RTOS/EtherCAT bring-up: RTCore jog tool + docs #26
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Adds the RT motion core skeleton (IPC + optional libecrt loop), a Python `ethercat_rtcore` backend proxy, and host bring-up templates (NIC naming, NM unmanaged, IRQ/CPU tuning, systemd units) to start controlling J3/J4 over EtherCAT.
- Add `scripts/rtcore_jog.py` for single-axis bring-up (jog + encoder/status readout) - Improve RTCore IPC permissions, shutdown behavior, WKC reporting, and master cleanup - Update EtherCAT bring-up docs/scripts (RevPi NIC mapping, IgH notes, runbooks)
RTCore now supports per-axis scaling (counts/rev, gear ratio, sign, axis type) and a DS402 fault reset pulse path, plus it publishes axis config over IPC. Add an extracted A6-EC manual codebook and teach the jog tool to decode 0x603F errors.
RTCore now measures and publishes cyclic-thread wake jitter and writes /run/gradient-rt-motion/metrics.json for dashboards without consuming the single-client IPC slot. Add a Sampler dashboard config plus helper scripts, and update tracking docs/runbook accordingly.
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Summary
scripts/rtcore_jog.py) to enable/jog arbitrary axis masks and view encoder/status telemetry.Test plan
make -C src/gradient_rt_motionsudo ./src/gradient_rt_motion/gradient-rt-motion --num-axes 2 --max-rpm 100python3 scripts/rtcore_jog.py console --rate-hz 2pos_counts) updates on jog