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