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forgetest: kernel.k1-k2 leaves the position counters where it found them

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K2 streamed 1000 masked +X steps; the counters advanced although nothing
moved, and forgectrl's position display carried the offset. The stream
now runs 1000 out and 1000 back, and the counters returning to start is
a check. Bench-proven 2026-08-16: (0,0,0) before and after.
This commit is contained in:
ScottW514
2026-08-16 13:35:20 -04:00
parent 4aaedc8080
commit 13beb51e26
1 changed files with 7 additions and 5 deletions
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forgetest/forgetest/suite/kernel.py
+7 -5
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@@ -33,7 +33,8 @@ LATCH_BIT = 1 << 3
TICK_HZ = 10000 TICK_HZ = 10000
FIRE = b"\x10" FIRE = b"\x10"
PAD = b"\x00" PAD = b"\x00"
XSTEP = b"\x01" XSTEP = b"\x01" # +X (DIR clear)
XSTEP_BACK = b"\x03" # -X (DIR set)
POWER0 = bytes([0x80]) # power byte, duty 0 POWER0 = bytes([0x80]) # power byte, duty 0
_KERNEL_COVERS = [("kernel-module-glowforge", "**"), ("linux-fslc", "**")] _KERNEL_COVERS = [("kernel-module-glowforge", "**"), ("linux-fslc", "**")]
@@ -251,7 +252,9 @@ def k1_k2(ctx):
ctx.log("K1 PASS: decelerating tail %.4f s, no burst, no fault", dt) ctx.log("K1 PASS: decelerating tail %.4f s, no burst, no fault", dt)
# ---- K2 # ---- K2
step_sec = (XSTEP + PAD * 4) * 1000 # 1000 X steps at 2 kHz (masked) # 1000 X steps out and 1000 back at 2 kHz (masked by motor_lock):
# the position counters end where they started
step_sec = (XSTEP + PAD * 4) * 1000 + (XSTEP_BACK + PAD * 4) * 1000
stream = (POWER0 + PAD * TICK_HZ + step_sec + PAD * (TICK_HZ // 2) stream = (POWER0 + PAD * TICK_HZ + step_sec + PAD * (TICK_HZ // 2)
+ FIRE * (2 * TICK_HZ) + PAD * TICK_HZ) + FIRE * (2 * TICK_HZ) + PAD * TICK_HZ)
ctx.log("K2: %d bytes = %.1f s; latch stays LOCKED; waypoint +200; motor_lock=15", ctx.log("K2: %d bytes = %.1f s; latch stays LOCKED; waypoint +200; motor_lock=15",
@@ -283,9 +286,8 @@ def k1_k2(ctx):
"underruns": rd("cnc/underruns"), "faults": rd("cnc/faults")} "underruns": rd("cnc/underruns"), "faults": rd("cnc/faults")}
ctx.log("K2 done: state=%s pos before=%s after=%s", state, pos_before, pos_after) ctx.log("K2 done: state=%s pos before=%s after=%s", state, pos_before, pos_after)
ctx.check(not hits, "K2: laser asserted with the latch locked: %s", hits[:10]) ctx.check(not hits, "K2: laser asserted with the latch locked: %s", hits[:10])
if pos_before[:3] == pos_after[:3]: ctx.check(pos_before[:3] == pos_after[:3],
ctx.log("K2 NOTE: position did not advance under motor_lock (waypoint completion " "K2: position counters did not return to start (%s -> %s)", pos_before[:3], pos_after[:3])
"unconfirmed by the counter on this board)")
ctx.log("K2 PASS: FIRE window replayed after the resume waypoint with " ctx.log("K2 PASS: FIRE window replayed after the resume waypoint with "
"laser_enable/laser_on at 0 throughout") "laser_enable/laser_on at 0 throughout")