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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/proto/esp_now_messages.pb.h
+2 -2
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@@ -99,13 +99,13 @@ typedef struct _alox_EspNowAccelDeadzone {
uint32_t client_id; /* 0 = all slaves; otherwise only matching slave_id applies */
} alox_EspNowAccelDeadzone;
/* * Master → slave: enable/disable periodic accel ESP-NOW stream (~16 ms). */
/* * Master → slave: enable/disable periodic accel ESP-NOW stream (~10 ms). */
typedef struct _alox_EspNowAccelStream {
bool enable;
uint32_t client_id;
} alox_EspNowAccelStream;
/* * Slave → master: latest BMA456 sample (sent ~every 16 ms). */
/* * Slave → master: latest BMA456 sample (best-effort, ~every 10 ms). */
typedef struct _alox_EspNowAccelSample {
uint32_t slave_id;
int32_t x;
main/proto/esp_now_messages.proto
+2 -2
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@@ -90,13 +90,13 @@ message EspNowAccelDeadzone {
uint32 client_id = 2; // 0 = all slaves; otherwise only matching slave_id applies
}
/** Master → slave: enable/disable periodic accel ESP-NOW stream (~16 ms). */
/** Master → slave: enable/disable periodic accel ESP-NOW stream (~10 ms). */
message EspNowAccelStream {
bool enable = 1;
uint32 client_id = 2;
}
/** Slave → master: latest BMA456 sample (sent ~every 16 ms). */
/** Slave → master: latest BMA456 sample (best-effort, ~every 10 ms). */
message EspNowAccelSample {
uint32 slave_id = 1;
sint32 x = 2;
main/proto/uart_messages.pb.h
+3 -3
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@@ -31,7 +31,7 @@ typedef enum _alox_MessageType {
alox_MessageType_ACCEL_STREAM = 25,
alox_MessageType_BATTERY_STATUS = 26,
alox_MessageType_TAP_NOTIFY = 27,
/* * Combined cached accel + tap poll (one UART round-trip, ~16 ms cadence). */
/* * Combined cached accel + tap poll (one UART round-trip, ~10 ms cadence). */
alox_MessageType_CACHE_STATUS = 29,
/* * Host → master → slave → master: timestamp echo round-trip (latency test). */
alox_MessageType_ESPNOW_ECHO_PING = 30,
@@ -118,9 +118,9 @@ typedef struct _alox_AccelDeadzoneResponse {
uint32_t slaves_updated;
} alox_AccelDeadzoneResponse;
/* Host → master: enable/disable slave accel ESP-NOW stream (~16 ms per slave).
/* Host → master: enable/disable slave accel ESP-NOW stream (~10 ms per slave, best-effort).
write=false: read; write=true: apply. client_id 0 invalid for write (use >0 or all_clients).
period_ms (8–16): BLE host push interval for BleStreamTick; ignored on UART (default 16). */
period_ms (10–16): BLE host push interval for BleStreamTick; ignored on UART (default 10). */
typedef struct _alox_AccelStreamRequest {
bool write;
bool enable;
main/proto/uart_messages.proto
+3 -3
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@@ -27,7 +27,7 @@ enum MessageType {
BATTERY_STATUS = 26;
TAP_NOTIFY = 27;
reserved 28;
/** Combined cached accel + tap poll (one UART round-trip, ~16 ms cadence). */
/** Combined cached accel + tap poll (one UART round-trip, ~10 ms cadence). */
CACHE_STATUS = 29;
/** Host → master → slave → master: timestamp echo round-trip (latency test). */
ESPNOW_ECHO_PING = 30;
@@ -149,9 +149,9 @@ message AccelDeadzoneResponse {
uint32 slaves_updated = 4;
}
// Host → master: enable/disable slave accel ESP-NOW stream (~16 ms per slave).
// Host → master: enable/disable slave accel ESP-NOW stream (~10 ms per slave, best-effort).
// write=false: read; write=true: apply. client_id 0 invalid for write (use >0 or all_clients).
// period_ms (8–16): BLE host push interval for BleStreamTick; ignored on UART (default 16).
// period_ms (10–16): BLE host push interval for BleStreamTick; ignored on UART (default 10).
message AccelStreamRequest {
bool write = 1;
bool enable = 2;