65 lines
1.5 KiB
Markdown
65 lines
1.5 KiB
Markdown
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# Architecture
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## Runtime split
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### Host controller — Python on RPi/PC
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Responsibilities:
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- operator workflow and manual-mode UI integration;
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- state machine orchestration;
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- controller-job intake validation;
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- geometry gate;
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- setpoint command stream;
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- telemetry capture;
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- logs, manifests, hashes, status file;
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- slow watchdogs and data export.
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### Teensy firmware — C++ on Teensy 4.x
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Responsibilities:
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- inner loop around ~1 kHz;
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- KWR75B-CAN F/T receive path;
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- encoder acquisition;
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- force PID output;
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- table/spindle/actuator command outputs;
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- fast safety checks;
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- heartbeat supervision;
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- telemetry frames at >=100 Hz;
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- ACK/NACK and event/fault frames.
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## State machine
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Current accepted state names:
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```text
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IDLE
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JOB_LOADED
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READY
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RUNNING
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PAUSED
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ABORTING
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COMPLETED
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ABORTED
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FAULTED
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MANUAL
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```
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Important rules:
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- `FAULTED` exits only through explicit operator reset.
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- `JOB_LOADED -> READY` requires operator acknowledge.
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- `IDLE -> MANUAL` is allowed only with no job loaded.
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- Illegal transitions are errors and events, never silent ignores.
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- Manual mode uses the same safety/interlocks as job mode.
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## Manual mode sequence
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1. Machine starts in `IDLE`.
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2. Operator opens Manual Mode.
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3. Host enforces the geometric gate.
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4. Host sends `MANUAL_START` to Teensy.
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5. Teensy ACKs or NACKs with a machine-readable reason.
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6. Host sends live `SETPOINT` updates.
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7. Teensy emits telemetry and events.
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8. Operator stops; host sends `MANUAL_STOP`.
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9. Host writes manual-session log and artifacts.
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