berkus
/
wifi-densepose
mirror of https://github.com/ruvnet/wifi-densepose.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

fix(mmwave): require validated MR60 header on probe — no false detect on empty UART (#1107) (#1119) 

probe_at_baud counted bare 0x01 (SOF) bytes and declared MR60BHA2 on a single one.
A floating UART1 with no sensor reads noise full of 0x01s → false 'Detected MR60BHA2
(caps=0x000f)'. Now a candidate must be a full 8-byte header with a valid header
checksum (bytes 0..6) AND a known frame type (0x0A__ / 0x0F09), and clear the ≥3
threshold; removed the weak single-hit fallback. Real sensors stream valid frames
continuously, so detection of present hardware is unaffected.

Co-authored-by: ruv <ruvnet@gmail.com>
This commit is contained in:
rUv 2026-06-17 11:24:23 -04:00 committed by GitHub
parent 128b129474
commit cb30988cf9
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 16 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
firmware/esp32-csi-node/main/mmwave_sensor.c
View File

@ -387,11 +387,21 @@ static mmwave_type_t probe_at_baud(uint32_t baud)
if (len <= 0) continue;
for (int i = 0; i < len; i++) {
/* MR60BHA2: SOF = 0x01, followed by valid-looking frame_id bytes */
if (buf[i] == MR60_SOF && baud == MMWAVE_MR60_BAUD) {
mr60_sof_seen++;
/* MR60BHA2: require a *validated* 8-byte header — SOF (0x01) + a valid
* header checksum (over bytes 0..6) + a known frame type (0x0A__ or
* 0x0F09) — NOT a bare 0x01 byte. A floating UART1 with no sensor reads
* noise full of 0x01s, which the old `buf[i] == MR60_SOF` check mistook
* for a real sensor (false "Detected MR60BHA2", #1107). */
if (buf[i] == MR60_SOF && baud == MMWAVE_MR60_BAUD && i + 7 < len) {
const uint8_t *h = &buf[i];
if (mr60_calc_checksum(h, 7) == h[7]) {
uint16_t type = ((uint16_t)h[5] << 8) | h[6];
if ((type >> 8) == 0x0A || type == 0x0F09) {
mr60_sof_seen++;
}
}
}
/* LD2410: 4-byte header 0xF4F3F2F1 */
/* LD2410: 4-byte header 0xF4F3F2F1 (already specific enough). */
if (i + 3 < len && buf[i] == 0xF4 && buf[i+1] == 0xF3
&& buf[i+2] == 0xF2 && buf[i+3] == 0xF1
&& baud == MMWAVE_LD2410_BAUD) {
@ -403,9 +413,8 @@ static mmwave_type_t probe_at_baud(uint32_t baud)
if (ld2410_header_seen >= 2) return MMWAVE_TYPE_LD2410;
}
if (mr60_sof_seen > 0) return MMWAVE_TYPE_MR60BHA2;
if (ld2410_header_seen > 0) return MMWAVE_TYPE_LD2410;
/* No weak single-hit fallback: line noise can produce a stray match, so a real
* sensor must clear the ≥3 (MR60) / ≥2 (LD2410) validated-frame thresholds. */
return MMWAVE_TYPE_NONE;
}