# 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"