powerpods/main/README.md

# Powerpod firmware

ESP32-S3 firmware for Powerpod nodes. Master and slave devices run the **same binary**; role and ESP-NOW network are selected at boot via DIP switches and an I2C IO expander.

## System overview

```
                    ┌─────────────┐
                    │     PC      │
                    │  (goTool)   │
                    └──────┬──────┘
                           │ UART1 (921600)
                           │ framed commands + protobuf
                    ┌──────▼──────┐
                    │   MASTER    │
                    │   ESP32     │
                    └──────┬──────┘
                           │ ESP-NOW (WiFi channel = network ID)
              ┌────────────┼────────────┐
              │            │            │
       ┌──────▼──────┐ ┌───▼────┐ ┌─────▼─────┐
       │   SLAVE     │ │ SLAVE  │ │   SLAVE   │
       └─────────────┘ └────────┘ └───────────┘
```

| Role   | UART to PC | ESP-NOW |
|--------|------------|---------|
| Master | Yes — command handler, protobuf replies | Broadcasts discover; collects slave info |
| Slave  | No         | Responds to discover with slave info |

Master keeps a **client registry** (`client_registry.c`) of slaves seen via ESP-NOW. The PC can query it with the `CLIENT_INFO` UART command.

## Boot configuration

Read in `app_main()` before subsystems start. Stored in `app_config_t` (`app_config.h`).

| Setting   | Source | Notes |
|-----------|--------|--------|
| `master`  | GPIO `DIP_MASTER` (pin 4) | Low = master, high = slave |
| `network` | I2C IO expander `0x20`, port bits (nibble reversed) | Value 1–8 → ESP-NOW WiFi channel 1–8 |
| `running_partition` | OTA API | Active partition label |

Pins (`powerpod.h`):

| Signal | GPIO |
|--------|------|
| DIP master | 4 |
| I2C SCL | 5 |
| I2C SDA | 6 |
| UART TX | 3 |
| UART RX | 2 |
| LED ring | 7 |
| BMA456 INT | 10 |

Startup order:

1. Read DIP + IO expander → `app_config`
2. **I2C bus** — IO expander `0x20`; optional **BMA456H** (`init_bma456`, same bus)
3. `esp_now_comm_init(&app_config)` — WiFi + ESP-NOW
4. `led_ring_init()`
5. **Master only:** command queue, UART, registered commands (e.g. VERSION)

## BMA456 accelerometer (`bosch456.c`)

Powerpod uses the Bosch **BMA456H** (hearable) variant, not the generic `bma456w` examples in the vendor tree.

| Item | Value |
|------|--------|
| Project wrapper | `main/bosch456.c`, `main/bosch456.h` |
| Vendor component | `components/bma456` — only `bma4.c` + `bma456h.c` are linked |
| I2C | Shared bus with IO expander (SCL/SDA GPIO 5/6), address **0x18**, **100 kHz** |
| Interrupt | **GPIO 10**, active high, tap events (single / double / triple) |
| Polling | FreeRTOS task `bma456_poll`, **10 Hz** accel read |

**Boot:** `init_bma456(bus_handle)` runs on **master and slave** after the IO expander. If the sensor is missing or init fails, firmware logs `BMA456 init skipped` and continues (`bma456_is_ready() == false`).

**Accel logging:** Samples are printed only when any axis changes by more than the **deadzone** (raw LSB) since the last logged sample (default **100**). This is a **software** filter on top of the sensor; it does not change BMA456 hardware thresholds.

**Configuration paths:**

| Path | Effect |
|------|--------|
| UART `ACCEL_DEADZONE` with `client_id = 0` | `bma456_set_accel_deadzone()` on the local node |
| ESP-NOW `SET_ACCEL_DEADZONE` | Same on a slave (no-op log path if sensor not installed) |
| `make gotool-deadzone-set DEADZONE=… CLIENT=0` | Host shortcut for local deadzone |

**Logs:** `[BMA456] ACC X=… Y=… Z=…` when deadzone exceeded; `[BMA456] tap: single|double|triple` on interrupt.

Regenerate nanopb only when changing protos; sensor code has no code generation step.

## ESP-NOW discovery

Implementation: `esp_now_comm.c` / `esp_now_comm.h`.

WiFi is brought up in STA mode (no AP association). Channel = `app_config.network` (clamped to 1–13).

### Air protocol (nanopb)

Schema: `proto/esp_now_messages.proto`. Encode/decode: `esp_now_proto.c`. The ESP-NOW payload is a single encoded `EspNowMessage` (no extra framing).

| `EspNowMessageType` | Direction | `oneof` payload |
|---------------------|-----------|-----------------|
| `ESPNOW_DISCOVER` | Master → broadcast `FF:FF:FF:FF:FF:FF` | `EspNowDiscover` (`network`) |
| `ESPNOW_SLAVE_INFO` | Slave → master | `EspNowSlavePresence` |
| `ESPNOW_HEARTBEAT` | Slave → master | `EspNowSlavePresence` (same fields) |
| `ESPNOW_SET_ACCEL_DEADZONE` | Master → slave | `EspNowAccelDeadzone` (`deadzone` LSB) |

`EspNowSlavePresence`: `network`, `mac` (6 bytes), `version`, `slave_id`, `available`, `used`.

**Master:** task `espnow_disc` sends `DISCOVER` every **500 ms** on the configured network. Logs `slave joined id=… mac=… ver=…` when a new slave is seen (up to 16 entries). Task `espnow_mon` runs every **1 s** and marks a client **inactive** (`available = false`) if no `SLAVE_INFO` or `HEARTBEAT` was received for **3 s** (three missed 1 s heartbeats). A later heartbeat sets `available` true again and logs reactivation.

**Slave:** on first matching `DISCOVER`, logs `joined network N, master …`, sends `SLAVE_INFO` once, then sends `HEARTBEAT` to the master every **1 s**. While joined, periodic discovers from the same master refresh a “master alive” timer; if no discover arrives for **5 s**, the slave treats the master as lost, clears join state, and will register again on the next discover (reconnect). Discover from a different master is ignored while already joined.

Monitor via USB-JTAG (`/dev/ttyACM0`) while using a USB-serial adapter on **GPIO2/3** (`/dev/ttyUSB0`) for UART — they are different interfaces.

## UART (master only)

Hardware: **UART1**, **921600** baud, **TX = GPIO3**, **RX = GPIO2** (adapter TX → ESP RX, adapter RX → ESP TX).

### Frame format

| Field | Value |
|-------|--------|
| Start | `0xAA` |
| Length | 1 byte, payload size 1–252 |
| Payload | `length` bytes |
| Checksum | XOR of all payload bytes |
| Stop | `0xCC` |

### Command handler payload

| Offset | Meaning |
|--------|---------|
| 0 | Command ID (`MessageType` / `msg_id`) |
| 1… | Arguments (handler receives bytes after ID only) |

Example VERSION request: single-byte payload `03` → frame `AA 01 03 03 CC`.

Logging:

- `[UART] received message cmd=0x… len=…`
- `[CMDH] trigger command VERSION (0x03)` (or other name from `message_type_name()`)

## Command handler

Generic dispatch for host commands (UART today; `msg_post()` for in-firmware sources later).

```
UART  →  generic_msg_t queue  →  vCmdDispatcherTask  →  registered handler
```

| API | Description |
|-----|-------------|
| `init_cmdHandler(queue)` | Start dispatcher task (priority 5) |
| `msg_register_handler(id, cb)` | Register callback; max 32 handlers |
| `msg_post(id, data, len)` | Enqueue from firmware (e.g. future ESP-NOW → PC path) |

```c
typedef void (*msg_callback_t)(const uint8_t *data, size_t len);
```

Init order on master:

```c
cmd_queue = xQueueCreate(10, sizeof(generic_msg_t));
init_cmdHandler(cmd_queue);
init_uart(cmd_queue);
cmd_version_register();
```

## Protobuf (`proto/uart_messages.proto`)

Host and master speak nanopb-encoded `UartMessage` inside UART frames (byte 0 = `MessageType`, bytes 1… = encoded message).

| ID | Name | Status |
|----|------|--------|
| 3 | `VERSION` | Implemented (`cmd_version.c`) |
| 4 | `CLIENT_INFO` | Implemented (`cmd_client_info.c`) — slave list from registry |
| 5 | `CLIENT_INPUT` | Planned |
| 6 | `ACCEL_DEADZONE` | Implemented (`cmd_accel_deadzone.c`) — get/set accel filter LSB |
| 16–20 | OTA / ESP-NOW OTA | Planned |

Regenerate C code:

```bash
make proto_generate
# or individually:
make proto_generate_uart
make proto_generate_espnow
```

After generation, ensure `main/proto/*.pb.c` includes use `#include "…pb.h"` (not `main/proto/…`).

Build embeds `POWERPOD_GIT_HASH` via `git rev-parse` in `main/CMakeLists.txt`.

### VERSION command

**Request:** framed payload `03` only.

**Response:** payload `03` + nanopb `UartMessage`:

- `type = VERSION`
- `version_response.version` — `POWERPOD_FW_VERSION`
- `version_response.git_hash` — build git hash string

Encoding: `uart_send_uart_message()` in `uart_proto.c`.

### ACCEL_DEADZONE command

Sets the **software** deadzone used by `bosch456.c` when logging accel (see [BMA456 accelerometer](#bma456-accelerometer-bosch456c)). Default **100** LSB.

**Request:** framed `06` + nanopb `UartMessage` with `accel_deadzone_request`:

| Field | Meaning |
|-------|---------|
| `write` | `false` = read, `true` = write |
| `deadzone` | Threshold in LSB (write) |
| `client_id` | `0` = local sensor on this node; `>0` = slave id (master) |
| `all_clients` | Master: ESP-NOW unicast to every registered slave |

**Response:** `accel_deadzone_response` with applied `deadzone`, `success`, and `slaves_updated` (ESP-NOW count).

### ESPNOW_UNICAST_TEST command

Minimal master→slave ESP-NOW unicast check (no BMA456). Use this before debugging `ACCEL_DEADZONE` unicast.

**Request:** framed `07` + `espnow_unicast_test_request` (`client_id`, `seq`).

**Response:** `espnow_unicast_test_response` (`success`, `seq`).

**Firmware logs:** master `unicast TEST to … seq=N`; slave `UNICAST TEST OK from master … seq=N`.

### CLIENT_INFO command

**Request:** framed payload `04` only (`MessageType.CLIENT_INFO`).

**Response:** payload `04` + nanopb `UartMessage` with `client_info_response.clients` — one `ClientInfo` per registered slave (from ESP-NOW `SLAVE_INFO`).

Fields per client: `id`, `mac`, `version`, `available`, `used`, `last_ping`, `last_success_ping` — **milliseconds since** the last packet / last successful heartbeat (computed when `CLIENT_INFO` is answered; typically 0–1000 while the slave is heartbeating every 1 s).

## Client registry

| API | Description |
|-----|-------------|
| `client_registry_init()` | Clear all slots (called from `esp_now_comm_init`) |
| `client_registry_upsert(mac, id, version, …)` | Add or refresh client; updates ping timestamps |
| `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 |

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).

`slave_id` is the sender’s WiFi STA address last octet (`mac[5]`); it can collide across devices — use `gotool clients` and match the full MAC.

## Host tool (`goTool/`)

Go CLI to test UART from a PC connected to the **master** only.

```bash
cd goTool
go mod tidy
go run . -port /dev/ttyUSB0 version
go run . -port /dev/ttyUSB0 clients
```

| Flag | Default | Description |
|------|---------|-------------|
| `-port` | (required) | Serial device, e.g. `/dev/ttyUSB0` |
| `-baud` | `921600` | Must match `UART_BAUD_RATE` |

| Command | Description |
|---------|-------------|
| `version` | Firmware version and git hash |
| `clients` | Registered slaves from master client registry |

Regenerate Go protobuf:

```bash
protoc --go_out=./pb --go_opt=paths=source_relative \
  --go_opt=Muart_messages.proto=powerpod/gotool/pb \
  -I ../main/proto ../main/proto/uart_messages.proto
```

See `goTool/README.md` for tool-only notes.

## Build and flash

```bash
source ~/esp/esp-idf/export.sh   # or export.fish in fish
cd /path/to/powerpod
idf.py build
idf.py -p /dev/ttyUSB0 flash monitor   # USB-JTAG / console
```

Target: ESP32-S3. Close serial monitor on the UART adapter port before running `goTool` on the same device.

## Source files

| File | Role |
|------|------|
| `powerpod.c` | `app_main`, DIP/network config, init order |
| `powerpod.h` | Pin defines |
| `app_config.h` | `app_config_t` |
| `esp_now_comm.c/h` | WiFi, ESP-NOW, discover / slave info |
| `uart.c/h` | Framed UART RX/TX |
| `uart_proto.c/h` | Encode/send `UartMessage` |
| `cmd_handler.c/h` | Command queue and dispatch |
| `uart_cmd.c/h` | Shared UART decode/send helpers for handlers |
| `cmd_version.c/h` | VERSION handler |
| `cmd_client_info.c/h` | CLIENT_INFO handler |
| `client_registry.c/h` | Registered slave table |
| `bosch456.c/h` | BMA456H I2C driver, accel poll, tap INT, deadzone filter |
| `led_ring.c/h` | LED digit display |
| `proto/uart_messages.proto` | UART protocol schema |
| `proto/esp_now_messages.proto` | ESP-NOW protocol schema |
| `esp_now_proto.c/h` | Encode/decode `EspNowMessage` |
| `proto/*.pb.c/h` | Generated nanopb |
| `CMakeLists.txt` | Sources, `esp_wifi`, drivers, git hash |

## Adding a new UART command

1. Add or extend messages in `uart_messages.proto` and regenerate nanopb.
2. Create `cmd_*.c` with a handler; register with `uart_cmd_register(MessageType_…, handler)`.
3. Decode with `uart_cmd_decode()` / `UART_CMD_REQ()`; reply with `uart_cmd_init_response()` + `uart_cmd_send()`.
4. Extend `goTool` or another host client to send the matching frame.

For ESP-NOW-driven PC updates later: map slave state to `ClientInfo` and send `CLIENT_INFO` over UART from the master.