jpmschweitzerandClaude Fable 5
cb5826e02b
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>
143 lines
3.9 KiB
C
143 lines
3.9 KiB
C
/* DeskLock — living-room face and voice for the Tatlock butler.
|
|
*
|
|
* Boot: display + face -> audio (gong) -> Wi-Fi (C6/ESP-Hosted) -> gateway WS.
|
|
* Interaction (phase 2): touch-to-talk — tap to speak, tap again to finish.
|
|
*
|
|
* Touch is DECOUPLED from the LVGL thread: the touch callback only signals a
|
|
* semaphore; all the real work (blocking WebSocket sends, audio, face changes)
|
|
* runs in app_task. A blocking WS send on the LVGL render thread stalls the
|
|
* MIPI-DSI flush -> blue/garbage frame + task-watchdog reboot.
|
|
*/
|
|
|
|
#include "esp_log.h"
|
|
#include "esp_system.h"
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/semphr.h"
|
|
#include "freertos/task.h"
|
|
#include "bsp/esp-bsp.h"
|
|
|
|
#include "desklock.h"
|
|
|
|
/* 1 = L1 wifi driver diagnosis (SoftAP, no STA/gateway). 0 = normal app. */
|
|
#define WIFI_DIAG_MODE 0
|
|
|
|
static const char *TAG = "desklock";
|
|
|
|
static SemaphoreHandle_t s_touch_sem;
|
|
static bool s_talking;
|
|
|
|
/* Called from the LVGL touch callback — MUST be fast and non-blocking. */
|
|
void app_on_touch(void)
|
|
{
|
|
if (s_touch_sem != NULL) {
|
|
xSemaphoreGive(s_touch_sem);
|
|
}
|
|
}
|
|
|
|
/* Called from the WS event task when the link drops: forget any half-utterance
|
|
* so the next tap starts a fresh one instead of hitting the "stop" branch. */
|
|
void app_on_disconnect(void)
|
|
{
|
|
s_talking = false;
|
|
}
|
|
|
|
/* Runs in app_task (normal context): blocking sends here don't stall rendering. */
|
|
static void handle_touch(void)
|
|
{
|
|
face_activity();
|
|
|
|
if (!gw_connected()) {
|
|
s_talking = false; /* link gone; nothing to talk to */
|
|
return;
|
|
}
|
|
if (!s_talking) {
|
|
if (audio_is_playing() || face_get() == FACE_EFFORT) {
|
|
return; /* barge-in is phase 4 */
|
|
}
|
|
s_talking = true;
|
|
gw_send_text("{\"type\":\"utterance_start\"}");
|
|
audio_capture_start();
|
|
face_set(FACE_LISTENING);
|
|
ESP_LOGI(TAG, "listening…");
|
|
} else {
|
|
s_talking = false;
|
|
audio_capture_stop();
|
|
gw_send_text("{\"type\":\"utterance_end\"}");
|
|
face_set(FACE_PENSIVE);
|
|
ESP_LOGI(TAG, "utterance sent");
|
|
}
|
|
}
|
|
|
|
static void app_task(void *arg)
|
|
{
|
|
(void)arg;
|
|
for (;;) {
|
|
if (xSemaphoreTake(s_touch_sem, portMAX_DELAY) == pdTRUE) {
|
|
vTaskDelay(pdMS_TO_TICKS(60)); /* debounce */
|
|
xSemaphoreTake(s_touch_sem, 0); /* coalesce repeats during debounce */
|
|
handle_touch();
|
|
}
|
|
}
|
|
}
|
|
|
|
void app_on_playback_done(void)
|
|
{
|
|
face_set(FACE_IDLE);
|
|
}
|
|
|
|
#if SDIO_TX_SELFTEST
|
|
/* Temporary autonomous SDIO-TX stress test: stream mic audio upstream for 40s
|
|
* right after connecting (no user tap needed) to prove the #167 alignment fix.
|
|
* Remove once verified. */
|
|
static void sdio_tx_selftest_task(void *arg)
|
|
{
|
|
(void)arg;
|
|
vTaskDelay(pdMS_TO_TICKS(4000));
|
|
ESP_LOGW("selftest", "SDIO TX STRESS START: streaming mic audio 40s");
|
|
audio_capture_start();
|
|
for (int i = 0; i < 40; i++) {
|
|
vTaskDelay(pdMS_TO_TICKS(1000));
|
|
ESP_LOGW("selftest", "SDIO TX STRESS: alive %ds (no wedge)", i + 1);
|
|
}
|
|
audio_capture_stop();
|
|
ESP_LOGW("selftest", "SDIO TX STRESS SURVIVED 40s — #167 FIX CONFIRMED");
|
|
vTaskDelete(NULL);
|
|
}
|
|
|
|
void sdio_tx_selftest_kick(void)
|
|
{
|
|
static bool started;
|
|
if (!started) {
|
|
started = true;
|
|
xTaskCreate(sdio_tx_selftest_task, "sdiotest", 4096, NULL, 4, NULL);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
void app_main(void)
|
|
{
|
|
ESP_LOGI(TAG, "DeskLock starting");
|
|
|
|
s_touch_sem = xSemaphoreCreateBinary();
|
|
|
|
bsp_display_start();
|
|
bsp_display_backlight_on();
|
|
face_init();
|
|
|
|
audio_init();
|
|
if (esp_reset_reason() == ESP_RST_POWERON) {
|
|
audio_play_gong(); /* cold boot only — recovery reboots stay silent */
|
|
}
|
|
|
|
xTaskCreate(app_task, "app", 4096, NULL, 5, NULL);
|
|
|
|
#if WIFI_DIAG_MODE
|
|
wifi_diag_start();
|
|
#else
|
|
net_start();
|
|
c6_ota_start(); /* one-shot C6 radio firmware update — remove once proven */
|
|
#endif
|
|
|
|
ESP_LOGI(TAG, "DeskLock up");
|
|
}
|