improved the logtool, but not quite there yet?

.claude/settings.local.json

@@ -12,7 +12,9 @@
       "Bash(grep -r \"esp_bt\" C:/data/stockcropper-sw/SC-F001/build/esp-idf/bt/ --include=\"*.cmake\" -l 2>/dev/null | head -5)",
       "Bash(grep -r \"esp_bt.h\" C:/data/stockcropper-sw/SC-F001/build/ --include=\"*.cmake\" 2>/dev/null | head -5)",
       "WebFetch(domain:docs.espressif.com)",
-      "Bash(curl -s \"https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/peripherals/clk_tree.html\" | sed 's/<script[^>]*>.*<\\\\/script>//g; s/<style[^>]*>.*<\\\\/style>//g; s/<[^>]*>//g; s/&amp;/\\\\&/g; s/&lt;/</g; s/&gt;/>/g; s/&nbsp;/ /g; s/&quot;/\"/g; s/&#39;/'\"'\"'/g' | tr -s ' \\\\n' | grep -v '^[[:space:]]*$' 2>&1 | head -2000)"
+      "Bash(curl -s \"https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/peripherals/clk_tree.html\" | sed 's/<script[^>]*>.*<\\\\/script>//g; s/<style[^>]*>.*<\\\\/style>//g; s/<[^>]*>//g; s/&amp;/\\\\&/g; s/&lt;/</g; s/&gt;/>/g; s/&nbsp;/ /g; s/&quot;/\"/g; s/&#39;/'\"'\"'/g' | tr -s ' \\\\n' | grep -v '^[[:space:]]*$' 2>&1 | head -2000)",
+      "Bash(find /c/data/stockcropper-sw/SC-F001/main -name \"*.c\" -o -name \"*.h\" | xargs grep -l \"soft_idle_enter\\\\|soft_idle_exit\" 2>/dev/null)",
+      "Bash(xxd:*)"
     ]
   }
 }

.gitignore

@@ -1 +1,2 @@
 /build/
+/26c3058c23be21cf6f9cc812bd5d0a8907b2ecf2/

README.md

@@ -13,21 +13,21 @@
 **GPIO Map:**
 | GPIO | Function |
 |------|----------|
-| 13 | Button interrupt (active low, pull-up) — also EXT0 wakeup |
+| 13 | Button interrupt (active low, pull-up) |
 | 14 | Jack position sensor / encoder |
 | 16 | Drive encoder |
 | 19 | Aux sensor 2 (reserved) |
 | 21/22 | I2C SDA/SCL (400kHz) → TCA9555 I/O expander |
 | 25 | 433MHz RF receiver (RMT input) |
-| 26 | Solar charger bulk enable (RTC GPIO, holds across deep sleep) |
+| 26 | Solar charger bulk enable (RTC GPIO) |
 | 27 | Safety sensor (active low) |
-| 32/33 | External 32.768 kHz RTC crystal (standard watch crystal, 2¹⁵ Hz) |
+| 32/33 | External 32.768 kHz RTC crystal (on PCB, not used — see RTC section) |
 | 36 (VP) | ADC: drive current sense |
 | 39 (VN) | ADC: battery voltage |
 | 34 | ADC: jack current sense |
 | 35 | ADC: aux current sense |
 
-**TCA9555 (I2C at 0x20):**
+**TCA9555 (I2C at 0x21):**
 - Port 0 (input): 2 physical buttons + 2 additional inputs
 - Port 1 (output): 3× H-bridge relay pairs (DRIVE, JACK, AUX) + LEDs
 
@@ -42,23 +42,25 @@
 
 ```
 app_main()
-├── rtc_xtal_init()         RTC crystal + EXT0 wakeup + sleep wakeup check
+├── rtc_xtal_init()         Button GPIO setup
 ├── i2c_init()              TCA9555 init (relays off, LEDs off)
 ├── adc_init()              ADC1 calibration (12dB attenuation, line-fit)
-├── storage_init()          Flash params + circular log buffer
+├── storage_init()          Flash params
+├── log_init()              Circular log buffer
 ├── solar_run_fsm()         (called in main loop too)
 ├── uart_init()             Serial JSON API task
+├── sensors_init()          GPIO ISR setup for sensors/encoders
+├── fsm_init()              Control FSM task (priority 10, 20ms tick)
 ├── rf_433_init()           433MHz RMT receiver task
 ├── bt_hid_init()           BLE HID host scanner task
-├── fsm_init()              Control FSM task (priority 10, 20ms tick)
 └── webserver_init()        WiFi softAP + HTTP + mDNS + DNS
 
 Main loop (50ms):
     i2c_poll_buttons()
     fsm_request() based on button events
     solar_run_fsm()
-    driveLEDs() status animation
+    drive_leds() status animation
-    rtc_check_shutdown_timer() → deep sleep on inactivity (180s)
+    rtc_check_shutdown_timer() → soft idle on inactivity (180s)
 ```
 
 **FreeRTOS Tasks:**
@@ -82,13 +84,13 @@ Main loop (50ms):
 | `power_mgmt.c/h` | ADC reading, e-fuse thermal algorithm, battery voltage |
 | `sensors.c/h` | GPIO ISR-based sensor debouncing, encoder counters |
 | `i2c.c/h` | TCA9555 relay/LED/button control |
-| `storage.c/h` | 47-param NVM table + circular binary log buffer |
+| `storage.c/h` | 48-param NVM table + circular binary log buffer |
 | `comms.c/h` | Unified GET/POST JSON API (shared by HTTP and UART) |
 | `webserver.c/h` | WiFi softAP, HTTP server, embedded gzip webpage |
 | `uart_comms.c/h` | Serial JSON interface (115200 8N1) |
 | `rf_433.c/h` | 433MHz OOK receiver, keycode learn/match |
 | `bt_hid.c/h` | BLE HID host, media remote button mapping |
-| `rtc.c/h` | Unix time, harvest alarms, deep sleep scheduling |
+| `rtc.c/h` | Unix time, harvest alarms, soft idle, inactivity timer |
 | `solar.c/h` | Simple FLOAT/BULK solar charge state machine |
 | `sc_err.h` | Error code definitions |
 | `log_test.c/h` | Flash log unit tests |
@@ -109,8 +111,7 @@ STATE_DRIVE_END_DELAY       (1s)
 STATE_JACK_DOWN             (reverse until e-fuse/sensor)
 → back to STATE_IDLE
 
-STATE_UNDO_JACK_START       (emergency: reverse jack immediately)
+STATE_UNDO_JACK_START       (emergency: reverse jack, run until e-fuse/sensor)
-STATE_UNDO_JACK             (run until e-fuse/sensor)
 → back to STATE_IDLE
 
 CAL_JACK_DELAY / CAL_JACK_MOVE          (jack calibration sequence)
@@ -128,7 +129,7 @@ CAL_DRIVE_DELAY / CAL_DRIVE_MOVE        (drive calibration sequence)
 2. `process_battery_voltage()` — ADC → EMA
 3. `sensors_check()` — drain ISR queue, update counters/debounce
 4. State machine transitions (timer + sensor + efuse checks)
-5. `driveRelays()` — write relay output from current state
+5. `drive_relays()` — write relay output from current state
 6. `send_fsm_log()` — 39-byte timestamped entry to flash
 
 ---
@@ -169,12 +170,14 @@ Safety break → immediate `STATE_UNDO_JACK_START`.
 |----------|--------|-------------|
 | `/` | GET | Embedded gzip HTML webpage |
 | `/get` | GET | JSON system status |
-| `/set` | POST | JSON commands + parameter updates |
+| `/post` | POST | JSON commands + parameter updates |
 | `/log` | GET | Binary log download (4B JSON len + JSON + 8B offsets + log data) |
+| `/ota` | POST | Firmware update upload |
 
 ### UART (115200 8N1)
 - `GET` → same as HTTP GET /get
-- `POST: {json}` → same as HTTP POST /set
+- `POST: {json}` → same as HTTP POST /post
+- `RTCDEBUG` → dump RTC timekeeping state (time, backup, sleep entry, clock source)
 - `HELP` → command reference
 - Shares `comms_handle_get()` / `comms_handle_post()` with HTTP
 
@@ -198,7 +201,7 @@ Safety break → immediate `STATE_UNDO_JACK_START`.
 
 **Flash partition "storage":**
 ```
-0x0000 – 0x0FFF   Parameters (4 sectors, CRC32-protected, 47 params)
+0x0000 – 0x0FFF   Parameters (4 sectors, CRC32-protected, 48 params)
 0x1000 – end      Circular log buffer (head/tail tracked)
 ```
 
@@ -226,31 +229,24 @@ Safety break → immediate `STATE_UNDO_JACK_START`.
 
 ---
 
-## RTC & 32.768 kHz Crystal
+## RTC & Timekeeping
 
-**Crystal:** Standard 32.768 kHz (32768 Hz = 2¹⁵ Hz) tuning-fork watch crystal on GPIO32/GPIO33. This frequency is universal for RTCs because it divides to exactly 1 Hz with a 15-bit binary counter.
+**Time source:** `esp_timer` (40 MHz APB crystal, ~20 ppm accuracy). The external 32.768 kHz crystal on GPIO32/33 is present on the PCB but **not used** — deep sleep is disabled (soft idle instead), so RTC slow clock accuracy is irrelevant. The RTC slow clock uses the default internal RC oscillator.
 
-**sdkconfig.defaults settings:**
+**`rtc_xtal_init()` in `rtc.c`:** Configures the button GPIO (GPIO13); no crystal bootstrap or sleep wakeup sources.
-- `CONFIG_RTC_CLK_SRC_EXT_CRYS=y` — selects the external crystal as the RTC slow clock source instead of the internal ~150 kHz RC oscillator
-- `CONFIG_ESP32_RTC_EXT_CRYST_ADDIT_CURRENT_V2=y` — enables extra drive current during the crystal startup window; required for high-ESR tuning-fork crystals (e.g. CM315D32768DZFT ~70 kΩ ESR)
 
-**Known startup failure mode:** On power-on, the ESP32 bootloader attempts to calibrate the crystal. If it fails to detect oscillation within its calibration window, it logs `W: 32 kHz XTAL not found, switching to internal 150 kHz oscillator` and falls back to the RC oscillator. The RC oscillator has ±5% accuracy, producing up to ~180 s/hr of RTC drift — this completely breaks harvest scheduling.
+**Time persistence across resets:** `sync_unix_us` and `sync_rtc_us` are `RTC_DATA_ATTR` (survive software resets — panics, WDT). On restart, `rtc_restore_time()` recovers time via the RTC hardware counter (which runs in the RTC domain and survives resets). RC oscillator drift (~±5%) is negligible over a <30s crash restart (~1.5s worst case).
 
-**Firmware mitigation (`rtc_xtal_init()` in `rtc.c`):** If `rtc_clk_slow_src_get()` does not return `SOC_RTC_SLOW_CLK_SRC_XTAL32K` at startup, the code applies a manual bootstrap: `rtc_clk_32k_bootstrap(20000)` (~600 ms of extra drive current at 32 kHz cycles), waits 500 ms for oscillation to stabilise, then calls `rtc_clk_slow_src_set(SOC_RTC_SLOW_CLK_SRC_XTAL32K)` to switch explicitly. Success or failure is logged via `ESP_LOGI/LOGE`.
+**Diagnosing time issues:** Run `RTCDEBUG` over UART. Reports current time, sync time, elapsed since sync, next alarm, uptime, and soft idle state.
-
-**Diagnosing crystal issues:** Run `RTCDEBUG` over UART and check `slow_clk_src`. It reports either `XTAL32K (OK)` or `NOT XTAL32K — check crystal!`. The `logtool/rtc_test.py` script automates this and runs multi-cycle drift tests.
-
-**Time persistence across deep sleep:** `rtc_backup_s` and `rtc_sleep_entry_s` are `RTC_DATA_ATTR` (survive deep sleep). On wakeup, `rtc_restore_time()` adds exactly `DEEP_SLEEP_US / 1e6` seconds to `rtc_sleep_entry_s` to reconstruct the correct time without an NTP sync.
 
 ---
 
 ## Power Management
 
-- **Battery voltage:** GPIO39, divider → `V = raw × 0.00767 + 0.4`
+- **Battery voltage:** GPIO39, divider → `V = raw × V_SENS_K + V_SENS_OFFSET` (defaults: K=0.00766̄, offset=0.4)
 - **Solar charger:** GPIO26 (RTC hold) — FLOAT/BULK FSM, bulk for 20s when V < 5V for 5s
-- **Inactivity shutdown:** 180s → deep sleep
+- **Inactivity shutdown:** 180s → **soft idle** (WiFi/BT off, LEDs off — not deep sleep). Button press exits soft idle.
-- **Deep sleep wakeup:** RTC timer (120s), RTC alarm (next harvest), EXT0 GPIO13 (button)
+- **RTC_DATA_ATTR:** Sync timestamps, alarm times, charge state — survive software resets (panics, WDT)
-- **RTC_DATA_ATTR:** FSM state, errors, alarm times, charge state — survive deep sleep
 
 ---
 
@@ -270,8 +266,8 @@ SC_ERR_LOW_BATTERY   = 0x230  // Voltage below threshold
 
 ## Build System
 
-- **Framework:** ESP-IDF (>=4.1.0)
+- **Framework:** ESP-IDF (>=5.0)
-- **Component deps** (`idf_component.yml`): `espressif/mdns`, `joltwallet/littlefs`, `esp-idf-lib/tca95x5`
+- **Component deps** (`main/idf_component.yml`): `espressif/mdns ~1.9.1`
 - **IDF requires:** `driver`, `esp_http_server`, `esp_netif`, `lwip`, `json`, `esp_timer`, `esp_adc`, `app_update`, `esp_wifi`, `nvs_flash`, `mdns`, `bt`, `esp_hid`
 - **Webpage:** `webpage.html` → `webpage_compile.py` → `webpage_gzip.h` (embedded gzip binary). **Must re-run `webpage_compile.py` after any HTML edit before building.**
 - **Version:** `version.h.in` filled by CMake from git tags → `FIRMWARE_VERSION`, `BUILD_DATE`

TODO.md

@@ -59,7 +59,73 @@
 22. - [clauded] NVS vs custom params: NVS serves WiFi/BT internals + BDA storage; custom flash partition serves app params with CRC32 protection. Different purposes, no consolidation needed.
 23. - [clauded] BUG FIX: `FSM_CMD_START` fallthrough was overwriting `this_move_dist = MIN(...)` with unconditional `DRIVE_DIST` — replaced fallthrough with goto to shared start logic so leash limit is preserved
 
-24. - [ ] Do general bug-scan with claude. Especially think through the FSM logic.
+24. - [clauded] General bug scan (FSM, power, sensors, storage, comms, RTC, peripherals)
+    - Ran 4 parallel deep-dive reviews across entire codebase. Findings below.
+    - False positives eliminated: override fallthrough (breaks present), soft idle during motor ops (FSM resets timer), JACK_DOWN_TIME uninitialized first move (jack_finish_us always set before use)
+
+## Suspected Bugs (from item 24 scan)
+
+28. - [ ] **BUG [CRITICAL]:** `get_is_safe()` hardcoded `return true` — safety sensor completely bypassed
+    - sensors.c:182 — `return true;` with `//return is_safe;` commented out below
+    - All FSM safety checks (STATE_JACK_UP_START, JACK_UP, DRIVE_START_DELAY, DRIVE, DRIVE_END_DELAY, calibration states) are no-ops
+    - Safety break will NOT trigger STATE_UNDO_JACK_START — machine runs through hazard conditions
+    - Debounce logic in sensors_check() still runs but output is discarded
+
+29. - [ ] **BUG [CRITICAL]:** E-fuse INOM params allow min=0.0 → division by zero
+    - power_mgmt.c:380 — `float I_norm = fabsf(channel->current / I_nominal);`
+    - storage.h EFUSE_INOM_1/2/3 bounds: min=0.0, max=200.0
+    - If param=0 → I_norm=Inf → instant trip on any current (motor won't run)
+    - If param=NaN (flash corruption) → I_norm=NaN → all comparisons false → e-fuse NEVER trips (motor can burn)
+    - Fix: raise min bound to 0.1 or add explicit NaN/zero guard before division
+
+30. - [ ] **BUG [HIGH]:** No timeout on STATE_UNDO_JACK_START
+    - control_fsm.c:486-493 — waits for `!efuse_get(BRIDGE_JACK)` with no max wait
+    - If jack efuse never cools (hardware fault, thermal runaway), FSM stuck indefinitely
+    - User CAN send FSM_CMD_STOP to escape, but no automatic recovery
+    - Fix: add timeout (e.g. 30-60s) before forcing transition to IDLE with error
+
+31. - [ ] **BUG [HIGH]:** No e-fuse checks in calibration movement states
+    - control_fsm.c:495-512 — STATE_CALIBRATE_JACK_MOVE and STATE_CALIBRATE_DRIVE_MOVE
+    - Only check get_is_safe() and timer_done(), NOT efuse_get()
+    - Relay outputs (lines 625-640) drive motors regardless of efuse status
+    - Jack cal runs up to 3s, drive cal up to 6s without overcurrent protection
+    - Fix: add efuse_get() check and abort calibration on trip
+
+32. - [ ] **BUG [HIGH]:** BLE HID scan task missing watchdog registration
+    - bt_hid.c — `bt_hid_scan_task()` never calls `esp_task_wdt_add(NULL)`
+    - Task blocks on `xSemaphoreTake(s_scan_sem, portMAX_DELAY)` — if GAP callback never signals, hangs forever
+    - Unlike rf_433 task (which registers WDT), BT task has no WDT coverage
+    - Fix: add `esp_task_wdt_add(NULL)` and periodic `esp_task_wdt_reset()` (or use timeout on semaphore)
+
+33. - [ ] **BUG [HIGH]:** ISR sensor queue full → events silently dropped
+    - sensors.c:57 — queue size 16, `xQueueSendFromISR()` return value not checked
+    - If sensors_check() consumer falls behind (4 sensors firing edges), events lost
+    - Encoder counts become inaccurate → drive distance wrong
+    - Fix: check return value, optionally increment a dropped-event counter for diagnostics
+
+34. - [ ] **BUG [HIGH]:** Params not validated on set, only on commit — FSM reads unvalidated values
+    - storage.c:268-273 — `set_param_value_t()` writes directly to `parameter_table[]` with no bounds check
+    - `validate_param()` only called in `commit_params()` (before flash write)
+    - Between POST and commit, FSM can read out-of-range values (e.g. DRIVE_DIST=999999)
+    - Fix: call `validate_param()` inside `set_param_value_t()`, or at least in comms.c after setting
+
+35. - [ ] **BUG [MEDIUM]:** Solar FSM timer uninitialized
+    - solar.c:17 — `RTC_DATA_ATTR int64_t timer;` has no initializer
+    - RTC memory may contain garbage on first cold boot before `solar_reset_fsm()` sets it to -1
+    - `solar_run_fsm()` is called (main.c:253) before `solar_reset_fsm()` has run on first boot path
+    - Fix: initialize to -1 in declaration: `RTC_DATA_ATTR int64_t timer = -1;`
+
+36. - [ ] **BUG [MEDIUM]:** E-fuse param bounds too loose
+    - EFUSE_HEAT_THRESH min=0.0 — allows instant trip on any current draw (storage.h)
+    - EFUSE_INRUSH_US max=10000000 (10s) — allows 10s of unlimited current with no e-fuse protection
+    - Fix: tighten bounds (e.g. HEAT_THRESH min=1.0, INRUSH_US max=2000000)
+
+37. - [ ] **BUG [MEDIUM]:** No mutex on parameter_table[] — concurrent access from HTTP/UART/FSM tasks
+    - storage.c — `parameter_table[]` read/written by HTTP POST handlers, UART handlers, and FSM task
+    - 32-bit aligned reads/writes are atomic on ESP32, so u16/u32/i16/i32/f32 are safe
+    - f64 (8 bytes) and str16 (16 bytes) could be torn reads — but no f64 or str params are read by FSM in hot path
+    - Severity is low in practice but architecturally unsound
+
 25. - [ ] Extract pure logic (e-fuse thermal model, param serialization, sensor debounce) into host-testable modules with Unity/CMock?
 26. - [ ] UART integration test framework: Python runner + ESP-side test commands
 27. - [ ] Bug: WiFi won't want to connect to STA except at first boot

logtool/16MAR2026_2223.txt

@@ -0,0 +1,2 @@
+Reading storage-16MAR2026-1728.bin ...
+Parsed 52 entries

logtool/16MAR2026_2225.txt

@@ -0,0 +1,58 @@
+Reading storage-16MAR2026-1728.bin ...
+Parsed 52 entries
+Time                     State                 Bat(V)               Drive(A)                                 Jack(A)                              Aux(A)                     Counter  Stable             Raw               DrHeat                                JkHeat                                  AxHeat
+-----------------------  --------------------  -------------------  ---------------------------------------  -----------------------------------  -------------------------  -------  -----------------  ----------------  ------------------------------------  --------------------------------------  ------
+                         UNK(0xd4)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+1970-01-01 00:00:15.894  IDLE                  -34926674051072.000  0.00                                     18141941858304.00                    -0.00                      15947    DRIVE+AUX2         -                 0.0                                   0.0                                     0.0   
+                         UNK(0xc0)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x3d)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x3c)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x40)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+2458965396544290816      IDLE                  -0.000               0.00                                     -0.00                                0.00                       -13883   SAFETY+DRIVE+AUX2  SAFETY+JACK+AUX2  3.8                                   0.0                                     0.0   
+                         UNK(0x40)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x9c)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         PARSE_ERR             0.000                0.00                                     0.00                                 0.00                       0        -                  -                 0.0                                   0.0                                     0.0   
+                         UNK(0x30)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+72339069014654230        IDLE                  -0.000               0.00                                     -0.00                                0.00                       0        -                  -                 0.0                                   0.0                                     0.0   
+                         UNK(0x20)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+15564440319108055738     IDLE                  0.000                0.00                                     0.00                                 0.00                       0        -                  -                 0.0                                   0.0                                     0.0   
+                         UNK(0x91)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x20)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0xcd)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x40)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+72339069014687196        IDLE                  3.486                0.00                                     0.00                                 0.00                       16147    SAFETY+AUX2        DRIVE+AUX2        0.0                                   0.0                                     0.0   
+                         PARSE_ERR             0.000                0.00                                     0.00                                 0.00                       0        -                  -                 0.0                                   0.0                                     0.0   
+                         UNK(0xea)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x11)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x41)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0xae)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x40)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         PARSE_ERR             0.000                0.00                                     0.00                                 0.00                       0        -                  -                 0.0                                   0.0                                     0.0   
+                         UNK(0x20)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+11096869488759107671     CALIBRATE_JACK_DELAY  0.000                55944611772684566528.00                  -0.00                                0.00                       0        -                  -                 0.0                                   67650244627660800.0                     0.0   
+                         UNK(0x80)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+281474977709058          JACK_UP_START         0.000                0.00                                     -0.00                                -295735836036957208576.00  15488    SAFETY+DRIVE       SAFETY            -0.0                                  0.0                                     0.0   
+                         UNK(0xd3)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+6151020166072509758      MOVE_START_DELAY      0.000                0.00                                     11751184508542699927613527293952.00  0.00                       -27648   AUX2               AUX2              184761406165897707520.0               912500379009562710927105661457137664.0  96.1  
+                         UNK(0xb8)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+1972-01-28 13:05:11.952  IDLE                  0.000                68671368807317504.00                     0.00                                 12.83                      -26752   JACK+AUX2          SAFETY+DRIVE      -0.0                                  124029976523403327445139456.0           0.0   
+4430992851352526         IDLE                  0.000                -76302429880697741276410658934489088.00  0.00                                 0.00                       16718    -                  DRIVE+AUX2        1923670617821681863848652481495040.0  7180627444374621246193664.0             0.0   
+                         UNK(0x40)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         PARSE_ERR             0.000                0.00                                     0.00                                 0.00                       0        -                  -                 0.0                                   0.0                                     0.0   
+                         UNK(0x11)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x18)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x40)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         PARSE_ERR             0.000                0.00                                     0.00                                 0.00                       0        -                  -                 0.0                                   0.0                                     0.0   
+                         UNK(0xd4)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x40)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x35)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x60)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x5b)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x7f)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x0f)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x40)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x3e)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0x40)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+                         UNK(0xff)             —                    —                                        —                                    —                          —        —                  —                 —                                     —                                       —     
+
+Entries : 52 total  (15 FSM, 0 BAT, 0 CRASH, 0 BOOT, 0 TIME_SET)

logtool/17MAR2026_0815.txt

@@ -0,0 +1,3 @@
+Reading storage-16MAR2026-1728.bin ...
+Log offsets: tail=16384  head=4329920
+Parsed 54831 entries

logtool/17MAR2026_0819.txt

@@ -0,0 +1,3 @@
+Reading storage-16MAR2026-1728.bin ...
+Log offsets: tail=16384  head=4329920
+Parsed 54831 entries

logtool/17MAR2026_0821.txt

@@ -0,0 +1,3 @@
+Reading storage-16MAR2026-1728.bin ...
+Log offsets: tail=16384  head=4329920
+Parsed 54831 entries

logtool/17MAR2026_0859.txt

@@ -0,0 +1,3 @@
+Reading storage-16MAR2026-1728.bin ...
+Log offsets: tail=16384  head=4329920
+Parsed 70748 entries

logtool/debug-notes.md

@@ -0,0 +1,29 @@
+# Logtool Debug Notes — 16 MAR 2026
+
+## Problem
+`storage-16MAR2026-1728.bin` not parsing correctly.
+
+## Root Cause (SOLVED)
+Two issues in `parser.py`:
+
+### 1. Unrecognized file format
+The file format is `[4B tail BE][4B head BE][raw log data]` — no JSON header.
+- `head - tail == file_size - 8` (the raw log data is exactly the flash region from tail to head)
+- The old HTTP format was: `[4B json_len BE][json][4B tail BE][4B head BE][raw log data]`
+- The parser's autodetect only recognized the old HTTP format (and required json_len < 8192)
+- **Fix:** Added detection for bare tail+head format in `autodetect_and_parse()`
+
+### 2. Type-first vs type-last detection failure
+The log entries use **type-first** format: `[len][type][payload]`
+But `_try_detect_type_first()` returned False because:
+- First entry had type=0x00 at both positions (ambiguous)
+- Timestamp was near-zero (RTC not yet set), so timestamp sanity check failed
+- Function gave up after only 1 entry (`break` at end of loop)
+- **Fix:** Loop over multiple entries (up to 200), added voltage sanity check (0.5-60V)
+
+## Verification
+- 54,831 entries parsed successfully
+- FSM states: IDLE (51169), JACK_UP (1078), DRIVE (994), etc.
+- Voltages: 3.3V–13.3V (reasonable for 3S LiPo system)
+- Timestamps: Jan 13 – Feb 6, 2026 (after RTC set)
+- Old HTTP-format .bin files still parse correctly

logtool/gui_view.py

@@ -114,7 +114,7 @@ def show_plots(entries: list, title: str = "SC-F001 Log"):
     add_crash_lines(ax3)
     ax3.grid(True, alpha=0.3)
 
-    ax3.xaxis.set_major_formatter(mdates.DateFormatter('%H:%M:%S'))
+    ax3.xaxis.set_major_formatter(mdates.AutoDateFormatter(ax3.xaxis.get_major_locator()))
     fig.autofmt_xdate()
     plt.tight_layout()
     plt.show()
@@ -151,7 +151,7 @@ def live_plot(url: str, interval_s: float = 2.0):
     }
     axes[1].legend(fontsize=8, loc='upper right')
     axes[3].legend(fontsize=8, loc='upper right')
-    axes[3].xaxis.set_major_formatter(mdates.DateFormatter('%H:%M:%S'))
+    axes[3].xaxis.set_major_formatter(mdates.AutoDateFormatter(axes[3].xaxis.get_major_locator()))
 
     state = {'current_tail': 0, 'first': True}
 

logtool/parser.py

@@ -108,10 +108,15 @@ def _ts_to_str(ts_ms: int) -> str:
 
 
 def _unpack_fsm(payload: bytes, fsm_states: dict) -> dict:
-    if len(payload) < 39:
+    if len(payload) < 27:
-        raise ValueError(f"FSM payload too short: {len(payload)} < 39")
+        raise ValueError(f"FSM payload too short: {len(payload)} < 27")
-    ts_ms, bat_V, drive_A, jack_A, aux_A, counter, sensors, \
+    ts_ms, bat_V, drive_A, jack_A, aux_A, counter, sensors = \
-        drive_heat, jack_heat, aux_heat = struct.unpack_from('<QffffhBfff', payload, 0)
+        struct.unpack_from('<QffffhB', payload, 0)
+    drive_heat = jack_heat = aux_heat = 0.0
+    if len(payload) >= 31:
+        drive_heat, = struct.unpack_from('<f', payload, 27)
+    if len(payload) >= 39:
+        jack_heat, aux_heat = struct.unpack_from('<ff', payload, 31)
     return {
         'ts_ms':       ts_ms,
         'time_str':    _ts_to_str(ts_ms),
@@ -187,10 +192,19 @@ def _unpack_time_set(payload: bytes) -> dict:
     }
 
 
-def parse_entries(data: bytes, fsm_states: dict = None) -> list:
+def _is_valid_entry_type(t: int) -> bool:
+    return (0 <= t <= 12) or t in (LOG_TYPE_BAT, LOG_TYPE_CRASH, LOG_TYPE_BOOT, LOG_TYPE_TIME_SET)
+
+
+def parse_entries(data: bytes, fsm_states: dict = None, type_first: bool = False) -> list:
     """
     Parse a stream of raw binary log entries.
     Returns list of dicts, each with 'entry_type' and type-specific fields.
+
+    Entry format depends on type_first:
+      False (current FW): [len u8][payload (len-1 bytes)][type u8]
+      True  (old FW):     [len u8][type u8][payload (len-1 bytes)]
+    In both cases total bytes consumed per entry = len + 1.
     """
     if fsm_states is None:
         fsm_states = _FALLBACK_FSM_STATES
@@ -202,25 +216,70 @@ def parse_entries(data: bytes, fsm_states: dict = None) -> list:
     while i < n:
         b = data[i]
 
-        # Erased flash or sector padding → done or skip sector
+        # Erased flash or sector padding → skip to next sector
-        if b == 0xFF:
+        if b == 0xFF or b == 0x00:
-            break
-        if b == 0x00:
-            # Sector padding: skip to next 4096-byte boundary
             sector_size = 4096
             next_sector = ((i // sector_size) + 1) * sector_size
             i = next_sector
             continue
 
+        # In type_first (old FW) format, sectors have a small zero-pad header
+        # that isn't full-sector padding. Only skip individual zero bytes.
+        if type_first and b == 0x00:
+            i += 1
+            continue
+
         entry_len = b          # stored len = payload_size + 1
         payload_size = entry_len - 1
-        type_offset = i + 1 + payload_size   # = i + entry_len
+        end_offset = i + entry_len  # last byte of this entry's content
 
-        if type_offset >= n:
+        if end_offset >= n:
             break  # truncated
 
+        # Detect entry format: with type byte (total = len+1) or without (total = len).
+        # Check if data[end_offset] is the start of the next entry (no type byte)
+        # vs a type byte followed by the next entry at end_offset+1.
+        has_type_byte = True
+        if end_offset + 1 < n:
+            next_at_len = data[end_offset]       # byte right after payload
+            next_at_len1 = data[end_offset + 1]  # byte one further
+            # If the byte at end_offset looks like a valid next-entry len byte
+            # (matches current entry len or is another plausible len), and the
+            # byte at end_offset+1 does NOT, then there's no type byte.
+            next_ok = next_at_len not in (0x00, 0xFF) and next_at_len < 250
+            next1_ok = next_at_len1 not in (0x00, 0xFF) and next_at_len1 < 250
+            if next_ok and not _is_valid_entry_type(next_at_len):
+                # end_offset byte isn't a valid type, treat as next entry (no type)
+                has_type_byte = False
+            elif next_ok and next_at_len == entry_len and not next1_ok:
+                # Same len repeating at stride=len (not len+1) → no type byte
+                has_type_byte = False
+
+        if not has_type_byte:
+            # No type byte: [len][payload], total = len bytes, FSM type implied
+            payload = data[i + 1 : i + entry_len]
+            entry_type = 0  # default to IDLE / FSM
+            i = end_offset  # advance by len (not len+1)
+        elif type_first:
+            entry_type = data[i + 1]
+            payload = data[i + 2 : i + 1 + entry_len]
+            # Fallback: if type-first gives invalid type, try type-last
+            if not _is_valid_entry_type(entry_type):
+                alt_type = data[end_offset]
+                if _is_valid_entry_type(alt_type):
+                    entry_type = alt_type
                     payload = data[i + 1 : i + 1 + payload_size]
-        entry_type = data[type_offset]
+            i = end_offset + 1
+        else:
+            payload = data[i + 1 : i + 1 + payload_size]
+            entry_type = data[end_offset]
+            # Fallback: if type-last gives invalid type, try type-first
+            if not _is_valid_entry_type(entry_type):
+                alt_type = data[i + 1]
+                if _is_valid_entry_type(alt_type):
+                    entry_type = alt_type
+                    payload = data[i + 2 : i + 1 + entry_len]
+            i = end_offset + 1
 
         try:
             if 0 <= entry_type <= 12:
@@ -258,7 +317,7 @@ def parse_entries(data: bytes, fsm_states: dict = None) -> list:
             }
 
         entries.append(e)
-        i = type_offset + 1  # advance past type byte
+        # i was already advanced in the format-detection block above
 
     return entries
 
@@ -285,18 +344,118 @@ def parse_response(blob: bytes, fsm_states: dict = None) -> tuple:
     return meta, tail, head, entries
 
 
+def _detect_old_partition_dump(blob: bytes) -> int:
+    """
+    Detect old firmware partition dump format.
+    Old format: 8-byte file header + 0x4000 bytes params + log entries
+    with type byte at the start of each entry's content region.
+    Returns the log data start offset, or 0 if not detected.
+    """
+    if len(blob) < 0x4100:
+        return 0
+    # Check if offset 0x4000 looks like a log sector: leading zero-pad
+    # followed by a valid entry with a valid type byte at +1 (type-first format)
+    base = 0x4000
+    # Find first non-zero byte in the sector
+    first_nz = 0
+    while first_nz < 4096 and blob[base + first_nz] == 0x00:
+        first_nz += 1
+    if first_nz >= 4096:
+        return 0
+    entry_len = blob[base + first_nz]
+    if entry_len < 2 or base + first_nz + 1 + entry_len > len(blob):
+        return 0
+    # In old format, the type byte is the first byte after the len byte
+    entry_type = blob[base + first_nz + 1]
+    if _is_valid_entry_type(entry_type):
+        return base
+    return 0
+
+
+def _try_detect_type_first(data: bytes) -> bool:
+    """
+    Given raw log entry data, try to determine if entries use
+    type-first format (old FW) vs type-last format (current FW).
+    Samples multiple entries and checks which placement yields
+    valid entry types, plausible timestamps, or reasonable voltages.
+    """
+    i = 0
+    n = len(data)
+    attempts = 0
+    max_attempts = 200
+    while i < n and attempts < max_attempts:
+        b = data[i]
+        if b == 0xFF:
+            break
+        if b == 0x00:
+            i = ((i // 4096) + 1) * 4096
+            continue
+        entry_len = b
+        end_offset = i + entry_len
+        if end_offset >= n:
+            break
+        # type-last (current): type is at end_offset
+        type_last = data[end_offset]
+        # type-first (old): type is at i+1
+        type_first_val = data[i + 1]
+        last_valid = _is_valid_entry_type(type_last)
+        first_valid = _is_valid_entry_type(type_first_val)
+        if first_valid and not last_valid:
+            return True
+        if last_valid and not first_valid:
+            return False
+        # Both valid or neither — try parsing the payload to disambiguate
+        if first_valid and last_valid:
+            payload_first = data[i + 2 : i + 1 + entry_len]
+            payload_last = data[i + 1 : i + 1 + entry_len - 1]
+            for payload, is_first in [(payload_first, True), (payload_last, False)]:
+                if len(payload) >= 12:
+                    ts = struct.unpack_from('<Q', payload, 0)[0]
+                    # Plausible if timestamp is 2020-2030 in ms
+                    if 1577836800000 < ts < 1893456000000:
+                        return is_first
+                    # Also check if the float at offset 8 is a reasonable voltage (0-60V)
+                    v = struct.unpack_from('<f', payload, 8)[0]
+                    if 0.5 < v < 60.0:
+                        return is_first
+        # Advance to next entry and keep trying
+        i = end_offset + 1
+        attempts += 1
+    return False
+
+
 def autodetect_and_parse(blob: bytes, fsm_states: dict = None) -> tuple:
     """
-    Auto-detect whether blob is HTTP response format or raw flash binary.
+    Auto-detect whether blob is HTTP response format, old partition dump,
+    or raw flash binary.
     Returns (json_meta_or_None, tail_or_None, head_or_None, entries).
     """
     # HTTP format: first 4 bytes = BE uint32 json_len, byte 4 should be '{'
     if len(blob) >= 5:
         candidate_len = struct.unpack_from('>I', blob, 0)[0]
-        if candidate_len < 8192 and blob[4:5] == b'{':
+        if candidate_len < len(blob) and blob[4:5] == b'{':
             meta, tail, head, entries = parse_response(blob, fsm_states)
             return meta, tail, head, entries
 
-    # Raw binary
+    # Bare tail+head format: [4B tail BE][4B head BE][raw log data]
-    entries = parse_entries(blob, fsm_states)
+    # Detect by checking if head - tail == len(blob) - 8
+    if len(blob) >= 16:
+        tail_val, head_val = struct.unpack_from('>II', blob, 0)
+        if head_val > tail_val and (head_val - tail_val) == len(blob) - 8:
+            log_data = blob[8:]
+            type_first = _try_detect_type_first(log_data)
+            entries = parse_entries(log_data, fsm_states, type_first=type_first)
+            return None, tail_val, head_val, entries
+
+    # Old partition dump: 8-byte header + 0x4000 params + log entries (type-first)
+    log_offset = _detect_old_partition_dump(blob)
+    if log_offset > 0:
+        log_data = blob[log_offset:]
+        type_first = _try_detect_type_first(log_data)
+        entries = parse_entries(log_data, fsm_states, type_first=type_first)
+        return None, None, None, entries
+
+    # Raw binary — auto-detect type placement
+    type_first = _try_detect_type_first(blob)
+    entries = parse_entries(blob, fsm_states, type_first=type_first)
     return None, None, None, entries