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https://github.com/openglow-org/forgefirm.git
synced 2026-09-27 08:41:13 -07:00
Add the density ladder drill for choosing the dose base period
Under the FIRE-bit dose model the duty is pinned at full and the level is carried by how many ticks of each base period fire, so a rung's pulse is density x period - and the base period is the one parameter the host cannot settle. dladder walks 5 to 100 percent of dose on scrap at constant power, printing what each rung actually emits: density, mean on-ticks, and the pulse the tube sees in ticks and microseconds. Below one tick per period the pulse stays one tick and whole periods are skipped instead, which the table says outright rather than quoting a sub-tick average. Run it at 20, then 40, then 10 on the same material. At 20 percent dose that is 107-142 us, 249-284 us and 36-71 us respectively, which brackets the 100 us the factory never goes below. The material answers two questions: whether depth tracks density linearly, or the low end marks harder than its share because every burst restarts the discharge and carries the strike transient; and how short a burst still marks, which is the floor a given base period can reach. Preconditions are refusals, not warnings: laser_power_model must already be density and $35 must be 0, since a floor lifts every rung off the bottom of the range the drill exists to explore. The $35 message says a runtime write is not enough - the S to duty mapping is precomputed when the spindle is enabled. The drill writes laser_pulse_ticks itself when it can reach the machine config, preserving every other line, and refuses with instructions when run from a LAN host where it cannot.
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ScottW514
@@ -7,7 +7,8 @@ watch, an extinguisher, and the exhaust running. Every drill waits for
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the operator to press the physical arm button before the machine fires;
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nothing here defeats that gate.
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Usage: live_fire_drills.py <drill> [S] [F] (S, F used by ircut, pthresh)
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Usage: live_fire_drills.py <drill> [arg] [F] (ircut/pthresh take S,
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dladder takes the base period in machine ticks)
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Drills (pass a name):
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witness Phase 5 A-1/A-2/A-5: a short vector mark at S400. Samples
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@@ -47,6 +48,20 @@ Drills (pass a name):
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floor already in place lifts every rung and hides both
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thresholds.
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pthresh [Smax] [F] e.g. pthresh 1000 300
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dladder Density ladder for the FIRE-bit dose model: one line per
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dose level on scrap, 5 % to 100 %, at constant power (M3)
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so nothing scales the dose with velocity. Under this model
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the duty is pinned at full and the level is carried by how
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many ticks of each base period fire, so a rung's burst is
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density x period - and the base period is the parameter the
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host cannot choose for you. Run it at 20, then 40, then 10
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on the same material: 20 ticks is 710 us, the factory's
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~1.43 kHz, and 40 and 10 bracket it. Two questions the
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material answers: does mark depth track density linearly,
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and how short a burst still marks. Requires
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laser_power_model = density and $35 = 0 (a floor lifts every
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rung); sets laser_pulse_ticks itself when run on the board.
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dladder [period] [F] e.g. dladder 20 300
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expstop Armed kill on the EXPECTED-stop path: start a mark job,
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then mid-burn POST /controller/stop (the supervisor stops
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the controller: SIGTERM, reap, exit safing). PASS: emission
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@@ -496,6 +511,183 @@ def drill_pthresh(g):
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return samples
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# --- density ladder -------------------------------------------------------
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# Dose levels in percent of full. Even spacing, because the question is
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# whether mark depth tracks density linearly rather than where it stops.
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DLADDER_PCT = (5, 10, 20, 30, 40, 60, 80, 100)
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DLADDER_LEN = 25.0 # mm of burn per rung
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DLADDER_PITCH = 3.0 # mm between rungs
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STREAM_RATE_HZ = 28160 # machine tick (GFSINK_RATE default)
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PWM_PERIOD = 127 # 7-bit power byte against PWMSAR
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CONF = os.environ.get('GFHOME_CONF') or '/data/forgefirm.conf'
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def conf_get(key):
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"""One key from the shared machine config, or None."""
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try:
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with open(CONF) as f:
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for line in f:
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head = line.split('#', 1)[0]
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if '=' in head:
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k, v = head.split('=', 1)
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if k.strip() == key:
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return v.strip()
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except OSError:
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return None
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return None
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def conf_set(key, val):
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"""Set one key, preserving every other line. False when the config is
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not ours to write - running from a LAN host, say."""
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try:
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with open(CONF) as f:
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lines = f.read().splitlines()
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except OSError:
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return False
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out, done = [], False
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for line in lines:
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head = line.split('#', 1)[0]
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if '=' in head and head.split('=', 1)[0].strip() == key:
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if done:
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continue
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out.append('%s = %s' % (key, val))
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done = True
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else:
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out.append(line)
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if not done:
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out.append('%s = %s' % (key, val))
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try:
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mode = os.stat(CONF).st_mode & 0o777
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with open(CONF + '.tmp', 'w') as f:
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f.write('\n'.join(out) + '\n')
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os.chmod(CONF + '.tmp', mode)
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os.replace(CONF + '.tmp', CONF)
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except OSError:
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return False
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return True
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def grbl_setting(g, key):
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"""One $-setting as a float, read from the controller."""
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for line in g.cmd('$$', timeout=8.0).splitlines():
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line = line.strip()
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if line.startswith(key + '='):
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try:
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return float(line.split('=', 1)[1])
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except ValueError:
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return None
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return None
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def drill_dladder(g):
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period = int(sys.argv[2]) if len(sys.argv) > 2 else 20
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feed = int(sys.argv[3]) if len(sys.argv) > 3 else 300
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if period < 1:
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print('period must be at least 1 machine tick')
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return 2
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print('=== density ladder: %d rungs, base period %d ticks, F%d, %g mm each ==='
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% (len(DLADDER_PCT), period, feed, DLADDER_LEN))
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# Preconditions. The model is read at each arm, so it must already be
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# selected; the floor must be gone, or every rung is lifted off the
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# bottom of the range this drill exists to explore.
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model = conf_get('laser_power_model')
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if model != 'density':
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print('PRECONDITION FAILED: laser_power_model is %r, need "density".'
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% (model,))
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print('Set it in %s and re-run. The model is read at each arm, so' % CONF)
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print('this key needs no controller restart.')
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return 2
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floor = grbl_setting(g, '$35')
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if floor is None or floor > 0.0:
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print('PRECONDITION FAILED: $35 is %s, need 0.' % floor)
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print('Send $35=0 and restart the controller - the S -> duty mapping')
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print('is precomputed once, when the spindle is enabled, so a runtime')
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print('write does not reach it.')
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return 2
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if conf_set('laser_pulse_ticks', str(period)):
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print('laser_pulse_ticks = %d (written to %s)' % (period, CONF))
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else:
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have = conf_get('laser_pulse_ticks')
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if have != str(period):
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print('PRECONDITION FAILED: cannot write %s from here, and' % CONF)
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print('laser_pulse_ticks is %r, not %d. Set it on the board.'
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% (have, period))
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return 2
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print('laser_pulse_ticks already %d' % period)
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# What each rung actually emits. The on-count is dithered between
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# adjacent integers, so the burst below is the mean.
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print('period %d ticks = %.0f us at %d Hz -> %.0f Hz pulse rate'
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% (period, period * 1e6 / STREAM_RATE_HZ, STREAM_RATE_HZ,
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STREAM_RATE_HZ / float(period)))
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print('rungs (drawn in order, alternating direction, +Y between):')
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levels = []
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for pct in DLADDER_PCT:
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sval = int(round(1000 * pct / 100.0))
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level = int(sval * PWM_PERIOD / 1000) # the core's mapping at $35 = 0
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dens = level / float(PWM_PERIOD)
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on = dens * period
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levels.append((pct, sval, dens))
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# The on-count is a whole number of ticks, dithered between the
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# two nearest, so quote the pulse the tube actually sees. Below
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# one tick per period the pulse stays one tick and periods are
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# skipped instead - that is the short end this drill is for.
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lo = int(on)
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tick_us = 1e6 / STREAM_RATE_HZ
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if lo == 0:
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burst = '1 tick (%.0f us) on ~%.0f%% of periods' % (tick_us, on * 100)
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elif on == lo:
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burst = '%d ticks (%.0f us)' % (lo, lo * tick_us)
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else:
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burst = '%d-%d ticks (%.0f-%.0f us)' % (lo, lo + 1, lo * tick_us,
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(lo + 1) * tick_us)
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print(' %3d%% -> S%-4d density %.4f %5.2f on-ticks pulse %s'
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% (pct, sval, dens, on, burst))
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print('connect: %s' % prepare(g))
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base = sample_forgectrl()
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print('pre-fire: %s' % base)
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arm_cue()
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print('>>> This ladder reaches FULL dose - use scrap you are willing')
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print('>>> to cut through.\n')
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job = ['G91', 'G21', 'M3']
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for i, (_pct, sval, _d) in enumerate(levels):
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job.append('S%d' % sval)
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job.append('G1 X%g F%d' % (DLADDER_LEN if i % 2 == 0 else -DLADDER_LEN,
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feed))
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job.append('G0 Y%g' % DLADDER_PITCH)
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job += ['M5', 'G90', 'M2']
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samples = run_and_sample(g, job, overall_timeout=600)
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emis = [s['emission'] for s in samples if s['emission'] is not None]
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hv_vals = [s['hv'] for s in samples if s['hv'] is not None]
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print('\n--- results ---')
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print('samples: %d emission peak=%s' % (len(samples),
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max(emis) if emis else '-'))
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print('hv_current range: %s..%s' % (min(hv_vals) if hv_vals else '-',
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max(hv_vals) if hv_vals else '-'))
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print('Check the controller said "laser armed (density)" - a plain')
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print('"laser armed" means the analog path ran and this is a duty')
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print('ladder, not a density one.')
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print('\nRead the material: count rungs from the FIRST one drawn.')
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print('Two readings, and the second is the one only the bench can give:')
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print(' 1. LINEARITY - does depth/darkness track the density column')
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print(' above, or does the low end mark harder than its share? Every')
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print(' burst restarts the discharge, so each carries the strike')
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print(' transient, and dose per burst need not scale with its length.')
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print(' 2. THE SHORT END - the lowest rung that still marks cleanly. Its')
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print(' burst length in us is the number to keep; a rung that stops')
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print(' marking sets the floor this base period can reach.')
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print('Then run the same ladder at 40 and at 10 on the same material and')
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print('compare the low rungs across the three: that is what picks the')
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print('base period. Nothing else in the stack can answer it.')
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return samples
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def post_ctrl(action):
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# http.client preserves the header-name case exactly as given.
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import http.client
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@@ -581,7 +773,7 @@ def main():
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drill = sys.argv[1] if len(sys.argv) > 1 else ''
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drills = {'witness': drill_witness, 'hold': drill_hold,
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'faultpos': drill_faultpos, 'ircut': drill_ircut,
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'pthresh': drill_pthresh,
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'pthresh': drill_pthresh, 'dladder': drill_dladder,
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'expstop': drill_expstop, 'ctrlstart': drill_ctrlstart}
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if drill not in drills:
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print(__doc__)
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