Davis Logic V2: Autonomous Bare-Metal Control Loop and Reversal-Point Current Injection Framework

This deployment framework establishes a high-efficiency, zero-skew engineering architecture for real-time microcontrollers. Operating entirely within a deterministic 3-phase execution matrix, the system eliminates traditional software interrupt latencies and physical mechanical jitter through two core hardware-level methodologies:

Autonomous Input Pipeline: Utilizes a hardware-triggered Direct Memory Access (DMA) Ping-Pong Double Buffer configuration to stream multi-axis sensor data directly into a circular RAM ring buffer. This completely bypasses the CPU core, removing temporal skew and timing variability. High-frequency digital line noise is stripped in exactly one clock cycle using a fixed-point binary right-shift decimation filter.

Reversal-Point Current Pre-Injection: Eliminates the physical "crossover pop" and inductive back-EMF spikes that occur when multi-axis joint vectors reverse direction across the absolute zero boundary. By tracking velocity trajectories via a Look-Up Table (LUT), the matrix pre-charges the silicon gates with a calculated fixed-point bias exactly one clock cycle before zero-crossing, ensuring linear current transitions and continuous magnetic field dynamics.

This framework is optimized for embedded systems requiring absolute timing determinism, minimized thermal throttling, and fluid, high-precision physical motion profile execution.