Full design job (rapid / M4 cut trace / return rapid) ran smoothly end
to end on grblHAL-glowforge over TCP:23, laser locked. Records the two
driver fixes the first attempts surfaced: locked laser spindle and
continuation-wakeup cursor alignment.
Operator confirmed smooth, near-silent motion on a full observation run
(slow/fast/diagonal/zigzag jogs to 200 mm/s) under grblHAL-glowforge
with the factory-true analog config. Milestone 2 closed.
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.
Extract the factory motion profile from the _RESOURCES pulse streams
(new puls_profile.py): 700/590 mm/s2 X/Y accel on v2.6.0 firmware,
202 mm/s travel peak at the 28160 Hz travel tick, PIC currents X 135/33
and Y 22/5 run/hold, decay mode 1. Add the bench_m2.py round-trip jog +
feed-hold suite (all green 2026-08-02: sustained 200 mm/s, exact
returns, clean hold/resume, zero underruns) and update BRINGUP.md:
board moved to a fixed lease at 172.16.1.97, analog config now applied
by the sink itself, $RST=$ note for stale stored settings.
BRINGUP.md is the cold-start reference: project status (audit phases
0-5 complete, Phase 6 spike achieved - first grblHAL-commanded motion
2026-07-26), bench/board access, build+deploy procedures, the step
backend runbook incl. the required analog machine config, the measured
hardware facts bank, and the ordered next-work list. scripts/bench/
preserves the hardware-verification tools (underrun feeder, end-of-
data protocol bench, PWM register check, cross-build scripts).
ScottW514