mirror of
https://github.com/openglow-org/forgefirm.git
synced 2026-09-28 09:11:11 -07:00
XY microstep modes: the baseline, the catalog test and the bench tools
The baseline derives x/y_mode, step_freq, ramp_rate and the configured markers from the xy_microsteps setting; ramp_rate joins the GRBL controller's set (the driver writes it; the cloud client runs at the module's). motion.microstep-modes cycles 8, 16 and 32: the save restarts the idle controller, the kernel reads the mode with its tick and ramp, $100/$101 are the mode's and a typed $100 is overwritten, a 40 mm jog at top speed returns to Idle with the kernel counters over the mode agreeing with the commanded travel and the accelerometer seeing the head move; the setting is put back as found. Bench tools: xy_mode_test.py (the null-sink harness the grblHAL CI runs), raster_dry.py (a top-speed raster per mode), xy_pattern_accel.py (the operator's pattern from home with the machine silent and the head accelerometer listening), arc_tolerance_sweep.py (a $12 ladder on the 9 in circle: the chord rate the protocol loop feeds, about 300 a second, is the ceiling, not the core), and the xymode and xycircle live drills. BRINGUP carries the present state and the facts; CAMPAIGN-LOG the dated record, including the planner-blocks spin (a $398 of 255 or more loops forever at start, a core bug) and its recovery.
This commit is contained in:
ScottW514
@@ -46,10 +46,11 @@ from .log import now_ts
|
||||
# motor_lock/x_mode/y_mode/x_decay/y_decay and the hold currents are the
|
||||
# GRBL controller's init writes (glowforge_io.c): motor_lock 0, every axis
|
||||
# in the pulse path (a job's Z moves the lens; the driver's Z soft limit
|
||||
# guards it), step_freq its default machine tick, ramp_rate the module
|
||||
# default; streaming is only ever 1 inside a live job; the head white LED
|
||||
# is a camera lamp, off at idle; the loop heater and TEC are the
|
||||
# diagnostics' tools, off at idle.
|
||||
# guards it), step_freq its machine tick and ramp_rate the kernel stop
|
||||
# ramp, both derived from the XY microstep mode (the values here are the
|
||||
# x8 default's; fixed_sysfs() gives the mode's); streaming is only ever 1
|
||||
# inside a live job; the head white LED is a camera lamp, off at idle; the
|
||||
# loop heater and TEC are the diagnostics' tools, off at idle.
|
||||
FIXED_SYSFS = [
|
||||
("cnc/motor_lock", "0"),
|
||||
("cnc/x_mode", "8"),
|
||||
@@ -68,11 +69,12 @@ FIXED_SYSFS = [
|
||||
|
||||
# The subset the GRBL controller writes at its start: checked and restored
|
||||
# in GRBL mode only. The cloud client sets its own values for these from
|
||||
# every pulse header (step_freq 10 kHz, the run currents) and hands the
|
||||
# hold currents back at idle; forcing the GRBL values under it would be
|
||||
# the baseline configuring another controller's machine.
|
||||
# every pulse header (step_freq 10 kHz, the run currents), runs at the
|
||||
# service's own x8 with the module's ramp whatever xy_microsteps says, and
|
||||
# hands the hold currents back at idle; forcing the GRBL values under it
|
||||
# would be the baseline configuring another controller's machine.
|
||||
GRBL_CONTROLLER_SYSFS = ("cnc/motor_lock", "cnc/x_mode", "cnc/y_mode", "cnc/x_decay", "cnc/y_decay",
|
||||
"cnc/step_freq", "pic/x_step_current", "pic/y_step_current")
|
||||
"cnc/step_freq", "cnc/ramp_rate", "pic/x_step_current", "pic/y_step_current")
|
||||
|
||||
# Settings the baseline never hands back as bare settings: controller_mode
|
||||
# is the persisted mirror of the live mode (the mode item restores it
|
||||
@@ -117,6 +119,41 @@ GRBL_PORT_S = 30 # the Grbl port after the supervisor reports
|
||||
XY_STEPS_PER_MM = 53.333 # boards/glowforge.h (x8 microstepping)
|
||||
RETURN_MAX_MM = 100.0 # a displaced head is jogged back at most this far
|
||||
|
||||
# The XY microstep mode (the xy_microsteps setting: 8, 16 or 32; unset =
|
||||
# 8). The GRBL controller reads it at its start and derives its scale,
|
||||
# its machine tick and the kernel stop ramp from it (boards/glowforge.h):
|
||||
# the fixed values of x/y_mode, step_freq and ramp_rate are the mode's.
|
||||
XY_MODES = (8, 16, 32)
|
||||
XY_MODE_DEFAULT = 8
|
||||
XY_STEPS_PER_MM_OF = {8: 53.333, 16: 106.667, 32: 213.333} # $100/$101 per mode
|
||||
XY_TICK_X8_HZ = 28160 # the x8 machine tick
|
||||
XY_RAMP_X8_HZ_PER_S = 125000 # the kernel stop ramp at it
|
||||
|
||||
|
||||
def xy_mode_of(settings):
|
||||
"""The mode a /settings body names (unset, unreadable, or not a mode
|
||||
reads as the default)."""
|
||||
try:
|
||||
mode = int((settings or {}).get("xy_microsteps") or XY_MODE_DEFAULT)
|
||||
except (TypeError, ValueError, AttributeError):
|
||||
return XY_MODE_DEFAULT
|
||||
return mode if mode in XY_MODES else XY_MODE_DEFAULT
|
||||
|
||||
|
||||
def xy_steps_per_mm(mode):
|
||||
return XY_STEPS_PER_MM_OF[mode]
|
||||
|
||||
|
||||
def fixed_sysfs(mode=XY_MODE_DEFAULT):
|
||||
"""FIXED_SYSFS with the mode's own x/y_mode, step_freq and ramp_rate:
|
||||
the tick and the ramp scale with the mode (x16 doubles both, x32
|
||||
quadruples them)."""
|
||||
k = mode // XY_MODE_DEFAULT
|
||||
own = {"cnc/x_mode": str(mode), "cnc/y_mode": str(mode),
|
||||
"cnc/step_freq": str(XY_TICK_X8_HZ * k),
|
||||
"cnc/ramp_rate": str(XY_RAMP_X8_HZ_PER_S * k)}
|
||||
return [(attr, own.get(attr, val)) for attr, val in FIXED_SYSFS]
|
||||
|
||||
|
||||
def leds_root():
|
||||
r = os.environ.get("GF_LEDS_ROOT") or "/sys/class/leds/"
|
||||
@@ -228,6 +265,12 @@ class Baseline:
|
||||
except hw.HwError as e:
|
||||
return None, str(e)
|
||||
|
||||
def xy_mode(self):
|
||||
"""The XY microstep mode the settings name now (the default when
|
||||
forgectrl does not answer)."""
|
||||
st, body = self.fc_get("/settings")
|
||||
return xy_mode_of(body if st == 200 and isinstance(body, dict) else None)
|
||||
|
||||
def wait_settled(self, timeout=SETTLE_S, unreachable_s=10):
|
||||
"""Block until forgectrl reports a settled supervisor: motion
|
||||
verified (the probe passed), motion-fault (the ladder exhausted),
|
||||
@@ -510,7 +553,7 @@ class Baseline:
|
||||
if residue:
|
||||
left.append(Leftover("pulse ring", "%d unplayed bytes" % residue, "0 (nothing queued)",
|
||||
"unrestorable: the next run would replay them first"))
|
||||
for attr, want in FIXED_SYSFS:
|
||||
for attr, want in fixed_sysfs(self.xy_mode()):
|
||||
if self.cloud_mode() and attr in GRBL_CONTROLLER_SYSFS:
|
||||
continue
|
||||
got = hw.sysfs_read(attr)
|
||||
@@ -703,7 +746,7 @@ def check_fixed_against(ref, log):
|
||||
machine worth a look, not a leftover."""
|
||||
diffs = []
|
||||
sysfs = ref.get("sysfs") or {}
|
||||
for attr, want in FIXED_SYSFS + IDLE_READBACKS:
|
||||
for attr, want in fixed_sysfs(ref_xy_mode(ref)) + IDLE_READBACKS:
|
||||
got = sysfs.get(attr)
|
||||
if got is not None and got != want:
|
||||
diffs.append("%s: boot=%s constant=%s" % (attr, got, want))
|
||||
@@ -719,34 +762,52 @@ def check_fixed_against(ref, log):
|
||||
# the state /mode already calls "running", because "running" is the spawn,
|
||||
# not the config. motor_lock is no marker: the probe and the controller
|
||||
# both leave it 0.
|
||||
CONFIGURED_MARKERS = [(a, dict(FIXED_SYSFS)[a]) for a in ("cnc/step_freq", "cnc/y_mode")]
|
||||
CONFIGURED_MARKER_ATTRS = ("cnc/step_freq", "cnc/y_mode")
|
||||
CONFIGURED_MARKERS = [(a, dict(FIXED_SYSFS)[a]) for a in CONFIGURED_MARKER_ATTRS]
|
||||
CONFIGURED_TIMEOUT_S = 20
|
||||
CONFIGURED_SETTLE_S = 1.0
|
||||
|
||||
|
||||
def configured_markers(mode=XY_MODE_DEFAULT):
|
||||
"""The markers with the mode's own values (the tick and the mode both
|
||||
follow the setting)."""
|
||||
return [(a, dict(fixed_sysfs(mode))[a]) for a in CONFIGURED_MARKER_ATTRS]
|
||||
|
||||
|
||||
def ref_xy_mode(ref):
|
||||
"""The XY microstep mode a saved reference was taken under: its own
|
||||
/settings dump, else the default."""
|
||||
fc = (ref or {}).get("forgectrl") or {}
|
||||
return xy_mode_of(fc.get("/settings") if isinstance(fc, dict) else None)
|
||||
|
||||
|
||||
def reference_preconfig(ref):
|
||||
"""True when a saved reference shows the pre-controller state: every
|
||||
marker present differs from its fixed value (the probe's step_freq and
|
||||
the module's y_mode together), i.e. it was dumped before the
|
||||
controller's init writes landed."""
|
||||
sysfs = (ref or {}).get("sysfs") or {}
|
||||
seen = [(sysfs.get(a), want) for a, want in CONFIGURED_MARKERS if sysfs.get(a) is not None]
|
||||
markers = configured_markers(ref_xy_mode(ref))
|
||||
seen = [(sysfs.get(a), want) for a, want in markers if sysfs.get(a) is not None]
|
||||
return bool(seen) and all(got != want for got, want in seen)
|
||||
|
||||
|
||||
def wait_controller_configured(log, mode_body, timeout=CONFIGURED_TIMEOUT_S, sleep=time.sleep):
|
||||
def wait_controller_configured(log, mode_body, timeout=CONFIGURED_TIMEOUT_S, sleep=time.sleep,
|
||||
xy_mode=XY_MODE_DEFAULT):
|
||||
"""After the supervisor reports the controller running: block until the
|
||||
GRBL controller's init writes have landed (the CONFIGURED_MARKERS read
|
||||
their fixed values), then a short settle. Only the GRBL controller
|
||||
writes those; in any other mode return at once. Bounded: on timeout
|
||||
the caller proceeds and the reference will say so."""
|
||||
GRBL controller's init writes have landed (the configured markers read
|
||||
the fixed values of the XY microstep mode in force), then a short
|
||||
settle. Only the GRBL controller writes those; in any other mode
|
||||
return at once. Bounded: on timeout the caller proceeds and the
|
||||
reference will say so."""
|
||||
if not (isinstance(mode_body, dict) and mode_body.get("controller") == "running"
|
||||
and (mode_body.get("mode") or "grbl") == "grbl"):
|
||||
return True
|
||||
markers = configured_markers(xy_mode)
|
||||
t0 = time.time()
|
||||
while time.time() - t0 < timeout:
|
||||
got = [(a, hw.sysfs_read(a)) for a, _ in CONFIGURED_MARKERS]
|
||||
if all(g == want for (a, g), (_, want) in zip(got, CONFIGURED_MARKERS)):
|
||||
got = [(a, hw.sysfs_read(a)) for a, _ in markers]
|
||||
if all(g == want for (a, g), (_, want) in zip(got, markers)):
|
||||
sleep(CONFIGURED_SETTLE_S)
|
||||
log("baseline: controller configured %.1f s after running" % (time.time() - t0))
|
||||
return True
|
||||
@@ -755,7 +816,7 @@ def wait_controller_configured(log, mode_body, timeout=CONFIGURED_TIMEOUT_S, sle
|
||||
sleep(0.25)
|
||||
log("baseline: WARNING - controller did not apply its config within %d s (%s); "
|
||||
"the reference may show the supervisor's probe values"
|
||||
% (timeout, ", ".join("%s=%s" % (a, hw.sysfs_read(a)) for a, _ in CONFIGURED_MARKERS)))
|
||||
% (timeout, ", ".join("%s=%s" % (a, hw.sysfs_read(a)) for a, _ in markers)))
|
||||
return False
|
||||
|
||||
|
||||
@@ -794,7 +855,7 @@ def boot_reference(log, data_dir):
|
||||
return None
|
||||
bl = Baseline(log)
|
||||
mode = bl.wait_settled()
|
||||
wait_controller_configured(log, mode)
|
||||
wait_controller_configured(log, mode, xy_mode=bl.xy_mode())
|
||||
ref = dump_all(bl)
|
||||
ref.update({"ts": now_ts(), "boot_id": bid, "uptime_s": uptime_s()})
|
||||
try:
|
||||
|
||||
Reference in New Issue
Block a user