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ScottW514
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BRINGUP.md is the cold-start reference: project status (audit phases 0-5 complete, Phase 6 spike achieved - first grblHAL-commanded motion 2026-07-26), bench/board access, build+deploy procedures, the step backend runbook incl. the required analog machine config, the measured hardware facts bank, and the ordered next-work list. scripts/bench/ preserves the hardware-verification tools (underrun feeder, end-of- data protocol bench, PWM register check, cross-build scripts).
ForgeFIRM bench tools
Hardware-verification tools for the ForgeFIRM bench. All run ON the target board (dev image, python3 present) unless noted.
| Tool | Purpose |
|---|---|
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-feeder.sh |
Cross-compiles feeder.c the same way. |
The build scripts borrow the Yocto cross toolchain + sysroot from the ulfius
2.7.15 work directory in the WSL build tree; if that path ages out after a
bitbake -c clean, point TC at any current target recipe workdir (or build
a proper SDK with bitbake meta-toolchain).