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https://github.com/openglow-org/forgefirm.git
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ScottW514
fb956971b7
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.
2.6 KiB
2.6 KiB
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. |
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. |
bench_m2.py |
Milestone-2 motion bench, runs against the board over TCP:23: bounded round-trip jogs (sanity, max-rate, diagonal) + feed-hold/resume mid-move, reporting peak feed, state transitions, and position drift. All-green 2026-08-02 at factory-true settings. |
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).