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stashing

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This commit is contained in:
Thaddeus Hughes
2026-06-10 16:40:27 -05:00
parent 85206e1dca
commit 20afd3d9ef
78 changed files with 3047 additions and 42944 deletions
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51
main/main.c
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@@ -23,13 +23,13 @@
#include "version.h"
#include <string.h>
EventGroupHandle_t comms_event_group = NULL;
EventGroupHandle_t comms_event_group = NULL; // synchronizing tasks
#define TAG "MAIN"
#define POST_MAX_RETRIES 3
#define OTA_ROLLBACK_THRESHOLD 5
#define FACTORY_RESET_HOLD_MS 10000
#define POST_MAX_RETRIES 3 // how many times to try an init function
#define OTA_ROLLBACK_THRESHOLD 5 // how many resets in a row required to deem the boot partition faulty and switch to the other
#define FACTORY_RESET_HOLD_MS 10000 // how many ms is required to hold the button during cold boot to initialize factory reset
// Survives resets (panic, WDT, sw reset) but NOT power-on or external reset
RTC_DATA_ATTR static uint8_t ota_reset_counter = 0;
@@ -85,9 +85,7 @@ esp_err_t send_bat_log() {
// LED error code bits: LED1=efuse/battery, LED2=RTC, LED3=safety/leash
static uint8_t error_code_from_state(void) {
uint8_t code = 0;
if (efuse_get(BRIDGE_JACK) != EFUSE_OK ||
efuse_get(BRIDGE_AUX) != EFUSE_OK ||
efuse_get(BRIDGE_DRIVE) != EFUSE_OK) code |= 0b001; // LED1: efuse
if (any_efuse_tripped()) code |= 0b001; // LED1: efuse
float bat_v = get_battery_V();
float low_v = get_param_value_t(PARAM_LOW_PROTECTION_V).f32;
if (bat_v > 0 && bat_v < low_v) code |= 0b001; // LED1: low battery
@@ -154,9 +152,9 @@ void app_main(void) {
esp_task_wdt_add(NULL);
ESP_LOGI(TAG, "Firmware: %s", FIRMWARE_STRING);
ESP_LOGI(TAG, "Version: %s", FIRMWARE_VERSION);
ESP_LOGI(TAG, "Branch: %s", FIRMWARE_BRANCH);
ESP_LOGI(TAG, "Built: %s", BUILD_DATE);
ESP_LOGI(TAG, "Version: %s", FIRMWARE_VERSION);
ESP_LOGI(TAG, "Branch: %s", FIRMWARE_BRANCH);
ESP_LOGI(TAG, "Built: %s", BUILD_DATE);
// I2C first so we can light the LED immediately
init_critical("I2C", i2c_init);
@@ -168,7 +166,6 @@ void app_main(void) {
if (rtc_xtal_init() != ESP_OK) ESP_LOGE(TAG, "RTC FAILED");
// Factory reset: cold boot + button held for 10s
// LEDs flash while waiting, go solid when triggered
esp_reset_reason_t boot_reset_reason = esp_reset_reason();
@@ -238,8 +235,8 @@ void app_main(void) {
//run_all_log_tests();
esp_reset_reason_t reset_reason = esp_reset_reason();
esp_sleep_wakeup_cause_t wake_cause = esp_sleep_get_wakeup_cause();
esp_reset_reason_t reset_reason = esp_reset_reason();
esp_sleep_wakeup_cause_t wake_cause = esp_sleep_get_wakeup_cause();
// Log every boot: boot_info = wake_cause[7:4] | reset_reason[3:0]
{
@@ -320,7 +317,7 @@ void app_main(void) {
esp_ota_mark_app_valid_cancel_rollback();
/*** MAIN LOOP ***/
uint8_t tap_count = 0;
uint8_t tap_count = 0;
int64_t tap_window_start = 0;
TickType_t xLastWakeTime = xTaskGetTickCount();
@@ -332,23 +329,31 @@ void app_main(void) {
/* Bring-up tool owns the LEDs, buttons, and relays while active. */
if (bringup_mode_is_active()) {
esp_task_wdt_reset();
continue;
continue; // while in bringup, don't do anything more
}
/* 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));
// Button wake: just exit idle and fall through to the normal main
// loop. The user is physically present, so any actual movement
// happens later via triple-tap / RF / web — by then WiFi+BT have
// had plenty of time to come back up on their own.
if (soft_idle_button_raw()) {
rtc_reset_shutdown_timer();
soft_idle_exit();
i2c_poll_buttons(); /* sync TCA9555 state after idle */
xLastWakeTime = xTaskGetTickCount();
}
// Alarm wake: must immediately issue FSM_CMD_START — nobody is
// here to press a button. soft_idle_enter() tore down WiFi+BT
// (see rtc.c soft_idle_enter); soft_idle_exit() restarts them
// but they come up asynchronously. Block up to 5 s for both
// event-group bits so telemetry/abort paths are live before the
// automated move begins. Past timeout we start anyway — the
// physical safety/efuse interlocks still protect the hardware.
if (rtc_alarm_tripped()) {
soft_idle_exit();
xLastWakeTime = xTaskGetTickCount();
// Wait for WiFi + BT to come back up (or timeout after 5s)
if (comms_event_group) {
xEventGroupWaitBits(comms_event_group, COMMS_ALL_BITS,
pdFALSE, pdTRUE, pdMS_TO_TICKS(5000));
@@ -360,14 +365,14 @@ void app_main(void) {
solar_run_fsm();
rtc_check_shutdown_timer();
esp_task_wdt_reset();
continue;
continue; // while in idle, don't do anything more
}
i2c_poll_buttons();
if (i2c_get_button_state(0)) {
rtc_reset_shutdown_timer();
soft_idle_exit();
// soft_idle_exit(); // this should be superfluous
}
// --- Button logic: triple-tap, hold-to-reboot, cancel/stop ---
@@ -435,9 +440,7 @@ void app_main(void) {
if (!btn_pressed && tap_count == 0) {
if (
rtc_is_set() &&
efuse_get(BRIDGE_JACK)==EFUSE_OK &&
efuse_get(BRIDGE_AUX)==EFUSE_OK &&
efuse_get(BRIDGE_DRIVE)==EFUSE_OK &&
!any_efuse_tripped() &&
fsm_get_error() == ESP_OK
) {
drive_leds(LED_IDLE);