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docs: bring-up runbook + bench tools from the audit corrective work
BRINGUP.md is the cold-start reference: project status (audit phases 0-5 complete, Phase 6 spike achieved - first grblHAL-commanded motion 2026-07-26), bench/board access, build+deploy procedures, the step backend runbook incl. the required analog machine config, the measured hardware facts bank, and the ordered next-work list. scripts/bench/ preserves the hardware-verification tools (underrun feeder, end-of- data protocol bench, PWM register check, cross-build scripts).
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ScottW514
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#!/usr/bin/env python3
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"""Phase 2.8 bench test: the reworked end-of-data protocol (audit M2-M5).
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Motion-safe by construction: all four motors are locked via motor_lock (the
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SDMA script masks the STEP bits), the laser latch is locked (LASER_ON pin is
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Hi-Z and the hardware safety chain is open anyway), and only NOP (0x00) and
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laser-bit (0x10) bytes are streamed.
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Exercises: normal completion, underrun detection/ack (M5), parked no-replay
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guard (M4), alldone GPIO clear (M2, via GPIO2_DR readback - the data register
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retains the last value the script wrote), resume(0) (M3), continuous-feed
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stability, and 20x run/underrun cycling (M3 wedge check).
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"""
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import os, re, sys, time, mmap, struct
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C = "/sys/glowforge/cnc"
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DEV = "/dev/glowforge"
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GPIO2_BASE = 0x020A0000 # GPIO2 DR at offset 0
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passed = failed = 0
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def chk(name, cond, detail=""):
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global passed, failed
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tag = "PASS" if cond else "FAIL"
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if cond: passed += 1
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else: failed += 1
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print(f"{tag}: {name} [{detail}]", flush=True)
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def rd(attr):
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with open(f"{C}/{attr}") as f: return f.read().strip()
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def wr(attr, val):
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with open(f"{C}/{attr}", "w") as f: f.write(str(val))
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def state(): return rd("state")
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def gpio2_dr():
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with open("/dev/mem", "rb") as f:
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m = mmap.mmap(f.fileno(), 4096, mmap.MAP_SHARED, mmap.PROT_READ,
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offset=GPIO2_BASE)
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v = struct.unpack("<I", m[:4])[0]
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m.close()
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return v
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def sc(ctx, n):
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return int(re.search(rf"sc{n}=([0-9a-f]{{8}})", ctx).group(1), 16)
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def wait_state(target, timeout=15):
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t0 = time.time()
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while time.time() - t0 < timeout:
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s = state()
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if s == target: return s
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time.sleep(0.05)
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return state()
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# ---- setup: everything locked ----
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wr("laser_latch", 1) # LASER_ON pin Hi-Z
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wr("motor_lock", 15) # X|Y1|Y2|Z locked: no motion regardless of data
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if state() == "disabled":
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wr("enable", 1)
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time.sleep(0.5)
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SEC = int(rd("step_freq")) # bytes per second of playback
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print(f"setup: state={state()} step_freq={SEC} underruns={rd('underruns')}", flush=True)
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fd = os.open(DEV, os.O_WRONLY) # exclusive open, held for the whole bench
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def clear_data():
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os.lseek(fd, 1, os.SEEK_SET) # clear pulse data + byte counters
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def feed(b, n):
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return os.write(fd, bytes([b]) * n)
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# ---- T1: normal completion (streaming=0) -> idle ----
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wr("streaming", 0)
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clear_data()
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feed(0x00, 2 * SEC)
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wr("run", 1)
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chk("T1 run starts", state() == "running", state())
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s = wait_state("idle", 10)
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chk("T1 normal completion -> idle", s == "idle", s)
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# ---- T2: underrun (streaming=1): state, counter, run refused ----
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u0 = int(rd("underruns"))
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wr("streaming", 1)
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clear_data()
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feed(0x00, 1 * SEC)
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wr("run", 1)
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s = wait_state("underrun", 10)
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chk("T2 underrun state entered", s == "underrun", s)
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chk("T2 underrun counter incremented", int(rd("underruns")) == u0 + 1, rd("underruns"))
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try:
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wr("run", 1)
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chk("T2 run refused while unacked", False, "run was accepted!")
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except OSError as e:
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chk("T2 run refused while unacked", True, str(e))
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# ---- T3: parked no-replay guard (M4): append while parked, counters frozen ----
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ctx_a = rd("sdma_context")
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feed(0x01, 1000) # X-step bytes appended while parked (motors locked anyway)
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time.sleep(1.0)
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ctx_b = rd("sdma_context")
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chk("T3 byte counter frozen while parked", sc(ctx_a, 3) == sc(ctx_b, 3),
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f"sc3 {sc(ctx_a,3)} -> {sc(ctx_b,3)}")
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chk("T3 head frozen while parked", sc(ctx_a, 4) == sc(ctx_b, 4),
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f"sc4 {sc(ctx_a,4)} -> {sc(ctx_b,4)}")
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wr("stop", 1)
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chk("T3 stop acks underrun -> idle", state() == "idle", state())
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clear_data()
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# ---- T4: alldone clears laser+step GPIO bits (M2) ----
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wr("streaming", 1)
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feed(0x10, 1 * SEC) # laser bit set, no steps
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wr("run", 1)
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s = wait_state("underrun", 10)
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chk("T4 underrun after laser-bit stream", s == "underrun", s)
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time.sleep(0.2)
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dr = gpio2_dr()
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chk("T4 LASER_ENABLE/LASER_ON_HEAD bits low in GPIO2_DR", (dr >> 30) == 0,
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f"DR=0x{dr:08x}")
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chk("T4 STEP bits low in GPIO2_DR",
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(dr & ((1 << 20) | (1 << 21) | (1 << 22) | (1 << 29))) == 0, f"DR=0x{dr:08x}")
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wr("stop", 1)
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clear_data()
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# ---- T5: resume(0) completes instead of wedging (M3) ----
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wr("streaming", 0)
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feed(0x00, SEC // 2)
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wr("resume", 0)
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chk("T5 resume(0) starts", state() == "running", state())
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s = wait_state("idle", 10)
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chk("T5 resume(0) completes -> idle (no wedge)", s == "idle", s)
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clear_data()
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# ---- T6: continuous feed never underruns; stopping the feed does ----
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wr("streaming", 1)
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feed(0x00, SEC)
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wr("run", 1)
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t0 = time.time(); ok = True
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while time.time() - t0 < 5:
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feed(0x00, SEC // 4)
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if state() != "running":
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ok = False
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break
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time.sleep(0.2)
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chk("T6 no underrun while feeding (5 s)", ok, state())
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s = wait_state("underrun", 10)
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chk("T6 underrun after feed stops", s == "underrun", s)
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wr("stop", 1)
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clear_data()
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# ---- T7: 20x run/underrun cycles, no wedge (M3) ----
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anomalies = 0
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for i in range(20):
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feed(0x00, SEC // 10)
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wr("run", 1)
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s = wait_state("underrun", 5)
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if s != "underrun":
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anomalies += 1
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print(f" cycle {i}: state={s}", flush=True)
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wr("stop", 1)
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chk("T7 20 run/underrun cycles clean", anomalies == 0, f"{anomalies} anomalies")
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# ---- wrap up ----
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wr("streaming", 0)
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clear_data()
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os.close(fd)
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wr("motor_lock", 0)
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print(f"\nRESULT: {passed} passed, {failed} failed; underruns total={rd('underruns')}",
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flush=True)
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sys.exit(1 if failed else 0)
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