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ScottW514
faaa6cb40b
Bump the grblHAL pin to the real-time producer change. Add motion.step-timing-under-load: the catalog had nothing that exercised step generation while userspace competed for the single core, which is exactly the gap that let the condition go unnoticed - the ring never runs dry, so cnc/underruns reads 0 through it. The test asserts the producer and the shipper both hold SCHED_FIFO, then drives 2000 mm/min round trips against a deliberate nice-5 CPU hog and requires the controller to report no clamped events. Add the pthresh live-fire drill: a constant-power ladder from 2 % to 30 % of full on scrap. Because $35 is a percent of full duty and the rungs are percents of $30 with $31 = 0, the lowest rung that marks reads directly as the $35 value. It needs $35 = 0 for the run, or the floor lifts every rung and hides the threshold. Record both open items in BRINGUP. The laser one carries the finding that the factory never uses duty as a power control - all five firing jobs in the captured pulse files pin the power byte at 127 and modulate dose by dithering the FIRE bit at 6.5-18.8 % density - so the captures cannot supply a $35 default, and the duty to optical-power transfer function of this supply has never been measured.