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seamless crashing

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This commit is contained in:
Thaddeus Hughes
2026-03-04 12:50:24 -06:00
parent 14f6624471
commit 46851e84bf
5 changed files with 48 additions and 8 deletions
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3
main/control_fsm.h
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@@ -42,7 +42,8 @@ typedef enum {
STATE_CALIBRATE_DRIVE_DELAY,
STATE_CALIBRATE_DRIVE_MOVE
} fsm_state_t;
#define LOG_TYPE_BAT 100
#define LOG_TYPE_BAT 100
#define LOG_TYPE_CRASH 101
typedef enum {
RELAY_SENSORS = 0,

26
main/main.c
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@@ -1,4 +1,5 @@
#include "esp_task_wdt.h"
#include "esp_system.h"
#include "i2c.h"
#include "log_test.h"
#include "storage.h"
@@ -109,7 +110,8 @@ void app_main(void) {esp_task_wdt_add(NULL);
//run_all_log_tests();
if (rtc_xtal_init() != ESP_OK) ESP_LOGE(TAG, "RTC FAILED");
rtc_restore_time(); // Restore time from RTC backup if we crashed
// Say hello; turn on the lights
esp_sleep_wakeup_cause_t cause = rtc_wakeup_cause();
if (i2c_init() != ESP_OK) ESP_LOGE(TAG, "I2C FAILED");
@@ -171,9 +173,24 @@ void app_main(void) {esp_task_wdt_add(NULL);
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");
// Write a crash log entry if we rebooted unexpectedly
esp_reset_reason_t reset_reason = esp_reset_reason();
if (reset_reason == ESP_RST_PANIC ||
reset_reason == ESP_RST_INT_WDT ||
reset_reason == ESP_RST_TASK_WDT ||
reset_reason == ESP_RST_WDT) {
ESP_LOGW(TAG, "Crash detected! Reset reason: %d", reset_reason);
uint8_t crash_entry[9] = {};
uint64_t ts = rtc_get_ms();
memcpy(&crash_entry[0], &ts, 8);
crash_entry[8] = (uint8_t)reset_reason;
log_write(crash_entry, sizeof(crash_entry), LOG_TYPE_CRASH);
}
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();
@@ -315,9 +332,10 @@ void app_main(void) {esp_task_wdt_add(NULL);
fsm_request(FSM_CMD_START);
rtc_schedule_next_alarm();
}
solar_run_fsm();
rtc_save_time(); // Keep RTC backup fresh so crashes don't lose time
rtc_check_shutdown_timer();
esp_task_wdt_reset();
}

18
main/rtc.c
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@@ -34,9 +34,10 @@
uint64_t last_activity_tick = 0;
// RTC_DATA_ATTR keeps this var in RTC memory; persists across sleeps (but not across boots)
// RTC_DATA_ATTR keeps these in RTC memory; persists across deep sleep AND software resets (panics, WDT)
RTC_DATA_ATTR int64_t next_alarm_time_s = -1;
RTC_DATA_ATTR bool rtc_set = false;
RTC_DATA_ATTR int64_t rtc_backup_s = 0; // Crash-safe time snapshot
bool rtc_is_set() {
return rtc_set;
}
@@ -94,10 +95,25 @@ void rtc_set_s(int64_t tv_sec)
{
rtc_set = true;
settimeofday(&(struct timeval){.tv_sec = tv_sec, .tv_usec=0}, NULL);
rtc_backup_s = tv_sec;
solar_reset_fsm();
rtc_schedule_next_alarm();
}
void rtc_save_time(void)
{
if (rtc_set)
rtc_backup_s = rtc_get_s();
}
void rtc_restore_time(void)
{
if (rtc_set && rtc_backup_s > 0) {
settimeofday(&(struct timeval){.tv_sec = rtc_backup_s, .tv_usec = 0}, NULL);
ESP_LOGI("RTC", "Time restored from crash backup: %lld", (long long)rtc_backup_s);
}
}
int64_t rtc_get_ms(void)
{
struct timeval tv;

3
main/rtc.h
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@@ -43,6 +43,9 @@ int64_t rtc_get_s (void);
int64_t rtc_get_ms(void);
void rtc_set_s(int64_t);
void rtc_save_time(void); // Snapshot current time to RTC memory (call periodically)
void rtc_restore_time(void); // Restore time from RTC backup after a crash reboot
void rtc_schedule_next_alarm(void);
int64_t rtc_get_next_alarm_s();