---
title: AK60 / Raspberry Pi 5 / BiSS-C Source Sync
status: draft
requested_by: Antoine Letarte
generated_by: Nick / Hermes
project: P11-Polisher-Fullum
repo: polisher-control
source_truth: false
created: 2026-07-06
privacy: technical-only
---

# AK60 / Raspberry Pi 5 / BiSS-C Source Sync

## Purpose

Align the repo foundation with Antoine's accepted hardware corrections before Cédric writes firmware against stale assumptions.

## Source references

- P11 firmware source: `software-suite/control/firmware/Fullum-Polisher-Machine-Control-Firmware-Spec-v1.md`
- Repo mirror: `docs/reference/fullum-control-firmware-spec/Fullum-Polisher-Machine-Control-Firmware-Spec-v1.md`
- Electrical audit TLDR: `2026-07-06-Polisher-Control-Electrical-Audit-TLDR.md`
- Change gate: `CEDRIC-PROP-20260609-001`

## Accepted corrections now reflected here

1. Host computer is **Raspberry Pi 5 + touchscreen**, not Raspberry Pi 4.
2. Toolhead spindle path is **CubeMars AK60-6 V1.1 KV80**, not ODrive S1 + M8325s.
3. Table encoder order is `DHR162DB20BAAS30DA02` + `SAR162C143AF14WAP00`, which means **BiSS-C / RS422**.
4. Arm encoder order is `BR10DCD14B12DH00` + `BM120A190A1ABA00`, which means **BiSS-C / RS422**.

## Cédric implementation cautions

- Do not treat CAN stop/disable as a safety-rated AK60 stop. The safety basis must remove AK60 power through the hardwired safety-controlled post-contactor path and be bench-tested.
- Freeze AK60 CAN topology before firmware lock: IDs, frame rates, stale-frame timeouts, fault handling, startup behavior, and whether AK60 shares a CAN bus with KWR75B.
- Freeze BiSS-C implementation details before encoder firmware lock: frame timing, CRC/status bits, RS422 transceiver/pinout, shielding, and error handling.
- Preserve `cw` / `ccw` as explicit direction enums separate from non-negative RPM; bench-map them to physical rotation.

## Acceptance checks

- Firmware source and repo mirror no longer name ODrive/M8325s as the current spindle basis.
- Repo start docs, LLM context, roadmap, commissioning checklist, open questions, and machine capability profile now use AK60/RPi5/BiSS-C language.
- Host-side tests and JSON validation should still pass after this docs/source refresh.
