Add GATE A kernel drill script and lid-IR ambient baseline

gate_a_kernel_drills.py stages the three remaining GATE A kernel
drills (controlled-stop deceleration floor, resume waypoint with the
latch locked, mid-ramp latch unlock) with software witnesses and the
PSU-connector scope point. lid_ir_ambient_baseline.csv is the
fire-watch ambient anchor (600 samples, lid closed, machine idle);
BRINGUP records the baseline statistics and the idle verification of
the emission/fire/HV evidence plumbing.

docs/BRINGUP.md

@@ -20,6 +20,93 @@ Phase 11 sweep. **Flash this image, then run the consolidated bench
 campaign** — the GATE A drills, GATE B probes, and every phase's bench
 list above validate against it.
 
+**Bench campaign — opened 2026-08-14; image `20260814223300` flashed and
+booted.** Post-flash health check passes on the board: it reports
+`20260814223300 (dev)`; kernel `6.12.20-fslc` with `CONFIG_PREEMPT` and
+the console-only `panic=10` command line; `CONFIG_IMX2_WDT` and
+`CONFIG_PANIC_ON_OOPS` present in the running config; the hardened
+`glowforge.ko` loaded with the 16 MiB `cnc-pulsebuf` no-map pool mapped
+and SDMA channel 26 / EPIT up; forgectrl holds `/dev/glowforge` (40 V up,
+dead-man active) and supervises the grbl controller with the
+motion-liveness probe reading **verified**; the latch reads **locked**
+and faults 0 at idle; the only `watchdogd` is the kernel kthread (no
+userspace watchdog daemon). **GATE B is bench-verified on the
+software/control-surface side.** From a second LAN host every
+state-changing endpoint refuses an unauthenticated write
+(`403 authentication required`); a spoofed non-literal `Host`, a
+non-literal `Origin`, and a cross-site `Sec-Fetch-Site` are each refused
+(`403 request origin refused`); `/cool/state` refuses a non-loopback peer
+(`403 loopback only`); the four-POST unsigned-flash chain
+(`upload → apply?confirm_unsigned=1 → boot → reboot`) and
+`restore/factory` are each refused unauthenticated; `/fuse-identity` is
+fully token-gated (F-1, F-2, F-19). The authenticated max-length
+`POST /settings` probe passes without a crash: a 300-character value is
+refused `400`, thirteen 16-character in-range values are accepted `200`,
+and `/status`, the panel `/`, and `/settings` all keep serving, with the
+settings restore verified byte-identical to the pre-test snapshot (F-4,
+F-18). On-board build facts re-confirmed on the running image:
+controllers stop at `K80` before forgectrl at `K90` (rc0/rc6, B-4); the
+forgefirm logrotate config and init lever are installed (F-16); there is
+no `/etc/watchdog.conf` or watchdog init (B-8); the wlconf data files are
+0644 (B-16); the panel token is stored 0600. Deferred to Phase 11: the
+settings file is still 0644 (F-23). **GATE A dry motion drills pass
+(latch locked, no emission, operator watching):** bounded relative jogs
+move the gantry (operator-witnessed) and the grblHAL position counter
+tracks the commanded moves exactly, returning to rest; a
+jog-cancel (`0x85`) stops the jog cleanly short of target and returns to
+`Idle` with position preserved; a feed-hold (`!`) parks with the feed
+ramping to 0 (`Hold:1`→`Hold:0`) and a resume (`~`) completes the move
+with no lost-step alarm; a `^X` abort decelerates under control into
+`Alarm` with machine position retained, `$X` recovers to `Idle`, and a
+subsequent jog runs — no DRV8825 wedge after the abort (the rail never
+cycled). **Dry dead-man / disruption drills pass (latch locked, no
+emission):** with only the broker and the controller holding
+`/dev/glowforge` — no stray process pins it (F-6) — a `SIGKILL` of the
+controller mid-move is reaped by the supervisor, which writes `cnc/stop`
++ `cnc/laser_latch=1`, unlinks the homing anchor, and respawns a fresh
+controller in about a second with the latch never unlocking (F-3); a
+`SIGSTOP` (hang) mid-move drains the ring into a kernel `pulse data
+underrun; position no longer trusted`, halting motion fast with the latch
+locked while the cooling engine's report-silence clock runs past its
+window; and a `forgectrl restart` mid-move leaves the busy controller
+running (reparented), lets the move finish uninterrupted, never unlinks
+the cooling verdict, and has the new daemon stand by and retake at idle
+(F-12). The liveness probe's designed skip-on-open path — the safety-chain
+output is known to de-assert during motion, so an at-that-moment read can
+skip the probe, proceed without a motion fault, and re-probe on the next
+spawn — was exercised and behaved per `liveness.c`. **Still pending —
+operator-present bench work only, and no live-fire until GATE A's
+live-fire drills pass on this image:** the
+controlled-stop decel at the default cloud tick / resume-with-latch-locked
+stays-laser-less / mid-ramp-latch-does-not-re-arm-FIRE drills, all with
+LASER_ON probed at the PSU connector; the connection-flood
+`machine_is_idle` fail-closed check under motion (X-2); the emission
+witness + lid-IR characterization (Phase 5, `cool_fire_ir_delta` set from
+the baseline); and the stale-gate / motion-integrity job drills across
+Phases 4 and 6. None of these proceed without the operator at the
+machine with the physical arm button, fire watch, and eye protection.
+
+The lid-IR **ambient baseline** for the fire-watch characterization is
+captured on this image (600 samples over 5.6 min at 2 Hz, lid closed,
+machine idle, coolant ≈25 °C): `lid_ir_1..4` read 37.3 ±0.6, 36.3 ±0.6,
+39.5 ±0.7, and 40.0 ±0.6 raw counts (total spread ±3 counts),
+`hv_current` reads 0 throughout, and the emission witness
+(`laser_on_sampled`) read 0 on all 600 samples — the idle plumbing for
+the emission/fire/HV evidence is verified quiet end to end (`/status`
+carries the sensed rows; `/cool/status` reports `fire_watch:"watch"`).
+Dataset: `scripts/bench/lid_ir_ambient_baseline.csv`. When the fire
+characterization sets `cool_fire_ir_delta`, it must land comfortably
+above the worst normal-cut peak delta and never below ~15 counts, so
+ambient noise can never trip the fire abort. The three pending GATE A
+kernel drills are scripted and staged on the bench
+(`scripts/bench/gate_a_kernel_drills.py`): K1 proves the
+controlled-stop deceleration floor at the default cloud tick, K2
+proves a resume waypoint honors the locked latch through a replayed
+FIRE window, and K3 proves a mid-ramp latch unlock never re-arms the
+FIRE drive — each with software witnesses (`laser_enable`, `laser_on`,
+`laser_on_sampled`, interlock bit 3) plus the PSU-connector LASER_ON
+scope point, run with forgectrl stopped so the pulse device is free.
+
 **Phase 10 (tests & CI) is code-complete; the safety rules are now
 machine-enforced.** The grblHAL controller repo's CI builds the
 null-sink binary (driver sources under `-Werror`; the core submodule

scripts/bench/gate_a_kernel_drills.py

@@ -0,0 +1,270 @@
+#!/usr/bin/env python3
+"""GATE A kernel drills - runs ON the board. Usage: gate_a_kernel_drills.py K1|K2|K3
+
+The pulse device must be free: stop forgectrl first
+(/etc/init.d/forgectrl stop), run the drill, then restart it. The
+script exits with a clear message if the device is busy.
+
+All drills: the first stream byte forces laser duty to zero, the
+stream ends with laser-off bytes, motor_lock=15 (no axis moves), and
+the latch is re-locked unconditionally on exit. K3 refuses to run if
+laser_pgood reports the HV supply good. Software witnesses:
+cnc/state, cnc/laser_enable, cnc/laser_on, cnc/laser_on_sampled, and
+interlock_circuit bit 3 (the commanded latch). Physical witness:
+scope on the PSU-connector LASER_ON pin, as in fire_test.py.
+
+K1 - controlled-stop deceleration floor. Pads-only stream at the
+     default cloud tick (10 kHz, ramp 125000 Hz/s). A controlled stop
+     mid-run must ramp the step frequency down to the floor (tens of
+     milliseconds), never consume the tail as a max-rate burst
+     (sub-millisecond) or hang. PASS: stop-to-idle time inside the
+     controlled-decel band, no fault, no underrun.
+
+K2 - resume waypoint honors the locked latch. Stream = pads, an
+     X-step section (motors locked), then a 2 s FIRE window. Run with
+     the latch LOCKED, controlled-stop inside the initial pads, then
+     resume with a positive waypoint - the branch that re-enables the
+     laser after the waypoint is reached. PASS: laser_enable stays 0
+     through the FIRE window; laser_on/laser_on_sampled stay 0.
+
+K3 - mid-run latch unlock does not re-arm FIRE. Stream = FIRE bits
+     throughout. Run with the latch LOCKED (the run-start guard makes
+     the run laser-less), then write laser_latch=0 during the accel
+     ramp (ramp_rate lowered to 10000 Hz/s for a ~0.9 s window). The
+     unlock must drive the latch pin (interlock bit 3 reads 0) but
+     must NOT restore the FIRE output drive while the run or a ramp
+     is in flight. PASS: laser_enable stays 0 for the entire run.
+"""
+import errno, fcntl, os, struct, sys, time
+
+TICK_HZ = 10000
+FIRE = b'\x10'
+PAD = b'\x00'
+XSTEP = b'\x01'
+POWER0 = bytes([0x80])
+
+
+def wr(attr, val):
+    with open('/sys/glowforge/' + attr, 'w') as f:
+        f.write(str(val))
+
+
+def rd(attr):
+    with open('/sys/glowforge/' + attr) as f:
+        return f.read().strip()
+
+
+def rd_pos():
+    with open('/sys/glowforge/cnc/position', 'rb') as f:
+        raw = f.read(32)
+    return struct.unpack('<5i', raw[:20])
+
+
+def snap(tag):
+    print('%s: state=%s laser_enable=%s laser_on=%s laser_on_sampled=%s interlock=%s'
+          % (tag, rd('cnc/state'), rd('cnc/laser_enable'), rd('cnc/laser_on'),
+             rd('cnc/laser_on_sampled'), rd('cnc/interlock_circuit')))
+
+
+def open_pulsedev():
+    try:
+        fd = os.open('/dev/glowforge', os.O_WRONLY)
+    except OSError as e:
+        if e.errno == errno.EBUSY:
+            print('ABORT: /dev/glowforge is busy - stop forgectrl first '
+                  '(/etc/init.d/forgectrl stop), then re-run')
+            sys.exit(1)
+        raise
+    fcntl.flock(fd, fcntl.LOCK_EX)
+    return fd
+
+
+def wait_state(want, timeout, poll=0.05):
+    t0 = time.time()
+    while time.time() - t0 < timeout:
+        s = rd('cnc/state')
+        if s == want:
+            return s
+        time.sleep(poll)
+    return rd('cnc/state')
+
+
+def watch_laser_until_idle(timeout):
+    """Tight-loop laser_enable/laser_on watch; returns (hits, end_state)."""
+    hits = []
+    t0 = time.time()
+    state = 'running'
+    while time.time() - t0 < timeout:
+        en = rd('cnc/laser_enable')
+        on = rd('cnc/laser_on')
+        if en != '0' or on != '0':
+            hits.append((round(time.time() - t0, 4), en, on))
+        state = rd('cnc/state')
+        if state != 'running':
+            break
+    return hits, state
+
+
+def drill_k1():
+    stream = POWER0 + PAD * (6 * TICK_HZ)
+    print('K1: %d bytes = %.1f s of pads at %d Hz, ramp 125000 Hz/s'
+          % (len(stream), len(stream) / TICK_HZ, TICK_HZ))
+    snap('pre ')
+    wr('cnc/motor_lock', 15)
+    wr('cnc/laser_latch', 1)
+    wr('cnc/ramp_rate', 125000)
+    wr('cnc/step_freq', TICK_HZ)
+    fd = open_pulsedev()
+    try:
+        os.lseek(fd, 1, os.SEEK_SET)
+        wr('cnc/enable', 1)
+        time.sleep(0.5)
+        os.write(fd, stream)
+        wr('cnc/run', 1)
+        time.sleep(1.5)                      # well past the accel ramp
+        if rd('cnc/state') != 'running':
+            print('FAIL: expected running before the stop, got %s' % rd('cnc/state'))
+            return 1
+        t0 = time.time()
+        wr('cnc/stop', 1)
+        while time.time() - t0 < 5:
+            if rd('cnc/state') != 'running':
+                break
+        dt = time.time() - t0
+        state = rd('cnc/state')
+        print('controlled stop: state=%s after %.4f s' % (state, dt))
+        ok = state == 'idle' and 0.02 <= dt <= 3.0 and rd('cnc/faults') == '0'
+        if state == 'idle' and dt < 0.02:
+            print('FAIL: stop consumed the tail as a burst (%.4f s) - decel floor broken' % dt)
+        elif not ok:
+            print('FAIL: state=%s dt=%.4f faults=%s' % (state, dt, rd('cnc/faults')))
+        else:
+            print('PASS: decelerating tail %.4f s, no burst, no fault' % dt)
+        # drain the paused remainder laser-less so the device ends clean
+        wr('cnc/resume', 0)
+        wait_state('running', 2, poll=0.005)
+        wait_state('idle', 10)
+        return 0 if ok else 1
+    finally:
+        wr('cnc/laser_latch', 1)
+        fcntl.flock(fd, fcntl.LOCK_UN)
+        os.close(fd)
+
+
+def drill_k2():
+    # "unmask-x" as a second argument runs with motor_lock=14 (X live,
+    # ~6 mm of X travel) for boards where the waypoint counter does not
+    # advance under a full motor_lock. Park the head mid-bed first.
+    lock = 14 if 'unmask-x' in [a.lower() for a in sys.argv[2:]] else 15
+    step_sec = (XSTEP + PAD * 4) * 1000      # 1000 X steps at 2 kHz
+    stream = (POWER0 + PAD * TICK_HZ + step_sec + PAD * (TICK_HZ // 2)
+              + FIRE * (2 * TICK_HZ) + PAD * TICK_HZ)
+    print('K2: %d bytes = %.1f s; latch stays LOCKED; waypoint +200; motor_lock=%d'
+          % (len(stream), len(stream) / TICK_HZ, lock))
+    snap('pre ')
+    wr('cnc/motor_lock', lock)
+    wr('cnc/laser_latch', 1)
+    wr('cnc/ramp_rate', 125000)
+    wr('cnc/step_freq', TICK_HZ)
+    fd = open_pulsedev()
+    try:
+        os.lseek(fd, 1, os.SEEK_SET)
+        wr('cnc/enable', 1)
+        time.sleep(0.5)
+        os.write(fd, stream)
+        pos_before = rd_pos()
+        wr('cnc/run', 1)
+        time.sleep(0.4)                      # inside the initial pads
+        wr('cnc/stop', 1)
+        state = wait_state('idle', 5, poll=0.01)
+        if state != 'idle':
+            print('FAIL: controlled stop did not reach idle (state=%s)' % state)
+            return 1
+        print('paused inside the pads; resuming with waypoint +200 (latch LOCKED)')
+        wr('cnc/resume', 200)
+        wait_state('running', 2, poll=0.005)
+        hits, state = watch_laser_until_idle(20)
+        pos_after = rd_pos()
+        print('done: state=%s' % state)
+        print('pos before=%s after=%s (informational: does the waypoint counter '
+              'advance under motor_lock)' % (pos_before, pos_after))
+        snap('post')
+        print('laser_on_sampled=%s underruns=%s faults=%s'
+              % (rd('cnc/laser_on_sampled'), rd('cnc/underruns'), rd('cnc/faults')))
+        if hits:
+            print('FAIL: laser asserted with the latch locked: %s' % hits[:10])
+            return 1
+        if pos_before[:3] == pos_after[:3]:
+            print('NOTE: position did not advance under motor_lock, so the '
+                  'waypoint may not have completed. Re-run as '
+                  '"gate_a_kernel_drills.py K2 unmask-x" (X live, ~6 mm of '
+                  'X travel) with the head parked mid-bed.')
+        print('PASS: FIRE window replayed after the resume waypoint with '
+              'laser_enable/laser_on at 0 throughout')
+        return 0
+    finally:
+        wr('cnc/laser_latch', 1)
+        fcntl.flock(fd, fcntl.LOCK_UN)
+        os.close(fd)
+
+
+def drill_k3():
+    pgood = rd('cnc/laser_pgood')
+    if pgood != '0':
+        print('ABORT: laser_pgood=%s (HV supply reports good) - refusing latch unlock' % pgood)
+        return 1
+    stream = POWER0 + FIRE * (3 * TICK_HZ) + PAD * (TICK_HZ // 2)
+    print('K3: %d bytes = %.1f s of FIRE bits; ramp_rate 10000 Hz/s '
+          '(~0.9 s accel window); unlock at t=+0.15 s'
+          % (len(stream), len(stream) / TICK_HZ))
+    snap('pre ')
+    wr('cnc/motor_lock', 15)
+    wr('cnc/laser_latch', 1)
+    wr('cnc/step_freq', TICK_HZ)
+    wr('cnc/ramp_rate', 10000)
+    fd = open_pulsedev()
+    try:
+        os.lseek(fd, 1, os.SEEK_SET)
+        wr('cnc/enable', 1)
+        time.sleep(0.5)
+        os.write(fd, stream)
+        wr('cnc/run', 1)
+        time.sleep(0.15)                     # inside the accel ramp
+        wr('cnc/laser_latch', 0)
+        print('latch UNLOCKED mid-ramp; interlock=%s (bit 3 should read 0)'
+              % rd('cnc/interlock_circuit'))
+        hits, state = watch_laser_until_idle(20)
+        print('done: state=%s' % state)
+        snap('post')
+        print('laser_on_sampled=%s underruns=%s faults=%s'
+              % (rd('cnc/laser_on_sampled'), rd('cnc/underruns'), rd('cnc/faults')))
+        if hits:
+            print('FAIL: FIRE drive re-armed by a mid-run unlock: %s' % hits[:10])
+            return 1
+        print('PASS: laser_enable stayed 0 for the entire run after the '
+              'mid-ramp unlock')
+        return 0
+    finally:
+        wr('cnc/laser_latch', 1)
+        try:
+            wr('cnc/ramp_rate', 125000)
+        except OSError:
+            print('WARNING: could not restore ramp_rate=125000 - restore it by hand')
+        fcntl.flock(fd, fcntl.LOCK_UN)
+        os.close(fd)
+
+
+def main():
+    mode = sys.argv[1].upper() if len(sys.argv) > 1 else ''
+    drills = {'K1': drill_k1, 'K2': drill_k2, 'K3': drill_k3}
+    if mode not in drills:
+        print(__doc__)
+        return 2
+    rc = drills[mode]()
+    wr('cnc/laser_latch', 1)
+    print('exit: state=%s latch=LOCKED' % rd('cnc/state'))
+    return rc
+
+
+if __name__ == '__main__':
+    sys.exit(main())

scripts/bench/lid_ir_ambient_baseline.csv

@@ -0,0 +1,601 @@
+t_s,lid_ir_1,lid_ir_2,lid_ir_3,lid_ir_4,hv_current,water_1,water_2,pwr_temp,laser_on_sampled
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