Controller promoted to canonical driver repo grblHAL-glowforge

The step backend now lives in github.com/ScottW514/grblHAL-glowforge
  (grblHAL driver convention: core submodule, driver.c HAL, board header).
  Add build-glowforge.sh, update the BRINGUP runbook (no -t throttle,
  EEPROM path, kill-before-scp, producer stats line, reset/disconnect
  semantics), and teach bench_m2.py to parse the F: status field (no
  spindle registered = no FS: field). Settings-write crash fix is
  upstream as grblHAL/core PR 999.

scripts/bench/README.md

@@ -8,6 +8,7 @@ target board (dev image, python3 present) unless noted.
 | `feeder.c` | Spike-step-3 underrun proof: streams NOP pulse bytes to `/dev/glowforge` with wall-clock pacing, bounded queue depth, deadman flock, SCHED_FIFO. Usage: `feeder <hz> <seconds> <depth_ms>`. Passed 100 kHz × 120 s under full load with 0.2 ms worst write latency. Cross-compile with `build-feeder.sh` (WSL). |
 | `bench_phase2.py` | End-of-data protocol bench (audit M2–M5): underrun detection/ack, parked no-replay guard, resume(0), continuous-feed stability, 20× run/underrun cycles. Motion-safe (motors locked, laser latched). 16/16 PASS on 2026-07-26. |
 | `check_pwm.py` | Laser PWM register check (audit M8): reads PWM2 PWMCR/PWMPR via /dev/mem, expects divider 13 × ~127 counts ≈ 40 kHz. The scope on LASER_PWM remains the final pre-live-fire gate. |
+| `build-glowforge.sh` | Cross-compiles **grblHAL-glowforge** (the canonical driver repo, `../../../grblHAL-glowforge`) in the forge-yocto WSL distro. Run: `wsl -d forge-yocto -- bash <path>/build-glowforge.sh` (from PowerShell; Git Bash mangles /mnt/c paths). This is the production controller build. |
 | `build-feeder.sh` | Cross-compiles `feeder.c` the same way. |
 | `puls_profile.py` | Decodes factory `.puls` streams (raw or GF1-headered) into velocity/accel profiles: peak speeds, ramp-slope fits, per-move segments, Z cadence. Runs anywhere (stdlib only). Source of the factory-true grblHAL defaults (milestone 2): 700/590 mm/s² accel, 200 mm/s max rate, 28160 Hz travel tick. |
 | `bench_m2.py` | Milestone-2 motion bench, runs against the board over TCP:23: bounded round-trip jogs (sanity, max-rate, diagonal) + feed-hold/resume mid-move, reporting peak feed, state transitions, and position drift. All-green 2026-08-02 at factory-true settings. |

scripts/bench/bench_m2.py

@@ -75,9 +75,12 @@ class Grbl:
                 state = st[1:].split('|')[0]
                 if not states or states[-1] != state:
                     states.append(state)
-                for f in st.split('|'):
+                for f in st[1:-1].split('|'):
+                    # FS:feed,speed with a spindle registered; F:feed without
                     if f.startswith('FS:'):
                         peak = max(peak, float(f[3:].split(',')[0]))
+                    elif f.startswith('F:'):
+                        peak = max(peak, float(f[2:].split(',')[0]))
                 if state.startswith('Idle'):
                     return peak, states
             time.sleep(poll)

scripts/bench/build-glowforge.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+# Cross-compiles grblHAL-glowforge (the canonical driver repo) for the
+# factory board, borrowing the Yocto cross toolchain from the ulfius work
+# directory. Run from PowerShell: wsl -d forge-yocto -- bash <path>.
+set -e
+TC=/home/builder/dev/openglow-forgefirm/forgefirm/build/tmp/work/cortexa9t2hf-neon-fslc-linux-gnueabi/ulfius/2.7.15
+export PATH="$TC/recipe-sysroot-native/usr/bin:$TC/recipe-sysroot-native/usr/bin/arm-fslc-linux-gnueabi:$PATH"
+cd /home/builder/dev/openglow-forgefirm/grblHAL-glowforge
+rm -rf build-arm
+cmake -B build-arm \
+  -DCMAKE_SYSTEM_NAME=Linux -DCMAKE_SYSTEM_PROCESSOR=arm \
+  -DCMAKE_C_COMPILER=arm-fslc-linux-gnueabi-gcc \
+  -DCMAKE_BUILD_TYPE=None \
+  "-DCMAKE_C_FLAGS=--sysroot=$TC/recipe-sysroot -mthumb -mfpu=neon -mfloat-abi=hard -mcpu=cortex-a9 -O1 -g" \
+  "-DCMAKE_EXE_LINKER_FLAGS=--sysroot=$TC/recipe-sysroot" \
+  > /tmp/cmake-gf.log 2>&1
+cmake --build build-arm -j8 > /tmp/gfbuild.log 2>&1 || { tail -30 /tmp/gfbuild.log; exit 1; }
+echo BUILD-OK
+file build-arm/grblHAL_glowforge 2>/dev/null || ls build-arm/