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logtool fix, reboot, only ap mode

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This commit is contained in:
Thaddeus Hughes
2026-04-09 07:41:15 -05:00
parent 837ec18fad
commit b0b317a0fe
43 changed files with 3470 additions and 1068 deletions
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270
main/main.c
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@@ -10,6 +10,7 @@
#include "esp_log.h"
#include "endian.h"
#include "control_fsm.h"
#include "sc_err.h"
#include "power_mgmt.h"
#include "rtc.h"
#include "sensors.h"
@@ -69,62 +70,82 @@ esp_err_t send_bat_log() {
}
typedef enum {
LED_STATE_DRIVING,
LED_STATE_ERROR,
LED_STATE_AWAKE,
LED_STATE_CANCELLING,
LED_STATE_ERRORED,
LED_STATE_START1,
LED_STATE_START2,
LED_STATE_START3,
LED_STATE_START4,
LED_STATE_BOOTING
} led_state_t;
// --- LED Status Indicators ---
// See docs/button_behavior.md for button LED feedback.
// Status LEDs:
// IDLE: LED1 blinks 0.5Hz (1s on / 1s off)
// ERROR: 5Hz rapid blink 1s, then hold error code 2s (3s cycle)
// Error code bits: LED1=efuse, LED2=RTC/battery, LED3=safety/leash/FSM
// WATERFALL: 001→011→111→110→100→000, ~1 cycle/s (moving, delays)
// CALIBRATING: all LEDs flash 1Hz (500ms on / 500ms off)
// UNDO: solid all LEDs on
// BOOTING: LED1 solid
void drive_leds(led_state_t state) {
uint8_t patterns[5][12] = {
{1,3,7,6,4,0},
{0b101,0b001},
{1,1,1,1,1,1, 1,1,1,3},
{4,2},
{0b001, 0b101},
};
switch(state) {
case LED_STATE_DRIVING:
i2c_set_led1(patterns[state][(esp_timer_get_time()/100000) % 6]);
// 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
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
if (!rtc_is_set()) code |= 0b010; // LED2: RTC not set
esp_err_t fe = fsm_get_error();
if (fe == SC_ERR_SAFETY_TRIP) code |= 0b100; // LED3: safety
if (fe == SC_ERR_LEASH_HIT) code |= 0b100; // LED3: leash
if (fe != ESP_OK && code == 0) code = 0b111; // unknown error
return code;
}
typedef enum {
LED_IDLE,
LED_ERROR,
LED_WATERFALL,
LED_CALIBRATING,
LED_UNDO,
LED_BOOTING
} led_mode_t;
void drive_leds(led_mode_t mode) {
static const uint8_t waterfall[] = {0b001, 0b011, 0b111, 0b110, 0b100, 0b000};
int64_t now_us = esp_timer_get_time();
switch (mode) {
case LED_IDLE:
// 0.5Hz: 1s on, 1s off
i2c_set_led1((now_us / 1000000) % 2 ? 0b000 : 0b001);
break;
case LED_STATE_ERROR:
//ESP_LOGE(TAG, "SOME SORT OF ERROR");
i2c_set_led1(patterns[state][(esp_timer_get_time()/1000000) % 2]);
case LED_ERROR: {
// 3s cycle: 1s rapid blink (5Hz) then 2s hold error code
int64_t phase_us = now_us % 3000000;
if (phase_us < 1000000) {
// Rapid blink at 5Hz (100ms per half-cycle)
i2c_set_led1((phase_us / 100000) % 2 ? 0b000 : 0b111);
} else {
i2c_set_led1(error_code_from_state());
}
break;
case LED_STATE_AWAKE:
i2c_set_led1(patterns[state][(esp_timer_get_time()/200000) % 10]);
}
case LED_WATERFALL:
// ~1 cycle/s: 6 steps at ~167ms each
i2c_set_led1(waterfall[(now_us / 167000) % 6]);
break;
case LED_STATE_CANCELLING:
i2c_set_led1(patterns[state][(esp_timer_get_time()/200000) % 2]);
case LED_CALIBRATING:
// 1Hz: 500ms on, 500ms off
i2c_set_led1((now_us / 500000) % 2 ? 0b000 : 0b111);
break;
case LED_STATE_ERRORED:
i2c_set_led1(patterns[state][(esp_timer_get_time()/200000) % 2]);
break;
case LED_STATE_BOOTING:
i2c_set_led1(0b001);
break;
case LED_STATE_START1:
i2c_set_led1(0b000);
break;
case LED_STATE_START2:
i2c_set_led1(0b001);
break;
case LED_STATE_START3:
i2c_set_led1(0b011);
break;
case LED_STATE_START4:
case LED_UNDO:
i2c_set_led1(0b111);
break;
case LED_BOOTING:
i2c_set_led1(0b001);
break;
}
}
@@ -135,15 +156,13 @@ void app_main(void) {esp_task_wdt_add(NULL);
ESP_LOGI(TAG, "Branch: %s", FIRMWARE_BRANCH);
ESP_LOGI(TAG, "Built: %s", BUILD_DATE);
// TODO: Confirm whether external RTC crystal can be dropped (see TODO.md #13)
if (rtc_xtal_init() != ESP_OK) ESP_LOGE(TAG, "RTC FAILED");
rtc_restore_time(); // Recover time from RTC domain if we crashed
// Critical inits — retry up to 3 times, then reboot (feeds OTA rollback counter)
// I2C first so we can light the LED immediately
init_critical("I2C", i2c_init);
drive_leds(LED_BOOTING); // LED on ASAP after I2C is up
i2c_post(); // verify TCA9555 responds
i2c_set_relays((relay_port_t){.raw=0});
drive_leds(LED_STATE_BOOTING);
if (rtc_xtal_init() != ESP_OK) ESP_LOGE(TAG, "RTC FAILED");
// Factory reset: cold boot + button held for 10s
@@ -203,6 +222,7 @@ void app_main(void) {esp_task_wdt_add(NULL);
// Critical inits — retry up to 3 times, then reboot
init_critical("ADC", adc_init);
init_critical("STORAGE", storage_init);
rtc_restore_time(); // After NVS is up: try RTC_DATA_ATTR, then NVS fallback
init_critical("LOG", log_init);
// POST checks — verify hardware is responding correctly
@@ -293,6 +313,9 @@ void app_main(void) {esp_task_wdt_add(NULL);
esp_ota_mark_app_valid_cancel_rollback();
/*** MAIN LOOP ***/
uint8_t tap_count = 0;
int64_t tap_window_start = 0;
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = pdMS_TO_TICKS(50);
@@ -333,21 +356,70 @@ void app_main(void) {esp_task_wdt_add(NULL);
rtc_reset_shutdown_timer();
soft_idle_exit();
}
// TODO: Make sure all ISRs are clean (very tight, no blocking functions)
switch (fsm_get_state()) {
// --- Button logic: triple-tap, hold-to-reboot, cancel/stop ---
// See docs/button_behavior.md for full spec.
fsm_state_t cur_state = fsm_get_state();
bool btn_pressed = i2c_get_button_state(0);
bool btn_tripped = i2c_get_button_tripped(0);
bool btn_released = i2c_get_button_released(0);
int64_t btn_held = i2c_get_button_ms(0);
// Hold-to-reboot (active in IDLE and CALIBRATE states only)
bool hold_reboot_active = (cur_state == STATE_IDLE ||
cur_state == STATE_CALIBRATE_JACK_DELAY ||
cur_state == STATE_CALIBRATE_JACK_MOVE ||
cur_state == STATE_CALIBRATE_DRIVE_DELAY ||
cur_state == STATE_CALIBRATE_DRIVE_MOVE);
if (hold_reboot_active && btn_pressed && btn_held > 3000) {
// Flash all LEDs then reboot
ESP_LOGW(TAG, "Hold-to-reboot triggered");
rtc_save_time();
for (int i = 0; i < 6; i++) {
i2c_set_led1(i % 2 ? 0b000 : 0b111);
vTaskDelay(pdMS_TO_TICKS(150));
}
esp_restart();
}
// LED feedback while holding: off → 1 → 1+2 → 1+2+3
if (hold_reboot_active && btn_pressed && btn_held > 100) {
if (btn_held > 2250) i2c_set_led1(0b111);
else if (btn_held > 1500) i2c_set_led1(0b011);
else if (btn_held > 750) i2c_set_led1(0b001);
else i2c_set_led1(0b000);
}
// Tap processing — uses release edge so it doesn't conflict with hold
switch (cur_state) {
case STATE_IDLE:
// LED cue for user
if (i2c_get_button_ms(0) > 1600){
drive_leds(LED_STATE_START4);
} else if (i2c_get_button_ms(0) > 1100){
drive_leds(LED_STATE_START3);
} else if (i2c_get_button_ms(0) > 600){
drive_leds(LED_STATE_START2);
} else if (i2c_get_button_ms(0) > 100){
drive_leds(LED_STATE_START1);
} else {
// Triple-tap to start (count on release, ignore long presses)
if (btn_released && btn_held < 1000) {
tap_count++;
if (tap_count == 1) tap_window_start = esp_timer_get_time();
ESP_LOGI(TAG, "Tap %d/3", tap_count);
if (tap_count >= 3) {
ESP_LOGI(TAG, "Triple-tap → START");
tap_count = 0;
fsm_request(FSM_CMD_START);
}
}
// Tap window LED feedback + expiry
if (tap_count > 0) {
if (esp_timer_get_time() - tap_window_start > 2000000) {
ESP_LOGI(TAG, "Tap window expired at %d/3", tap_count);
tap_count = 0; // window expired
} else if (!btn_pressed) {
uint8_t led = (tap_count >= 2) ? 0b011 : 0b001;
i2c_set_led1(led);
break; // skip default LED while showing tap feedback
}
}
// Default idle LEDs (only when not holding or tap-counting)
if (!btn_pressed && tap_count == 0) {
if (
rtc_is_set() &&
efuse_get(BRIDGE_JACK)==EFUSE_OK &&
@@ -355,63 +427,51 @@ void app_main(void) {esp_task_wdt_add(NULL);
efuse_get(BRIDGE_DRIVE)==EFUSE_OK &&
fsm_get_error() == ESP_OK
) {
drive_leds(LED_STATE_AWAKE);
} else {
drive_leds(LED_STATE_ERROR);
}
/*int8_t state = 0b001;
if (get_is_safe()) state |= 0b010;
if (get_sensor(SENSOR_SAFETY)) state |= 0b100;
i2c_set_led1(state);*/
}
drive_leds(LED_IDLE);
} else {
drive_leds(LED_ERROR);
}
}
// when not actively moving we log at a low frequency (every 120s)
if ((esp_timer_get_time() > last_bat_log_time + 120000000ULL))
send_bat_log();
if(i2c_get_button_ms(0) > 2100)
fsm_request(FSM_CMD_START);
break;
//case STATE_UNDO_JACK:
case STATE_UNDO_JACK_START:
// it's running the jack, but undoing
//send_log();
drive_leds(LED_STATE_CANCELLING);
if (i2c_get_button_tripped(0)) {
ESP_LOGI(TAG, "AAAAH STOP!!!");
drive_leds(LED_UNDO);
if (btn_tripped) {
ESP_LOGI(TAG, "STOP");
fsm_request(FSM_CMD_STOP);
}
break;
case STATE_CALIBRATE_JACK_DELAY:
//send_log();
if (i2c_get_button_tripped(0))
drive_leds(LED_CALIBRATING);
if (btn_tripped)
fsm_request(FSM_CMD_CALIBRATE_JACK_START);
break;
case STATE_CALIBRATE_JACK_MOVE:
//send_log();
if (i2c_get_button_tripped(0))
drive_leds(LED_CALIBRATING);
if (btn_tripped)
fsm_request(FSM_CMD_CALIBRATE_JACK_END);
break;
case STATE_CALIBRATE_DRIVE_DELAY:
//send_log();
if (i2c_get_button_tripped(0))
drive_leds(LED_CALIBRATING);
if (btn_tripped)
fsm_request(FSM_CMD_CALIBRATE_DRIVE_START);
break;
case STATE_CALIBRATE_DRIVE_MOVE:
//send_log();
if (i2c_get_button_tripped(0))
drive_leds(LED_CALIBRATING);
if (btn_tripped)
fsm_request(FSM_CMD_CALIBRATE_DRIVE_END);
break;
default:
// it's running in every other case
//send_log();
drive_leds(LED_STATE_DRIVING);
if (i2c_get_button_tripped(0)) {
// Moving — any press cancels
drive_leds(LED_WATERFALL);
if (btn_tripped) {
ESP_LOGI(TAG, "UNDO");
fsm_request(FSM_CMD_UNDO);
}
break;