQUIRE(v);
+    CHECK(v->temp_c == doctest::Approx(24.0));
+    CHECK(v->humidity_pct == doctest::Approx(40.0));
+    CHECK(s.connected());
+    CHECK(s.name() == "DHT11");
+
+    SUBCASE("a failed read is not served as a reading") {
+        motor.env = reading(24, 40, false, 255, 0, now);
+        CHECK_FALSE(s.sample());
+    }
+    SUBCASE("a line older than 2.5 read periods is stale") {
+        now += McuEnvSensor::kStaleMs + 1;
+        CHECK_FALSE(s.sample());
+        CHECK_FALSE(s.connected());
+    }
+}
+
+TEST_CASE("a fan driven hard with no rpm looks stalled; idle or turning does not") {
+    CHECK(fanLooksStalled(reading(30, 40, true, 200, 0, 0)));
+    CHECK(fanLooksStalled(reading(0, 0, false, 255, 0, 0)));     // the failsafe, not turning
+    CHECK_FALSE(fanLooksStalled(reading(20, 40, true, 0, 0, 0)));   // off, as it should be
+    CHECK_FALSE(fanLooksStalled(reading(30, 40, true, 100, 0, 0))); // too slow to be sure
+    CHECK_FALSE(fanLooksStalled(reading(30, 40, true, 200, 900, 0)));
+}
+
+TEST_CASE("hardware.ini: cooling needs the DHT11, and only 'fan' or 'none'") {
+    const std::string cfg_path = "test_mcuenv_config.ini";
+    const std::string hw_path  = "test_mcuenv_hardware.ini";
+    {
+        std::ofstream c(cfg_path);
+        c << "[General]\ntower_name = Legacy\n[Camera.rgb]\nid = X\nprofile_dir = /tmp/p\n";
+    }
+    auto write_hw = [&](const std::string& hardware, const std::string& pins) {
+        std::ofstream h(hw_path);
+        h << "[Board]\nmodel = lattepanda-3-delta\nfirmware_env = leonardo\n"
+             "[Hardware]\naxes = yaw\nimu = none\ncameras = rgb\n" << hardware <<
+             "[Pins]\nyaw_cs = 8\nyaw_en = 7\n" << pins;
+    };
+
+    SUBCASE("a legacy tower loads, with its MCU pins") {
+        write_hw("env = dht11\ncooling = fan\n",
+                 "dht = 9\nfan_pwm = 10\nfan_tach = 11\nspi_idle_cs = 2\n");
+        auto c = ConfigLoader::loadFromFile(cfg_path, hw_path);
+        CHECK(c.hardware.env == "dht11");
+        CHECK(c.hardware.cooling == "fan");
+        CHECK(c.hardware.pins.dht == 9);
+        CHECK(c.hardware.pins.fan_tach == 11);
+        CHECK(c.hardware.pins.spi_idle_cs == 2);
+    }
+    SUBCASE("a fan without the DHT11 is refused") {
+        write_hw("env = sht41\ncooling = fan\n", "fan_pwm = 10\n");
+        CHECK_THROWS_WITH_AS(ConfigLoader::loadFromFile(cfg_path, hw_path),
+                             doctest::Contains("needs Hardware.env = dht11"), std::runtime_error);
+    }
+    SUBCASE("an unknown cooling is refused") {
+        write_hw("env = dht11\ncooling = water\n", "dht = 9\n");
+        CHECK_THROWS_WITH_AS(ConfigLoader::loadFromFile(cfg_path, hw_path),
+                             doctest::Contains("'none' or 'fan'"), std::runtime_error);
+    }
+    SUBCASE("towers without it are unchanged") {
+        write_hw("env = sht41\n", "");
+        auto c = ConfigLoader::loadFromFile(cfg_path, hw_path);
+        CHECK(c.hardware.cooling.empty());
+        CHECK(c.hardware.pins.dht == -1);
+    }
+    std::remove(cfg_path.c_str());
+    std::remove(hw_path.c_str());
+}