按推荐建议，继续执行

结论：已将 LinuxCNC 5axiskins 及 switchkins 相关源码纳入 vendored manifest、native probe 和文档验证链，完整 native 验证通过。

wasm-port/docs/compatibility-validation.md

@@ -53,6 +53,7 @@ The validation fails if:
 | `linuxcnc_parameter_file_harness` | Validates LinuxCNC parameter file restore/save behavior and required/read-only parameter handling. |
 | `linuxcnc_tp_api_probe` | Validates vendored LinuxCNC trajectory planner calls for linear, arc, and queued motion paths. |
 | `linuxcnc_kinematics_probe` | Validates vendored LinuxCNC `trivkins.c` plus `kins_util.c` initialize and perform identity forward/inverse mapping through the standalone HAL/RTAPI boundary. |
+| `linuxcnc_5axis_kinematics_probe` | Validates vendored LinuxCNC `5axiskins.c` through `switchkins.c`, including 5-axis forward/inverse round-trip behavior and switching to identity kinematics. |
 
 ## Fixture Coverage
 
@@ -95,5 +96,7 @@ The current fixture expectations validate standalone behavior against the
 vendored LinuxCNC source path. They do not yet run a side-by-side native
 LinuxCNC executable comparison for each fixture.
 
-The kinematics probe currently covers LinuxCNC identity/trivial kinematics
-only. Non-trivial and 5-axis kinematics still need dedicated machine baselines.
+The kinematics probes currently cover LinuxCNC identity/trivial kinematics and
+the switchable `5axiskins` XYZBCW bridge-mill model. TRT `xyzac`/`xyzbc`,
+serial, delta, SCARA, and other machine-specific kinematics still need
+dedicated baselines.

wasm-port/docs/drift-report.md

@@ -29,7 +29,7 @@ semantic rewrites:
 | Python/remap | Python/remap hooks are stubbed at the runtime edge. |
 | Dynamic interpreter path | `interp_base.cc` probe uses standalone `EMC2_HOME` compile-time path boundary. |
 | Realtime scheduler | TP probes seed deterministic status/config data instead of running LinuxCNC realtime process topology. |
-| Kinematics component lifecycle | `trivkins.c` is initialized through its LinuxCNC module entry point while HAL component init/ready/exit and RTAPI module metadata are handled by standalone shims. |
+| Kinematics component lifecycle | `trivkins.c` and `5axiskins.c` are initialized through LinuxCNC module entry points while HAL component init/ready/exit, HAL pin allocation, and RTAPI module metadata are handled by standalone shims. |
 | Browser storage | OPFS remains outside the native core and is not yet connected. |
 
 ## Enforced Non-Drift Rules
@@ -47,10 +47,11 @@ semantic rewrites:
 - No browser/WASM parity tests yet.
 - No JS SDK validation yet.
 - No OPFS persistence validation yet.
-- Identity/trivial kinematics now have native source-probe coverage; non-trivial
-  and 5-axis kinematics implementation files are not yet extracted.
-- Full machine baselines beyond the identity/trivial kinematics probe are not
-  established.
+- Identity/trivial kinematics and LinuxCNC `5axiskins` now have native
+  source-probe coverage; TRT `xyzac`/`xyzbc`, serial, delta, SCARA, and other
+  machine-specific kinematics are not yet extracted.
+- Full machine baselines beyond the current identity/trivial and `5axiskins`
+  probes are not established.
 - Fixture expectations are currently checked against the standalone vendored
   source path, not by running a native LinuxCNC binary for every fixture.
 

wasm-port/docs/scope-and-baseline.md

@@ -60,5 +60,6 @@ Negative fixture coverage includes:
 - missing tool length offset
 
 Machine baseline is still limited to standalone interpreter, trajectory
-planner, and LinuxCNC identity/trivial kinematics probes. Non-trivial
-kinematics and 5-axis machine baselines remain future work.
+planner, LinuxCNC identity/trivial kinematics, and the LinuxCNC `5axiskins`
+XYZBCW bridge-mill probe. Additional non-trivial kinematics and fuller machine
+baselines remain future work.

wasm-port/docs/source-reuse-map.md

@@ -36,6 +36,7 @@ Current validation is intentionally mechanical:
 | Canon/NML-facing interpreter types | `src/emc/nml_intf/canon*.hh`, `emctool.h`, `interp_return.hh`, `motion_types.h`, `emcpose.*`, `emcpos.h`, `debugflags.h`, `src/emc/linuxcnc.h` | Copy unchanged | NML transport is not ported; wrappers provide only the status/type edges needed by standalone probes | Vendor byte sync, dependent source probes, `linuxcnc_tp_api_probe`, interpreter harnesses |
 | Motion state headers | `src/emc/motion/state_tag.h`, `emcmotcfg.h`, `simple_tp.h`, `motion.h`, `mot_priv.h`, `axis.h` | Copy unchanged | Realtime motion process is not ported; standalone probes seed the small motion status/config state required by TP calls | Vendor byte sync, `linuxcnc_tp_api_probe` |
 | Identity/trivial kinematics | `src/emc/kinematics/kinematics.h`, `cubic.h`, `kins_util.c`, `trivkins.c` | Copy unchanged | HAL component lifecycle and RTAPI module metadata are replaced by standalone shims; forward/inverse mapping behavior remains LinuxCNC source | Vendor byte sync, per-file source probes, `linuxcnc_kinematics_probe` |
+| Switchable 5-axis bridge kinematics | `src/emc/kinematics/5axiskins.c`, `switchkins.c`, `switchkins.h`, `userkfuncs.c`, plus `src/rtapi/rtapi_ctype.h` | Copy unchanged | HAL pin allocation, HAL component lifecycle, and RTAPI module metadata are standalone runtime edges; switchable 5-axis forward/inverse behavior remains LinuxCNC source | Vendor byte sync, per-file source probes, `linuxcnc_5axis_kinematics_probe` |
 | Trajectory planner | `src/emc/tp/tp.c`, `tc.c`, `tcq.c`, `spherical_arc.c`, `blendmath.c`, `sp_scurve.c`, `ruckig_wrapper.c`, plus matching `*.h` files | Copy unchanged | Native realtime scheduling and motion process state are replaced by standalone probe setup | Vendor byte sync, per-file source probes, `linuxcnc_tp_api_probe` |
 | Ruckig C planner support | Selected `src/emc/tp/cruckig/*.c` and `*.h` files in the manifest | Copy unchanged | Used as LinuxCNC planner support code through vendored TP sources | Vendor byte sync, per-file source probes |
 | Posemath | `src/libnml/posemath/posemath.cc`, `_posemath.c`, `gomath.c`, `sincos.c`, and matching headers | Copy unchanged | `gomath.c` is compiled as C; `rtapi.h` shim is C/C++ compatible for this boundary | Vendor byte sync, per-file source probes, TP probe |
@@ -59,7 +60,9 @@ Current validation is intentionally mechanical:
 
 ## Known Gaps
 
-- Full non-trivial and 5-axis kinematics implementation files are not yet extracted.
+- Additional non-trivial kinematics implementation files, including TRT
+  `xyzac`/`xyzbc`, serial, delta, SCARA, and other machine-specific modules,
+  are not yet extracted.
 - Browser/WASM C ABI and JS SDK layers are not yet built for the full
   interpreter/planner core.
 - OPFS persistence is not yet connected to INI, tool table, parameter file, or