kyleandClaude Sonnet 5.5
69a93eeb2f
The Pi presents NCM Ethernet and ACM serial from a configfs gadget, started by robot-usb-gadget.service before networking. usb0 gets 10.55.0.2/30 with no gateway through netplan, matched by interface name: a MAC match turns into PermanentMACAddress= in networkd, which a gadget interface does not have, so it stayed unmanaged. talos reaches the Pi at 10.55.0.2 (ping ~2.4 ms, SSH works) through a NetworkManager profile, host/omarchy/robot-usb-link.sh, matched by the gadget's fixed host MAC. Also clamp the face's tunable parameters (focus sets a blur radius, persistence divides) and fps, after a review flagged unvalidated node parameters. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
66 lines
2.1 KiB
Bash
Executable File
66 lines
2.1 KiB
Bash
Executable File
#!/bin/bash
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# Composite USB gadget for the robot, via configfs: NCM Ethernet (usb0) + ACM serial (ttyGS0).
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# Installed as /usr/local/sbin/robot-usb-gadget and run by robot-usb-gadget.service.
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# robot-usb-gadget start | stop
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set -euo pipefail
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G=/sys/kernel/config/usb_gadget/hermes
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HOST_MAC=02:68:65:72:6d:01 # the host's end of the link (locally administered, spells "herm")
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DEV_MAC=02:68:65:72:6d:02 # the robot's end (usb0)
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stop() {
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[ -d "$G" ] || return 0
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cd "$G"
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echo "" > UDC 2>/dev/null || true
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rm -f configs/c.1/ncm.usb0 configs/c.1/acm.usb0
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rmdir configs/c.1/strings/0x409 configs/c.1 functions/ncm.usb0 functions/acm.usb0 strings/0x409 2>/dev/null || true
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cd /
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rmdir "$G" 2>/dev/null || true
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}
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start() {
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modprobe libcomposite
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mountpoint -q /sys/kernel/config || mount -t configfs none /sys/kernel/config
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stop
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udc=
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for _ in $(seq 40); do # dwc2 can take a moment to register after boot
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udc=$(ls /sys/class/udc 2>/dev/null | head -n1 || true)
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[ -n "$udc" ] && break
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sleep 0.5
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done
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[ -n "$udc" ] || { echo "robot-usb-gadget: no UDC (is dtoverlay=dwc2,dr_mode=peripheral set?)" >&2; exit 1; }
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mkdir -p "$G"
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cd "$G"
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echo 0x1d6b > idVendor # Linux Foundation
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echo 0x0104 > idProduct # multifunction composite gadget
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echo 0x0100 > bcdDevice
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echo 0x0200 > bcdUSB
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echo 0xEF > bDeviceClass # composite with interface association descriptors
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echo 0x02 > bDeviceSubClass
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echo 0x01 > bDeviceProtocol
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mkdir -p strings/0x409
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echo "$(awk '/^Serial/ {print $3}' /proc/cpuinfo)" > strings/0x409/serialnumber
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echo "Hermes" > strings/0x409/manufacturer
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echo "Hermes robot" > strings/0x409/product
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mkdir -p configs/c.1/strings/0x409
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echo "NCM + ACM" > configs/c.1/strings/0x409/configuration
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echo 250 > configs/c.1/MaxPower
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mkdir -p functions/ncm.usb0
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echo "$HOST_MAC" > functions/ncm.usb0/host_addr
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echo "$DEV_MAC" > functions/ncm.usb0/dev_addr
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mkdir -p functions/acm.usb0
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ln -s functions/ncm.usb0 configs/c.1/
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ln -s functions/acm.usb0 configs/c.1/
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echo "$udc" > UDC
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}
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case "${1:-}" in
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start) start ;;
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stop) stop ;;
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*) echo "usage: $0 start|stop" >&2; exit 2 ;;
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esac
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