feat(seq): hardware-sequencer engine core (native-tested, not yet wired)#580
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hongquanli wants to merge 8 commits into
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feat(seq): hardware-sequencer engine core (native-tested, not yet wired)#580hongquanli wants to merge 8 commits into
hongquanli wants to merge 8 commits into
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Phase A Task A1 of the firmware-v2 plan (AI-docs 2026-07-04-firmware-v2-plan.md). Pure C++11, no Arduino deps; structs are the future SEQ_UPLOAD_PROGRAM wire format. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…lock tests Phase A Task A2: SeqHal + ExposurePlan (µs-timestamped edges owned by the HAL), FakeHal scripted test harness, engine state machine passing single-frame and piezo-settle scenarios. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Phase A Task A3. Engine already used the explicit settle_armed_ latch the plan's refactor step targets; tests lock the behavior in. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…-channel z offsets Phase A Task A4. Locks in the core time-saving behavior: PREP(k+1) launches at exposure end (readout start), and the next exposure waits for readout AND moves. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Phase A Task A5. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…rlap opt-out Phase A Task A6. readout_overlap_safe=0 defers PREP(k+1) until that camera's readout completes (no motion during rolling-shutter readout); ready-line and timeout paths locked by tests. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Phase A Task A7. Cancel never truncates an exposure and honors return_to_start; min_trigger_period_us spacing enforced; whole-run invariants: frames == Nz*Nch, exposures never overlap, no motion/DAC command inside any exposure window. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Summary
Phase A of the firmware v2 modernization program (design + plan in AI-docs,
2026-07-04-firmware-v2-{design,plan}.md— see design §5 for the timing semantics this implements).Adds the hardware-sequenced acquisition engine as a pure C++11 module (
firmware/controller/src/sequencer/) with no Arduino dependencies and no serial/hardware wiring yet — that lands in later phases (protocol v2 Phase B/C, hardware binding Phase D). The firmware's runtime behavior is unchanged by this PR; the new files compile into the teensy41 target but nothing calls them.What the engine does (once wired)
One uploaded program = one multichannel z-stack executed autonomously: per (layer, channel) step it moves the stack axis (stepper or piezo DAC) and filter wheel, pre-arms the intensity DAC, waits for settle + filter-in-position + camera trigger-ready (input line or timing model), schedules µs-timestamped trigger/illumination edges (level or edge mode, keeping the v1 electrical contract: level pulse width = strobe_delay + exposure), and — the core time-saver — launches the next step's filter/z moves at exposure end, during camera readout. Rolling-shutter cameras can opt out via
readout_overlap_safe=0. Cancel never truncates an exposure; faults abort with specific error codes.Files
src/sequencer/seq_types.{h,cpp}— acquisition program structs (future SEQ_UPLOAD_PROGRAM wire format) + validationsrc/sequencer/seq_hal.h— hardware interface (ExposurePlanµs edge schedule; Phase D binds TMC/DAC/GPIO)src/sequencer/seq_engine.{h,cpp}— the timing state machinetest/test_seq_types/,test/test_seq_engine/— 22 Unity tests incl. a scripted fake HAL + virtual clockTesting
pio test -e native: 102/102 (16 engine-timing scenarios: readout overlap, WAIT gating, ready-line + timeout abort, rolling-shutter opt-out, cancel semantics, min trigger period, whole-run invariants: frames == Nz×Nch, exposures never overlap, no motion command inside any exposure window)pio run -e teensy41: SUCCESS (target build unaffected)🤖 Generated with Claude Code