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fix: four real firmware defects found in adversarial review

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rd03e.c: RD03E_FRAME_LEN was 5 but the frame's own documented layout
(header + gesture + distance_lo + distance_hi + footer[2]) is 6 bytes.
The footer check read buf[i+3], colliding with the distance high byte at
that same index — so every frame that validated at all was forced to have
distance_cm = lo | 0x5500 (~218m) regardless of what the sensor reported.
Distance readings were garbage 100% of the time, not intermittently.

mems_mic.c: i2s_del_channel() was missing on 2 of 3 init failure paths,
leaking the channel handle.

bmp280.c: the I2C bus/device handles leaked on 4 of 5 init failure paths;
added a fail label that releases both.

app_main.c: sensors now init before Wi-Fi bring-up, matching the rationale
sensor_driver.h already documents (a hanging sensor bus must not be able to
block network bring-up).

rtlsdr_experimental.c: rtlsdr_exp_stop() waited 500ms before
usb_host_uninstall(), but the daemon task blocks up to 1000ms inside
usb_host_lib_handle_events() before re-checking its running flag — the
delay must exceed that or teardown races a live daemon task.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
This commit is contained in:
Indiana
2026-07-27 15:47:21 +00:00
parent 825f6aa510
commit 31f3f91801
5 changed files with 38 additions and 18 deletions
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19
firmware/esp32p4-sensor-node/main/app_main.c
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@@ -8,13 +8,15 @@
// correctly" is where the verification stops. See README.md's "What's
// verified vs. not" section before treating any of this as field-tested.
//
// Boot sequence: bring up Wi-Fi station mode (device_config.h credentials),
// wait (briefly, non-fatally) for an initial connection, initialize every
// registered sensor driver, then hand off to the telemetry task, which
// periodically samples the sensor registry and POSTs the results to the
// backend. Wi-Fi reconnection and per-cycle "are we online" checks happen
// independently after this, so a boot-time Wi-Fi hiccup doesn't wedge the
// device -- it just starts reporting once the connection comes up.
// Boot sequence: initialize every registered sensor driver first (so a
// slow/hanging sensor bus can't block network bring-up -- see
// sensor_driver.h), then bring up Wi-Fi station mode (device_config.h
// credentials), wait (briefly, non-fatally) for an initial connection, and
// hand off to the telemetry task, which periodically samples the sensor
// registry and POSTs the results to the backend. Wi-Fi reconnection and
// per-cycle "are we online" checks happen independently after this, so a
// boot-time Wi-Fi hiccup doesn't wedge the device -- it just starts
// reporting once the connection comes up.
#include "wifi_manager.h"
#include "sensor_registry.h"
@@ -34,6 +36,8 @@ static const char *TAG = "app_main";
void app_main(void) {
ESP_LOGI(TAG, "Quantumancy sensor node starting");
sensor_registry_init_all();
ESP_ERROR_CHECK(wifi_manager_start());
esp_err_t err = wifi_manager_wait_connected(pdMS_TO_TICKS(BOOT_WIFI_WAIT_MS));
@@ -44,7 +48,6 @@ void app_main(void) {
"wifi_manager will keep retrying in the background", BOOT_WIFI_WAIT_MS);
}
sensor_registry_init_all();
telemetry_client_start_task();
ESP_LOGI(TAG, "startup complete, telemetry task running");