2.2 KiB
2.2 KiB
title, status, requested_by, generated_by, project, repo, source_truth, created, privacy
| title | status | requested_by | generated_by | project | repo | source_truth | created | privacy |
|---|---|---|---|---|---|---|---|---|
| AK60 / Raspberry Pi 5 / BiSS-C Source Sync | draft | Antoine Letarte | Nick / Hermes | P11-Polisher-Fullum | polisher-control | false | 2026-07-06 | 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
- Host computer is Raspberry Pi 5 + touchscreen, not Raspberry Pi 4.
- Toolhead spindle path is CubeMars AK60-6 V1.1 KV80, not ODrive S1 + M8325s.
- Table encoder order is
DHR162DB20BAAS30DA02+SAR162C143AF14WAP00, which means BiSS-C / RS422. - 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/ccwas 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.