forgefirm/scripts/bench

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.
fire_test.py	FIRE drop-timing scope test (runs on the board): A = latch locked (expects nothing on FIRE/LASER_ON), B = latch unlocked / normal end-of-data, U = true underrun. Duty 0 throughout; refuses to unlock if HV reports good. All gates PASSED with it 2026-08-02 (2.0000 s pulses exact, both paths).
fan_test.py	Fan/coolant bench (Windows-side): snapshots fan PWMs/tachs/temps, drives M8 → cut fans, M9 → cooldown → idle, verifying via tach readbacks. All-green 2026-08-02.
flow_characterize.py	Coolant flow characterization using the factory temperature curve: baseline → flow → no-flow → recovery, printing the ΔT bands and their separation. Takes the heater duty as an argument (flow_characterize.py 30); aborts if downstream passes 45 °C. This is what showed the 10 % scheme was unusable (0.04 °C gap) and sized the 30 % check.
flow_matrix.py	The flow-detection design matrix (with flow_sampler.py, which lives on the board at /data/): duty × duration × flow/no-flow, every run from a common cooled baseline, interleaved repeats. One heating trace yields the metric at every candidate duration, so cost and precision come from the same 60 runs. Prints a cost table, a precision table (mean±sd, worst-case margin, d′) and a ranked shortlist. Env: FM_DUTIES, FM_REPEATS, FM_RESULTS.
flow_sustained.py	Long-run test of the real re-check cadence via M8: counts verdicts/false faults and tracks whether the loop accumulates heat. 40 min ⇒ 0 false faults, loop cooled 2 °C.
flow_warm_validate.py	Runs the real check from a heater-warmed baseline. Note the ceiling: 100 % duty pushes the downstream sensor past 50 °C in 30 s while the bulk barely moves, so warm-loop validation above ~23 °C needs the laser, not the heater.
flow_recheck_char.py	Characterizes short in-run re-checks and the differential metric; documents two dead ends (over-temp cannot see a stopped pump; passive warming trends are ambiguous).
temp_calibrate.py	Coolant temperature calibration helper (watch / point <measured_C> / fit) — pairs a measured temperature with averaged raw ADC readings and fits the line. Used to sanity-check the factory curve against a thermometer.
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).