vh/forgefirm
1
0
Fork 0
mirror of https://github.com/openglow-org/forgefirm.git synced 2026-09-27 16:51:12 -07:00
Code Issues Packages Projects Releases Wiki Activity

BRINGUP/SAFETY: interlock latch drive and watchdog readback bench-validated on image 20260815150546

Browse Source 
Loop pull sets interlock_latch_reset + interlock_latch within one 50 ms sample and both clear on reinsert; charge_pump_alive tracks the run and falls 0.45 s after the last charge-pump pulse (matches the measured R*C); estop follows it on both edges. Note that an interlock trip parks grblHAL in Door:0 until a cycle start.
This commit is contained in:
ScottW514
2026-08-15 11:27:25 -04:00
parent 21d3a482c6
commit 81fca45cb5
2 changed files with 37 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/BRINGUP.md
+18 -3
View File
@@ -2386,9 +2386,24 @@ accordingly ("Automatic — AP country, else World").
Ships with the next image flash (kernel changes are never hot-swapped);
bench re-run of this exact reading then expects `interlock_latch`=1 /
`interlock_circuit` b4=1 with the loop open, both clearing after it is
closed. Same batch: the charge-pump watchdog readback (`cnc/charge_pump_alive`,
closed. **BENCH-VALIDATED 2026-08-15 on image 20260815150546:** loop
pulled → `interlock`=1, `interlock_latch_reset`=1, `interlock_latch`=1,
`interlock_circuit` 45→61 (b4 set), all within one 50 ms sample;
reinserted → all clear the same way. Side effect to know: the pull is
a grblHAL safety-door hold — the controller sits in `Door:0` after the
loop closes until a cycle start (`~`) returns it to Idle (a client
connecting then sees Door, not a dead link). Same batch: the charge-pump
watchdog readback (`cnc/charge_pump_alive`,
`interlock_circuit` b5; GPIO1_08 = inverted one-shot Q, new
`charge-pump-alive-gpio` + GPIO_8 pad in the linux-fslc DTS — kernel
module and DTB must ship together, the pin is required at probe; DTB
compile-checked with cpp+dtc against the staged kernel). Full write-up
of the chain: `docs/SAFETY.md` (+ `docs/img/safety-chain.svg`).
compile-checked with cpp+dtc against the staged kernel) — **also
bench-validated 2026-08-15:** two X jogs sampled at 50 Hz: `state`
running → `charge_pump_alive` 1 and `estop` 0 in the same 20 ms sample;
after each run `charge_pump_alive` fell 0.325 s / 0.326 s after `idle`,
which with the 200 ms feed phase (last pulse 0.136 s / 0.118 s before
the run end) is a one-shot period of **0.46 s / 0.44 s** — matching
the measured R·C (≈500 kΩ × ≈900 nF = 0.45 s); `estop` re-asserted
with the drop both times, i.e. HV_ENABLE = DOORS_OK · WDOG_ALIVE
observed live. Full write-up of the chain: `docs/SAFETY.md`
(+ `docs/img/safety-chain.svg`).