是的

结论：已将 LinuxCNC identity/trivial kinematics 源码纳入 WASM port 的 vendored manifest、native probe 和文档验证链，完整 native 验证通过。

wasm-port/docs/compatibility-validation.md

@@ -52,6 +52,7 @@ The validation fails if:
 | `linuxcnc_interp_minimal_harness` | Runs G-code fixtures through vendored LinuxCNC parser/execution/conversion code and captures canonical events. |
 | `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. |
 
 ## Fixture Coverage
 
@@ -93,3 +94,6 @@ machine-session validation remain future work.
 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.

wasm-port/docs/drift-report.md

@@ -29,6 +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. |
 | Browser storage | OPFS remains outside the native core and is not yet connected. |
 
 ## Enforced Non-Drift Rules
@@ -46,8 +47,9 @@ semantic rewrites:
 - No browser/WASM parity tests yet.
 - No JS SDK validation yet.
 - No OPFS persistence validation yet.
-- Full kinematics implementation files are not yet extracted.
-- Full 3-axis, non-trivial kinematics, and 5-axis machine baselines are not
+- 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.
 - 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

@@ -59,6 +59,6 @@ Negative fixture coverage includes:
 - missing tool
 - missing tool length offset
 
-Machine baseline is still limited to standalone interpreter and trajectory
-planner probes. Full 3-axis, non-trivial kinematics, and 5-axis machine
-baselines remain future work.
+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.

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

@@ -35,7 +35,7 @@ Current validation is intentionally mechanical:
 | RTAPI compatibility headers | `src/rtapi/rtapi_*.h` in the manifest | Copy unchanged plus standalone shim include path | `runtime/core/shims/rtapi.h` supplies the minimal standalone RTAPI surface needed by vendored code | Vendor byte sync, compile coverage through dependent source probes |
 | 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` |
-| Kinematics headers | `src/emc/kinematics/kinematics.h`, `cubic.h` | Copy unchanged | Kinematics implementation modules are not yet extracted; current use is type/interface support | Vendor byte sync, dependent compile coverage |
+| 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` |
 | 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 |
@@ -51,7 +51,7 @@ Current validation is intentionally mechanical:
 | Native file IO | `inifile.cc`, `rs274ngc_pre.cc`, parameter file paths | Allowed in native probes; browser OPFS remains a host-side future adapter |
 | RTAPI | `rtapi_*.h`, TP, posemath, motion headers | Minimal standalone shim in `runtime/core/shims/rtapi.h` |
 | NML transport | `emc.hh`, motion/NML type headers | Transport is not ported; only structs/types needed by vendored compute code are used |
-| HAL runtime | named parameter lookup and runtime status edges | Standalone HAL adapter under `runtime/core/linuxcnc_wrap/` |
+| HAL runtime | named parameter lookup, kinematics component lifecycle, and runtime status edges | Standalone HAL adapter under `runtime/core/linuxcnc_wrap/` |
 | Python/remap | `rs274ngc_pre.cc`, `interp_o_word.cc`, remap hooks | Stubbed at runtime boundary; no Python CNC semantics are reimplemented |
 | Canonical machine actions | `interp_convert.cc`, `interp_execute.cc`, `interp_queue.cc` | Captured by standalone canonical event sink functions for regression fixtures |
 | Realtime scheduling | TP and motion headers | Not ported; native TP probes seed deterministic status/config state |
@@ -59,7 +59,7 @@ Current validation is intentionally mechanical:
 
 ## Known Gaps
 
-- Full kinematics implementation files are not yet extracted.
+- Full non-trivial and 5-axis kinematics implementation files 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