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baseline: take the fresh-boot reference after the controller applied its config

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/mode reports controller=running at the spawn, so the reference dump
raced grblHAL's init writes and captured the supervisor's motion-probe
values (motor_lock 0, step_freq 10000, y_mode at the module default)
instead of the resting state. boot_reference() now waits for the
controller's markers (step_freq/motor_lock/y_mode at their fixed values,
bounded 20 s, GRBL mode only) plus a 1 s settle before dumping, retakes
a saved reference that shows the pre-config state while the boot is
still fresh, and marks it otherwise. Tests cover the wait, its timeout,
the non-GRBL no-op, the pre-config recognition and the retake.
This commit is contained in:
ScottW514
2026-08-16 20:00:08 -04:00
parent d218b3de25
commit b68d790b71
3 changed files with 156 additions and 7 deletions
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docs/BRINGUP.md
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@@ -1502,7 +1502,13 @@ forgectrl restarts; the fresh-boot dump of this image (uptime 235 s)
confirmed the fixed values (`motor_lock 8`, `x/y_mode 8`, `x/y_decay 1`,
`step_freq 28160` - the controller's tick, not the probe's 10000 -
`ramp_rate 125000`, hold currents 33/5, lamps and button LEDs 0, heater
and TEC off). Proof: k1-k2 / k3 / fire-abu re-run under the baseline -
and TEC off). A reference dumped at uptime 30 s on 2026-08-16 showed the
probe values instead (`motor_lock 0`, `step_freq 10000`, `y_mode 1`): the
dump raced the controller's init writes - `/mode` reports `running` at the
spawn, not at the config - so `boot_reference()` now waits for the
controller's markers (`step_freq`/`motor_lock`/`y_mode` at their fixed
values, bounded 20 s) before dumping, and retakes a pre-config reference
while the boot is still fresh. Proof: k1-k2 / k3 / fire-abu re-run under the baseline -
counters (0,0,0) before and after, the probe verified in 3 s after every
takeover, no ladder, `post: clean` every time. (2) Two forgectrl items
for the operator's decision, not changed: the liveness probe should write