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LASER_PWM waveform gate PASSED - scope-verified on the physical pin

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Direct PWMSAR duty steps with the machine in the locked state
(controller stopped, cnc disabled so steppers are unpowered, laser
latch locked, lid closed; laser_on_sampled stayed 0 throughout).
Measured on the pin: 25.0 us period / 40 kHz stable across the full
duty range; 50/25/75 percent confirmed visually; low end
cursor-measured 6.4 vs 6.3 percent commanded (PWMSAR=8), clean pulse.
Matches the register-level audit numbers (divider 13 x 127 counts).

Adds pwm_sweep.py / pwm_hold.py to the bench kit and records the two
remaining pre-live-fire gates (1-tick laser drop at underrun via the
stream path with FIRE observable under a locked latch; interlock
readback semantics) in BRINGUP.
This commit is contained in:
ScottW514
2026-08-02 16:08:34 -04:00
parent c7e419ff6b
commit fb956971b7
4 changed files with 118 additions and 3 deletions
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scripts/bench/README.md
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@@ -7,7 +7,9 @@ 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. |
| `check_pwm.py` | Laser PWM register check (audit M8): reads PWM2 PWMCR/PWMPR via /dev/mem, expects divider 13 × ~127 counts ≈ 40 kHz. |
| `pwm_sweep.py` | LASER_PWM scope test (runs on the board): `check` = read-only safety readbacks + PWM2 dump; `sweep` = steps PWMSAR through 50/25/75/6/100 % duty with 4 s holds, then restores. Run only in the locked state (controller stopped, cnc disabled, latch locked). Waveform gate PASSED with it 2026-08-02: 40 kHz stable, duty tracks PWMSAR (6.4 % measured vs 6.3 % commanded at the low end). |
| `pwm_hold.py` | Holds one PWMSAR value for a scope-measurement window (`pwm_hold.py <sar> <seconds>`), then restores. Same locked-state rule. |
| `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. |