enricobuehlerandClaude Fable 5 759aac255b feat(phase-lock): controller v3 — grid-locked submits, arrival sensing, antipode damping ...

Midday on-glass falsified v2's remaining assumptions: a per-frame additive
hold SATURATES the arrival-slaved loop once hold + work >= interval — submits
free-run at their own cadence and the commanded phase dissolves (measured:
+-2 ms hold steps, zero client response) — and the latch statistic hovers at
the target's ANTIPODE, where shortest-way errors sign-flip on noise (the
0<->2<->4 ms offset chatter).

v3, one change per falsified assumption:
- ACTUATOR: submits lock to an absolute grid (epoch + k x period + offset);
  the controller walks only the offset. A periodic grid cannot free-run —
  occupancy is one frame per period whatever the offset — so phase actuation
  is linear BY CONSTRUCTION. Disengaged = no grid sleeps = zero cost; every
  failure path DISENGAGES (never parks: v2's e2e-tax lesson).
- SENSOR: the client reports the circular mean + coherence of the ARRIVAL
  lead (per-AU reassembly stamps vs the panel latch grid) — the phase the
  host actually controls; latch measured downstream of the decoder pipeline,
  which absorbed the actuation. pf.phase logs "arrival lead circ= coh=".
- ANTIPODE DAMPING: errors within 1 ms of +-period/2 take half-steps until
  they commit to a side.

Harness rewritten around plants glass validated: a GRID plant (linear by
construction), the DECOUPLED plant (v2's saturation — must disengage, not
orbit or park), an antipode start (must converge within one period of
travel), incoherence (never engages), a regime change (re-engages after
backoff), and the actuator's own periodicity/offset-linearity. Also fixes
the harness's SIM_TARGET (a mis-derived max asserted 3.5 ms where the
controller's actual target is 2.5 — the controller was right, the ruler
was wrong; the Python cross-check inherited the same constant, a lesson in
replicating the CODE, not the author's belief about it).

Gates: v3 simulations 6/6; host bin suite 345/1 (the documented
environmental qemu UDP test); clippy --all-targets -D warnings clean;
cargo ndk arm64 check clean.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

2026-07-31 12:20:39 +02:00

..

src

feat(phase-lock): controller v3 — grid-locked submits, arrival sensing, antipode damping

2026-07-31 12:20:39 +02:00

vendor/ndk

docs: repo-wide housekeeping — sync README & docs with the code as shipped

2026-07-10 09:13:42 +02:00

Cargo.toml

chore(unsafe): the workspace adopts the drivers' unsafe discipline

2026-07-28 21:31:41 +02:00