Fork fix: the SDIO wedge is FIXED (esp-hosted-mcu #167)

Root cause (verified against our exact IDF tree, not the community guess): the "258" in "sdio_write_task: Failed to send data: 258" is NOT a timeout (that is 263). 258 = 0x102 = ESP_ERR_INVALID_ARG. On the ESP32-P4, block- mode CMD53 writes require the SOURCE buffer to be 64-byte (cache-line) aligned; the IDF sdmmc driver rejects a misaligned source with INVALID_ARG BEFORE any bus activity. esp_hosts write loop then declares "Unrecoverable host sdio state" and reboots the whole P4. The audio TX payload is not 64-aligned, so streaming mic audio wedged on the very FIRST frame (which is exactly what we saw: listening -> instant Failed to send -> reboot). This also explains why buffer/queue/clock/retry tuning all did nothing: the write never reached the bus. And why our symptom was instant, not after ~100 writes (the community block-mode-desync theory) — it is the first misaligned buffer, every time. Fix: vendored esp_hosted 2.12.11 as an editable local component (overrides the registry copy) and bounce a misaligned TX payload through one aligned DMA scratch buffer in hosted_sdio_write_block (port_esp_hosted_host_sdio.c). TX is serialized by the bus lock so a single static bounce buffer is safe; freed in hosted_sdio_deinit. Host-only change — no C6 reflash. VERIFIED ON HARDWARE (autonomous self-test): 40s of continuous mic-audio upstream streaming — the traffic that previously wedged on the first frame — ran clean, zero timeouts, zero reboots. A guarded SDIO_TX_SELFTEST harness is kept (compiled out) for future SDIO stress testing. Credit: root cause + patch designed via multi-agent investigation; the precise 258=INVALID_ARG decode (correcting the upstream community timeout assumption) came from checking our actual esp_err.h. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
2026-07-15 09:50:27 +02:00
parent ac9d24e0f9
commit cb5826e02b
666 changed files with 216925 additions and 0 deletions
@@ -0,0 +1,2 @@
+idf_component_register(SRCS "esp_ot_cli.c" "esp_hosted_openthread_app.c"
+                       INCLUDE_DIRS ".")
@@ -0,0 +1,74 @@
+/*
+ * SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: CC0-1.0
+ *
+*/
+
+#include "esp_hosted.h"
+#include "esp_hosted_openthread.h"
+#include "esp_hosted_openthread_app.h"
+
+#include "esp_log.h"
+#define TAG "h_ot_util"
+
+esp_err_t esp_hosted_openthread_app_init(void)
+{
+	esp_err_t res = ESP_OK;
+
+	res = esp_hosted_openthread_rcp_query(HOSTED_OPENTHREAD_QUERY_CONFIGURED);
+	if (ESP_OK != res) {
+		ESP_LOGE(TAG, "OT RCP not configured (enabled via Kconfig) on co-processor");
+		return res;
+	}
+
+	res = esp_hosted_openthread_rcp_init();
+	if (ESP_OK != res) {
+		ESP_LOGE(TAG, "failed to init OT RCP");
+		return res;
+	}
+
+	res = esp_hosted_openthread_rcp_query(HOSTED_OPENTHREAD_QUERY_INITED);
+	if (ESP_OK != res) {
+		ESP_LOGE(TAG, "OT RCP not inited on co-processor");
+		return res;
+	}
+
+	res = esp_hosted_openthread_rcp_start();
+	if (ESP_OK != res) {
+		ESP_LOGE(TAG, "failed to start OT RCP");
+		return res;
+	}
+
+	res = esp_hosted_openthread_rcp_query(HOSTED_OPENTHREAD_QUERY_ENABLED);
+	if (ESP_OK != res) {
+		ESP_LOGE(TAG, "OT RCP not enabled on co-processor");
+		return res;
+	}
+
+	res = esp_hosted_openthread_rcp_query(HOSTED_OPENTHREAD_QUERY_READY);
+	if (ESP_OK != res) {
+		ESP_LOGE(TAG, "OT RCP not ready on co-processor");
+		return res;
+	}
+
+	return res;
+}
+
+esp_err_t esp_hosted_openthread_app_deinit(void)
+{
+	esp_err_t res = ESP_OK;
+
+	res = esp_hosted_openthread_rcp_stop();
+	if (ESP_OK != res) {
+		ESP_LOGE(TAG, "OT RCP failed to stop");
+		return res;
+	}
+
+	res = esp_hosted_openthread_rcp_deinit();
+	if (ESP_OK != res) {
+		ESP_LOGE(TAG, "OT RCP failed to deinit");
+		return res;
+	}
+	return res;
+}
@@ -0,0 +1,16 @@
+/*
+ * SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: CC0-1.0
+ *
+*/
+
+#ifndef __ESP_HOSTED_OPENTHREAD_APP_H__
+#define __ESP_HOSTED_OPENTHREAD_APP_H__
+
+#include "esp_err.h"
+
+esp_err_t esp_hosted_openthread_app_init(void);
+esp_err_t esp_hosted_openthread_app_deinit(void);
+
+#endif
@@ -0,0 +1,148 @@
+/*
+ * SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: CC0-1.0
+ *
+ * OpenThread Command Line Example
+ *
+ * This example code is in the Public Domain (or CC0 licensed, at your option.)
+ *
+ * Unless required by applicable law or agreed to in writing, this
+ * software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+ * CONDITIONS OF ANY KIND, either express or implied.
+*/
+
+#include <stdio.h>
+#include <unistd.h>
+#include <string.h>
+
+#include "sdkconfig.h"
+#include "esp_err.h"
+#include "esp_event.h"
+#include "esp_log.h"
+#include "esp_netif.h"
+#include "esp_netif_types.h"
+#include "esp_openthread.h"
+#include "esp_openthread_lock.h"
+#include "esp_openthread_netif_glue.h"
+#include "esp_openthread_types.h"
+#include "esp_ot_config.h"
+#include "esp_vfs_eventfd.h"
+#include "nvs_flash.h"
+#include "ot_examples_common.h"
+
+#include "esp_hosted.h"
+#include "esp_hosted_openthread.h"
+#include "esp_hosted_openthread_app.h"
+
+#if CONFIG_OPENTHREAD_STATE_INDICATOR_ENABLE
+#include "ot_led_strip.h"
+#endif
+
+#if CONFIG_OPENTHREAD_CLI_ESP_EXTENSION
+#include "esp_ot_cli_extension.h"
+#endif // CONFIG_OPENTHREAD_CLI_ESP_EXTENSION
+
+#define TAG "ot_esp_cli"
+
+esp_err_t app_init_esp_hosted(void)
+{
+	esp_err_t res = ESP_OK;
+
+	res = esp_hosted_init();
+	if (res != ESP_OK) {
+		ESP_LOGE(TAG, "esp_hosted_init failed");
+		return res;
+	}
+
+	res = esp_hosted_connect_to_slave();
+	if (res != ESP_OK) {
+		ESP_LOGE(TAG, "esp_hosted_connect_to_slave failed");
+		return res;
+	}
+	return res;
+}
+
+void app_main(void)
+{
+    if (ESP_OK != app_init_esp_hosted()) {
+		ESP_LOGE(TAG, "esp_hosted_util_init failed");
+		return;
+	}
+
+	if (ESP_OK != esp_hosted_openthread_app_init()) {
+		ESP_LOGE(TAG, "esp_hosted_openthread_app_init_init failed");
+		return;
+	}
+
+    // Used eventfds:
+    // * netif
+    // * OT task queue
+    // * radio driver
+    esp_vfs_eventfd_config_t eventfd_config = {
+        .max_fds = 3,
+    };
+
+    ESP_ERROR_CHECK(nvs_flash_init());
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
+#if CONFIG_OPENTHREAD_PLATFORM_NETIF
+    ESP_ERROR_CHECK(esp_netif_init());
+#endif
+    ESP_ERROR_CHECK(esp_vfs_eventfd_register(&eventfd_config));
+
+#if CONFIG_OPENTHREAD_CLI
+    ot_console_start();
+    ot_register_external_commands();
+#endif
+
+    static esp_openthread_config_t config = {
+#if CONFIG_OPENTHREAD_PLATFORM_NETIF
+        .netif_config = ESP_NETIF_DEFAULT_OPENTHREAD(),
+#endif
+        .platform_config = {
+            .host_config = ESP_OPENTHREAD_DEFAULT_HOST_CONFIG(),
+            .port_config = ESP_OPENTHREAD_DEFAULT_PORT_CONFIG(),
+        },
+    };
+
+	// get radio config from Hosted
+	esp_hosted_openthread_radio_config_t hosted_radio_config = { 0 };
+	if (0 != esp_hosted_openthread_get_radio_config(&hosted_radio_config)) {
+		ESP_LOGE(TAG, "Failed to get OpenThread radio config from Hosted");
+		return;
+	}
+
+	// use Hosted Radio Config to setup our radio config
+#if CONFIG_OPENTHREAD_RADIO_SPINEL_UART
+	if (hosted_radio_config.type != HOSTED_OPENTHREAD_TRANSPORT_UART) {
+		ESP_LOGE(TAG, "Invalid Hosted Radio Config: expected UART radio config");
+		return;
+	}
+	config.platform_config.radio_config.radio_mode = RADIO_MODE_UART_RCP;
+	esp_hosted_openthread_uart_config_t *src = &hosted_radio_config.radio_uart_config;
+	esp_openthread_uart_config_t *dst = &config.platform_config.radio_config.radio_uart_config;
+	dst->port = src->port;
+	dst->uart_config.baud_rate  = src->baud_rate;
+	dst->uart_config.data_bits  = src->data_bits;
+	dst->uart_config.parity     = src->parity;
+	dst->uart_config.stop_bits  = src->stop_bits;
+	dst->uart_config.flow_ctrl  = src->flow_ctrl;
+	dst->uart_config.rx_flow_ctrl_thresh = src->rx_flow_ctrl_thresh;
+	dst->uart_config.source_clk = src->source_clk;
+	dst->rx_pin = src->rx_pin;
+	dst->tx_pin = src->tx_pin;
+#else
+#error "Unsupported Hosted Radio Config"
+#endif
+
+    ESP_ERROR_CHECK(esp_openthread_start(&config));
+#if CONFIG_OPENTHREAD_CLI_ESP_EXTENSION
+    esp_cli_custom_command_init();
+#endif
+#if CONFIG_OPENTHREAD_STATE_INDICATOR_ENABLE
+    ESP_ERROR_CHECK(esp_openthread_state_indicator_init(esp_openthread_get_instance()));
+#endif
+#if CONFIG_OPENTHREAD_NETWORK_AUTO_START
+    ot_network_auto_start();
+#endif
+}
@@ -0,0 +1,29 @@
+/*
+ * SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: CC0-1.0
+ *
+ * OpenThread Command Line Example
+ *
+ * This example code is in the Public Domain (or CC0 licensed, at your option.)
+ *
+ * Unless required by applicable law or agreed to in writing, this
+ * software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+ * CONDITIONS OF ANY KIND, either express or implied.
+ */
+
+#pragma once
+
+#include "esp_openthread_types.h"
+
+#define ESP_OPENTHREAD_DEFAULT_HOST_CONFIG()                        \
+    {                                                               \
+        .host_connection_mode = HOST_CONNECTION_MODE_NONE,          \
+    }
+
+#define ESP_OPENTHREAD_DEFAULT_PORT_CONFIG()    \
+    {                                           \
+        .storage_partition_name = "nvs",        \
+        .netif_queue_size = 10,                 \
+        .task_queue_size = 10,                  \
+    }
@@ -0,0 +1,18 @@
+dependencies:
+  espressif/esp_hosted:
+    rules:
+    - if: target in [esp32p4, esp32h2]
+    version: '*'
+  espressif/esp_ot_cli_extension:
+    version: ~2.0.0
+  espressif/esp_wifi_remote:
+    rules:
+    - if: target in [esp32p4, esp32h2]
+    - if: idf_version <6.1
+    version: '>=1.3.1'
+  idf:
+    version: '>=4.1.0'
+  ot_examples_common:
+    path: ${IDF_PATH}/examples/openthread/ot_common_components/ot_examples_common
+  ot_led:
+    path: ${IDF_PATH}/examples/openthread/ot_common_components/ot_led