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servo: add the experiment image, OpenLoop behind the raw trip and a bus dead-man - #483

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aq1018 merged 1 commit into
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experiment-image
Oct 26, 2026
Merged

aq1018 merged 1 commit into
mainfrom
experiment-image

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@aq1018 aq1018 commented Oct 26, 2026

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  • Cargo feature experiment (core, forwarded by servo-ch32 and the app; scripts/build-image.sh --experiment): the notebooks' capture image. OpenLoop alone at the goal as written, the window measurement and the overcurrent trip kept; loops, limiter, limits fold, estimators, detectors and the stall permit lease compile out. capability_flags bit 1 names it.
  • New bus_deadman_ticks (CONTROL 0x192, RW, RAM): on the experiment image a countdown in kernel ticks that every dispatched instruction reloads and a TEL burst holds; at zero the kernel latches deadman (bit 7, code 9) and coasts until the torque-enable ack. The production image accepts and ignores it.
  • osc/ident: the pump's lease is the dead-man on the experiment image (fed after every torque enable and at the permit's cadence, no stream length refused); identity read once at connect.
  • Docs: kernel sec 2.7, protocol sec 5.4 / 5.8 and the fault table; descriptor regenerated; CI builds and gates the image and runs the core tests under the feature.
  • Production image unchanged in every section (one access-map byte for the new field); kernel trace golden untouched.

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aq1018 merged commit ed07b1f into main Oct 26, 2026
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aq1018 deleted the experiment-image branch October 26, 2026 22:25
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