stockcropper/SC-F001
2
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

adding todos

Browse Source
This commit is contained in:
Thaddeus Hughes
2026-03-11 20:31:36 -05:00
parent 84d2c99edd
commit 123ddc2688
3 changed files with 37 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
main/control_fsm.c
View File

@@ -5,6 +5,9 @@
* Author: Thad
*/
// TODO: Comment, and even better, produce a README for this.
#include "control_fsm.h"
#include "esp_task_wdt.h"
#include "esp_timer.h"
@@ -93,6 +96,7 @@ void fsm_request(fsm_cmd_t cmd)
rtc_reset_shutdown_timer(); // any accepted command extends the wake period
if (fsm_cmd_queue != NULL)
xQueueSend(fsm_cmd_queue, &cmd, 0); // safe from any context
// TODO: Make sure this is threadsafe
}
int8_t fsm_get_current_progress(int8_t denominator) {
@@ -178,7 +182,7 @@ void control_task(void *param) {
const TickType_t xFrequency = pdMS_TO_TICKS(20);
enabled = true;
sensors_init();
sensors_init(); // TODO: Why is this *here* rather than in main?
while (enabled) {
vTaskDelayUntil(&xLastWakeTime, xFrequency);

36
main/main.c
View File

@@ -26,8 +26,6 @@ esp_err_t send_bat_log() {
uint8_t entry[12] = {};
// Pack 64-bit timestamp into bytes 1-8
uint64_t be_timestamp = rtc_get_ms();
memcpy(&entry[0], &be_timestamp, 8);
@@ -112,15 +110,20 @@ void app_main(void) {esp_task_wdt_add(NULL);
ESP_LOGI(TAG, "Branch: %s", FIRMWARE_BRANCH);
ESP_LOGI(TAG, "Built: %s", BUILD_DATE);
// TODO: Check wdt stuff
// TODO: Stack Overflow Detection
// TODO: Remove XTAL crystal stuff
if (rtc_xtal_init() != ESP_OK) ESP_LOGE(TAG, "RTC FAILED");
rtc_restore_time(); // Recover time from RTC domain if we crashed
// Say hello; turn on the lights
rtc_wakeup_cause(); // log wakeup cause (informational only)
rtc_wakeup_cause(); // log wakeup cause (informational only) // TODO: Shouldnt be needed anymore
if (i2c_init() != ESP_OK) ESP_LOGE(TAG, "I2C FAILED");
i2c_set_relays((relay_port_t){.raw=0});
drive_leds(LED_STATE_BOOTING);
// TODO: How many tasks do we have?
// Check for factory reset condition: Cold boot (power-on/ext-reset) + button held
esp_reset_reason_t boot_reset_reason = esp_reset_reason();
@@ -168,9 +171,11 @@ void app_main(void) {esp_task_wdt_add(NULL);
}
// Every boot we load parameters and monitor solar, no matter what
// TODO: Do things with errors (put in real log? then reset. "assert with LOGE"?)
if (adc_init() != ESP_OK) ESP_LOGE(TAG, "ADC FAILED");
if (storage_init() != ESP_OK) ESP_LOGE(TAG, "STORAGE FAILED");
if (log_init() != ESP_OK) ESP_LOGE(TAG, "LOG FAILED");
// TODO: figure out how long logging takes (for reference, and comp to wdt)
esp_reset_reason_t reset_reason = esp_reset_reason();
esp_sleep_wakeup_cause_t wake_cause = esp_sleep_get_wakeup_cause();
@@ -184,6 +189,9 @@ void app_main(void) {esp_task_wdt_add(NULL);
log_write(boot_entry, sizeof(boot_entry), LOG_TYPE_BOOT);
}
// TODO: make sure that this is "crash proof"
// TODO: OTA rollback (triggered how? preferably with hardware... or if there are 5 resets in a row [check bootloader?]. also need way to nuke the storage partition or safe boot)
// TODO: (maybe) recovery partition that allows uploading firmware
// Write a crash log entry if we rebooted unexpectedly
if (reset_reason == ESP_RST_PANIC ||
reset_reason == ESP_RST_INT_WDT ||
@@ -197,11 +205,17 @@ void app_main(void) {esp_task_wdt_add(NULL);
log_write(crash_entry, sizeof(crash_entry), LOG_TYPE_CRASH);
}
// TODO: is this reasonable now that we eliminated deep sleep?
if (solar_run_fsm() != ESP_OK) ESP_LOGE(TAG, "SOLAR FAILED");
// TODO: Do a 12V check and enter deep sleep if there's a problem
send_bat_log();
// TODO: test strategy!!! (software verification, and unit bringup)
// TODO: A->D bringup; sanity check (sum up all inputs, wait 5ms, sum again, make sure there is a change (not frozen))
// TODO: make sure sdkconfig is sane. Make notes, have claude figure this out properly
// TODO: fix managed_components
//send_log();
@@ -210,26 +224,23 @@ void app_main(void) {esp_task_wdt_add(NULL);
/*** FULL BOOT — always, every boot ***/
if (uart_init() != ESP_OK) ESP_LOGE(TAG, "UART FAILED");
//if (power_init() != ESP_OK) ESP_LOGE(TAG, "POWER FAILED");
// TODO: Seriously, log all the errors on bluetooth
if (rf_433_init() != ESP_OK) ESP_LOGE(TAG, "RF FAILED");
if (bt_hid_init() != ESP_OK) ESP_LOGE(TAG, "BT HID FAILED");
if (fsm_init() != ESP_OK) ESP_LOGE(TAG, "FSM FAILED");
//if (sensors_init() != ESP_OK) ESP_LOGE(TAG, "SENSORS FAILED");
//if (sensors_init() != ESP_OK) ESP_LOGE(TAG, "SENSORS FAILED"); // TODO: Why is this off?
if (webserver_init() != ESP_OK) ESP_LOGE(TAG, "WEBSERVER FAILED");
/*** MAIN LOOP ***/
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = pdMS_TO_TICKS(50);
/*while(true) {
ESP_LOGI(TAG, "TICK");
vTaskDelayUntil(&xLastWakeTime, pdMS_TO_TICKS(1000));
esp_task_wdt_reset();
}*/
while(true) {
vTaskDelayUntil(&xLastWakeTime, xFrequency);
/* In soft idle: slow poll (5s) via direct GPIO, no I2C. */
// TODO: Critique & confirm what we do in idle
if (soft_idle_is_active()) {
//vTaskDelay(pdMS_TO_TICKS(1000));
if (soft_idle_button_raw()) {
@@ -242,6 +253,7 @@ void app_main(void) {esp_task_wdt_add(NULL);
soft_idle_exit();
xLastWakeTime = xTaskGetTickCount();
vTaskDelay(pdMS_TO_TICKS(500));
// TODO: do a hard wait until wifi and bluetooth come up, not just blindly wait; might be better to be non-blocking
fsm_request(FSM_CMD_START);
rtc_schedule_next_alarm();
}
@@ -258,6 +270,8 @@ void app_main(void) {esp_task_wdt_add(NULL);
soft_idle_exit();
}
// TODO: Make sure all ISRs are clean (very tight, no blocking functions)
switch (fsm_get_state()) {
case STATE_IDLE:
// LED cue for user
@@ -348,7 +362,7 @@ void app_main(void) {esp_task_wdt_add(NULL);
}
solar_run_fsm();
rtc_check_shutdown_timer();
rtc_check_shutdown_timer(); // TODO: Will esp timer overflow? Handle overflow if needed (this used to be handled by the fact that we were in deep sleep)
esp_task_wdt_reset();
}
}

5
main/storage.h
View File

@@ -4,6 +4,8 @@
#include <stdint.h>
#include "esp_err.h"
// TODO: Sanity check that the EEPROM is working (sacrifice sector 0?)
// ============================================================================
// FLASH LAYOUT CONSTANTS
// ============================================================================
@@ -52,6 +54,9 @@ typedef struct {
// ============================================================================
// TODO: Bounds checking / constraints (especially no division by zero, no NaNs, no infs)
// TODO: abandoned parameters (esp. jack current)
#define PARAM_LIST \
PARAM_DEF(BOOT_TIME, i32, 0, "us") \
PARAM_DEF(NUM_MOVES, u32, 0, "") \