499 lines
21 KiB
Bash
Executable File
499 lines
21 KiB
Bash
Executable File
#!/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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# The drivetrain, per axis. The firmware REFUSES TO MOVE until it has been told
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# these (docs/configuration.md, the config handshake), so an axis left undeclared
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# is an axis that will sit in NEEDCFG. Pass what you know; what you omit is
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# written as a commented line naming what has to be measured:
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#
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# --r-sense 0.075 sense resistor on that axis's TMC board (ohms)
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# --run-current 756 coil current for normal motion (mA RMS)
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# --homing-current 200 coil current while hunting an endstop (mA RMS)
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# --travel-deg 340 mechanical angle between the hard stops
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# --steps-per-rev 1210778 measured full travel, in counts
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# --sw-mode 0 TMC SW_MODE: 0 = no switches (StallGuard homing)
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#
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# These take ONE value, applied to the first axis in --axes. A second axis gets a
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# commented template: nothing here can be probed, and inventing a sense resistor
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# is how a driver gets cooked.
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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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# Empty means "not known at install time" -> written commented out, never as a
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# sentinel: these are numeric keys, and a non-numeric value makes the program
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# refuse to start rather than report the axis as undeclared.
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R_SENSE="" RUN_CURRENT="" HOMING_CURRENT="" TRAVEL_DEG="" STEPS_PER_REV="" SW_MODE=""
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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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--r-sense) R_SENSE="$2"; shift ;;
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--run-current) RUN_CURRENT="$2"; shift ;;
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--homing-current) HOMING_CURRENT="$2"; shift ;;
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--travel-deg) TRAVEL_DEG="$2"; shift ;;
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--steps-per-rev) STEPS_PER_REV="$2"; shift ;;
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--sw-mode) SW_MODE="$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 "key = value", or a commented-out line naming what has to be measured.
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#
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# Commented rather than a placeholder string on purpose: these keys are numeric,
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# and a non-numeric value makes the program refuse to start with a message about
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# a config key. Absent, it starts and reports the axis as undeclared - naming the
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# missing keys and which axis will not move, which is the useful failure.
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kv_or_todo() {
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local key="$1" value="$2" why="$3"
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if [[ -n $value ]]; then
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printf '%-18s = %s\n' "$key" "$value"
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return
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fi
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# Wrapped, and not merely for looks: ini.h sets INI_MAX_LINE to 200, and a
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# longer line is SPLIT rather than truncated, so its tail becomes a bogus
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# line and the whole file fails to parse. A generated file that cannot be
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# read is worse than one with a gap in it.
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printf '; TODO %s\n' "$key"
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printf '%s\n' "$why" | fold -s -w 72 | sed 's/^/; /' | sed 's/[[:space:]]*$//'
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}
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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
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; facts given on the command line. See config/hardware.example.ini for the full
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; reference, and docs/hardware-config-plan.md for why this file exists.
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[Board]
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model = $board
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firmware_env = $fw_env
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[Hardware]
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; DECLARED, not probed: these are what the tower was built with, so that a part
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; that stops answering is a fault and not a silent reconfiguration.
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axes = $AXES
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imu = $IMU
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env = $ENV_SENSOR
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cameras = $CAMERAS
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[Serial]
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; The motor controller MCU, by stable id - /dev/ttyACM* moves when the modem
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; enumerates first.
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device = ${mcu:-NOT_FOUND_SET_THIS_BY_HAND}
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baud = 115200
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EOF
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if [[ $IMU != none ]]; then
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cat <<'EOF'
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[IMU]
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; On the IOTA the only PCH serial on the header is COM1. Confirm it enumerates
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; and at what levels before trusting this path.
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device = /dev/ttyS0
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EOF
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fi
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if [[ $ENV_SENSOR != none ]]; then
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cat <<'EOF'
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[Env]
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; MUST be a real I2C adapter, not SMBus-only: check with `i2cdetect -F <n>`.
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; The IOTA exposes no PCH-side I2C on the header, so this is normally a USB-I2C
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; bridge (MCP2221A), whose bus number depends on enumeration order.
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i2c_device = SET_THIS_BY_HAND
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i2c_addr = 0x44
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EOF
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fi
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# One [Motor.<axis>] block per axis. The firmware holds none of these itself
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# any more - it asks, and refuses to move until answered - so an axis without
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# a block here is an axis that will not turn.
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#
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# A value we were not given is written COMMENTED OUT, with what to measure.
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# Not as a placeholder string: these keys are numeric, and a non-numeric value
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# makes the program refuse to start, which is a worse failure than the axis
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# reporting itself undeclared.
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local ax first=1
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for ax in ${AXES//,/ }; do
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ax="$(echo "$ax" | tr -d '[:space:]')"
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[[ -z $ax ]] && continue
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echo
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echo "[Motor.$ax]"
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if [[ $first -eq 1 ]]; then
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kv_or_todo "r_sense_ohm" "$R_SENSE" \
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"the resistor fitted to THIS driver board - read it off the board, do not assume"
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kv_or_todo "run_current_ma" "$RUN_CURRENT" \
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"coil current for normal motion, mA RMS, from the motor's nameplate"
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kv_or_todo "homing_current_ma" "$HOMING_CURRENT" \
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"current while hunting an endstop. LOWER than run_current wherever the stop can be out-pushed: on this rig a screw-head stop was sheared straight past its mate at full torque"
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kv_or_todo "travel_deg" "$TRAVEL_DEG" \
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"mechanical angle between the hard stops. Rough is fine to start; every bearing inherits its error proportionally until 'gimbal heading setup' supersedes it"
|
|
kv_or_todo "steps_per_rev" "$STEPS_PER_REV" \
|
|
"measured full travel IN COUNTS - read it off a homing run. The only guard against a PHANTOM endstop"
|
|
kv_or_todo "sw_mode" "$SW_MODE" \
|
|
"TMC SW_MODE. 0 = no physical switches (StallGuard homing); set the bits if this axis has REFL/REFR wired"
|
|
else
|
|
echo "; Nothing here can be probed, and this is not the first axis, so the"
|
|
echo "; values below are a template. Measure them on THIS axis."
|
|
kv_or_todo "r_sense_ohm" "" "sense resistor on this axis's driver board"
|
|
kv_or_todo "run_current_ma" "" "coil current for normal motion, mA RMS"
|
|
kv_or_todo "homing_current_ma" "" "current while hunting an endstop"
|
|
kv_or_todo "travel_deg" "" "mechanical angle between the hard stops"
|
|
kv_or_todo "steps_per_rev" "" "measured full travel, in counts"
|
|
kv_or_todo "sw_mode" "" "TMC SW_MODE (0 = no physical switches)"
|
|
fi
|
|
cat <<'EOF'
|
|
; Speeds are DEGREES PER SECOND, not VMAX: a register value means different
|
|
; things on different gear ratios, so it is not portable between towers. The
|
|
; host converts through counts_per_deg and sends SPEED.
|
|
scan_speed_deg_s = 8.0
|
|
homing_speed_deg_s = 2.0
|
|
center_speed_deg_s = 6.0
|
|
; |XACTUAL - XENC| that means "position untrustworthy". 1500 is this mechanism's
|
|
; starting point; re-measure it whenever the homing current changes, because the
|
|
; free-running gap is coupled to it.
|
|
enc_deviation = 1500
|
|
; Is this axis's encoder aligned to XACTUAL and usable for hold and DIAG?
|
|
has_encoder = true
|
|
EOF
|
|
first=0
|
|
done
|
|
|
|
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 and --stdout change nothing on this machine: one reports what it
|
|
# found, the other prints the file it WOULD write. Refusing them on a
|
|
# non-IOTA only means the generator can never be exercised off a tower,
|
|
# which is how a setup kit ends up untested.
|
|
[[ $PROBE_ONLY -eq 1 || $TO_STDOUT -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"
|