# LattePanda 3 Delta setup kit

For the Delta fleet: a LattePanda 3 Delta host, an onboard ATmega32U4
("Arduino Leonardo") driving two TMC5160 boards, yaw and pitch. Run through
`scripts/install-tower`, or `./install.sh --help` on its own.

## What is known, from tower 111 (surveyed 2026-09-23, read-only)

| | |
|---|---|
| OS | Ubuntu 22.04.5 LTS, kernel 6.8 |
| Motor MCU | `/dev/serial/by-id/usb-Arduino_LLC_Arduino_Leonardo-if00`, USB `2341:8036` |
| Camera | Alvium, USB `1ab2:0001`, port `2-2` |
| Modem | Quectel RM520N-GL, four `ttyUSB` nodes |
| Serial / I2C | `/dev/ttyS0..3`, `/dev/i2c-0..15`; the ambient sensor is on `/dev/i2c-2` |
| Packages | every entry in `packages.txt` already installed |
| Preconditions | NOT applied: `usbfs_memory_mb` 16, camera `usb3_lpm_permit` `u1_u2` |
| `hardware.ini` | none - the tower has never been migrated |

## Applied to tower 111, 2026-09-23 `[partial]`

Through `scripts/install-tower`, host half only: preconditions (usbfs 16 -> 1000,
camera LPM `u1_u2` -> 0), `hardware.ini` (yaw + pitch, MTi, SHT41, standard
`pins.ini`, every drivetrain value `; TODO`), `config.ini` keys that `hardware.ini`
now owns commented out, the missing `night` camera profile exported, the host
rebuilt on Ubuntu 22.04 (GCC 11) and restarted with `--init --start`. It homed and
resumed capturing. `test hardware`: axes, IMU, env and camera PASS; motor FAIL on
the old firmware's missing echoes, as expected. Firmware NOT flashed.

## Firmware flashed on tower 111, 2026-09-24 `[verified]`

With the drivetrain converted from what the replaced firmware ran (see
`docs/hardware-config-plan.md` section 13) and 75 mOhm sense resistors read off
both boards. `tools/flash.sh` flashed it through the Leonardo's 1200-baud touch
unchanged. The new firmware asked, the host answered, `test hardware` passed
every leaf, and it homed to within 0.03 % of the old firmware's travel.

Rebooted 2026-09-24 over ssh: the boot service started it with `--init --start`,
it homed and resumed capturing within ~35 s, and `install-tower --verify` passed
every check, the USB preconditions included. The Leonardo was **not** reset by
that warm reboot - USB power stayed up, its uptime carried on - so the boot-time
config request was not exercised there; the host's re-send on connect covered it.

## What this kit has NOT done yet

In particular:

- **`pins.ini` is not a traced loom.** It carries the numbers the firmware ran
  on before pins moved into `hardware.ini`. Trace one Delta's wiring and replace
  it with a table the way the IOTA's was done.
- **Other Delta towers' drivetrains are not known.** 111's values are 111's:
  converted from the firmware it ran, with its own boards' sense resistors. Do
  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
installer's order already is: it writes `hardware.ini`, builds the host and runs
`test hardware` against the OLD firmware before any flash - and blocks the flash
while a drivetrain value is still a `; TODO`.