# messages

from_id: solar-psyche
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  <EVENT type="echo_commune" from="solar-psyche" timestamp="2026-06-09T23:08:20-07:00" machine="HFENDULEAM" project="sauna" branch="main" head_sha="479bf712be79c9565a74c9890965ba28ae1baf4f" head_subject="Spike S3 eyes-in PASS: pre-warped grid validated through the lens on enl…" note="Echo commune brief — auto-fired">&lt;live-context&gt;<br>Spike S3 PASS both gates — **spike ladder complete 3/3**. Repo main @ 479bf71, clean, pushed.<br><br>Numeric gate: `DISTORT_POLY3` settled empirically against one sanctioned SteamVR run on<br>the enlyzeam Beyond (LHR-599F3B91): **direct** polynomial `d = 1+k1r²+k2r⁴+k3r⁶` (NOT<br>Monado's reciprocal), output rescale `0.5/(1+grow)`, **no undistort_r2_cutoff clamp** —<br>evaluator matches `ComputeDistortion` to 0.0002 px max (65×65×3ch×2eyes). Found via<br>9-param free fit (analyze.py) after all 4 closed-form hypotheses failed; fitted coeffs +<br>center reproduced config values to 5 decimals. The clamp was the only bug in the<br>otherwise-correct hypothesis.<br><br>Eyes-in gate: pre-warped grid (make_warped_grid.py) presented via new `s2_nvapi --image`<br>static-frame path at native 5088×2544@75. User eyeball on enlyzeam: rectilinear both<br>eyes, CA stable (residual fringing = generator aliasing, not warp), triangle-up confirms<br>v=0=top, left-eye marker confirms left half = left eye. Stereo convergence absent as<br>expected (no IPD/canting comp in test image — M2 scope).<br><br>Load-bearing M2 facts from the dump (all in spikes/s3-distortion-truth/FINDINGS.md):<br>- Driver reports eye_to_head = IDENTITY + ±ipd/2; canting is folded into asymmetric<br>  GetProjectionRaw (config `parallel_render_cameras: true`). M2 must replicate the fold<br>  (closed form underivable so far — fitted per-eye offset/scale archived as ground<br>  truth) or render genuinely canted cameras with consistent warp math. NOT mix.<br>- IPD translation = user setting (`driver_BeyondSteamVR.ipd_mm` 62.0), not config<br>  ipd.default_mm (69). v1: config default + user override.<br>- center_x = −K[0][2], center_y = +K[1][2] convention confirmed.<br>- M1 hazard: doffed headset → prox kills panels → vsync gone → present loop free-runs<br>  5000+ fps with ZERO errors. Compositor needs prox/power handling + free-run detection.<br><br>Ops notes: OpenVR IPC refuses SSH logon sessions — `schtasks /it` trick runs dump in<br>interactive session. SteamVR-cached lighthouse configs on enlyzeam include ~47 stale<br>factory units; serial cross-check in verify.py guards mismatches.<br><br>Next queue: (1) local 4090 rig S2 visual re-verify with fixed build — user must be<br>physically at local rig, currently at enlyzeam; (2) M1 first light: S1 IMU reader + S2<br>presenter glued, head-locked test pattern from cold boot.<br>&lt;/live-context&gt;<br>&lt;project-context&gt;<br>**End goal:** Sauna = Bigscreen Beyond as self-tracked 3DOF wearable spatial display.<br>Head-tracked virtual screen(s) mirroring desktop monitors, fixed in space. No lighthouses,<br>no SteamVR. Own compositor, direct mode, Windows+NVIDIA v1.<br><br>**Broad status:** Spike ladder COMPLETE 3/3. Ready for M1 architecture code.<br>- S1 ✅ IMU streams unconditionally without SteamVR (993.8 Hz)<br>- S2 ✅ D3D12+NVAPI DirectMode present, visually validated both rigs<br>- S3 ✅ DISTORT_POLY3 settled: direct poly, no clamp, 0.0002 px max error<br><br>**Next queue:**<br>1. Local 4090 rig S2 visual re-verify (user must be physically present)<br>2. M1 first light: S1+S2 glued, head-locked test pattern from cold boot<br><br>**Key M1 hazard:** prox-sensor doff → vsync lost → present loop free-runs 5000+ fps.<br>Needs prox/power handling + free-run detection before M1 ships.<br><br>**Repo:** github.com/FEAT-HER3/sauna (private), main @ 479bf71, clean.<br>&lt;/project-context&gt;</EVENT>


from_id: solar-psyche
body:
  <EVENT type="echo_commune" from="solar-psyche" timestamp="2026-06-10T01:04:24-07:00" machine="HFENDULEAM" project="sauna" branch="main" head_sha="9e6ebc1d49a98a2154ab3878032af2989fc31823" head_subject="M2 plan: tracked + warped" note="Echo commune brief — auto-fired">&lt;live-context&gt;<br>Session close-out. main @ 9e6ebc1, clean, pushed. **M1 FIRST LIGHT COMPLETE +<br>field-hardened. M2 plan written (docs/m2-tracked-warped.md). Resume = start M2 gate 1.**<br><br>Session arc (8 commits e612142..9e6ebc1): src/ architecture tree born and M1 shipped —<br>TundraImu (995 Hz native Win32 HID reader), McuProx (bey-closer-t1 port), NvapiD3d12Presenter<br>(all S2 rules + free-run throttle + acquire retry 10×1s), first_light glue app. Then three<br>field-test/fix cycles on enlyzeam closed it out:<br><br>1. Frozen needle → **28DE:2300 is NOT Beyond-unique**: user's wired Index controller<br>   (LHR-B32AAFCE) enumerated first; we read it for a whole false-trail day (SteamVR-sleep<br>   theory, wake magics — all aimed at the wrong device; Beyond streamed 990 Hz untouched).<br>   Fix: selection REQUIRES MCU (35BD:0101) pairing via USB location-path ancestor — Tundra<br>   and MCU are on SIBLING hubs inside the headset (…USB(1)#USB(3)#USB(3) vs<br>   …USB(1)#USB(1)#USB(3)), so match 1-2-hop-stripped prefixes. Single-candidate fallback<br>   DELETED (it caused latch-on after unplug). --imu-serial overrides. NO serial lock on<br>   reconnect (user req: swap different Beyonds back-to-back). Hazard in S1 FINDINGS.<br>2. Hot-unplug freeze → per-frame GetDeviceRemovedReason + 5×1s waitable-timeout displayLost<br>   exit; HID readers auto-reconnect (2 s poll; McuProx re-sends 'R' — MCU forgets to stream).<br>3. Silent unplug (timeout-shaped death, no error) → 3 s silence watchdogs both readers<br>   (Tundra never legitimately quiet at ~994 Hz).<br><br>Final verified sequence: pull cable → both readers flag gone, no controller latch over 30 s,<br>free-run throttle fires on real vsync loss (~65 fps held) → replug → telemetry re-probed,<br>LHR-599F3B91 reconnected, prox DONNED, IMU ~1000 Hz, present restored. Cold boot confirmed.<br><br>Field facts this session: prox worn reading 14282 was thumb-ON-sensor (true worn margin<br>uncharacterized; defaults 1500+100 fine for now). Doff only DIMS panels, vsync survives —<br>free-run needs full display loss. Free-run state flaps while unplugged (dead waitable<br>erratic) — cosmetic, app-shell polish. Device-side IMU seq-skip baseline ~7/s (gap-size 2),<br>not host loss. Both rigs Beyond 2e. scp to enlyzeam fails if exe running — ship _new.exe.<br><br>**Immediate next steps (M2, gated order per docs/m2-tracked-warped.md):**<br>1. Gate 1 — calibration ingest: dev JSON import of per-unit config (lighthouse cache dump);<br>   parse POLY3 coeffs/centers/grow, projection fold ground truth, eye_to_head/ipd, imu block;<br>   gate = reproduces S3 evaluator numbers for LHR-599F3B91 exactly.<br>2. Gate 2 — gyro scale verification (last unverified S1 number): controlled 90/180/360°<br>   rotations, integrate, solve per-axis scale; check config imu block values against it.<br>3. Gate 3 — Mahony AHRS + frame conventions (imu.plus_x/plus_z/position), per-axis physical<br>   sense check MANDATORY before render work.<br>Then: per-eye render core (parallel-camera path from fitted fold data; never mix with canted),<br>distortion pass (gate: pixel-diff vs make_warped_grid.py output), eyes-in spatial light.<br>&lt;/live-context&gt;<br>&lt;project-context&gt;<br>**End goal:** Sauna = Bigscreen Beyond as self-tracked 3DOF wearable spatial display.<br>Head-tracked virtual screen(s) mirroring desktop monitors, fixed in space. No lighthouses,<br>no SteamVR. Own compositor, direct mode, Windows+NVIDIA v1 (Linux = first post-v1 target;<br>present-backend + device-layer seams in place for it).<br><br>**Broad status:** Spikes 3/3 ✅ → **M1 first light ✅ (2026-06-10, field-verified both rigs)**.<br>src/ tree live: device layer (TundraImu 995 Hz + Watchman disambiguation, McuProx doff/don),<br>present backend seam (NvapiD3d12Presenter: S2 validated link config, free-run throttle,<br>hot-unplug survival), first_light app (cold boot → head-locked pattern + IMU liveness needle).<br><br>**Build order:** M1 ✅ → **M2 tracked+warped (NEXT, plan @ docs/m2-tracked-warped.md)** →<br>M3 product shape (capture, multi-screen, recenter, settings, native calib read) → M4<br>hardening (pacing, color, install).<br><br>**Repo:** github.com/FEAT-HER3/sauna (private), main @ 9e6ebc1, clean.<br>**Rigs:** local 4090 (LHR-1F8E25F1) = build+dev; enlyzeam 2080 Ti (LHR-599F3B91) = field<br>test via scp to sauna-test/ — beware its resident wired Index controller (LHR-B32AAFCE).<br>&lt;/project-context&gt;</EVENT>


from_id: solar-psyche
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  <EVENT type="echo_commune" from="solar-psyche" timestamp="2026-06-10T05:20:16-07:00" machine="HFENDULEAM" project="sauna" branch="main" head_sha="d5c510b0f711fb1fba74926151b265ec064e1d41" head_subject="Canted cameras now the default; gyro pose prediction (~20 ms)" note="Echo commune brief — auto-fired">&lt;live-context&gt;<br>**M2 COMPLETE — user eyes-in PASS, session closed. Resume = write M3 plan, start M3.**<br><br>A/B verdicts (the delta since de57522), all landed in d5c510b:<br><br>1. **CANTED WON — instantly fixed stereo convergence.** &quot;Feels about right&quot; from a<br>   5-year headset-QC eyeball. Now spatial_light DEFAULT (--fold reverts). Ground<br>   truth recorded in S3 FINDINGS: calibration polys live in the LENS-AXIS frame;<br>   the parallel+fold driver contract is an affine approximation whose error is a<br>   per-eye homography — straight lines stay straight (monocular tests blind to it),<br>   mirrored between eyes (stereo sees it). The exact-contract replication we<br>   verified to 0.0002 px / 0.000000 tan was faithfully reproducing the WRONG model.<br>   Lesson burned in: stereo_field_audit.py validates contract-consistency only.<br>2. **r2-clamp FALSIFIED eyes-in**: jarring distortion ring near FOV edge.<br>   Unclamped extrapolated poly (= ComputeDistortion behavior, S3 measurement) is<br>   optically right. Flag kept for reference only.<br>3. **Gyro pose prediction added** (~20 ms horizon, q·exp(ωdt/2), --predict-ms,<br>   clamp 50 ms): user's last complaint was lag-behind-head; prediction addressed<br>   it enough to PASS. Proper paced prediction = M4.<br>4. Earlier-in-session fixes: Mahony accel correction fades to zero by 1 rad/s<br>   (fixed neck-lever hitching); quad at 2 m (2.133×1.2, world-true 0.1 m checkers<br>   + round 0.6 m circle); neck model arrow-key live-tune (NOTE: effect invisible<br>   near identity pose — must hold head rotated while tuning).<br><br>M2 exit criteria all green: world-fixed under yaw/pitch/roll, no inversion,<br>stereo fuses (canted), no swim at rest, recenter snaps ahead.<br><br>**Immediate next steps:**<br>1. Write M3 plan (docs/m3-*.md) — product shape: DXGI desktop duplication onto the<br>   virtual screen quad, multi-screen layout matching OS monitor arrangement,<br>   global recenter hotkey, settings/persistence, native Watchman flash calib read<br>   (replaces dev JSON path; backup/read-back/verify tooling FIRST; user also wants<br>   measured-IMU-cal stored in an arbitrary onboard config key — same tooling gate).<br>2. Enlyzeam field test of M2 spatial_light (scp _new.exe dance, wired Index<br>   controller hazard) + gyro_cal_vr confirmation run there (decides whether<br>   2000dps/32768 ships as universal constant — first-time-setup design hinges on it).<br>3. Carry-overs: pacing/latency proper (M4), free-run flap cosmetic (M3 shell),<br>   Beyond-2e eye-tracked dynamic distortion question (future comfort win).<br>&lt;/live-context&gt;<br>&lt;project-context&gt;<br>**End goal:** Sauna = Bigscreen Beyond as self-tracked 3DOF wearable spatial display.<br>Head-tracked virtual screens mirroring desktop monitors, fixed in space. No lighthouses,<br>no SteamVR. Own compositor, direct mode, Windows+NVIDIA v1 (Linux post-v1; seams in place).<br><br>**Broad status: M1 ✅ → M2 ✅ (2026-06-10, eyes-in PASS) → M3 product shape (NEXT) → M4 hardening.**<br><br>M2 deliverables now permanent project facts:<br>- **Render path: CANTED cameras** — per-eye eye_to_head rotations in the view +<br>  unfolded grow-expanded intrinsics windows ((±G−c)/f, y-flip on T/B). The<br>  parallel+fold SteamVR contract is an approximation that breaks stereo; never<br>  return to it for rendering. Warp is frame-invariant (u_src=(q+G)/2G).<br>- **Warp:** per-channel direct POLY3, shared center, 0.5/(1+grow) rescale, NO<br>  r2-cutoff clamp, border-black, color mult. Verified to S3 ground truth on both units.<br>- **Gyro scale = ±2000 dps over int16** (0.00106526 rad/s/LSB nominal, +0.07%<br>  measured on LHR-1F8E25F1; enlyzeam confirmation pending). Accel 4096 LSB/g.<br>- **AHRS:** Mahony, head frame, stillness-validated bias capture, accel correction<br>  gated by |a| AND rotation rate, gap reset, yaw-only recenter, gyro prediction<br>  pose(predictSec). Neck model (80/75 mm default).<br>- **Closed-form config→frustum fold** (tools/derive_projection_fold.py) — exact,<br>  no per-unit OpenVR dump ever needed; calib ingest = sauna_calib (dev JSON path,<br>  native flash read is M3).<br>- Verification tooling: calib_check, gyro_cal_vr.py (SteamVR-ground-truth IMU cal,<br>  candidate first-time-setup flow), gate5_check.py, stereo_field_audit.py,<br>  --grid/--fold/--r2-clamp/--predict-ms discriminator flags in spatial_light.<br><br>**Repo:** github.com/FEAT-HER3/sauna (private), main @ d5c510b, clean, pushed.<br>**Rigs:** local 4090 (LHR-1F8E25F1, SteamVR ipd 63) = dev; enlyzeam 2080 Ti<br>(LHR-599F3B91, resident wired Index controller hazard) = field.<br>&lt;/project-context&gt;</EVENT>


from_id: solar-psyche
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  <EVENT type="echo_commune" from="solar-psyche" timestamp="2026-06-10T17:07:43-07:00" machine="HFENDULEAM" project="sauna" branch="main" head_sha="b91acb1915201aa476285e405be51e9f48e6e972" head_subject="M3 step 6.3: native flash calib read is the default; --config now overri…" note="Echo commune brief — auto-fired">&lt;live-context&gt;<br>You are the echo-commune re-hydrator for solar.<br><br>CURRENT_LIVE_CONTEXT:<br>SESSION CLOSE commune (HFENDULEAM, main @ b91acb1, clean, pushed). Stale<br>spatial_light_running*.exe deleted. Resume = M3 steps 4+5, then enlyzeam field<br>session.<br><br>**End goal:** Sauna = Bigscreen Beyond as self-tracked 3DOF wearable spatial<br>display. Head-tracked virtual screens mirroring desktop monitors, fixed in<br>space. No lighthouses, no SteamVR. Own compositor, NVAPI direct mode,<br>Windows+NVIDIA v1 (Linux post-v1; seams in place).<br><br>**Broad status: M1 ✅ → M2 ✅ (eyes-in PASS) → M3 product shape ~60% (2026-06-10)<br>→ M4 hardening.**<br><br>M3 scoreboard (docs/m3-product-shape.md):<br>- Step 1 capture ✅ EYES-IN PASS: desktop on quad via DXGI duplication, cursor,<br>  mips, ACCESS_LOST resilience. Fuzzy at first → --ss supersampling (default<br>  1.5x) → &quot;improved sharpness considerably&quot;. Latency &quot;very good&quot;.<br>- Step 2 multi-screen layout: CODE DONE, gate needs 2+ monitors → enlyzeam.<br>- Step 3: global recenter Ctrl+Alt+Home ✅ EYES-IN PASS. Tray shell + free-run<br>  flap cosmetic + configurable binding REMAINING.<br>- Step 4 idle/burn-in policy: NOT STARTED (persistence/brightness defaults,<br>  idle timeout → panels off, wake on motion).<br>- Step 5 settings + persistence: NOT STARTED (%APPDATA%\sauna\config.json,<br>  screen distance/scale, ss, predict-ms, neck, hotkey, live-apply).<br>- Step 6 native calib ✅ on dev unit: calib_dump backup tool + flash read now<br>  spatial_light DEFAULT (no JSON; &quot;flash:LHR-...&quot;). Flash = authoritative<br>  (SteamVR cache JSON lossy — ipd block). Enlyzeam unit backup pending.<br>- Step 7 onboard IMU-cal write: research only — confirm Watchman protocol<br>  write exists; STOP if unclear; enlyzeam backup is a hard precondition.<br><br>**Immediate next steps (next session):**<br>1. Step 5 settings/persistence — biggest UX gap; folds in --ss/--neck-mm/<br>   hotkey/screen-size knobs that currently live as flags + live-tune keys.<br>2. Step 4 idle policy (MCU panel-off path exists from M1 prox work).<br>3. Step 3 rest: tray icon, console→dev-only, free-run flap quiet.<br>4. Enlyzeam field session (user-gated): M2/M3 eyes-in there, step 2<br>   multi-monitor gate, calib_dump LHR-599F3B91 backup (then step 7 unblocks),<br>   gyro_cal_vr confirm (2000dps universal? → first-time-setup design).<br>5. M4 queued: single-resample warp-direct compositing (panel ray → quad →<br>   desktop sampled once) = next big sharpness win; proper paced prediction;<br>   pacing capture-Hz vs panel-Hz; HDR/color correctness.<br><br>**Key invariants (never re-derive):** CANTED cameras only (parallel+fold breaks<br>stereo); warp per-channel direct POLY3, no r2 clamp, 0.5/(1+grow); gyro<br>±2000 dps/int16; flash calib via ReadWatchmanConfig (overlapped<br>DeviceIoControl GET_FEATURE + stall retries + read-twice-identical; hidsdi.h<br>before hidpi.h); capture publishes only CPU-confirmed frames, consumer needs<br>COMMON↔PSR barriers only; exe-swap dance for rebuilds while user eyes-in<br>(rename running exe, rebuild, relaunch).<br><br>Session commits: 8cc495f (M3 plan), 956547e (capture), 162e858 (layout),<br>d5b3cde (hotkey), 0d89c04 (calib_dump), 714a352 (--ss), b91acb1 (flash default).<br>All pushed to github.com/FEAT-HER3/sauna main.<br>&lt;/live-context&gt;<br>&lt;project-context&gt;<br>## Work Done<br>M2 complete. Canted stereo default, r2-clamp falsified, gyro prediction added, Mahony fix, quad at 2m, neck model tuning. All in d5c510b.<br>## Current State<br>M2 exit criteria green. Awaiting M3 plan.<br>## Outstanding Priorities<br>1. M3 plan document<br>2. Enlyzeam field test + gyro_cal_vr run<br>3. Native Watchman flash calib tooling<br>## Next Task<br>Write M3 plan (docs/m3-*.md).<br>&lt;/project-context&gt;</EVENT>


from_id: solar-psyche
body:
  <EVENT type="echo_commune" from="solar-psyche" timestamp="2026-06-10T20:46:44-07:00" machine="HFENDULEAM" project="sauna" branch="main" head_sha="d4df1ad5b875ddae77ff922432fac425c9b3ceb7" head_subject="Rubber-band root cause: GPU P-state drop; pin max-performance DRS profil…" note="Echo commune brief — auto-fired">&lt;live-context&gt;<br>SESSION CLOSE commune (HFENDULEAM, main @ d4df1ad, clean, pushed). Stale<br>spatial_light_running*.exe all deleted. Resume = M4 kickoff: write M4 plan doc<br>first (docs/m4-*.md), then instant-start bias.<br><br>**End goal:** Sauna = Bigscreen Beyond as self-tracked 3DOF wearable spatial<br>display. Head-tracked virtual screens mirroring desktop monitors, fixed in<br>space. No lighthouses, no SteamVR. Own compositor, NVAPI direct mode,<br>Windows+NVIDIA v1 (Linux post-v1; seams in place).<br><br>**Broad status: M1 ✅ → M2 ✅ → M3 ✅ HOST-SIDE COMPLETE (2026-06-10), daily-<br>driver quality confirmed by extended user eyes-in → M4 hardening NOW.**<br><br>M3 final scoreboard (docs/m3-product-shape.md):<br>- Step 1 capture ✅, step 3 shell ✅ (hotkey + tray + console dev-only +<br>  free-run quiet), step 4 idle/burn-in ✅ (worn hard-vetoes timer — user<br>  directive), step 5 settings ✅ (%APPDATA%\sauna\config.json, live-apply<br>  watcher, 's' save, GUI deferred — notepad-via-tray satisfies gate),<br>  step 6 native flash calib ✅ dev unit.<br>- Step 2 multi-screen: CODE DONE — gate needs enlyzeam 2+ monitors.<br>- Step 7: research ✅ (docs/m3-step7-onboard-store.md). Watchman write =<br>  STOP. Target instead: Beyond MCU 512 B user-signature flash (U/W/V HID,<br>  TLV+CRC8 poly 0x07 init 0xFF; firmware signature.c proves unknown tags<br>  skipped). Gated on both-unit backups + gyro_cal_vr universality (may moot).<br><br>**RUBBER-BAND SAGA (resolved this session — major debugging arc):**<br>Symptom: episodic multi-second stuttery/rubber-bandy tracking, self-resolving.<br>Triage ladder (status line now: fps imu gap frame gpu vsw corr ahrs |a| resets<br>soft worn cap): gap = IMU HID delivery max/s, frame = present interval max/s,<br>gpu = render-fence wait max/s, vsw = present-waitable wait max/s, corr = max<br>Mahony correction rad/s, soft = AHRS micro-gap recoveries.<br>ROOT CAUSE: NVIDIA P-state heuristic reads ~4 ms/frame burst load as idle →<br>drops clocks → gpu= balloons 8-20x (24-103 ms), NO fan ramp (cool = downclock,<br>hot = contention) → vsw inflates downstream → pose steps 100-200 ms.<br>FIX: ensureMaxPerfProfile() in presenter init — NvAPI DRS app profile for<br>spatial_light.exe, PREFERRED_PSTATE=PREFER_MAX (idempotent; manual NVCP<br>fallback logged on failure). Profile matches by EXE NAME — renamed exes don't<br>get it (exe-swap dance caveat). Plus: D3D12 queue HIGH priority (NORMAL<br>fallback). Plus opportunistic fix en route: AHRS micro-gap (&lt;5 s, initialized)<br>soft recovery — keep orientation+bias, skip hole — replacing the old<br>zero-pose-and-freeze full reset that turned sub-second stream stalls into<br>freeze-then-snap. User confirms &quot;seems good so far.&quot;<br><br>Also this session: brightness hands-off default (-1 sentinel; firmware<br>re-applies Beyond-Utility value on every display-on; sauna pushes only<br>explicit values, re-pushes after panel cycles); ipd_mm 0 = follow-headset<br>sentinel, save prints explanation (user hit &quot;saved 0, headset has 63&quot;).<br><br>**M4 QUEUE (immediate next steps, roughly priority-ordered):**<br>1. M4 plan doc (docs/m4-hardening.md or similar) — scope below into gated<br>   steps like M3.<br>2. Instant-start bias (user-confirmed UX pain: users don headset before<br>   launching): persisted per-serial bias %APPDATA%\sauna\calib\&lt;LHR&gt;.json →<br>   track from first sample (gravity level instant); opportunistic background<br>   still-window recapture continuously refreshes bias + file. 'b' key +<br>   first-run keep old path. ~1 h in ahrs.cpp + small store.<br>3. Single-resample warp-direct compositing (panel ray → quad → desktop<br>   sampled once) — next big sharpness win; --ss then unnecessary?<br>4. Paced prediction / pose-age-aware sampling; capture-Hz vs panel-Hz pacing.<br>5. User neck calibration (user-proposed, design agreed): tray-driven guided<br>   capture — torso still, yaw shakes ~10 s then pitch nods ~10 s; LSQ solve<br>   a = g + ω̇×r + ω×(ω×r) for lever arm r (+ accel bias nuisance); yaw<br>   observes fwd+lateral, pitch observes up+fwd; lateral≈0 = sanity gate;<br>   residual gate catches torso sway; write neck_forward/up_mm to settings<br>   (live-apply wired). Caveat: solves pivot→IMU; needs IMU→eye offset from<br>   config imu block (check) else cm-assumption. ~half day.<br>6. HDR/color correctness; tray &quot;Start Neck Calibration&quot; + settings GUI<br>   window polish; install story.<br>ALSO M4-adjacent: corr= occasionally hits 0.13-0.18 rad/s during motion<br>(Mahony tug visible but not the rubber-band cause) — consider tighter rate<br>fade / narrower |a| gate while doing paced prediction work.<br><br>**Parallel track (user-gated): enlyzeam field session** — step 2 multi-monitor<br>gate, M2/M3 eyes-in, calib_dump LHR-599F3B91 backup + MCU sig 16-block backups<br>(both units → unblocks step 7), gyro_cal_vr universality run (universal →<br>first-time setup needs zero IMU cal), Index 28DE:2300 collision verify.<br><br>**Key invariants (never re-derive):** CANTED cameras only; warp per-channel<br>direct POLY3, no r2 clamp, 0.5/(1+grow); gyro ±2000 dps/int16; flash calib<br>ReadWatchmanConfig (overlapped GET_FEATURE + stall retries + read-twice;<br>hidsdi.h before hidpi.h); capture publishes CPU-confirmed frames, consumer<br>COMMON↔PSR barriers only; exe-swap dance for rebuilds while user eyes-in<br>(NOTE: DRS profile keyed to spatial_light.exe name); park loop honors timed-<br>run deadline; settings watcher diffs vs last FILE state (flag overrides<br>survive); worn hard-vetoes idle; brightness/ipd sentinels = headset owns;<br>MCU cmds: 'I' brightness BE16, U/W/V sig blocks (write all 16 before SAVE —<br>erase-then-write power-loss window ⇒ backup-first).<br><br>**Session commits:** 399794a (step 5 settings), 9c86a60 (step 4 idle),<br>13f2216 (step 3 shell), 27c16c8 (step 7 research), eb20f0a (worn veto),<br>9586f70 (triage r1 + soft recovery + sentinels), e170405 (corr watermark),<br>60a9d15 (queue HIGH + gpu/vsw split), d4df1ad (DRS max-perf pin = the fix).<br>All pushed to github.com/FEAT-HER3/sauna main.<br>&lt;/live-context&gt;<br>&lt;project-context&gt;<br>M3 host-side code COMPLETE (proximity sensor integration finished). P-state oscillation diagnosis + NvAPI DRS fix deployed; awaiting field validation. Next gate: enlyzeam field session (step 2, backups, gyro_cal_vr universality, Index collision verify).<br>&lt;/project-context&gt;</EVENT>


from_id: solar-psyche
body:
  <EVENT type="echo_commune" from="solar-psyche" timestamp="2026-06-10T22:22:26-07:00" machine="HFENDULEAM" project="sauna" branch="main" head_sha="256e9725a96954392f35112ed25983eeb5b83c7e" head_subject="Warp-direct default ON; supersample default 1.0 (step-2 gate passed)" note="Echo commune brief — auto-fired">&lt;live-context&gt;<br>SESSION CLOSE commune (HFENDULEAM, main @ 256e972, clean, pushed).<br>Resume = M4 STEP 3: paced prediction / pose-age-aware sampling (user-chosen<br>next; step 4 neck cal after). Stale spatial_light_running*.exe may linger in<br>build/Release — delete on resume.<br><br>**End goal:** Sauna = Bigscreen Beyond as self-tracked 3DOF wearable spatial<br>display. Head-tracked virtual screens mirroring desktop monitors, fixed in<br>space. No lighthouses, no SteamVR. Own compositor, NVAPI direct mode,<br>Windows+NVIDIA v1 (Linux post-v1; seams in place).<br><br>**Broad status: M1 ✅ → M2 ✅ → M3 ✅ host-side → M4 hardening UNDERWAY.**<br>M4 plan = docs/m4-hardening.md (7 gated steps + carried M3 gates).<br>- Step 1 instant-start bias ✅ FIELD-VALIDATED: per-serial store<br>  %APPDATA%\sauna\calib\&lt;LHR&gt;.json; seedBias → level from first sane gravity<br>  sample (|a| 0.5–1.5g), no still window; background still-window refresh<br>  (stddev ≤3 LSB AND |mean−cfgBias| ≤8 LSB ABSOLUTE — slow rotation can't<br>  pass, polluted store self-heals); takeBiasRefresh → status thread saves<br>  (first immediate, then ≤1/min); hard gap reset re-levels instantly when<br>  bias known; 'b'/first-run keep full capture. Field bug fixed en route:<br>  worn-at-launch capture stored drifted bias → ~1° steady tilt (corr= at<br>  rest 0.005–0.008 = Mahony fighting bias error) → absolute sane gate.<br>- Step 2 warp-direct ✅ GATE PASSED, DEFAULT ON (256e972): user &quot;can resolve<br>  much finer patterns with excellent clarity&quot;; gpu= 0–1 ms unchanged.<br>  src/render/warp_direct.{h,cpp}: panel px → POLY3 srcUv → tangent lerp<br>  (canted window tans, v=0=top=(G−cy)/fy) → ray ×(R(q)·e2h) from origin<br>  R(q)·tEye+headPos (exact inverse of viewFromPose+applyCant) → plane<br>  z=quadZ hit → per-screen rect → ONE trilinear SampleGrad (green-channel<br>  grads computed in uniform flow). 3-frame ring: shared SRV table (screens<br>  have CPU descriptor mirrors, null-SRV fill) + 512 B CB slots.<br>  --ss verdict: DROPPED, default supersample 1.0 (two-pass fallback only).<br>  --warp2pass / 'w' key = live A/B; [DIRECT] in status line. Background:<br>  direct = true black outside screens (OLED win); two-pass keeps 0.05/0.08<br>  debug tint — intentional A/B tell.<br>- clk= added to status line: NvAPI current core clock MHz. Balloon triage:<br>  full clock (2520) = other-app contention; idle clock = P-state drop back.<br>  One ~30 s balloon observed co-onset with cap=146Hz content burst at full<br>  pin → contention, not P-state. DRS profile matches exe NAME (Debug/<br>  Release both covered).<br><br>**STEP 3 SCOPE (next session, docs/m4-hardening.md §3):** replace fixed<br>predict_ms (~20) with measured sample→photon age per frame; pace pose pick<br>against panel cadence (75/90 Hz) — capture mailbox stays latest-frame-wins,<br>render side picks/predicts at the right moment. Fold in corr= tightening:<br>0.13–0.18 rad/s tugs during motion (visible, not rubber-band) — tighter<br>rate fade / narrower |a| gate while in ahrs.cpp; watch corr= watermark.<br>Gate: measured age replaces magic 20 ms; latency feel ≤ today; corr=<br>during vigorous motion &lt; 0.13 with no sluggishness; no judder at 75 Hz.<br>Relevant code: ahrs.pose(predictSec) (clamp 50 ms), presenter run loop<br>(vsw wait = pacing anchor), predictMs atomic live-applies from settings.<br><br>**M4 queue after step 3:** step 4 neck cal (design settled in doc §4: LSQ<br>a = g + ω̇×r + ω×(ω×r), yaw+pitch capture, lateral≈0 + residual gates;<br>check config imu block for IMU→eye offset) → step 5 HDR/color → step 6<br>settings GUI + tray → step 7 install story.<br><br>**Carried gates (unchanged):** M3 step 2 multi-screen needs enlyzeam 2+<br>monitors; M3 step 7 onboard store gated on both-unit MCU sig backups +<br>gyro_cal_vr universality; P-state fix watch via clk=. Enlyzeam field<br>session list unchanged (backups, universality, Index 28DE:2300).<br><br>**Key invariants (never re-derive):** CANTED only; warp per-channel direct<br>POLY3, no r2 clamp, 0.5/(1+grow); warp-direct = DEFAULT render path, eye<br>textures only for two-pass fallback; gyro ±2000 dps/int16; flash calib<br>ReadWatchmanConfig (hidsdi.h before hidpi.h); capture publishes CPU-<br>confirmed frames, COMMON↔PSR barriers only; exe-swap dance for rebuilds<br>while user eyes-in (DRS keyed to spatial_light.exe name); settings watcher<br>diffs vs last FILE state; worn hard-vetoes idle; brightness -1 / ipd 0<br>sentinels = headset owns; bias store keyed to ATTACHED serial; MCU U/W/V<br>sig blocks write-all-16-before-SAVE, backup-first.<br><br>**Session commits (all pushed):** 91b829d M4 plan doc; 5bc55ba step 1<br>instant-start bias; 842cf10 bias sane gate absolute + clk= triage;<br>9460363 step 2 warp-direct behind flag; 256e972 direct default + ss 1.0.<br>&lt;/live-context&gt;<br>&lt;project-context&gt;<br>M4 step 1 entry gate (field user eyes-in) revealed gyro bias first-run capture hazard. Fix + test, then proceed to step 2 single-resample warp-direct (or hold for additional P-state field validation if new data contradicts earlier diagnosis).<br>&lt;/project-context&gt;</EVENT>


from_id: solar-psyche
body:
  <EVENT type="echo_commune" from="solar-psyche" timestamp="2026-06-12T22:06:05-07:00" machine="HFENDULEAM" project="sauna" branch="main" head_sha="58d80f8d603734d875d99cc93458ce83572650e3" head_subject="doze: correct brightness floor to register 0" note="Echo commune brief — auto-fired">&lt;live-context&gt;<br>Doze grill (grill-with-docs) CLOSED and CRYSTALLIZED — the &quot;pending/flagged&quot; ADRs in your snapshot are now written + committed. Commits b8991a7 + 58d80f8 on main:<br>- ADR-0005 doze-warm-shallow-sleep (NEW, the firmware contract), ADR-0002 amended (reclaim-into-doze), ADR-0003 amended (doze = default depth, wake matrix inherited), CONTEXT.md glossary (asleep umbrella / doze / parked), docs/m5-doze-instant-wake.md (full firmware+host impl breakdown + validation plan).<br><br>Resolved SINCE your snapshot:<br>- Brightness floor = REGISTER 0 (lowest register value; video_displays_off_prox already writes it). The &quot;-20&quot; was a HMDUtility UI value, not register — caught and corrected.<br>- Cold-boot = DEFERRED to its own follow-on milestone (NOT folded into doze). Retrain-bounce spike PARKED.<br>- Fan kickstart = fixed min-stable-PWM ~35, just under HMDUtility fan_speed_min=40 (gen-2 ÷2 applies); CHECK the beyond_synaptics `fan-sticktion` remote branch first (likely prior art). By-ear A/B, folded into doze (wake-UX, since every doze-wake re-spins the fan).<br>- Confirmed: tray &quot;Sleep now&quot;→doze; capability-gate on firmware version; VXR firmware OUT of scope; both BS1 + BS2/BS2E.<br><br>IMMEDIATE NEXT STEPS (resume order):<br>1. MEASURE today's warm parked→wake baseline FIRST — add one panel-power toggle to panel_bench (currently cold-init only). Gives the number doze must beat (warm wake is unmeasured; only cold 3-5s is).<br>2. Firmware (beyond_synaptics MCU): display-sleep/display-wake HID pair + doze-latch (overrides prox gate; CLEARED on video loss — non-negotiable) + 300ms target-seeking sweep→reg 0 then OLED_display_on_off(false) + decouple fan(→FS_Idle)/LED(→breathing) from video_enabled + version bump.<br>3. Host (sauna): doze state alongside parked, capability check, born-dozing wiring (launch + SteamVR-exit not-worn), present-loop strip to bare black present, optional doze→park escalation (default off, 30min).<br>4. Fan kickstart experiment (by ear).<br><br>OPEN SPIKE gating host liteness: does NVAPI DirectMode hold the last surface with an IDLE present queue (present black once + heartbeat → doze host cost ~0) or TDR (→ present black at mode rate, still cheap)? Resolve before finalizing the host doze loop.<br><br>Rig still standing for the baseline measurement: VDO.Ninja window (handle 2821908), timer kiosk on DISPLAY5, screenshot profile `left-optic`, luminance-sweep recipe in docs/photon-latency-bench.md. Model switched to Opus 4.8 mid-session.<br>&lt;/live-context&gt;<br>&lt;project-context&gt;<br>CURRENT_PROJECT_CONTEXT (name=sauna):<br>END GOAL (unchanged): sauna = standalone DirectMode compositor turning the Bigscreen Beyond into a self-tracked 3DOF wearable spatial display — no lighthouses, no SteamVR in the loop. Daily-driver virtual-monitor product teammates double-click: floating curved multi-monitor desktop, instant-on by donning, asleep when doffed, coexists politely with SteamVR, zero config.<br><br>NEW MILESTONE — M5 doze / instant-wake — now DEFINED + fully spec'd (docs/m5-doze-instant-wake.md, ADR-0005):<br>- Problem: every sleep today is PARKED (host POWER_OFF → video torn down → 3-5s cold bringup on wake, measured). The resume case people hit constantly pays that.<br>- Solution: DOZE — a second, shallower sleep depth. Keep the video pipeline WARM (video_enabled true, VXR locked, host presents black); darken via a firmware brightness sweep → register 0 then OLED display-off; fan → FS_Idle (overtemp-protected); LED breathing. Wake = display-on(~40ms) + sweep(300ms) ≈ 340ms. Looks/sounds asleep, wakes instant.<br>- Firmware OWNS the choreography (display-sleep/display-wake command pair). MCU-only (ATSAMG55); VXR untouched (that's the point — never de-lock video). Both BS generations.<br>- doze-latch overrides the prox gate while set, cleared on video loss (force-close safety). Universal rule: pipeline bring-up/reclaim checks prox → worn=active, not-worn=born-dozing (launch + SteamVR-exit). All sleep entries → doze. Parked stays as permanent fallback + deep sleep (optional 30min doze→park escalation, default off).<br>- Requires coordinated beyond_synaptics firmware flashing — capability-gated (version handshake), parked fallback makes mixed fleets + rollback safe. Brandon is a Bigscreen Beyond dev: full firmware build/flash/debug authority (the standing unlock from last session).<br><br>Cold-boot speed-up = SEPARATE deferred follow-on milestone (the 3-5s cold path: 500ms PANEL_INIT_TO_STARTUP_DELAY, fan ramp, the per-trial DSC/link retrain bounce that may pull VXR firmware into scope).<br><br>Prior state: M1-M4 complete/largely-done (tracking, render/warp, capture, settings; sleep/wake ADR-0003, SteamVR coexist ADR-0002, curved ADR-0004). Field-proven on 4 rigs. Photon-latency bench infra built this session (panel_bench, McuProx::displaysOn() = DISPLAYS_ON telemetry ground truth, prox bypass 'p'/'[', VDO.Ninja camera rig) — the validation instrument for M5. docs/photon-latency-bench.md.<br>&lt;/project-context&gt;</EVENT>


from_id: solar-w1
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from_id: solar-w2
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from_id: solar-psyche
body:
  <EVENT type="echo_commune" from="solar-psyche" timestamp="2026-06-12T23:35:41-07:00" machine="HFENDULEAM" project="sauna" branch="main" head_sha="12ea2e4193e378d2a0ee8973fbfbf69064255260" head_subject="CONTEXT: glossary doze/parked wake times now measured" note="Echo commune brief — auto-fired">&lt;live-context&gt;<br>DOCUMENTATION/LEARNINGS session complete. New commits: beyond_synaptics 33d3b5c (docs/Build_And_Flash.md + HID_Commands.md), sauna 12ea2e4 (CONTEXT.md measured wake times).<br><br>Memory written: beyond-synaptics-firmware-build.md (reference), hmd-bench-rig.md (updated panel_bench modes + measured numbers). MEMORY.md updated.<br><br>STATE for resume:<br>- beyond_synaptics doze branch (efe87b9..33d3b5c) UNPUSHED — Brandon to review/push.<br>- Headset running fw 0.4.1.<br>- Stray dist_doze_*.png in sauna root (untracked, harmless).<br>- FLASH QUIRK: attempt 1 fails ~0x404Axx code 46, retry succeeds (reflash_doze.py auto-retries).<br><br>IMMEDIATE NEXT STEPS:<br>1. Step 3 — sauna HOST integration: dozing state alongside parked; tray &quot;Sleep now&quot;→doze; capability-gate doze on fw&gt;=0.4.0 (HID SW_VER handshake); born-dozing wiring (launch + SteamVR-exit while not-worn → arm latch before video); present-loop strip to bare black; optional doze→park escalation (30min, default off). Multi-decision design — discuss before building.<br>2. NVAPI no-present-free-run spike: does DirectMode hold link with idle present queue (→ bare black once + heartbeat) or TDR? Gates host doze liteness.<br>3. Fan kickstart by-ear A/B (~35 PWM floor).<br>&lt;/live-context&gt;<br>&lt;project-context&gt;<br>(name=sauna):<br>END GOAL (unchanged): sauna = standalone DirectMode compositor turning the Bigscreen Beyond into a self-tracked 3DOF wearable spatial display — no lighthouses, no SteamVR in the loop. Daily-driver virtual-monitor product teammates double-click: floating curved multi-monitor desktop, instant-on by donning, asleep when doffed, coexists politely with SteamVR, zero config.<br><br>M5 doze/instant-wake STATUS:<br>- Steps 1+2 COMPLETE + hardware-validated. Doze firmware (beyond_synaptics 0.4.1, ADR-0005) flashed + camera-proven: wake ~94ms display-on / ~400ms full vs ~4-6s parked = ~50× win. Mechanism confirmed: doze never POWER_OFFs → DSC/link stays locked → wake skips the retrain bounce that IS the parked cost. Gamma-eased sweep makes fade/wake perceptually even.<br>- Firmware contract proven; remaining M5 work is HOST-side (step 3) + the NVAPI liteness spike + fan tuning.<br><br>Doze firmware shape (for host integration): HID pair 'H'(0x48) display-sleep / 'h'(0x68) display-wake; doze-latch overrides prox gate, force-cleared on video loss; per-iteration brightness stepper in the 20ms video task loop (target-seeking); born-dozing = arm latch before video. Host capability-gates on fw&gt;=0.4.0.<br><br>Bench instrument: panel_bench has cycle (parked) + doze modes; McuProx::setDoze drives 'H'/'h'. Build/flash: beyond_synaptics/docs/Build_And_Flash.md (headless cmake/arm-gcc, no Studio needed).<br><br>Prior milestones M1-M4 complete (tracking, render/warp, capture, settings; sleep/wake ADR-0003, SteamVR coexist ADR-0002, curved ADR-0004). Field-proven on 4 rigs.<br><br>Brandon = Bigscreen Beyond dev with full firmware build/flash/debug authority.<br>&lt;/project-context&gt;</EVENT>


from_id: solar-w3
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from_id: solar-w4
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from_id: solar-w5
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from_id: solar-w6
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from_id: solar-psyche
body:
  <EVENT type="echo_commune" from="solar-psyche" timestamp="2026-06-13T03:47:29-07:00" machine="HFENDULEAM" project="sauna" branch="main" head_sha="b096a110500f28865d21069b49dc06e739af90ba" head_subject="M5 step 3: doze HOST integration + capture VRAM doze lever" note="Echo commune brief — auto-fired">&lt;live-context&gt;<br>M5 Step 3 HOST integration LARGELY DONE — validated on enlyzeam HMD (fw 0.4.3, Win10). ALL UNCOMMITTED (big diff).<br><br>## Validated on enlyzeam<br>- Doze VRAM 450→275 (repeatable, no leak)<br>- Doze/wake brightness sweeps work<br>- SteamVR release fade works<br>- Wake-after-SteamVR crash FIXED (resume-on-running guard)<br>- Still to confirm: reclaim-into-doze stop() (SteamVR-exit-dozed 550→~275 + no crash)<br><br>## CRITICAL HAZARD<br>**HFENDULEAM HMD WEDGED** (serial XCNL4M257N003222): VID_0000/PID_0002, MCU hung, displays lit. Caused by hard-kill of spatial_light under `timeout`. Needs physical power-cycle when Brandon back. **DO NOT run spatial_light against HFENDULEAM headset.** Only 0101 MCU down; audio strap/camera/Watchman fine.<br><br>**LESSON: NEVER hard-kill DirectMode process.** Use clean exit ('q' key or --vram-cycle which calls presenter.stop()).<br><br>## Immediate Next Steps<br>1. **Single-buffer scanout during doze** (Brandon greenlit): doze enter → DestroySurface(surf[1]) + res[1].Reset() (~100MB freed); wake → recreate surf[1] + RTV. Floor 275→~175. Present-loop-only, low risk. Can't self-verify (headset-only).<br>2. Confirm reclaim-into-doze VRAM/crash on good HMD<br>3. Strip per-step [VRAM] acquire/release logs (noise); keep vram=/vram_smoke/--vram-cycle<br>4. **Commit** — host (sauna) + firmware (beyond_synaptics) both uncommitted. Brandon to review.<br><br>## Key Facts<br>- Builds current: spatial_light.exe + vram_smoke.exe (sauna/build/Release). latest.beyondfw v0.4.3<br>- Scanout = 2 buffers × 5088×2544 ≈ 200MB. Doffed floor ~220MB. Doze 275 = +55MB render/warp targets<br>- Capture ring ≈ 145MB/monitor. enlyzeam = 2 monitors<br>- HID: 'H'(0x48) sleep / 'h'(0x68) wake. SW_VER: '*'(0x2A). MCU=35BD:0101, bootloader=4004<br>&lt;/live-context&gt;<br>&lt;project-context&gt;<br>END GOAL: sauna = standalone DirectMode compositor, Bigscreen Beyond as self-tracked 3DOF wearable spatial display. Daily-driver: instant-on by donning, asleep when doffed, coexists with SteamVR, zero config.<br><br>M5 doze/instant-wake:<br>- Steps 1+2 DONE: firmware 0.4.3 proven (doze-latch, sweep, born-dozing, fan/LED decoupling, wake-pending flag)<br>- Step 3 DONE (uncommitted): host dozing state, capability-gate, born-dozing, VRAM stop()/resume(), SteamVR release/reclaim fades, reclaim-into-doze, QuickEdit fix<br>- PENDING commit: Brandon review; single-buffer scanout first (275→~175MB, greenlit); reclaim-into-doze confirmation<br>- HFENDULEAM HMD wedged — testing on enlyzeam only until physical power-cycle<br>- Cold-boot = deferred separate milestone<br><br>Context: this is a post-/clear context RE-HYDRATION, not a delta. The agent's working context was just wiped by a /clear; your job is to re-emit the CURRENT state so Self can rebuild its working memory.<br>&lt;/project-context&gt;</EVENT>


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from_id: solar-w12
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