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Make controller input best-effort and harden OTA rollback.

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Accel/tap use fire-and-forget ESP-NOW with a 10 ms FreeRTOS-safe cadence, OTA recovers from seq gaps and auto-reboots after success, and bootloader app rollback confirms after a stable boot.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
skruecken
2026-11-01 22:16:28 +01:00
co-authored by Cursor
parent ae8ef40820
commit 178ab46cec
35 changed files with 236 additions and 79 deletions
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main/README.md
+4 -4
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@@ -124,7 +124,7 @@ Schema: `proto/esp_now_messages.proto`. Encode/decode: `esp_now_proto.c`. The ES
| `ESPNOW_UNICAST_TEST` | Master → slave | `EspNowUnicastTest` (`seq`) |
| `ESPNOW_FIND_ME` | Master → slave | `EspNowFindMe` (`client_id` filter) — LED locate sequence |
| `ESPNOW_RESTART` | Master → slave | `EspNowRestart` (`client_id` filter) — reboot slave |
| `ESPNOW_ACCEL_SAMPLE` | Slave → master | `EspNowAccelSample` (`slave_id`, `x`, `y`, `z` raw LSB) — ~every 16 ms |
| `ESPNOW_ACCEL_SAMPLE` | Slave → master | `EspNowAccelSample` (`slave_id`, `x`, `y`, `z` raw LSB) — ~every 8 ms, best-effort |
| `ESPNOW_SET_TAP_NOTIFY` | Master → slave | `EspNowTapNotify` (`client_id`, `single`, `double_tap`, `triple`) — which tap kinds to forward |
| `ESPNOW_TAP_EVENT` | Slave → master | `EspNowTapEvent` (`client_id`, `kind`) — on BMA456 tap interrupt if notify enabled |
| `ESPNOW_BATTERY_REPORT` | Slave → master | `EspNowBatteryReport` (`client_id`, `lipo1/2` mV) — ~every 30 s; cached in `client_registry` |
@@ -376,7 +376,7 @@ go run . -port /dev/ttyUSB0 tap-notify -client 16
### CACHE_STATUS command
Read **cached** accel and/or tap data on the **master** in one UART round-trip. Slaves send `ESPNOW_ACCEL_SAMPLE` every **16 ms** when streaming; tap events arrive via `ESPNOW_TAP_EVENT` and are held up to **16 ms** (`CLIENT_REGISTRY_TAP_MAX_AGE_MS`). Pending taps are **consumed** on read (like the former `TAP_SNAPSHOT`).
Read **cached** accel and/or tap data on the **master** in one UART round-trip. Slaves send `ESPNOW_ACCEL_SAMPLE` every **8 ms** (best-effort) when streaming; tap events arrive via `ESPNOW_TAP_EVENT` and are held up to **8 ms** (`CLIENT_REGISTRY_TAP_MAX_AGE_MS`). Pending taps are **consumed** on read (like the former `TAP_SNAPSHOT`).
**Request:** framed `1d` (`0x1d`) only — no body (`CacheStatusRequest` empty).
@@ -390,7 +390,7 @@ Read **cached** accel and/or tap data on the **master** in one UART round-trip.
Unsubscribed submessages are omitted on the wire (proto3 defaults). The master walks `client_registry` once per request (`cmd/cmd_cache_status.c`).
Host tools poll this at **16 ms** when live-stream / WebSocket receive is enabled. Tap events stay visible for **2 s** in the UI/API after first sight.
Host tools poll this at **~8 ms** when live-stream / WebSocket receive is enabled. Tap events stay visible for **2 s** in the UI/API after first sight.
```bash
go run . -port /dev/ttyUSB0 cache-status
@@ -534,7 +534,7 @@ Fields per client: `id`, `mac`, `version`, `available`, `used`, `last_ping`, `la
| `client_registry_heartbeat(mac, id, version, …)` | Same as upsert for heartbeats; reactivates inactive clients |
| `client_registry_check_timeouts(timeout_ms)` | Mark stale clients inactive (master monitor task) |
| `client_registry_count()` / `client_registry_at(i)` | Iterate for UART encoding |
| `client_registry_set_tap_notify()` / `client_registry_take_tap()` | Tap notify flags + short-lived tap cache (16 ms) |
| `client_registry_set_tap_notify()` / `client_registry_take_tap()` | Tap notify flags + short-lived tap cache (8 ms) |
Slaves register when the master receives `SLAVE_INFO` on the matching network; `HEARTBEAT` keeps them marked available. The registry **MAC is always the ESP-NOW source address** (`recv_info.src_addr`), not the optional `mac` bytes in the protobuf (used only on the wire for debugging).