mirror of
https://github.com/openglow-org/forgefirm.git
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114 lines
3.9 KiB
Python
114 lines
3.9 KiB
Python
#!/usr/bin/env python3
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# Copyright 2026 514 LLC d/b/a OpenGlow
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# Written by Scott Wiederhold
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# https://community.openglow.org
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# SPDX-License-Identifier: MIT
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"""LASER_PWM stream-path test - runs ON the board.
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Streams POWER BYTES ONLY (bit 7 set) through /dev/glowforge and lets the
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kernel pulse engine play them, so the scope on LASER_PWM verifies the
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real power path the laser milestone will use, including two contract
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rules (run-start duty reset; consecutive power bytes dropped).
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Safety posture:
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- The stream contains ZERO step bytes and ZERO FIRE (bit 4) bits.
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- motor_lock=15 masks step output on all axes regardless.
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- laser_latch re-asserted locked; lid closed; HV watchdog untouched.
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- Position counters compared before/after - must be identical.
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- streaming stays 0: end-of-data is a normal completion.
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Runs with the controller and forgectrl stopped (the bench page's
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takeover). Exit status 0 when the counters did not move, the run ended
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in an idle state and no FIRE/emission was read back; 1 otherwise.
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"""
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import fcntl, mmap, os, struct, sys, time
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TICK_HZ = 10000
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PWM2_BASE = 0x02084000
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def wr(attr, val):
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with open('/sys/glowforge/' + attr, 'w') as f:
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f.write(str(val))
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def rd(attr):
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with open('/sys/glowforge/' + attr) as f:
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return f.read().strip()
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def rd_pos():
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with open('/sys/glowforge/cnc/position', 'rb') as f:
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raw = f.read(32)
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x, y, z, done, total = struct.unpack('<5i', raw[:20])
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return x, y, z, done, total
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def pwmsar():
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with open('/dev/mem', 'rb') as f:
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m = mmap.mmap(f.fileno(), 4096, mmap.MAP_SHARED, mmap.PROT_READ,
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offset=PWM2_BASE)
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sar = struct.unpack('<I', m[0x0C:0x10])[0]
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m.close()
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return sar
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def power(v):
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return bytes([0x80 | (v & 0x7F)])
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PAD = b'\x00'
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stream = (
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PAD * TICK_HZ + # 1 s: shows the run-start 100% reset
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power(64) + PAD * (2 * TICK_HZ) + # 50%
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power(32) + power(96) + PAD * (2 * TICK_HZ) + # 25%; the 96 must be DROPPED
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power(96) + PAD * (2 * TICK_HZ) + # 75% (applies after pads)
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power(8) + PAD * (2 * TICK_HZ) + # ~6%
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power(127) + PAD * (2 * TICK_HZ) # 100%
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)
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print('stream: %d bytes = %.1f s at %d Hz' % (len(stream), len(stream) / TICK_HZ, TICK_HZ))
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print('pre: state=%s pos=%s laser_enable=%s PWMSAR=%d'
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% (rd('cnc/state'), rd_pos(), rd('cnc/laser_enable'), pwmsar()))
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wr('cnc/laser_latch', 1)
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wr('cnc/motor_lock', 15)
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wr('cnc/step_freq', TICK_HZ)
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fd = os.open('/dev/glowforge', os.O_WRONLY)
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try:
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fcntl.flock(fd, fcntl.LOCK_EX)
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os.lseek(fd, 1, os.SEEK_SET) # clear pulse data + byte counters
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wr('cnc/enable', 1)
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time.sleep(0.5)
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os.write(fd, stream) # preload the whole program
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pos_before = rd_pos()
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print('run: state=%s, starting playback...' % rd('cnc/state'))
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wr('cnc/run', 1)
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t0 = time.time()
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state = ''
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while time.time() - t0 < 30:
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state = rd('cnc/state')
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if state != 'running':
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break
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time.sleep(0.2)
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dt = time.time() - t0
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print('done: state=%s after %.1f s' % (state, dt))
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pos_after = rd_pos()
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moved = pos_before[:3] != pos_after[:3]
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print('post: pos before=%s after=%s MOVED=%s' % (pos_before, pos_after, moved))
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en, on, sampled = rd('cnc/laser_enable'), rd('cnc/laser_on'), rd('cnc/laser_on_sampled')
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print('post: laser_enable=%s laser_on=%s laser_on_sampled=%s faults=%s underruns=%s'
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% (en, on, sampled, rd('cnc/faults'), rd('cnc/underruns')))
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print('post: PWMSAR=%d (duty after end-of-data)' % pwmsar())
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ok = (not moved) and state == 'idle' and en == '0' and on == '0' and sampled == '0'
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finally:
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fcntl.flock(fd, fcntl.LOCK_UN)
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os.close(fd)
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wr('cnc/disable', 1)
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print('safe state restored: state=%s' % rd('cnc/state'))
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print('RESULT %s' % ('PASS' if ok else 'FAIL'))
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sys.exit(0 if ok else 1)
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