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docs: sync control source to AK60 RPi5 BiSS-C

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Nick Hermes
2026-07-06 10:21:23 +00:00
parent edb8648f78
commit 5883620f73
18 changed files with 32083 additions and 31969 deletions
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docs/nick-generated/2026-06-02-spindle-direction-selection.md
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@@ -40,7 +40,7 @@ Rationale: the controller is not deciding polishing strategy. It is executing/lo
## 4. Affected layers
- Host controller: normalize/validate direction aliases and include direction in manual setpoints/log events.
- Teensy firmware: accept direction in `MANUAL_START`, `SETPOINT`, and future `SEGMENT_START`; map to ODrive command sign.
- Teensy firmware: accept direction in `MANUAL_START`, `SETPOINT`, and future `SEGMENT_START`; map to AK60 command direction/sign convention.
- Host ↔ Teensy protocol: add `spindle_direction` / `commanded_spindle_direction` enum values `cw` / `ccw`.
- Telemetry channels: add `spindle_direction_setpoint` and `spindle_direction_actual` as recommended channels.
- Run/manual-session logs: record direction separately from RPM; RPM remains a non-negative magnitude.
@@ -51,8 +51,8 @@ Rationale: the controller is not deciding polishing strategy. It is executing/lo
## 5. Safety implications
- Direction must not be inferred from signed RPM; use explicit enum plus non-negative RPM magnitude.
- Direction reversal while spindle is moving should be ramped/handled safely by firmware/ODrive implementation. The scaffold currently defines the contract; Cédric should decide whether live reversal is allowed directly or requires ramp-to-zero before applying the new direction.
- ODrive sign mapping is a commissioning item: firmware must be configured so UI `cw`/`ccw` matches physical observed tool rotation.
- Direction reversal while spindle is moving should be ramped/handled safely by firmware/AK60 implementation. The scaffold currently defines the contract; Cédric should decide whether live reversal is allowed directly or requires ramp-to-zero before applying the new direction.
- AK60 direction mapping is a commissioning item: firmware must be configured so UI `cw`/`ccw` matches physical observed tool rotation.
Safety decision:
@@ -72,14 +72,14 @@ Safety decision:
- [x] Host contract tests for enum values and alias normalization.
- [x] Schema field test for `commanded_spindle_direction`.
- [x] Telemetry channel test for direction channels.
- [ ] Firmware compile/build check once Cédric maps this into Teensy/ODrive code.
- [ ] Firmware compile/build check once Cédric maps this into Teensy/AK60 code.
- [ ] Bench test confirms UI `cw` physically rotates clockwise by the documented convention.
- [ ] Bench test confirms UI `ccw` physically rotates counter-clockwise by the documented convention.
- [ ] Bench test confirms live reversal behavior is safe or blocked until spindle reaches zero.
## 8. Open questions
- Cédric: confirm the ODrive command/sign mapping and whether live direction reversal requires ramp-to-zero.
- Cédric: confirm the AK60 command/direction mapping and whether live direction reversal requires ramp-to-zero.
- Antoine/Normand: confirm the physical viewing convention: current draft uses “viewed from above the toolhead looking down toward the mirror/tool contact.”
## 9. Implementation notes