forgefirm/docs/BRINGUP.md

ForgeFIRM bring-up status & cold-start runbook

Last updated: 2026-08-03 — camera service (forgectrl MJPEG on :8080) implemented and bench-verified, including motion-coexistence (clamped 0 while streaming). Previous milestone: factory-true motion tuning + promotion to the canonical grblHAL driver repo (grblHAL-glowforge). Read together with AUDIT_ACTION_PLAN.md in the project root (sibling of this repo; per-finding status of the 2026-07-03 audit) and kernel-module-glowforge/UAPI.md (the pulse-stream feeder contract).

Where the project stands

Audit phases 0–5: complete and hardware-verified. Both motion blockers fixed (cnc probe / 40v-supply; SDMA script relocated to <26 0xF00> with a pre-run integrity guard); the end-of-data protocol reworked and bench-proven (underrun is a first-class underrun state behind the streaming attr; 16/16 protocol bench); laser PWM verified at 39.98 kHz (register level); CONFIG_PREEMPT=y; uEnv/u-boot/ulfius build integrity restored; legacy cloud mode repaired (nvmem identity → hostname XXX-XXX verified on fuses; deadman/safety loop; camera error paths).

Phase 6 spike: achieved.

• grblHAL (unmodified core) runs on the board, speaking Grbl 1.1f over TCP port 23 (LightBurn-confirmed).
• Underrun proof: 100 kHz × 120 s under full load, 150 ms queue, 0.2 ms worst write latency, zero underruns. Measured SDMA script ceiling: ~165 kHz effective (~6 µs/byte).
• The step backend works: the driver resamples grblHAL's step events into pulse bytes and live-feeds /dev/glowforge. X and Y jogs from TCP G-code move the real gantry; grblHAL and kernel position counters agree step-for-step. Motion-only: the laser latch is forced locked, byte bit 4 is never emitted.

First real LightBurn job: 2026-08-02, operator-verified. Device setup per LIGHTBURN.md (GRBL over TCP:23); a full design job — rapid in, M4 dynamic-power cut trace at commanded speed, return rapid — ran smoothly end to end on grblHAL-glowforge (laser locked, motion only). Two driver fixes came out of the first attempts: the locked laser spindle (M4/$32 support without fire capability) and the continuation-wakeup cursor alignment (back-to-back cycles previously clamped into step bursts — jerky, step-losing rapids; found via the per-run clamped stat from the operator's own job log).

Milestone 2 (motion quality): bench-verified 2026-08-02. The factory motion constants were extracted from the _RESOURCES pulse files (scripts/bench/puls_profile.py) and applied end-to-end:

• grblHAL defaults now factory-true: 12000 mm/min max rate (X/Y), 700/590 mm/s² accel (X/Y). Machine tick default 28160 Hz (the factory's own travel-move tick; 10 kHz caps an axis at 187.5 mm/s).
• The sink now applies the whole analog machine config itself at init (modes, decay, motor_lock, PIC currents) and switches PIC currents run↔hold around motion like the factory did (135/22 running, 33/5 idle, drop deferred until the kernel queue has drained).
• Bench (scripts/bench/bench_m2.py, all green): sustained 200 mm/s on a 120 mm jog, exact round-trip positioning, feed-hold parks and resumes cleanly, current switching observed live, zero underruns at 28160 Hz.
• NOTE: stored $-settings beat freshly baked defaults — after changing GLOWFORGE_DEFAULTS values, run $RST=$ once on the board (the sim persists settings in its eeprom file in /data).

The bench

• Board: SSH root@172.16.1.97 (fixed DHCP lease since 2026-08-02; was .130), empty password (ssh -o PreferredAuthentications=none logs straight in). Dev image (forgefirm-image-dev) on SD; BusyBox userland + python3 + gdb/strace. Serial console on ttymxc0 available at the bench.
• Deploying kernels: re-burn the SD with the freshly built forgefirm-image-dev-glowforge.rootfs.wic.gz (deploy dir below). Where the boot flow loads the kernel from was never fully traced (the wic has no boot partition; the eMMC env area reads empty) — re-burning works and is the procedure. Module-only changes hot-swap: scp glowforge.ko over /lib/modules/<kver>/extras/, then rmmod glowforge && modprobe glowforge. NOTE: a module reload turns off the lid LED (relight via /sys/class/leds/lid_led*/target) and resets analog config (below).
• Build host: WSL2 distro forge-yocto, tree at ~/dev/openglow-forgefirm. ~/src-sync.sh rsyncs the Windows repos in (includes python3-gfhardware and grblHAL-glowforge). Build: cd ~/dev/openglow-forgefirm/forgefirm && kas shell kas/forgefirm-glowforge.yml -c 'bitbake forgefirm-image forgefirm-image-dev'. Artifacts: forgefirm/build/tmp/deploy/images/glowforge/.
• Shell gotchas (cost real time): PowerShell mangles embedded double quotes in git-commit here-strings (avoid " in messages); wsl -- bash -c '...' eats $VAR expansions (use script files run via PowerShell, not Git Bash, which MSYS-mangles /mnt/c paths).

Running the controller (grblHAL-glowforge on the board)

Source: C:\dev\openglow-forgefirm\grblHAL-glowforge — the canonical grblHAL driver repo (github.com/ScottW514/grblHAL-glowforge, branch main): core as a submodule at src/grbl (→ ScottW514/core fork, branch forgefirm, carrying the settings-write crash fix, PR'd upstream as grblHAL/core#999), driver.c implementing the HAL, machine constants in src/boards/glowforge.h. Architecture: a wall-paced producer thread runs the core stepper ISR against a virtual step clock (1000× machine tick) and maps step events to pulse bytes; a SCHED_FIFO shipper feeds /dev/glowforge with the bounded queue; a recursive core mutex stands in for interrupt masking. GFSINK unset = null-sink mode (full engine, no hardware I/O — host testing).

1. Build: wsl -d forge-yocto -- bash <repo>/forgefirm/scripts/bench/build-glowforge.sh (from PowerShell). Produces build-arm/grblHAL_glowforge in the WSL tree (-O1 -g; machine constants live in src/boards/glowforge.h, force-included into the core: 53.333 µsteps/mm XY @ ×8, 2.832 half-steps/mm Z, 0.417" Z travel, 12000 mm/min max, 700/590 mm/s² accel — factory-derived, see puls_profile.py).
2. Deploy to /usr/bin/grblHAL_glowforge on the board (kill the running instance first — the binary can't be overwritten while executing).
3. Start: cd /data && GFSINK=/dev/glowforge grblHAL_glowforge -p 23 -e /data/EEPROM-glowforge.DAT (no -t — real-time pacing is intrinsic now). Env knobs: GFSINK_RATE (machine tick, default 28160 Hz = factory travel tick), GFSINK_DEPTH_MS (queue depth = feed-hold latency, default 200). The driver applies the full analog machine config itself at init (×8 modes, decay 1, motor_lock 8, laser latched, PIC hold currents) and swaps PIC run/hold currents around motion. If the baked $-defaults changed since the last run, $RST=$ once (stored settings win). Each motion run logs a producer-stats line to stderr (callbacks, µs/call, max-behind, clamped) — clamped should stay 0.
4. Connect LightBurn/UGS to 172.16.1.97:23, or jog raw: $J=G91X40F1200. ^X mid-motion aborts via kernel cnc/stop (controlled decel) and raises an alarm; TCP disconnects never kill the process (the deadman fd stays held).

The camera service (forgectrl, port 8080)

Source: meta-forgefirm/recipes-forgefirm/forgectrl/ (recipe-local C, MIT; built by the forgectrl recipe, installed in both images with a sysvinit script). One ulfius daemon exposes both OV5648 cameras as MJPEG over the mainline imx-media pipeline:

• GET / — index page with a live view; /?action=stream|snapshot are the mjpg-streamer-compatible aliases (lid camera).
• GET /cam/stream?cam=lid|head — multipart MJPEG at 1296×972 (2×2 Bayer-superpixel demosaic, JPEG q75; FORGECTRL_STREAM_Q overrides).
• GET /cam/snapshot?cam=lid|head&res=full|half&q=1..100 — single JPEG, default full 2592×1944 (own MIT bilinear demosaic, output verified against the gfhardware reference grab).
• GET /cam/status — JSON (running/cam/clients/frames/fps).

Engine model: one worker owns the V4L2 node persistently (media-ctl / v4l2-ctl configure sequences identical to gfhardware/cam.py, factory exposure/gain/WB, software hflip in the demosaic); starts on demand, full teardown after 10 s idle so gfhardware one-shot grabs still work. The cameras share the hardware video-mux; the NEWEST request wins it (single-operator model):

• Streams preempt. A STREAM request for the other camera kicks the current stream clients - their streams end cleanly (viewers freeze on the last frame) - and switches. The only stream failure mode is a switch timeout (a kicked client not draining within 3 s).
• Snapshots borrow. A snapshot of the other camera does not switch: the worker pauses the stream, switches, grabs one frame, switches back (~1-2 s freeze; "Head peek" on the index page uses this). Arbitration compares against the engine's home camera, so stream requests racing the borrow window preempt correctly. The per-camera lamp (pic/lid_led / head/white_led) is raised to FORGECTRL_LAMP (default 132) while capturing and restored on idle.

Bench (2026-08-03, on the board): stream 7.9 fps sustained at 1296×972 (VPU encode; 3.2 fps on the software fallback); full-res snapshot 2.4 s warm / 2.7 s cold (cold includes the pipeline bring-up); two parallel same-camera clients share the frame rate; idle teardown observed. Borrow verified: head snapshot 200 during a lid stream, the stream riding through the ~1-2 s gap. Preemption verified: a head-stream request ended the lid viewer's stream cleanly (curl exit 0 mid-stream) and was serving head frames within ~2 s; switching back likewise. Motion coexistence proven: X round-trip jogs at F1200 with an active stream — producer stats clamped 0, max behind 4.5 ms (the daemon runs at nice +5, single core). Run by hand: /usr/bin/forgectrl >> /data/forgectrl.log 2>&1 & (kill before scp when redeploying, text-file-busy).

LightBurn consumes the stream directly — operator-verified 2026-08-03 ("without issue", via the mjpg-streamer-compatible /?action=stream alias) while jogging the machine from the same LightBurn session.

VPU JPEG offload: DONE 2026-08-03, bench-verified — 7.9 fps (2.5× the software rate). The stream path demosaics the 2×2 superpixels straight to planar YUV420 (JFIF full-range 601) and the CODA960 VPU JPEG encoder (mainline coda, V4L2 mem2mem; found by personality, not node number) does the encode: per-frame copy 43 ms + convert 75 ms + encode 7 ms. Two hard-won facts:

• V4L2 MMAP capture buffers are uncached — demosaicing in-place out of one costs ~340 ms/frame at this resolution; one bulk memcpy into a cached bounce buffer first (43 ms) makes the same demosaic run in 75 ms. All camera paths (stream, snapshot, borrow) read from the bounce copy.
• The VPU encoder accepts 1296×972 exactly (no MCU-alignment padding needed) with quality via V4L2_CID_JPEG_COMPRESSION_QUALITY. libjpeg remains the automatic fallback (FORGECTRL_NO_VPU=1 forces it) and the snapshot path; /cam/status reports "encoder". Remaining headroom: the scalar convert dominates — NEON would push toward the sensor/CSI limit. If motion contention ever shows clamps during streaming, a stream-fps cap knob is the easy relief valve. The IPU cannot help with demosaic (its IC is CSC/scale only — the imx-csc-scaler at /dev/video8 matters only for a future full-res stream). Not yet done: lens calibration / bed alignment (the fisheye needs LightBurn's camera calibration pass), and the deferred 5.6 emulator homing-image smoke (the cloud emulator can now be pointed at live snapshots).

Hardware facts bank (measured)

• SDMA pulse engine: ring free = 128 MiB − 32 KiB gap; script effective ceiling ~165 kHz; position counters (sdma_context sc0/1/2 = X/Y/Z steps, sc3 = bytes) match grblHAL exactly.
• Byte layout & rules: see the UAPI.md feeder contract (authoritative).
• Z: bit 6 SET = lens UP = +Z (hardware-verified; pulsedata.py was the inverted party, fixed). Home = hall trigger at TOP; usable travel ≈ 30 half-steps ≈ 10.6 mm ≈ 0.417"; 0.3534 mm/half-step. Never blind-drive Z — hall-supervised only.
• XY: 0.15 mm per full step; DIR bit set = −X / +Y (Y1/Y2 complementary).
• Factory motion profile (measured from _RESOURCES pulse streams with puls_profile.py): accel ≈ 700 mm/s² X / 590 mm/s² Y on v2.6.0 firmware (2018 firmware used ≈1000); header HAxr=132/HAyr=112/HAar=133 ⇒ ≈5.3 mm/s² per HA unit. Travel moves peak 202 mm/s vector (≈ 8 in/s) at STfr=28160 Hz; prints/hunts run STfr=10000. Cut feed in the sample print: 145 mm/s. Z cadence ≈ 61–115 ms per half-step (≈ 5.7 mm/s max).
• Factory analog config (constant across all captured jobs, 2018→2026): PIC currents X 135 run / 33 hold, Y 22 run / 5 hold (axis DAC scales differ by design); x/y_decay=1; ×8 microstepping; run currents applied only while motion plays, hold otherwise.
• Laser PWM: 39.98 kHz register-verified (divider 13 × 127 counts).
• Switches: truthy = closed/OK; SW_INTERLOCK reads False on units without the rear plug — must NOT gate motion (beam is hardware-gated).
• Machine identity from OCOTP nvmem: serial 00000000 → hostname XXX-XXX (matches the factory label).

Next work (in rough order)

1. Backend milestone 2 — motion quality: DONE and human-verified 2026-08-02. Operator confirmed motion is "butter smooth" (and near silent) on a full observation run — slow/fast/diagonal/zigzag jogs at up to 200 mm/s under grblHAL-glowforge with the factory-true analog config. The pre-tuning loudness was the 150/150 currents + unset decay mode. Milestone closed.
2. Laser mapping (gated on the scope session): spindle → power bytes (bit 7) + bit 4 laser-enable, M3/M4/$32 semantics, PWM-reset rule per the contract. No live fire before the standing scope gates. Gate status:

   • LASER_PWM waveform: PASSED 2026-08-02 (scope on the physical pin). Method: direct PWMSAR duty steps (scripts/bench/pwm_sweep.py / pwm_hold.py) with the controller stopped, cnc disabled (steppers unpowered), laser latch locked, lid closed; laser_on_sampled stayed 0 throughout. Measured: 25.0 µs period / 40 kHz at every duty; 50/25/75 % confirmed visually; low end cursor-measured 6.4 % vs 6.3 % commanded (PWMSAR=8) — clean pulse, no runts, carrier stable across the full range. Matches the register-level audit numbers (divider 13 × 127 counts, 39.98 kHz).

   • Stream-path power bytes: PASSED 2026-08-02 (scope on LASER_PWM, scripts/bench/pwm_stream_test.py: power-bytes-only program preloaded and played by the pulse engine; steppers energized but motor_lock=15 + zero step bits — position counters pinned at 0). Operator observed the full staircase AND both contract rules on the pin: run-start duty reset to 100% (first pulses would fire at full power unless the stream's first power byte precedes its first FIRE bit) and consecutive power bytes dropped (saw 25 % where a 75 % byte rode directly behind; 75 % applied only after a spacer). Also measured: duty persists after end-of-data (PWMSAR retains the last value; the end-of-data backstop forces FIRE/step lines low, not the power setpoint) — the laser-off guarantee rests entirely on FIRE.

   • Laser latch + safety-chain gating: scope-verified 2026-08-02 (scripts/bench/fire_test.py, probe on the PSU-connector LASER_ON pin; power byte 0 throughout, zero step bytes, HV unpowered, operator at the power switch; phase B latch-unlock executed by the operator). Phase A (latch LOCKED): 40,000 streamed FIRE bits → pin dead flat AND kernel laser_enable stayed 0 — the latch severs the FIRE drive entirely. Phase B (latch unlocked, chain unarmed): kernel laser_enable=1 mid-window, but the PSU pin stayed flat and laser_on/laser_on_sampled stayed 0 — the factory board gates LASER_ON behind OK_2_FIRE exactly like the OpenGlow AND design (FIRE ∧ OK_2_FIRE, active high at the PSU pin). Interlock snapshot semantics pinned by experiment (13→7 during the unlocked FIRE window): b0 = SoC-side LASER_ON monitor, active LOW (1 = not lasing); b1 = FIRE, active high; b3 = latch, 1 = locked/0 = unlocked.

   • ≤1-tick FIRE drop at underrun/end-of-data: PASSED 2026-08-02 (scope on GPIO2_IO30, the SoC FIRE drive feeding the safing logic; fire_test.py B and U, operator-executed, duty 0, chain unarmed). Stream: two 2.000 s FIRE windows, the second ending exactly at end-of-data so its falling edge IS the SDMA backstop. Measured: both pulses 2.0000 s exactly, clean edges, on BOTH termination paths — normal completion (streaming=0) and true underrun (streaming=1, kernel underrun state reached and acked). The backstop drops FIRE within one tick (≤100 µs at 10 kHz) regardless of how the stream dies. Signal naming (per the OpenGlow LASER SAFING sheet, confirmed to match the factory board): FIRE = per-tick request (kernel laser_enable, GPIO2_IO30); OK_2_FIRE = chain verdict; LASER_ON = FIRE∧OK_2_FIRE to the PSU; HV_EN = HV enable, safing-driven only.

   • ALL STANDING SCOPE GATES ARE NOW PASSED. Live fire remains gated on the laser-milestone software itself (power-byte + FIRE emission in the stream engine with power-before-fire ordering, HV_WDOG retriggering only while genuinely cutting, M3/M4/$32 mapping) plus a chain-armed first-light procedure; the hardware verification prerequisites are complete. Interlock-trip recovery behavior remains to be exercised (non-scope check).

   • Fan/thermal control (operator-mandated laser-on prerequisite): DONE 2026-08-02, bench-verified (glowforge_cooling.c in the driver; test scripts/bench/fan_test.py). Factory pulse-header values throughout: init = pump on / TEC off / purge on / idle fans (air assist 204); M8 (coolant flood — LightBurn's per-layer Air Assist) = cut profile (air 1023, exhaust 65535, intake 43278); M9 = 15 s cooldown (GFCOOL_COOLDOWN_S) then idle. Water temp polled at 1 Hz vs the ~31 °C factory run ceiling → one-shot controller warning (laser milestone upgrades it to a hard fire gate). Verified via tach readbacks: air tach period 4439→699 under M8, exhaust stopped→full, intakes ~3×, cooldown hold, clean return to idle; coolant temp visibly dropped during the blast. Absolute ceiling 33 °C (job-header CMrx).

     Coolant temperature conversion CORRECTED 2026-08-02 — the UAPI "best guess" raw*-0.09653+94 was wrong (3–5 °C high, wrong slope); the real one is the factory B-equation recovered from the v2.6.0 binary (10 k B3380 NTC, 10 k divider, ×1.3 gain, 10-bit ADC), proven by reproducing this machine's WT* cloud settings exactly, and thermometer-checked to ~1 °C. Full derivation now in kernel-module-glowforge/UAPI.md. Consequence: the 33 °C ceiling had been firing at a real ~29 °C, and anything derived from the old formula had to be re-derived — which is how the flow check below got rebuilt.

     Coolant flow verification — REBUILT ON A 60-RUN DESIGN MATRIX (2026-08-02 overnight). Everything below supersedes the earlier ΔT-based designs; the tools are scripts/bench/flow_matrix.py (+flow_sampler.py on the board), flow_sustained.py, flow_warm_validate.py, flow_recheck_char.py.

     • Duty is the decisive parameter. Below ~40 % the stagnant loop sheds the heater's output by natural convection well enough to mimic flow: at 30 %/50 s the five pump-stopped trials read 8.15, 8.69, 8.78, 12.25, 13.33 °C while flow never exceeded 9.08 — three of five dead-pump cases looked healthier than a working pump. At 40 % heat input outruns convection (flow ≤11.46, no-flow ≥16.04, d′ 8.4) and it is also the cheapest viable option (~0.8 °C of loop heating per check vs ~2.0 °C at 50 %).
     • Operating point: 40 % duty, 50 s window, threshold 14.4 °C (balanced midpoint of 17 flow observations peaking at 12.75 and 8 no-flow observations bottoming at 16.04).
     • Periodic re-checks every 150 s (GFCOOL_RECHECK_S), because a stopped pump is undetectable any other way — absolute temperature only tracks a circulating loop, and "coolant should warm while cutting" is ambiguous (a light engrave may add no measurable heat). Sustained 40-minute run: zero false faults, and no thermal accumulation — with cut-profile fans the loop cooled 2 °C while being interrogated throughout.
     • Settle gate (safety-critical). The check measures a rise from a baseline; capturing that baseline while the loop is still cooling from earlier heat produces garbage and was bench-proven to miss (reported flow with the pump stopped). Checks are now requested, and start only once the sensors agree and the downstream reading is stationary. Stationarity uses a split-half mean difference, not peak-to-peak: measured noise on a settled loop is 0.52 °C p-p (0.70 worst) but only 0.11 °C split-half (0.21 worst), so any p-p threshold tight enough to catch drift sits below the noise floor and the gate never opens.
     • Record: 25/25 correct classifications at 40 %, plus all three settle cases (settled/flow, settled/no-flow, and the unsettled no-flow case that previously missed → now defers, then faults).
     • NOT YET VALIDATED (first-light commissioning items): all baselines were 19–23 °C (an overnight-cool room; the loop equilibrates near ambient and the heater cannot reach a cutting-session loop temperature — 100 % duty drives the downstream sensor past 50 °C in 30 s while the bulk barely moves). Behaviour at 27–32 °C baselines, and under real laser heating, must be characterized at first light. Physics argues the dependence is weak — with forced flow ΔT = P/(ṁ·c), which carries no absolute-temperature term — but that is reasoning, not measurement.
     • OBSERVED 2026-08-03 (needs triage): /data/glowforge.log carries, from a prior controller run, a passing check (rise 11.4 °C) followed by TWO COOLANT FLOW FAULT lines (rise 16.5 / 15.9 °C vs the 14.4 limit, dT 11.6). Undated (raw stderr log). Either the pump genuinely faltered or this is the warm-baseline false-positive mode above — check the pump and re-run a supervised verification before trusting the loop.

     (Superseded earlier text kept below for context.) Coolant flow verification (first attempt, live-verified both ways). Continuous 10 % heating was never viable on the corrected curve: flow ΔT ≤3.69 vs no-flow ΔT ≥3.74 — a 0.04 °C gap against ~0.9 °C of sensor noise. At 30 % the ΔT bands separate (≤9.32 / ≥10.99) but a ΔT threshold still failed a live pump-off drill (8.8 °C vs a 10.2 °C limit), because a check starting from a cold heater never reaches the steady-state delta. Final design: a one-shot check at job start (M8) — heater to 30 % for 50 s — with the discriminator being downstream temperature RISE (flow ≈10.3 °C vs no-flow ≈15.1 °C, ~6 °C separation; threshold 12.7 °C, GFCOOL_FLOW_RISE). Heater goes off afterwards, so the loop is not warmed for the rest of the job, and absolute over-temp monitoring carries protection from there (a pump failure mid-cut shows as a temperature climb far faster than any heater delta). Verified twice each way from a cooled loop. v2 (same day): heater job-scoped (M8..M9 only — an always-on heater eats headroom below the 31 °C start gate at idle; flow faulting arms 30 s after heater-on), two-phase cooldown (15 s smoke clear at run duty, then half-duty airflow until the upstream temp is under the 31 °C resume gate or GFCOOL_COOLDOWN_MAX_S), and factory-style over-temp pause using the factory coolant windows (run ceiling 33 °C / resume 31 °C, env-adjustable: GFCOOL_TEMP_MAX/GFCOOL_TEMP_RESUME): a CYCLE over the ceiling gets a feed hold + forced cooling airflow + auto-resume on recovery; a JOG gets a jog-cancel (grblHAL refuses HOLD from the jog state by design). Senders see the Hold state and [MSG:Warning:…] lines. Drilled live with test limits: jog canceled mid-move, cycle held and auto-resumed, fan profiles restored on stand-down. TEC control remains for the laser milestone; these warnings/holds become hard fire gates there.

   • Interlock readback semantics cross-check: OPEN (see factory-laser-safety-readbacks notes).

3. Homing (design decided 2026-08-02): the factory machine has NO X/Y home switches (only an unpopulated IO header — hardware project for another day). Current-spike stall sensing is a dead end (the PIC current attrs are setpoints, not measurements, and chopper-driven steppers don't draw more current when stalled). Plan, simple first:
   1. Primary: accelerometer bump-detect — the head lis2hh12 (in the DT, head/accel_irq readback) senses the contact jolt while creeping toward the corner; stop, back off, zero. Needs IIO bring-up on the dev image.
   2. Fallback: soft-bump — PIC current dropped to a weak value, slow constant-velocity stream past full travel, harmless step skipping against the hard stop, back off, zero counters, restore run current. Zero new sensing; ~±1 full step (0.15 mm) repeatability; brief grind during the skip. Y "weak" value needs empirical tuning (factory run is already only 22). Camera homing (the factory's actual method) is a future option once the camera service exists. Z homes against the hall sensor (top), hall-supervised only.
4. 6.5 safety mapping: door/estop evdev → feed-hold/halt in the backend; underrun → grblHAL alarm; interlock-trip recovery check.
5. 6.6 camera service: DONE 2026-08-03, bench- and operator-verified (see "The camera service" section above; LightBurn streams it directly). Remaining camera work: lens calibration / bed alignment, the deferred 5.6 emulator homing-image smoke.
6. Housekeeping: pick the controller's remote home DONE 2026-08-02 — the controller is now the canonical driver repo github.com/ScottW514/grblHAL-glowforge (+ ScottW514/core fork; the settings-write crash fix is upstream PR grblHAL/core#999; repoint the submodule to upstream when it merges). Remaining: a Yocto recipe for grblHAL-glowforge in meta-forgefirm (pin SRCREV; fills the forgectrl slot per kas/README.md), Phase 7 doc sweep (CLAUDE.md charter refresh, README roadmap), kas flip + first GitHub release per kas/README.md once ready to publish.