vh/forgefirm
1
0
Fork 0
mirror of https://github.com/openglow-org/forgefirm.git synced 2026-09-27 08:41:13 -07:00
Code Issues Packages Projects Releases Wiki Activity

cp_watchdog_timing: do not starve the controller (no nice, sleep per pass), two jogs 4 s apart

Browse Source
This commit is contained in:
ScottW514
2026-08-15 13:54:48 -04:00
parent fe6a65b7fe
commit 52b398e11d
1 changed files with 23 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
scripts/bench/cp_watchdog_timing.py
+23 -15
View File
@@ -11,11 +11,13 @@ SoC's own pins, with no kernel change and no scope:
The sampler arms rising-edge detection for GPIO3 pin 24 only (ICR2 bits
17:16), clears that pin's sticky ISR flag, then polls ISR bit 24 and the two
readback pads in a tight loop, restoring ICR2 on exit. GPIO3 IMR bit 24 must
be clear (nothing has an interrupt on that pin; the run refuses otherwise),
so the kernel never sees the flag. Reads and writes go through /dev/mem;
the CHG_PUMP pad has SION set in the device tree, so its pad state is
visible.
readback pads in a loop with a ~100 us sleep per pass, restoring ICR2 on
exit. GPIO3 IMR bit 24 must be clear (nothing has an interrupt on that pin;
the run refuses otherwise), so the kernel never sees the flag. Reads and
writes go through /dev/mem; the CHG_PUMP pad has SION set in the device
tree, so its pad state is visible. The loop must not hog the CPU: only the
controller's shipper thread is SCHED_FIFO, its protocol/producer thread is
SCHED_OTHER, and a busy loop starves it so a run never ends.
Every run of the pulse engine (a jog is enough) primes the pump once and
then feeds it every 200 ms while `state == running`; when the run ends the
@@ -26,9 +28,9 @@ count and period. Resolution = the loop period (tens of microseconds; the
worst gap is printed).
Usage: cp_watchdog_timing.py [seconds] [jog ...]
default: 16 s, jogs "$J=G91 X5 F300" "$J=G91 X-5 F300" x2 (out and back
twice, 5 mm, head ends where it started), sent to the local grblHAL on
127.0.0.1:23 at t = 2, 4.6, 7.2, 9.8 s. Pass "-" as the only jog to sample
default: 14 s, jogs "$J=G91 X5 F300" "$J=G91 X-5 F300" (out and back,
5 mm, head ends where it started), sent to the local grblHAL on
127.0.0.1:23 at t = 2 s and 6 s. Pass "-" as the only jog to sample
without commanding motion (drive the runs yourself).
Motion only, laser locked; needs the GRBL controller idle with no other
Grbl client attached (a connection here displaces the sender).
@@ -39,13 +41,14 @@ GPIO1, GPIO3, GPIO4 = 0x0209C000, 0x020A4000, 0x020A8000
PSR, ICR2, IMR, ISR = 0x08, 0x10, 0x14, 0x18
PULSE_PIN = 24 # GPIO3_24 CHG_PUMP
NQ_BIT, NHV_BIT = 8, 6 # GPIO1_08 !Q, GPIO4_06 !HV_ENABLE
JOG_T0, JOG_DT = 2.0, 2.6
JOG_T0, JOG_DT = 2.0, 4.0
SLEEP_S = 0.0001
DEFAULT_JOGS = ['$J=G91 X5 F300', '$J=G91 X-5 F300'] * 2
DEFAULT_JOGS = ['$J=G91 X5 F300', '$J=G91 X-5 F300']
def main():
dur = float(sys.argv[1]) if len(sys.argv) > 1 else 16.0
dur = float(sys.argv[1]) if len(sys.argv) > 1 else 14.0
jogs = sys.argv[2:] if len(sys.argv) > 2 else DEFAULT_JOGS
if jogs == ['-']:
jogs = []
@@ -66,10 +69,13 @@ def main():
if rd(g3, IMR) & (1 << PULSE_PIN):
print('ABORT: GPIO3 IMR bit %d is set - something has an interrupt on the pump pin' % PULSE_PIN)
return 2
try:
os.nice(-20)
except OSError:
pass
def cnc_state():
try:
with open('/sys/glowforge/cnc/state') as f:
return f.read().strip()
except OSError:
return '?'
sock = None
if jogs:
@@ -109,6 +115,7 @@ def main():
if nq != nq_prev:
events.append((t, '!Q->%d' % nq))
nq_prev = nq
events.append((time.monotonic_ns(), 'cnc/state=' + cnc_state()))
if nhv != nhv_prev:
events.append((t, '!HV->%d' % nhv))
nhv_prev = nhv
@@ -123,6 +130,7 @@ def main():
sent += 1
if t > tend:
break
time.sleep(SLEEP_S)
finally:
wr(g3, ICR2, icr2_orig)
wr(g3, ISR, 1 << PULSE_PIN)