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bench+docs: IG threshold LSB is FS/256; factory HA* seed values recovered

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The captured pulse headers carry the factory's IG programming: hunts
off, travels abort-only (HAar=133 at +/-4 g), the cut alert-only
(HAxr=132, HAyr=112), Z and idle never armed. The factory abort value
itself rules out an FS/128 LSB (4.16 g would sit over the measurable
range), and two Z-only bench windows bracket gravity between
thresholds 100 and 150, which only FS/256 explains. The drill script's
printed g conversion is corrected, and the stale motion-profile
reading of HAxr/HAyr/HAar as accel limits is corrected in the facts
bank.

No catalog consequence: a bench script's printed conversion and the
docs record; no shipped behavior changes.
This commit is contained in:
ScottW514
2026-08-31 18:26:58 -04:00
parent 61b2913e3a
commit 4a0338a03f
3 changed files with 49 additions and 10 deletions
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@@ -6828,6 +6828,36 @@ one gentle jog (`$J=G91 X5 F1000`, +X first). No emission, no unbind.
the strike magnitude, 3x and more over a threshold that gravity
already trips; a physical tap would add nothing the design needs.
## 2026-08-31: IG threshold LSB confirmed FS/256; the factory HA* seed values recovered
Two facts that size the crash detector's thresholds, found while seeding
them from the captured headers. They correct the previous entry's g
conversion, which assumed FS/128 (values half of what it stated: the
drill's threshold 40 is 0.31 g, not 0.62 g).
- **The captured headers carry the factory's IG programming.** All 23
captured `.puls` headers parse (gfutilities `PulseSource`): hunts ship
every HA threshold zero (detector off, `HAsi/HAsr=2`); travel files
ship abort-only (`HAar=133`, `HAsr=4`); the cut job ships alert-only
(`HAxr=132`, `HAyr=112`, `HAsr=4`, `HAar=0`). `HAz*` and every idle
(`*i`) threshold are zero in every header. So the factory never arms
Z (the gravity axis), never arms the idle state, pauses cuts on a
~2 g event and fails travels on one.
- **IG_THS LSB = full scale / 256, twice proven.** By the factory's own
values: at FS/128 the travel abort 133 would be 4.16 g at +/-4 g,
over the measurable range, an abort that could never trip. On the
bench (two Z-only coexist windows, dev 20260831204710): threshold
100 trips on the 1.03 g gravity reading and threshold 150 does not;
under FS/256 those are 0.78 g and 1.17 g, bracketing gravity, while
under FS/128 the trip at 100 (1.56 g) would be impossible. The
datasheet states no IG_THS LSB (only ACT_THS = FS/128), so the bench
check was the proof. The drill script's printed conversion is fixed
to FS/256 in the same change.
- **The factory seed values in g**: X alert 132 = 2.06 g, Y alert
112 = 1.75 g, abort 133 = 2.08 g, all at the +/-4 g run full scale.
Normal commanded motion reads under 0.2 g and a rail strike 1.8 g
and up, so the factory band sits where the bench says it should.
## Reference notes
### Head-IRQ source validation — the beam-emission hypothesis