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feat(csi): emit ADR-110 §A0.11 sync-packet every 20 CSI frames 

Closes WITNESS-LOG-110 §A0.11 wiring gap. Adds a separate 32-byte UDP
packet (magic 0xC511A110, distinct from the CSI frame magic 0xC5110001)
carrying:

  [0..3]   magic 0xC511A110 (LE u32) — CSI-ADR-110 sync packet
  [4]      node_id
  [5]      proto version (0x01)
  [6]      flags: bit0=is_leader, bit1=is_valid, bit2=smoothed_used
  [7]      reserved
  [8..15]  local esp_timer_get_time() (LE u64)
  [16..23] mesh-aligned epoch (LE u64) = local + EMA-smoothed offset
  [24..27] high-water sequence number (LE u32) for pairing with CSI frames
  [28..31] reserved (room for leader_id low32 in a follow-up)

Emitted once per 20 CSI frames (≈ 1 Hz at the 20 Hz send-rate gate).
Same stream_sender UDP socket as CSI frames — host dispatches by first
4 bytes of each datagram.

Backwards compatible: aggregators that don't know about the new magic
ignore it (sync packets won't match the CSI parser's magic check, so
they're dropped harmlessly by existing receivers). New aggregators
pair (node_id, sequence) across the two packet streams to align CSI
frames to mesh time.

Sets us up for downstream ADR-029/030 multistatic CSI fusion: with the
host now able to recover the mesh-aligned epoch from each frame's
sequence number, frames from multiple boards can be ordered + fused
on a common timeline.

Build evidence: C6 image 1019 KB (+1 KB vs v0.6.8 no-sync), 45 %
partition slack unchanged. Host-side parser update is a follow-up.

Co-Authored-By: claude-flow <ruv@ruv.net>
This commit is contained in:
ruv 2026-05-23 12:26:45 -04:00
parent 503411a8d2
commit 6ff155a232
1 changed files with 33 additions and 0 deletions
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33
firmware/esp32-csi-node/main/csi_collector.c
View File

@ -16,6 +16,7 @@
#include "stream_sender.h"
#include "edge_processing.h"
#include "c6_timesync.h" /* ADR-110: 802.15.4 epoch for cross-node alignment */
#include "c6_sync_espnow.h" /* ADR-110 §A0.11: mesh-aligned epoch for sync packet */
#include <string.h>
#include "esp_log.h"
@ -294,6 +295,38 @@ static void wifi_csi_callback(void *ctx, wifi_csi_info_t *info)
edge_enqueue_csi((const uint8_t *)info->buf, (uint16_t)info->len,
(int8_t)info->rx_ctrl.rssi, info->rx_ctrl.channel);
}
/* ADR-110 §A0.11 — Emit a sync-packet every SYNC_EVERY_N CSI frames so the
* host aggregator can pair node-local sequence numbers with the mesh-aligned
* epoch coming out of c6_sync_espnow_get_epoch_us(). Backwards-compatible
* with the ADR-018 frame format: new packet uses a distinct magic so the
* existing CSI parser can dispatch by first 4 bytes. */
{
#define SYNC_EVERY_N_FRAMES 20 /* ~1 Hz at the 20 Hz send-rate gate */
if ((s_cb_count % SYNC_EVERY_N_FRAMES) == 0) {
uint8_t sync[32];
uint32_t sync_magic = 0xC511A110u; /* CSI-ADR-110 sync packet */
uint64_t local_us = (uint64_t)esp_timer_get_time();
uint64_t epoch_us = c6_sync_espnow_get_epoch_us();
int64_t off_smooth = c6_sync_espnow_get_offset_us_smoothed();
uint8_t flags = 0;
if (c6_sync_espnow_is_leader()) flags |= 0x01;
if (c6_sync_espnow_is_valid()) flags |= 0x02;
if (off_smooth != 0) flags |= 0x04;
memcpy(&sync[0], &sync_magic, 4);
sync[4] = s_node_id;
sync[5] = 0x01; /* protocol version */
sync[6] = flags;
sync[7] = 0; /* reserved */
memcpy(&sync[8], &local_us, 8);
memcpy(&sync[16], &epoch_us, 8);
memcpy(&sync[24], &s_sequence, 4); /* high-water seq for pairing */
uint32_t zero32 = 0;
memcpy(&sync[28], &zero32, 4); /* reserved (room for leader_id low32) */
(void)stream_sender_send(sync, sizeof(sync));
}
}
}
/**