harden sensor acquisition after audit
This commit is contained in:
+1
-1
@@ -2,6 +2,6 @@ build/
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sdkconfig
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captures/
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sdkconfig.old
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dependencies.lock
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managed_components/
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__pycache__/
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.DS_Store
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@@ -6,7 +6,7 @@ accelerometer and L3G4200D gyroscope on a shared I2C bus.
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This milestone does four things:
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1. Detects and verifies both sensors by their identification registers.
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2. Configures each sensor for 100 Hz raw acquisition.
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2. Configures each sensor for a nominal 100 Hz raw output rate.
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3. Emits timestamped, sensor-native raw readings over the XIAO USB connection.
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4. Maps both sensors into a shared enclosure coordinate frame for validation.
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@@ -29,10 +29,10 @@ Both breakouts share SDA, SCL, 3V3, and GND. The firmware checks both possible
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## Sensor configuration
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- ADXL345: 100 Hz output rate, full-resolution mode, +/-8 g. Nominal scale is
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- ADXL345: nominal 100 Hz output rate, full-resolution mode, +/-8 g. Nominal scale is
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3.9 mg/LSB.
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- L3G4200D: 100 Hz output rate, 25 Hz bandwidth, +/-500 dps. Nominal scale is
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17.5 mdps/LSB.
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- L3G4200D: nominal 100 Hz output rate, LPF2 selected with a 25 Hz cutoff,
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+/-500 dps. Nominal scale is 17.5 mdps/LSB.
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The enclosure coordinate frame is:
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@@ -48,7 +48,13 @@ enclosure Y = -native X
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enclosure Z = native Z
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```
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No calibration, filtering, or sensor fusion is performed yet.
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No software calibration, software filtering, or sensor fusion is performed yet.
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The ESP32-C3 polls at exactly 100 Hz, but each sensor has an independent internal
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sample clock. The status registers are read immediately before each XYZ read so a
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consumer can distinguish a fresh sample from a repeated poll and identify gyro
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overruns. Hardware data-ready interrupts and FIFO acquisition are deferred to the
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buffering milestone.
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## Build and flash
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@@ -73,9 +79,28 @@ Exit the serial monitor with `Ctrl-]`.
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After startup metadata, records use CSV:
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```text
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sequence,timestamp_us,accel_x_raw,accel_y_raw,accel_z_raw,gyro_x_raw,gyro_y_raw,gyro_z_raw,accel_native_x_raw,accel_native_y_raw,accel_native_z_raw,gyro_native_x_raw,gyro_native_y_raw,gyro_native_z_raw
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sequence,poll_timestamp_us,accel_x_raw,accel_y_raw,accel_z_raw,gyro_x_raw,gyro_y_raw,gyro_z_raw,accel_native_x_raw,accel_native_y_raw,accel_native_z_raw,gyro_native_x_raw,gyro_native_y_raw,gyro_native_z_raw,accel_int_source,gyro_status,loop_overrun_count
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```
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`timestamp_us` is the ESP32-C3 monotonic microsecond timer since boot. The axes
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in the first six sample columns use the enclosure frame above. The appended native
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columns are temporary diagnostics for the coordinated orientation test.
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`poll_timestamp_us` is the ESP32-C3 monotonic time immediately before the status
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and data reads. It is not the sensors' physical sample time. The axes in the first
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six sample columns use the enclosure frame above. Native columns remain available
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for diagnostics.
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Status bits:
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- `accel_int_source & 0x80`: an unread ADXL345 sample existed when status was
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checked. If clear, treat the following sample as stale/untrusted; a sample can
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arrive in the short interval between the status and data transactions.
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- `accel_int_source & 0x01`: ADXL345 unread data was overwritten.
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- `gyro_status & 0x08`: L3G4200D sample is fresh.
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- `gyro_status & 0x80`: L3G4200D data overran before it was read.
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- `loop_overrun_count`: cumulative acquisition deadlines missed; the loop
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resynchronizes after a miss instead of issuing catch-up bursts.
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The capture tool auto-detects a single `/dev/cu.usbmodem*` device, writes only
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validated numeric records to a real CSV, and reports sequence or timing problems:
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```sh
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python tools/capture_serial.py
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```
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@@ -3,10 +3,16 @@
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#include <stddef.h>
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#define ADXL345_REG_DEVID 0x00
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#define ADXL345_REG_OFSX 0x1E
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#define ADXL345_REG_OFSY 0x1F
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#define ADXL345_REG_OFSZ 0x20
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#define ADXL345_REG_BW_RATE 0x2C
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#define ADXL345_REG_POWER_CTL 0x2D
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#define ADXL345_REG_INT_ENABLE 0x2E
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#define ADXL345_REG_INT_SOURCE 0x30
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#define ADXL345_REG_DATA_FORMAT 0x31
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#define ADXL345_REG_DATAX0 0x32
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#define ADXL345_REG_FIFO_CTL 0x38
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#define ADXL345_DEVID_VALUE 0xE5
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#define ADXL345_BW_RATE_100_HZ 0x0A
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@@ -46,7 +52,8 @@ esp_err_t adxl345_init(adxl345_t *sensor, i2c_master_bus_handle_t bus, uint32_t
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*sensor = (adxl345_t){0};
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static const uint8_t candidate_addresses[] = {0x53, 0x1D};
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for (size_t i = 0; i < sizeof(candidate_addresses); ++i) {
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for (size_t i = 0;
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i < sizeof(candidate_addresses) / sizeof(candidate_addresses[0]); ++i) {
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const i2c_device_config_t config = {
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.dev_addr_length = I2C_ADDR_BIT_LEN_7,
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.device_address = candidate_addresses[i],
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@@ -74,8 +81,24 @@ esp_err_t adxl345_init(adxl345_t *sensor, i2c_master_bus_handle_t bus, uint32_t
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return ESP_ERR_NOT_FOUND;
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}
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// Configure while in standby, then enter measurement mode.
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// The ADXL345 is not reset by an ESP32 warm reboot. Establish every state
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// that could otherwise survive from an earlier firmware run.
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esp_err_t err = write_register(sensor->device, ADXL345_REG_POWER_CTL, 0x00);
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if (err == ESP_OK) {
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err = write_register(sensor->device, ADXL345_REG_INT_ENABLE, 0x00);
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}
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if (err == ESP_OK) {
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err = write_register(sensor->device, ADXL345_REG_FIFO_CTL, 0x00);
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}
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if (err == ESP_OK) {
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err = write_register(sensor->device, ADXL345_REG_OFSX, 0x00);
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}
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if (err == ESP_OK) {
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err = write_register(sensor->device, ADXL345_REG_OFSY, 0x00);
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}
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if (err == ESP_OK) {
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err = write_register(sensor->device, ADXL345_REG_OFSZ, 0x00);
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}
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if (err == ESP_OK) {
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err = write_register(sensor->device, ADXL345_REG_DATA_FORMAT, ADXL345_FORMAT_FULL_8G);
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}
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@@ -95,17 +118,45 @@ esp_err_t adxl345_init(adxl345_t *sensor, i2c_master_bus_handle_t bus, uint32_t
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err = verify_register(sensor->device, ADXL345_REG_POWER_CTL, ADXL345_POWER_MEASURE);
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}
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if (err != ESP_OK) {
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adxl345_deinit(sensor);
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}
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return err;
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}
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esp_err_t adxl345_read_raw(const adxl345_t *sensor, adxl345_sample_t *sample)
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esp_err_t adxl345_deinit(adxl345_t *sensor)
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{
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if (sensor == NULL || sensor->device == NULL || sample == NULL) {
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if (sensor == NULL) {
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return ESP_ERR_INVALID_ARG;
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}
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if (sensor->device == NULL) {
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sensor->address = 0;
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return ESP_OK;
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}
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esp_err_t err = i2c_master_bus_rm_device(sensor->device);
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if (err == ESP_OK) {
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*sensor = (adxl345_t){0};
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}
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return err;
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}
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esp_err_t adxl345_read_raw(const adxl345_t *sensor, adxl345_sample_t *sample,
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uint8_t *interrupt_source)
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{
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if (sensor == NULL || sensor->device == NULL || sample == NULL ||
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interrupt_source == NULL) {
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return ESP_ERR_INVALID_ARG;
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}
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esp_err_t err = read_registers(sensor->device, ADXL345_REG_INT_SOURCE,
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interrupt_source, 1);
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if (err != ESP_OK) {
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return err;
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}
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uint8_t data[6] = {0};
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esp_err_t err = read_registers(sensor->device, ADXL345_REG_DATAX0, data, sizeof(data));
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err = read_registers(sensor->device, ADXL345_REG_DATAX0, data, sizeof(data));
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if (err != ESP_OK) {
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return err;
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}
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@@ -120,4 +171,3 @@ uint8_t adxl345_address(const adxl345_t *sensor)
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{
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return sensor != NULL ? sensor->address : 0;
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}
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@@ -20,15 +20,21 @@ typedef struct {
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int16_t z;
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} adxl345_sample_t;
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#define ADXL345_INT_SOURCE_DATA_READY 0x80
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#define ADXL345_INT_SOURCE_OVERRUN 0x01
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/** Detect, identify, and configure an ADXL345 for 100 Hz, full-resolution +/-8 g. */
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esp_err_t adxl345_init(adxl345_t *sensor, i2c_master_bus_handle_t bus, uint32_t bus_speed_hz);
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/** Read one sensor-native, uncalibrated XYZ sample. */
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esp_err_t adxl345_read_raw(const adxl345_t *sensor, adxl345_sample_t *sample);
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/** Remove the sensor from its I2C bus. Safe to call on an uninitialized handle. */
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esp_err_t adxl345_deinit(adxl345_t *sensor);
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/** Read INT_SOURCE followed by one sensor-native, uncalibrated XYZ sample. */
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esp_err_t adxl345_read_raw(const adxl345_t *sensor, adxl345_sample_t *sample,
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uint8_t *interrupt_source);
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uint8_t adxl345_address(const adxl345_t *sensor);
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#ifdef __cplusplus
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}
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#endif
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@@ -20,15 +20,21 @@ typedef struct {
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int16_t z;
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} l3g4200d_sample_t;
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#define L3G4200D_STATUS_ZYXDA 0x08
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#define L3G4200D_STATUS_ZYXOR 0x80
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/** Detect, identify, and configure an L3G4200D for 100 Hz, 25 Hz BW, +/-500 dps. */
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esp_err_t l3g4200d_init(l3g4200d_t *sensor, i2c_master_bus_handle_t bus, uint32_t bus_speed_hz);
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/** Read one sensor-native, uncalibrated XYZ sample. */
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esp_err_t l3g4200d_read_raw(const l3g4200d_t *sensor, l3g4200d_sample_t *sample);
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/** Remove the sensor from its I2C bus. Safe to call on an uninitialized handle. */
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esp_err_t l3g4200d_deinit(l3g4200d_t *sensor);
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/** Read STATUS_REG followed by one sensor-native, uncalibrated XYZ sample. */
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esp_err_t l3g4200d_read_raw(const l3g4200d_t *sensor, l3g4200d_sample_t *sample,
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uint8_t *status);
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uint8_t l3g4200d_address(const l3g4200d_t *sensor);
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#ifdef __cplusplus
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}
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#endif
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@@ -8,11 +8,13 @@
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#define L3G4200D_REG_CTRL3 0x22
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#define L3G4200D_REG_CTRL4 0x23
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#define L3G4200D_REG_CTRL5 0x24
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#define L3G4200D_REG_STATUS 0x27
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#define L3G4200D_REG_OUT_X_L 0x28
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#define L3G4200D_WHO_AM_I_VALUE 0xD3
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#define L3G4200D_CTRL1_100_HZ 0x1F
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#define L3G4200D_CTRL4_500_DPS 0x90
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#define L3G4200D_CTRL5_LPF2_OUT 0x02
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#define L3G4200D_AUTO_INCREMENT 0x80
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#define L3G4200D_TIMEOUT_MS 100
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@@ -48,7 +50,8 @@ esp_err_t l3g4200d_init(l3g4200d_t *sensor, i2c_master_bus_handle_t bus, uint32_
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*sensor = (l3g4200d_t){0};
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static const uint8_t candidate_addresses[] = {0x69, 0x68};
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for (size_t i = 0; i < sizeof(candidate_addresses); ++i) {
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for (size_t i = 0;
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i < sizeof(candidate_addresses) / sizeof(candidate_addresses[0]); ++i) {
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const i2c_device_config_t config = {
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.dev_addr_length = I2C_ADDR_BIT_LEN_7,
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.device_address = candidate_addresses[i],
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@@ -89,7 +92,9 @@ esp_err_t l3g4200d_init(l3g4200d_t *sensor, i2c_master_bus_handle_t bus, uint32_
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err = write_register(sensor->device, L3G4200D_REG_CTRL4, L3G4200D_CTRL4_500_DPS);
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}
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if (err == ESP_OK) {
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err = write_register(sensor->device, L3G4200D_REG_CTRL5, 0x00);
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// Route LPF2 to the output. CTRL1 BW=01 selects its 25 Hz cutoff.
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err = write_register(sensor->device, L3G4200D_REG_CTRL5,
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L3G4200D_CTRL5_LPF2_OUT);
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}
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if (err == ESP_OK) {
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// 100 Hz ODR, 25 Hz bandwidth, normal mode, all axes enabled.
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@@ -101,19 +106,49 @@ esp_err_t l3g4200d_init(l3g4200d_t *sensor, i2c_master_bus_handle_t bus, uint32_
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if (err == ESP_OK) {
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err = verify_register(sensor->device, L3G4200D_REG_CTRL4, L3G4200D_CTRL4_500_DPS);
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}
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if (err == ESP_OK) {
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err = verify_register(sensor->device, L3G4200D_REG_CTRL5,
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L3G4200D_CTRL5_LPF2_OUT);
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}
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if (err != ESP_OK) {
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l3g4200d_deinit(sensor);
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}
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return err;
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}
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esp_err_t l3g4200d_read_raw(const l3g4200d_t *sensor, l3g4200d_sample_t *sample)
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esp_err_t l3g4200d_deinit(l3g4200d_t *sensor)
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{
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if (sensor == NULL || sensor->device == NULL || sample == NULL) {
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if (sensor == NULL) {
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return ESP_ERR_INVALID_ARG;
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}
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if (sensor->device == NULL) {
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sensor->address = 0;
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return ESP_OK;
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}
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esp_err_t err = i2c_master_bus_rm_device(sensor->device);
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if (err == ESP_OK) {
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*sensor = (l3g4200d_t){0};
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}
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return err;
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}
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esp_err_t l3g4200d_read_raw(const l3g4200d_t *sensor, l3g4200d_sample_t *sample,
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uint8_t *status)
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{
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if (sensor == NULL || sensor->device == NULL || sample == NULL || status == NULL) {
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return ESP_ERR_INVALID_ARG;
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}
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esp_err_t err = read_registers(sensor->device, L3G4200D_REG_STATUS, status, 1);
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if (err != ESP_OK) {
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return err;
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}
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uint8_t data[6] = {0};
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uint8_t start_register = L3G4200D_REG_OUT_X_L | L3G4200D_AUTO_INCREMENT;
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esp_err_t err = read_registers(sensor->device, start_register, data, sizeof(data));
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err = read_registers(sensor->device, start_register, data, sizeof(data));
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if (err != ESP_OK) {
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return err;
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}
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@@ -128,4 +163,3 @@ uint8_t l3g4200d_address(const l3g4200d_t *sensor)
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{
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return sensor != NULL ? sensor->address : 0;
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}
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@@ -0,0 +1,76 @@
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# Audit Hardening — 2026-08-17
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This pass addresses the findings from the independent prototype-v0 audit. It
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does not add calibration, BLE, persistent storage, filtering beyond the selected
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L3G4200D hardware filter, or sensor fusion.
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## Git checkpoints
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- `f1ac20f`: exact pre-hardening firmware and axis-validation baseline
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- The verified hardening changes are committed separately after this report
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No remote repository is configured; these are local history checkpoints.
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## Changes
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- A clean build now selects `esp32c3` from `sdkconfig.defaults`.
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- ADXL345 `INT_SOURCE` and L3G4200D `STATUS_REG` are read immediately before
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their corresponding six-byte XYZ reads.
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- Raw status bytes and a cumulative loop-overrun count are appended to CSV.
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- A delayed acquisition loop resynchronizes rather than issuing catch-up bursts.
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- ADXL345 FIFO, interrupt enables, and hardware offset registers are explicitly
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reset during initialization so warm MCU resets are deterministic.
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- L3G4200D LPF2 is routed to the output with `CTRL_REG5=0x02`, making the
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configured 25 Hz cutoff effective.
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- Both sensor drivers remove their I2C device handles after an initialization
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failure and expose deinitializers.
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- Candidate-address loops use an element count rather than byte size.
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- The capture utility auto-detects a single USB modem port, writes numeric CSV
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only, and reports sequence gaps, resets, timestamp anomalies, malformed
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records, and ignored non-record lines.
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- Documentation now distinguishes the MCU poll timestamp and nominal scale from
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sensor sample timing and measured per-axis scale.
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## Build validation
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- Normal incremental build: pass
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- Clean temporary copy with no `sdkconfig` or `build/`: pass
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- Clean configuration selected `CONFIG_IDF_TARGET="esp32c3"` from
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`sdkconfig.defaults`
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- Hardened binary size: `0x242d0` bytes; 86% of the application partition free
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## Hardware validation
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The hardened firmware was flashed to the assembled XIAO ESP32-C3 prototype.
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Both devices initialized successfully after a USB-triggered warm reset, including
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all new register writes and the L3G4200D CTRL5 readback.
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The capture `captures/hardening_freshness.csv` contains:
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- 3,796 consecutive records
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- Sequence gaps: 0
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- Sequence resets: 0
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- Timestamp anomalies: 0
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||||
- Timestamp interval: 10,000 us for all 3,795 intervals
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- Rejected records: 0
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- Acquisition loop overruns: 0
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- ADXL345 DATA_READY clear at status time: 192 records (5.058%)
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- ADXL345 overrun set: 0 records
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- L3G4200D ZYXDA clear: 0 records
|
||||
- L3G4200D ZYXOR set: 112 records (2.950%)
|
||||
|
||||
The ADXL345 clear events have a coherent 27/28-poll pattern, including adjacent
|
||||
clear events when a device update likely occurs between the separate status and
|
||||
data transactions. A clear bit is therefore conservatively treated as
|
||||
stale/untrusted; a set bit proves unread data existed before the read. The gyro
|
||||
overrun pattern directly confirms that its internal output clock is faster than
|
||||
the MCU poll on this unit.
|
||||
|
||||
These results validate the audit finding that exact 100 Hz MCU polling does not
|
||||
mean either sensor is synchronized to that clock. Status labeling is the scoped
|
||||
prototype fix. Interrupt/FIFO-driven acquisition remains a later buffering task.
|
||||
|
||||
A final post-build/post-flash smoke capture added another 1,634 consecutive
|
||||
records with zero gaps, timestamp anomalies, rejected records, ADXL345 overruns,
|
||||
or acquisition-loop overruns. It again exposed ADXL345 DATA_READY clear on 81
|
||||
polls and L3G4200D overrun on 48 polls.
|
||||
@@ -4,10 +4,19 @@ The enclosure was tested with the battery end treated as the bottom of the
|
||||
reference orientation. The shared enclosure frame is +X right, +Y toward the
|
||||
top, and +Z toward the cover.
|
||||
|
||||
## Audit clarification
|
||||
|
||||
The timing results below validate the ESP32-C3 polling loop, not the independent
|
||||
sensor sample clocks. A subsequent review of the capture found a coherent repeated
|
||||
ADXL345 sample approximately every 27 polls, consistent with an actual device ODR
|
||||
near 96.3 Hz. This does not affect the static six-position axis result. Firmware v2
|
||||
adds ADXL345 and L3G4200D freshness/overrun status to every record so dynamic data
|
||||
can be interpreted correctly.
|
||||
|
||||
## Capture integrity
|
||||
|
||||
- 50,001 consecutive samples over 500.000 seconds
|
||||
- Effective sample rate: exactly 100 Hz
|
||||
- Effective MCU polling rate: exactly 100 Hz
|
||||
- Timestamp interval: 10,000 us for every sample
|
||||
- Sequence gaps: 0
|
||||
- Axis-mapping mismatches between mapped and native columns: 0
|
||||
|
||||
@@ -84,6 +84,7 @@ void app_main(void)
|
||||
ESP_LOGE(TAG,
|
||||
"ADXL345 not found at 0x53 or 0x1D (expected DEVID 0xE5): %s",
|
||||
esp_err_to_name(err));
|
||||
i2c_del_master_bus(bus);
|
||||
return;
|
||||
}
|
||||
ESP_LOGI(TAG, "ADXL345 detected at 0x%02X; 100 Hz, +/-8 g, full resolution",
|
||||
@@ -95,6 +96,8 @@ void app_main(void)
|
||||
ESP_LOGE(TAG,
|
||||
"L3G4200D not found at 0x69 or 0x68 (expected WHO_AM_I 0xD3): %s",
|
||||
esp_err_to_name(err));
|
||||
adxl345_deinit(&accelerometer);
|
||||
i2c_del_master_bus(bus);
|
||||
return;
|
||||
}
|
||||
ESP_LOGI(TAG, "L3G4200D detected at 0x%02X; 100 Hz, 25 Hz BW, +/-500 dps",
|
||||
@@ -103,27 +106,35 @@ void app_main(void)
|
||||
// Discard the gyroscope's visible startup transient before beginning the stream.
|
||||
vTaskDelay(pdMS_TO_TICKS(500));
|
||||
|
||||
printf("# format=trikke_axis_validation_v1\n");
|
||||
printf("# accel_scale_g_per_lsb=0.0039,gyro_scale_dps_per_lsb=0.0175\n");
|
||||
printf("# format=trikke_freshness_validation_v2\n");
|
||||
printf("# nominal_accel_scale_g_per_lsb=0.0039,"
|
||||
"nominal_gyro_scale_dps_per_lsb=0.0175\n");
|
||||
printf("# enclosure_axes=+x:right,+y:top,+z:toward_cover\n");
|
||||
printf("# mapping=accel(x,y,z)=(native_y,-native_x,native_z);"
|
||||
"gyro(x,y,z)=(native_x,native_y,native_z)\n");
|
||||
printf("sequence,timestamp_us,accel_x_raw,accel_y_raw,accel_z_raw,"
|
||||
printf("# status_masks=accel_data_ready:0x80,accel_overrun:0x01,"
|
||||
"gyro_data_ready:0x08,gyro_overrun:0x80\n");
|
||||
printf("sequence,poll_timestamp_us,accel_x_raw,accel_y_raw,accel_z_raw,"
|
||||
"gyro_x_raw,gyro_y_raw,gyro_z_raw,"
|
||||
"accel_native_x_raw,accel_native_y_raw,accel_native_z_raw,"
|
||||
"gyro_native_x_raw,gyro_native_y_raw,gyro_native_z_raw\n");
|
||||
"gyro_native_x_raw,gyro_native_y_raw,gyro_native_z_raw,"
|
||||
"accel_int_source,gyro_status,loop_overrun_count\n");
|
||||
|
||||
uint32_t sequence = 0;
|
||||
uint32_t read_error_count = 0;
|
||||
uint32_t loop_overrun_count = 0;
|
||||
TickType_t last_wake = xTaskGetTickCount();
|
||||
|
||||
while (true) {
|
||||
adxl345_sample_t accel = {0};
|
||||
l3g4200d_sample_t gyro = {0};
|
||||
uint8_t accel_int_source = 0;
|
||||
uint8_t gyro_status = 0;
|
||||
const int64_t timestamp_us = esp_timer_get_time();
|
||||
|
||||
const esp_err_t accel_err = adxl345_read_raw(&accelerometer, &accel);
|
||||
const esp_err_t gyro_err = l3g4200d_read_raw(&gyroscope, &gyro);
|
||||
const esp_err_t accel_err = adxl345_read_raw(&accelerometer, &accel,
|
||||
&accel_int_source);
|
||||
const esp_err_t gyro_err = l3g4200d_read_raw(&gyroscope, &gyro, &gyro_status);
|
||||
|
||||
if (accel_err == ESP_OK && gyro_err == ESP_OK) {
|
||||
const trikke_axes_sample_t enclosure_accel = map_accel_to_enclosure(&accel);
|
||||
@@ -132,12 +143,14 @@ void app_main(void)
|
||||
printf("%" PRIu32 ",%" PRId64 ",%" PRId32 ",%" PRId32 ",%" PRId32
|
||||
",%" PRId32 ",%" PRId32 ",%" PRId32
|
||||
",%" PRId16 ",%" PRId16 ",%" PRId16
|
||||
",%" PRId16 ",%" PRId16 ",%" PRId16 "\n",
|
||||
",%" PRId16 ",%" PRId16 ",%" PRId16
|
||||
",%" PRIu8 ",%" PRIu8 ",%" PRIu32 "\n",
|
||||
sequence, timestamp_us,
|
||||
enclosure_accel.x, enclosure_accel.y, enclosure_accel.z,
|
||||
enclosure_gyro.x, enclosure_gyro.y, enclosure_gyro.z,
|
||||
accel.x, accel.y, accel.z,
|
||||
gyro.x, gyro.y, gyro.z);
|
||||
gyro.x, gyro.y, gyro.z,
|
||||
accel_int_source, gyro_status, loop_overrun_count);
|
||||
} else {
|
||||
++read_error_count;
|
||||
ESP_LOGE(TAG,
|
||||
@@ -147,6 +160,10 @@ void app_main(void)
|
||||
}
|
||||
|
||||
++sequence;
|
||||
xTaskDelayUntil(&last_wake, TRIKKE_SAMPLE_TICKS);
|
||||
if (xTaskDelayUntil(&last_wake, TRIKKE_SAMPLE_TICKS) == pdFALSE) {
|
||||
// Do not issue a burst of back-to-back samples after a stalled output path.
|
||||
++loop_overrun_count;
|
||||
last_wake = xTaskGetTickCount();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
+4
-1
@@ -1,3 +1,7 @@
|
||||
# Ensure a clean checkout targets the XIAO's ESP32-C3 rather than ESP-IDF's
|
||||
# default ESP32 target.
|
||||
CONFIG_IDF_TARGET="esp32c3"
|
||||
|
||||
# XIAO ESP32-C3 USB-C connector uses the chip's USB Serial/JTAG console.
|
||||
CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y
|
||||
|
||||
@@ -6,4 +10,3 @@ CONFIG_FREERTOS_HZ=1000
|
||||
|
||||
# The XIAO ESP32-C3 carries 4 MB of flash.
|
||||
CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
|
||||
|
||||
|
||||
+107
-7
@@ -2,6 +2,7 @@
|
||||
"""Capture Trikke sensor CSV output until interrupted with Ctrl-C."""
|
||||
|
||||
import argparse
|
||||
import glob
|
||||
import signal
|
||||
import sys
|
||||
from datetime import datetime
|
||||
@@ -9,17 +10,61 @@ from pathlib import Path
|
||||
|
||||
import serial
|
||||
|
||||
EXPECTED_COLUMNS = [
|
||||
"sequence",
|
||||
"poll_timestamp_us",
|
||||
"accel_x_raw",
|
||||
"accel_y_raw",
|
||||
"accel_z_raw",
|
||||
"gyro_x_raw",
|
||||
"gyro_y_raw",
|
||||
"gyro_z_raw",
|
||||
"accel_native_x_raw",
|
||||
"accel_native_y_raw",
|
||||
"accel_native_z_raw",
|
||||
"gyro_native_x_raw",
|
||||
"gyro_native_y_raw",
|
||||
"gyro_native_z_raw",
|
||||
"accel_int_source",
|
||||
"gyro_status",
|
||||
"loop_overrun_count",
|
||||
]
|
||||
|
||||
|
||||
def parse_args() -> argparse.Namespace:
|
||||
parser = argparse.ArgumentParser()
|
||||
parser.add_argument("--port", default="/dev/cu.usbmodem1134101")
|
||||
parser.add_argument("--baud", type=int, default=115200)
|
||||
parser.add_argument("--port", help="serial port; auto-detected when omitted")
|
||||
parser.add_argument(
|
||||
"--baud",
|
||||
type=int,
|
||||
default=115200,
|
||||
help="serial API baud rate (ignored by USB Serial/JTAG)",
|
||||
)
|
||||
parser.add_argument("--output", type=Path)
|
||||
return parser.parse_args()
|
||||
|
||||
|
||||
def resolve_port(requested_port: str | None) -> str:
|
||||
if requested_port:
|
||||
return requested_port
|
||||
|
||||
candidates = sorted(glob.glob("/dev/cu.usbmodem*"))
|
||||
if not candidates:
|
||||
raise RuntimeError("no /dev/cu.usbmodem* serial device found")
|
||||
if len(candidates) > 1:
|
||||
joined = ", ".join(candidates)
|
||||
raise RuntimeError(f"multiple serial devices found ({joined}); specify --port")
|
||||
return candidates[0]
|
||||
|
||||
|
||||
def main() -> int:
|
||||
args = parse_args()
|
||||
try:
|
||||
port = resolve_port(args.port)
|
||||
except RuntimeError as exc:
|
||||
print(f"Port error: {exc}", file=sys.stderr)
|
||||
return 2
|
||||
|
||||
output = args.output or Path("captures") / datetime.now().strftime(
|
||||
"motion_%Y%m%d_%H%M%S.csv"
|
||||
)
|
||||
@@ -35,21 +80,70 @@ def main() -> int:
|
||||
signal.signal(signal.SIGTERM, request_stop)
|
||||
|
||||
sample_count = 0
|
||||
print(f"Recording {args.port} to {output}; press Ctrl-C to stop", flush=True)
|
||||
missing_sequence_count = 0
|
||||
sequence_reset_count = 0
|
||||
timing_anomaly_count = 0
|
||||
ignored_line_count = 0
|
||||
rejected_record_count = 0
|
||||
previous_sequence = None
|
||||
previous_timestamp_us = None
|
||||
print(f"Recording {port} to {output}; press Ctrl-C to stop", flush=True)
|
||||
|
||||
try:
|
||||
with serial.Serial(args.port, args.baud, timeout=0.25) as sensor, output.open(
|
||||
with serial.Serial(port, args.baud, timeout=0.25) as sensor, output.open(
|
||||
"w", encoding="utf-8", newline=""
|
||||
) as capture:
|
||||
capture.write(",".join(EXPECTED_COLUMNS) + "\n")
|
||||
|
||||
while not stop_requested:
|
||||
raw_line = sensor.readline()
|
||||
if not raw_line:
|
||||
continue
|
||||
|
||||
line = raw_line.decode("utf-8", errors="replace").rstrip("\r\n")
|
||||
capture.write(line + "\n")
|
||||
fields = line.split(",")
|
||||
|
||||
if line and line[0].isdigit() and line.count(",") == 13:
|
||||
if line.startswith("sequence,"):
|
||||
if fields != EXPECTED_COLUMNS:
|
||||
print("Firmware CSV header does not match capture schema", file=sys.stderr)
|
||||
return 3
|
||||
continue
|
||||
if not line or not line[0].isdigit():
|
||||
ignored_line_count += 1
|
||||
continue
|
||||
if len(fields) != len(EXPECTED_COLUMNS):
|
||||
rejected_record_count += 1
|
||||
continue
|
||||
|
||||
try:
|
||||
values = [int(field) for field in fields]
|
||||
except ValueError:
|
||||
rejected_record_count += 1
|
||||
continue
|
||||
|
||||
sequence = values[0]
|
||||
timestamp_us = values[1]
|
||||
if previous_sequence is not None:
|
||||
expected_sequence = (previous_sequence + 1) & 0xFFFFFFFF
|
||||
if sequence != expected_sequence:
|
||||
if sequence > expected_sequence:
|
||||
missing_sequence_count += sequence - expected_sequence
|
||||
else:
|
||||
sequence_reset_count += 1
|
||||
print(
|
||||
f" sequence discontinuity: expected {expected_sequence}, got {sequence}",
|
||||
file=sys.stderr,
|
||||
flush=True,
|
||||
)
|
||||
if (
|
||||
previous_timestamp_us is not None
|
||||
and timestamp_us - previous_timestamp_us != 10_000
|
||||
):
|
||||
timing_anomaly_count += 1
|
||||
|
||||
capture.write(line + "\n")
|
||||
previous_sequence = sequence
|
||||
previous_timestamp_us = timestamp_us
|
||||
sample_count += 1
|
||||
if sample_count % 500 == 0:
|
||||
capture.flush()
|
||||
@@ -58,7 +152,13 @@ def main() -> int:
|
||||
print(f"Serial error: {exc}", file=sys.stderr)
|
||||
return 1
|
||||
|
||||
print(f"Stopped after {sample_count} samples; saved {output}", flush=True)
|
||||
print(
|
||||
f"Stopped after {sample_count} samples; missing={missing_sequence_count}, "
|
||||
f"resets={sequence_reset_count}, timing_anomalies={timing_anomaly_count}, "
|
||||
f"rejected_records={rejected_record_count}, ignored_lines={ignored_line_count}; "
|
||||
f"saved {output}",
|
||||
flush=True,
|
||||
)
|
||||
return 0
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user