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ScottW514
64a720bbab
Bump the grblHAL pin to the producer lead and margin instrumentation. Rewrite BRINGUP item 16 to the present state. The scheduling half is done - the producer runs SCHED_FIFO below the shipper, core_mx carries priority inheritance, and clamping is reported per run - and two bench runs 90 s apart on one image show what that does and does not cover: a nice-5 CPU hog passes clean while the camera streaming clamps 7 runs, because per-frame cache maintenance over a 4.8 MB non-coherent capture buffer is kernel-context work no userspace priority can preempt. Record the margin finding, since it explains why a 4 ms stall was enough: the queue depth cancels between the shipper's due index and the producer's base, so the pacing lead is the only slack. Record the cycle-churn ceiling that caps that lead at 10 ms, and that the re-base fix is what unlocks more. Camera gating stays owed, with capture resolution named as the lever that shortens the stall rather than merely spacing stalls out.