Beta 4.2.0 - drag timer - #160
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… is answered 9134 Hz, 96 us mean, 37 ms worst iteration, SLP 12.0, with a GPS lock, logging and the camera recording. The instrument validates itself: 9134 Hz x 96 us = 87.7% of the second inside loop(), and SLP — computed by a different route — reads 12.0%. All fourteen slots sum to ~99.8. SLP 12% also settles what the previous build could not distinguish: the CPU is not sleeping through the second, so the loop genuinely runs at ~9 kHz and the old pegged rate was the display clamp rather than the timebase bug. There was no way to know that until the window was wall-clocked. Headroom, against the binding constraint (one iteration per 40 ms PVT frame): ~420x on the mean, 43x on the worst iteration against the 4 KB GPS ring, 108x against the watchdog. Nothing here justifies an nRF5340 on throughput, and SLP 12% caps what leaving the Arduino core could reclaim. Also records where the 88% goes — it is polling, not work. GPS is called 9134 times a second to service a 25 Hz stream; DSP renders 3 times and early-returns ~9000; BTN is six digitalReads per iteration with nobody touching a button. Rate-limiting the polls would reclaim most of it without changing silicon. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01CqENxo91S1VL3sM9PTWMf1
Main menu -> Drag -> pick 1/8 Mile / 1000 ft / 1/4 Mile / 1/2 Mile /
1 Mile and the session starts: no track file, no detection. Stage at a
standstill, rollout-style launch (11.25 in past a re-latching standstill
anchor, ET start interpolated between 25 Hz fixes), run ends at the
target distance with interpolated ET + trap speed and a 0-60 split, then
re-arms automatically for the next pass. All passes land in one DOVEX
session with race_mode=DRAG (laps line = run ETs, same trailing-column
scheme as SPRINT).
- New host-tested pure unit drag_timer.{h,cpp}: the whole run state
machine (ARMED/STAGED/LAUNCHED), the distance table, silent aborts
(mid-run standstill, >=2 s fix gap — also how queue-creep phantom
launches self-cancel), 14 doctest cases.
- Sketch glue mirrors sprint: dragTimer != nullptr IS drag mode, drag
branch first in every activeTimer*() helper, run capture on the
run-count edge, trackDetected latched, idle-grace re-arm on each run
AND each fresh STAGED latch.
- UI: Drag main-menu row, PAGE_DRAG_DISTANCE picker (scrolling window),
drag branches on the lap-time/pace/best pages (live ET, *staged*,
trap/0-60 subtext, live 0-60 readout), LED pace pip suppressed between
runs like sprint.
- Sim: golden walk updated for the new menu row + a picker fixture;
goldens regenerated; soak/determinism/goldens/oracles all pass.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01BKa62h4fhn61pKn1LygrMK
…ranch-8jmgzr docs(0011): record the wall-clocked hardware run — the board question…
Six findings from the branch review, all fixed: - Time base: the glue fed getGpsTimeInMilliseconds() (time-of-day, wraps to zero at UTC midnight — evening sessions) into a unit whose contract says epoch ms. Both call sites now feed getGpsUnixTimestampMillis(), and the unit's non-monotonic guard resyncs on a backwards step instead of rejecting every subsequent fix — one step used to wedge the drag timer for the rest of the session. - Launch edge: a >=2 s fix gap while STAGED now re-stages instead of evaluating the launch, so a launch that happened inside a GPS dropout can't interpolate its ET start back to a parked-car fix. - Prove-out gate: a launch must reach 15 mph within 5 s of the ET start or the run is silently abandoned — a wave-off driven to the pits at 4 mph never holds the sub-2 mph standstill abort and used to record 660 ft of pit road as a ~90 s "run". - activeTimerTotalDistance() converts the drag branch to meters, matching every other branch of the accessor. - distanceFeet() delegates to the haversine unit (x 5280) instead of carrying a second copy of the formula and Earth radius. - The seconds.hundredths split rendering is now one function (displayPrintSplitSeconds) shared by the results subtext and the pace page's live 0-60 readout. Five new regression tests cover the wedge recovery, the staged-gap launch, the wave-off, a slow-but-real pass, and duplicate timestamps. Plan 0015 doc + CLAUDE.md constants updated to match. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01BKa62h4fhn61pKn1LygrMK
…mggk0b plan 0015: Drag mode — distance runs without a track
Coverage — host-testable units📂 Overall coverage
📄 File coverage
|
Drag now asks Automatic or Manual after the distance. Manual stages
like a strip: stop, and the 9-px bar lights a white staging pip, three
yellows at the sportsman 500 ms cadence, then green — mirrored on the
OLED as STOP TO STAGE, a big 3..2..1, and a flashing GO. Movement
during the yellows is a RED LIGHT foul; 5 s still after green is
FAILED TO LAUNCH; both flash red and wait for a button. Runs end on a
results screen (ET, trap, 0-60, and a new reaction time = green ->
interpolated rollout crossing, both epoch ms). The screen is pinned to
staging info for the whole manual session; hold Select 2 s to end it.
Automatic mode is behavior-identical (one extra menu hop).
- New host-tested pure unit drag_tree.{h,cpp}: the ONE state machine
driving both the LED strip (renderStrip) and the OLED (countdownDigit
/ flashPhase) so they can never disagree; 17 doctest cases (exact
stage timings, fouls from every yellow, exit-hold semantics, golden
strip frames). Flash half-period 500 ms — the 3 Hz OLED aliases
anything faster.
- drag_timer grows setLaunchEnabled (default true; while disabled a
rollout-at-speed re-arms — a pre-green move is the tree's foul, never
a run) and runStartEpochMs() for the RT computation; 3 new tests.
- Glue: dragStagingLoop() in the gpsStatusPageLoop slot (Inputs/step/
Effects, resetButtons on consumption); the launch gate re-asserted
every loop (open exactly while green); pin cleared only by
endRaceSession so every session ender releases it.
- UI: PAGE_DRAG_MODE (-18) Auto/Manual/Back; PAGE_DRAG_STAGING (-19)
pinned via the gpsLockHold construction. Fixed a plan-0015 layout
bug while here: subtext after size-3 text needs a size-3 newline or
it renders on the ET's bottom glyph rows.
- NeoPixel: tree renders strip-only as a new cascade arm (status LEDs
live, search pip wins without a fix, normal scale during the run);
paceValid gains !dragManualActive() (constant false for auto).
- Sim: 6 new golden fixtures including a FULL manual pass through the
real pipeline (park -> tree -> green -> 70 mph -> results with RT);
goldens regenerated (23 fixtures), soak/determinism/oracles pass.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01BKa62h4fhn61pKn1LygrMK
…mggk0b plan 0016: Manual drag mode — the christmas tree
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AcdBRTn52QpCQWkyVm5Lkg
parseMac/formatMac (settings-string codec), macReverse (human <-> ble_gap_addr_t LSB-first, aliasing-safe), macIsWildcard, macAccepts — the byte-order reversal the scan callback depends on finally moves under host test, with a case pinning that a same-order compare rejects. kPairingTimeoutMs (120 s, camera parity) and kMacStrLen live with the other tunables. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AcdBRTn52QpCQWkyVm5Lkg
Runtime MAC filter boots from the SENSOREGG_MAC fallback and loads sensoregg_mac at SENSOREGG_SETUP(); the scan callback stays protocol- blind (it additionally memcpys the advertiser address into a per-slot field of the existing double buffer, ready-flag-last preserved) and bypasses the MAC filter while the capture window is open. Capture runs in the main-loop drain on the parsed pairingActive bit: persist first, then the RAM filter, then close the window — a failed SD write retries on the next frame. 120 s window timeout; bench latch (eggTestActive) and the pairing window now force the race-gated scanner on; packet-rate meter for the test page. Twelve new public accessors with no-op twins. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AcdBRTn52QpCQWkyVm5Lkg
Main-menu row 'Egg' (index 6, appended after Camera so nothing shifts), PAGE_PAIR_EGG (-20) cloning the camera page's shape — paired = Back/Test/Unpair with Back at index 0, unpaired = window-gated capture status with B2 cancel and B1 reserved for future manual entry — and PAGE_EGG_TEST (-21): rf tri-state + proto version, EGT/CJ/AUX/BAT, sequence + measured packet rate, live PAIR/FAULT flags, active MAC filter, Back. All five display_ui coupling points wired under the build flag; the camera test page now latches the egg bench scan on enter/exit, restoring the desk-soak behavior its comment promised (stale since plan 0012's race gate — comment fixed). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AcdBRTn52QpCQWkyVm5Lkg
Flag-0 sim never renders the Egg pages; stubs mirror the module's full surface so a future flag-1 sim build links. Golden hashes verified UNCHANGED — the gate does not leak into stock renders. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AcdBRTn52QpCQWkyVm5Lkg
…ables Also fixes the two stale subsystem-14 blocks that still described a PW-ADV-1-only 14-byte parser and hardcoded-MAC-only pairing. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AcdBRTn52QpCQWkyVm5Lkg
plan 0017: SensorEgg pairing menu + live-data test page
…, show the boot cause Field report (2026-09): a new unit claimed its SD card was unformatted, the on-device format reported OK and rebooted, and the same page came straight back — until a full power cycle, after which the card mounted fine with no further format. The format had worked; the boot after it had not. Root cause: the nRF52 hardware watchdog survives NVIC_SystemReset() (only a pin, brown-out, power-on or System OFF reset clears it). Every firmware-initiated reboot therefore hands the next boot a running ~4 s WDT that setup() never fed until wdtSetup() at its very end. A clean boot fits; a slow SD init (SdFat's 2 s ACMD41 timeout, three attempts) does not, and the WDT reset the device mid-SD-transaction — leaving a card that firmware cannot reset (CS grounded, no power switch) reading as "card answers, no FAT volume" on every following soft boot. - setup() now calls wdtBootCheck() first: a WDT already running is fed immediately (wdtCarriedOver), setup() pets between every slow step (display delays, each SD.begin() attempt, the probe settle, GPS probe, camera/egg/strip init — all no-ops on a clean boot), and wdtSetup() leaves a running, register-locked WDT alone. - sdPerformFormat() requires the fresh volume to mount before "Format OK": a mount failure stays on the confirm page as "Formatted: no mount / Power-cycle the unit" instead of rebooting into an identical loop. sdFormatLastFailed becomes sdFormatFailure (NONE/ERASE/MOUNT). - SD_SETUP() re-probes the volume once after a 250 ms settle and only declares the card unformatted on consecutive no-volume probes with the card layer answering both times; a card-layer flap is "dead" (FAULT, never an erase offer). The rule is the new host-tested sd_probe unit. The recovered-on-probe path also records the SPI clock it had been leaving at 0. - wake_cause::shortName() puts the boot cause on the debug line, the format page's last line (boot:WDT err:20, with SdFat's error code) and the SD FAULT page, so a watchdog-induced loop is visible. Sim: sd_probe added to the core sources, sdErrorCode()/sdErrorData() stubbed on the SdFat shim, wdtBootCheck prototype added. Goldens unchanged (the GPS status page is untouched). Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01VhDTiCUTGJhV7XvogdU9CQ
…e-mlctto SD format page: survive the WDT across a soft reset, verify the mount, show the boot cause
…ers) parseDescriptor (strides by declared record_len — forward compat), parseSampleFrame, parseClock, sampleToReal (sentinel -> NaN before scaling), descriptor-driven role mapping (normative names + quantity, never hardcoded channel ids), fastestChannel, and the v1 clock fit (request/response midpoint anchor, boot_id epoch check, wrap-safe mapping both directions). Fixtures are byte-identical to the egg repo's pw_gatt_encode goldens — encode == decode pinned across repos, the sensoregg_protocol <-> pw_adv_encode discipline applied to the GATT contract. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AcdBRTn52QpCQWkyVm5Lkg
bleCoreEnsureInit grows a flag-gated central slot (begin(1,1) +
configCentralConn(247, 6, 1, 1) — 7.5 ms event cap so the pod link can
never crowd the camera; stock builds stay begin(1,0)). The scan
callback doubles as the connect trigger (paired connectable report
while WAIT_ADV -> Central.connect, no resume on that path); the
central connect callback runs the blocking bring-up sequence in the
callback task (documented deviation — client ops each wait a conn
interval and would stall the 25 Hz row engine on the main loop):
discover, MTU 247, read Descriptor, timed Clock read (the fit anchor),
enableNotify, ready-flag-last. The notify data plane keeps the
copy-only discipline: an 8-slot frame ring drained by SENSOREGG_LOOP,
which parses, epoch-checks boot_id (mismatch -> log + reconnect
re-anchors), routes the latest sample per frame by descriptor-driven
role mapping into the SAME eggReading surface the beacon feeds, and
feeds the zombie monitor from the fastest channel's frame seq only.
Gate split keeps plan-0012 discipline uniform: eggLinkWanted = radio
gate + paired; eggScanWanted = radio gate && (pairing window || no
link engaged) — streaming pays no scan duty; capturing a NEW egg
drops the old link. SENSOREGG_SLEEP cancels/drops the central link
(covers transfers + shutdown; the quiesce settle gives it airtime).
EGG TEST: rf:GATT state + live MTU. Stale be80-era central prose in
bluetooth.{h,ino} fixed; subsystem-14 radio-role rewritten (the
camera-priority rule survives as mechanism, not prohibition).
Verified: host suite green (fixtures byte-identical to the egg's
pw_gatt_encode goldens), sim goldens unchanged, both flag arms
compile (ON 47%/36%, OFF 45%).
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AcdBRTn52QpCQWkyVm5Lkg
plan 0018: SensorEgg GATT link — the logger connects to the paired egg
This was referenced Sep 27, 2026
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Requested by Dove · project thread
Summary
Release PR: BETA → master for firmware 4.2.0. Headline feature is drag mode (automatic + manual christmas tree). It also carries the SD/watchdog boot hardening, and two beta-only SensorEgg features that compile out of the release image.
Before: the logger timed circuit laps and sprint runs, but had no way to time a straight-line pass. A firmware-initiated reboot could hand the next boot a running watchdog, which on a slow card wedged the SD and offered a healthy card for formatting on every reboot.
After: main menu → Drag → pick a distance and Automatic or Manual, and the device times ET, trap speed, 0-60 (and reaction time in Manual) with no track file. Soft reboots survive a slow SD init, and the format page only offers an erase on consistent evidence.
What ships in the release image (master build: NeoPixel on, SensorEgg off, profiling off)
Drag mode — automatic (plan 0015, #148)
lapHistory, laps line in the DOVEX header). Header getsrace_mode=DRAGand a course name likeDRAG 1/8 MILE; same backwards-compatible trailing-column scheme as SPRINT.drag_timerpure unit (tests/drag_timer_test.cpp); review fixes (time base, launch guards, unit hygiene) in 7e7dd93.Drag mode — manual christmas tree (plan 0016, #161)
drag_treepure unit (tests/drag_tree_test.cpp). New sim golden fixtures cover the drag pages.Boot / SD hardening (#163)
NVIC_SystemReset(), so every soft reboot (BLE/USB exit, OTA, format page, reboot combo) handed the next boot a ~4 s deadline.setup()now detects a carried-over WDT first thing (wdtBootCheck()), feeds it between slow boot steps, andwdtSetup()no longer writes to a running (locked) WDT.SD_SETUP()re-probes once after a 250 ms settle and only offers a format when the card answered both times and the volume mounted neither time (newsd_probepure unit). A card that stops answering between probes goes to FAULT, never an erase offer.SD.format()the volume must mount before "Format OK"; otherwise the page saysFormatted: no mount / Power-cycle the unitinstead of reboot-looping.boot:WDT err:20);wake_causegains short names and a watchdog cause.Docs (#159 and the feature PRs)
Beta channel only (
BIRDSEYE_ENABLE_SENSOREGG=1; compiled out of the release image)SensorEgg pairing menu + EGG TEST page (plan 0017, #162)
sensoregg_macsetting and applied live; paired page offers Back / Test / Unpair (persist-first, like the camera). Unpaired = accept any egg, as before.sensoregg_protocol.SensorEgg GATT link (plan 0018, #164)
boot_idreboot detection, and streams per-channel sample frames into the same data surface as the beacon (DOVEX columns, race pages, LEDs unchanged). Beacon stays the fallback and pairing transport; no 44 % scan duty while streaming.Bluefruit.begin(1, 1)with skinny central parameters; the camera link still wins.SENSOREGG_SLEEP()drops the pod link for transfers and shutdown.sensoregg_gattpure unit.Type of change
race_mode=DRAGis a new value in an existing trailing header column.How it was verified
ctest --test-dir tests/build) — new suites:drag_timer,drag_tree,sd_probe,sensoregg_gatt, plus additions tosensoregg_protocolandwake_causeclang-tidyclean (static analysis check green)Checklist
CHANGELOG.mdupdated under[Unreleased](if user-visible)ARCHITECTURE.md/CLAUDE.mdupdated (if a module or interface changed)tests/Before tagging v4.2.0
FIRMWARE_VERSION "4.2.0"inBirdsEye/project.h(still4.1.0on BETA — the OTA manifest takes its version from the tag, so a mismatch makes the companion offer the update forever)## [Unreleased]to## [4.2.0] - <date>inCHANGELOG.mdv4.3.0(itssrc/is identical to the library's BETA)Related issues
Merges #148, #159, #161, #162, #163, #164.
🤖 Generated with Claude Code
https://claude.ai/code/session_01SdhRyfZ4eYuooXi9uy28aw