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Controller promoted to canonical driver repo grblHAL-glowforge

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The step backend now lives in github.com/ScottW514/grblHAL-glowforge
  (grblHAL driver convention: core submodule, driver.c HAL, board header).
  Add build-glowforge.sh, update the BRINGUP runbook (no -t throttle,
  EEPROM path, kill-before-scp, producer stats line, reset/disconnect
  semantics), and teach bench_m2.py to parse the F: status field (no
  spindle registered = no FS: field). Settings-write crash fix is
  upstream as grblHAL/core PR 999.
This commit is contained in:
ScottW514
2026-08-02 14:19:53 -04:00
parent d69bfad77a
commit 78875f8e89
4 changed files with 68 additions and 27 deletions
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scripts/bench/README.md
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@@ -8,6 +8,7 @@ target board (dev image, python3 present) unless noted.
| `feeder.c` | Spike-step-3 underrun proof: streams NOP pulse bytes to `/dev/glowforge` with wall-clock pacing, bounded queue depth, deadman flock, SCHED_FIFO. Usage: `feeder <hz> <seconds> <depth_ms>`. Passed 100 kHz × 120 s under full load with 0.2 ms worst write latency. Cross-compile with `build-feeder.sh` (WSL). |
| `bench_phase2.py` | End-of-data protocol bench (audit M2–M5): underrun detection/ack, parked no-replay guard, resume(0), continuous-feed stability, 20× run/underrun cycles. Motion-safe (motors locked, laser latched). 16/16 PASS on 2026-07-26. |
| `check_pwm.py` | Laser PWM register check (audit M8): reads PWM2 PWMCR/PWMPR via /dev/mem, expects divider 13 × ~127 counts ≈ 40 kHz. The scope on LASER_PWM remains the final pre-live-fire gate. |
| `build-glowforge.sh` | Cross-compiles **grblHAL-glowforge** (the canonical driver repo, `../../../grblHAL-glowforge`) in the forge-yocto WSL distro. Run: `wsl -d forge-yocto -- bash <path>/build-glowforge.sh` (from PowerShell; Git Bash mangles /mnt/c paths). This is the production controller build. |
| `build-feeder.sh` | Cross-compiles `feeder.c` the same way. |
| `puls_profile.py` | Decodes factory `.puls` streams (raw or GF1-headered) into velocity/accel profiles: peak speeds, ramp-slope fits, per-move segments, Z cadence. Runs anywhere (stdlib only). Source of the factory-true grblHAL defaults (milestone 2): 700/590 mm/s² accel, 200 mm/s max rate, 28160 Hz travel tick. |
| `bench_m2.py` | Milestone-2 motion bench, runs against the board over TCP:23: bounded round-trip jogs (sanity, max-rate, diagonal) + feed-hold/resume mid-move, reporting peak feed, state transitions, and position drift. All-green 2026-08-02 at factory-true settings. |