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ScottW514 d69bfad77a Milestone 2: factory-true motion tuning, bench-verified

Extract the factory motion profile from the _RESOURCES pulse streams
(new puls_profile.py): 700/590 mm/s2 X/Y accel on v2.6.0 firmware,
202 mm/s travel peak at the 28160 Hz travel tick, PIC currents X 135/33
and Y 22/5 run/hold, decay mode 1. Add the bench_m2.py round-trip jog +
feed-hold suite (all green 2026-08-02: sustained 200 mm/s, exact
returns, clean hold/resume, zero underruns) and update BRINGUP.md:
board moved to a fixed lease at 172.16.1.97, analog config now applied
by the sink itself, $RST=$ note for stale stored settings.

2026-08-02 12:51:38 -04:00

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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.
`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).

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ForgeFIRM bench tools

1.8 KiB

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