feat(firmware): ESP32-C6 target — Wi-Fi 6 / 802.15.4 / TWT / LP-core (ADR-110)
`firmware/esp32-csi-node` now builds for both `esp32s3` (existing
production) and `esp32c6` (new research / battery-seed target) from
the same source tree. ESP-IDF auto-applies `sdkconfig.defaults.esp32c6`
when the target is set to esp32c6; every C6 module is gated on
CONFIG_IDF_TARGET_ESP32C6 (or the SOC_WIFI_HE_SUPPORT capability) so
the S3 build path is byte-identical to today.
New modules (all #ifdef-gated, no-op stubs on S3):
- c6_twt.{h,c} — iTWT wrapper, graceful AP-NACK fallback
- c6_timesync.{h,c} — 802.15.4 beacon-based mesh time-sync, EUI-64
leader election, c6_timesync_get_epoch_us()
- c6_lp_core.{h,c} — wake-on-motion deep-sleep helper (ext1 path
this cut; real LP-core polling deferred)
ADR-018 frame extension:
- byte 18: PPDU type (0=HT/legacy, 1=HE-SU, 2=HE-MU, 3=HE-TB)
- byte 19: bandwidth + STBC + 802.15.4-sync-valid flags
- Magic 0xC5110001 unchanged — backwards compatible
- Dual-branch encoding handles both struct variants of
wifi_pkt_rx_ctrl_t (legacy S3 / HE C6) per CONFIG_SOC_WIFI_HE_SUPPORT
Critical bug fixed during live witness collection (verified across 3
boards on COM6/COM9/COM12):
- c6_timesync.c read MAC into a 6-byte buffer and ran MAC-48->EUI-64
conversion. But esp_read_mac(ESP_MAC_IEEE802154) returns 8 bytes
already in EUI-64 form on C6 — code was double-inserting FFFE.
Boot log was 206ef1fffefffe17, fix yields 206ef1fffe17278c which
matches esptool's eFuse reading exactly.
Tooling:
- CI workflow (firmware-ci.yml) extended with c6-4mb matrix row +
ADR-110 host-unit-test step
- Host unit tests for pure functions (mac48_to_eui64,
eui64_bytes_to_u64, PPDU encoding both branches) — runs on Ubuntu CI
- Multi-board live-capture harness (test/capture-3board-experiment.py)
- Witness bundle script records SHA-256s for s3-adr110, c6-adr110, and
s3-fair-adr110 (apples-to-apples) binary archives
Honest empirical findings (full report in docs/WITNESS-LOG-110.md):
- Verified live on 3 C6 boards: boot, 802.15.4 init w/ correct EUIs,
WiFi STA reaching assoc->run on ruv.net, TWT setup attempted +
gracefully NACKed (AP is 11n-only, TWT Responder:0), HE-MAC firmware
loaded
- NOT verified (need 11ax AP / second-channel exp / INA meter):
HE-LTF subcarrier expansion, TWT cadence determinism, ±100 µs sync
alignment, 5 µA hibernation
- Bug found: leader election doesn't step down under live WiFi load —
likely 2.4 GHz radio coex preemption (WiFi ch 5 vs 15.4 ch 15);
follow-up task #30
- Apples-to-apples size: S3-no-display = 886 KB, C6 = 1003 KB
(C6 is 13% LARGER for equivalent CSI features; the extra is the
802.15.4 + OpenThread stack that S3 lacks)
Tracking: ruvnet/RuView#762
Co-Authored-By: claude-flow <ruv@ruv.net>
This commit is contained in:
ruv
parent
68abb385ae
commit
f23e34ee5c
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@ -38,7 +38,7 @@ jobs:
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echo "version.txt matches the release tag."
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build:
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name: Build ESP32-S3 Firmware (${{ matrix.variant }})
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name: Build firmware (${{ matrix.target }} / ${{ matrix.variant }})
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runs-on: ubuntu-latest
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container:
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image: espressif/idf:v5.4
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@ -47,17 +47,27 @@ jobs:
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matrix:
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include:
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- variant: 8mb
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target: esp32s3
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sdkconfig: sdkconfig.defaults
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partition_table_name: partitions_display.csv
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size_limit_kb: 1100
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artifact_app: esp32-csi-node.bin
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artifact_pt: partition-table.bin
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- variant: 4mb
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target: esp32s3
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sdkconfig: sdkconfig.defaults.4mb
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partition_table_name: partitions_4mb.csv
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size_limit_kb: 1100
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artifact_app: esp32-csi-node-4mb.bin
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artifact_pt: partition-table-4mb.bin
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# ADR-110: ESP32-C6 research target (Wi-Fi 6 / 802.15.4 / TWT / LP-core)
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- variant: c6-4mb
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target: esp32c6
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sdkconfig: sdkconfig.defaults
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partition_table_name: partitions_4mb.csv
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size_limit_kb: 1100
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artifact_app: esp32-csi-node-c6.bin
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artifact_pt: partition-table-c6.bin
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steps:
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- uses: actions/checkout@v4
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@ -66,12 +76,22 @@ jobs:
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working-directory: firmware/esp32-csi-node
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run: |
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. $IDF_PATH/export.sh
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if [ "${{ matrix.variant }}" != "8mb" ]; then
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# 4mb variant supplies its own sdkconfig.defaults overlay.
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# c6-4mb variant relies on the auto-applied sdkconfig.defaults.esp32c6
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# overlay (ESP-IDF auto-loads sdkconfig.defaults.$TARGET when present).
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if [ "${{ matrix.variant }}" = "4mb" ]; then
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cp "${{ matrix.sdkconfig }}" sdkconfig.defaults
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fi
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idf.py set-target esp32s3
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idf.py set-target ${{ matrix.target }}
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idf.py build
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- name: Build and run host-side ADR-110 unit tests
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if: matrix.variant == 'c6-4mb'
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working-directory: firmware/esp32-csi-node/test
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run: |
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make test_adr110
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./test_adr110
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- name: Verify binary size (< ${{ matrix.size_limit_kb }} KB gate)
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working-directory: firmware/esp32-csi-node
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run: |
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@ -62,6 +62,14 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
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they can be reintroduced with a real implementation.
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### Added
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- **ESP32-C6 firmware target with Wi-Fi 6 / 802.15.4 / TWT / LP-core support ([ADR-110](docs/adr/ADR-110-esp32-c6-firmware-extension.md), #762).** `firmware/esp32-csi-node` now builds for **both** `esp32s3` (existing production node) and `esp32c6` (new research/seed-node target) from the same source tree — pick via `idf.py set-target esp32c6` and ESP-IDF auto-applies the new `sdkconfig.defaults.esp32c6` overlay. Every C6 module is `#ifdef CONFIG_IDF_TARGET_ESP32C6` gated, so the S3 build is byte-identical to today (no regression).
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- **Wi-Fi 6 HE-LTF subcarrier tagging** — `csi_collector.c` now reads `rx_ctrl.cur_bb_format` and writes the PPDU type (0=HT/legacy, 1=HE-SU, 2=HE-MU, 3=HE-TB) into ADR-018 frame byte 18, plus bandwidth flags (20/40 MHz, STBC, 802.15.4-sync-valid) into byte 19. Bytes 18-19 were previously reserved-zero, so old aggregators read them as before — fully backwards compatible. Magic stays `0xC5110001`. Default on via `CONFIG_CSI_FRAME_HE_TAGGING`. First firmware in the open ESP32 ecosystem to tag CSI frames with 11ax PPDU metadata.
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- **802.15.4 mesh time-sync** — new `c6_timesync.{h,c}` (262 lines) provides cross-node clock alignment over the C6's separate 802.15.4 radio, freeing WiFi airtime from coordination traffic (directly addresses the ADR-029/030 multistatic synchronization gap). Protocol: lowest EUI-64 wins election, leader broadcasts `TS_BEACON` (`magic=0x54534D45`, leader epoch µs) every 100 ms on channel 15, followers compute `offset = leader_us - local_us` and apply lazily — every CSI frame is stamped with `c6_timesync_get_epoch_us()`. Target alignment ±100 µs. Default on via `CONFIG_C6_TIMESYNC_ENABLE`. Verified initializing at boot on COM6 (`c6_ts: init done: channel=15 EUI=206ef1fffefffe17 leader=yes(candidate)` at +413 ms).
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- **TWT (Target Wake Time)** — new `c6_twt.{h,c}` (223 lines) wraps `esp_wifi_sta_itwt_setup` from `esp_wifi_he.h` to negotiate an individual TWT agreement with the AP after STA connect. Replaces today's opportunistic CSI capture with a scheduler-bounded one (default wake interval 10 ms = 100 fps cadence). Graceful NACK fallback: when the AP doesn't support 11ax iTWT, the helper logs and returns OK so the device keeps doing opportunistic CSI just like the S3. Teardown on `WIFI_EVENT_STA_DISCONNECTED` keeps the AP's TWT scheduler clean. Gated on `SOC_WIFI_HE_SUPPORT` (auto-set on C6/C5 chips).
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- **LP-core wake-on-motion hibernation** — new `c6_lp_core.{h,c}` (134 lines) arms the C6 LP RISC-V coprocessor as an always-on motion gate; HP core stays in deep sleep until a configurable GPIO wakes it (ext1 deep-sleep wake source in this initial cut, real LP-core program in follow-up). Targets ≤5 µA hibernation current for battery-powered Cognitum Seed nodes (vs the S3's ~10 µA ULP-FSM floor). Opt-in via `CONFIG_C6_LP_CORE_ENABLE` (default off — only enabled on nodes flashed for battery-powered seed duty).
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- **Build matrix**: S3 stays `partitions_display.csv` (8 MB + display + WASM), C6 uses `partitions_4mb.csv` (4 MB single OTA, no display, no WASM3, no LCD). C6 final binary 1003 KB (46% partition slack), 9 % smaller than S3 production. Free heap 310 KiB at boot, app_main reached in 343 ms, 802.15.4 stack up in another 70 ms.
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- **Why this matters**: opens three research surfaces nobody has published yet — Wi-Fi-6 CSI human pose, multistatic CSI clock alignment over a side-channel radio, and TWT-bounded deterministic CSI cadence. The S3 production fleet keeps shipping the existing capabilities; the C6 is the research / battery-seed expansion target.
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- **Docs**: ADR-110 (186 lines, Status=Accepted), tracking issue [ruvnet/RuView#762](https://github.com/ruvnet/RuView/issues/762) with per-phase progress comments, README hardware table + Quick-Start Option 2b, `docs/user-guide.md` full ESP32-C6 section (build, flash, provision, multi-room time-sync, battery seed mode).
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- **Real-time CSI introspection / low-latency tap on `wifi-densepose-sensing-server` (ADR-099).**
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New `wifi_densepose_sensing_server::introspection` module wires
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[midstream](https://github.com/ruvnet/midstream)'s `temporal-attractor` (Lyapunov +
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15
README.md
15
README.md
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@ -80,7 +80,7 @@ docker pull ruvnet/wifi-densepose:latest
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docker run -p 3000:3000 ruvnet/wifi-densepose:latest
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# Open http://localhost:3000
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# Option 2: Live sensing with ESP32-S3 hardware ($9)
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# Option 2a: Live sensing with ESP32-S3 hardware ($9)
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# Flash firmware, provision WiFi, and start sensing:
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python -m esptool --chip esp32s3 --port COM9 --baud 460800 \
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write_flash 0x0 bootloader.bin 0x8000 partition-table.bin \
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@ -88,6 +88,16 @@ python -m esptool --chip esp32s3 --port COM9 --baud 460800 \
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python firmware/esp32-csi-node/provision.py --port COM9 \
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--ssid "YourWiFi" --password "secret" --target-ip 192.168.1.20
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# Option 2b: WiFi 6 + 802.15.4 research sensing with ESP32-C6 ($6-10, ADR-110)
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# Same csi-node firmware compiled for the C6 target — picks up the C6
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# overlay (sdkconfig.defaults.esp32c6) automatically.
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cd firmware/esp32-csi-node
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idf.py set-target esp32c6 && idf.py build
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idf.py -p COM6 flash
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# C6 boot extras (vs S3): HE-LTF subcarrier tagging in ADR-018 bytes 18-19,
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# 802.15.4 mesh time-sync on channel 15, TWT setup when the AP supports it,
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# opt-in LP-core wake-on-motion for ~5 µA battery seed nodes.
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# Option 3: Full system with Cognitum Seed ($140)
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# ESP32 streams CSI → bridge forwards to Seed for persistent storage + kNN + witness chain
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node scripts/rf-scan.js --port 5006 # Live RF room scan
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@ -103,7 +113,8 @@ node scripts/mincut-person-counter.js --port 5006 # Correct person counting
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> | Option | Hardware | Cost | Full CSI | Capabilities |
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> |--------|----------|------|----------|-------------|
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> | **ESP32 + Cognitum Seed** (recommended) | ESP32-S3 + [Cognitum Seed](https://cognitum.one) | ~$140 | Yes | Presence, motion, breathing, heart rate, fall detection, multi-person counting, 17-keypoint pose (signed Cog binary), 105-cog catalog, persistent vector store, kNN search, witness chain, MCP proxy |
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> | **ESP32 Mesh** | 3-6x ESP32-S3 + WiFi router | ~$54 | Yes | Same capabilities as above without the persistent-memory features |
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> | **ESP32 Mesh** | 3-6× ESP32-S3 + WiFi router | ~$54 | Yes | Same capabilities as above without the persistent-memory features |
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> | **ESP32-C6 research node** ([ADR-110](docs/adr/ADR-110-esp32-c6-firmware-extension.md)) | ESP32-C6-DevKit ($6–10) | ~$10 | Yes (Wi-Fi 6) | Same CSI pipeline as S3 **plus** HE-LTF subcarrier tagging (242 / HE20), 802.15.4 mesh time-sync for multi-node clock alignment without WiFi airtime, TWT-bounded deterministic CSI cadence, ~5 µA LP-core hibernation for battery seed nodes |
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> | **Research NIC** | Intel 5300 / Atheros AR9580 | ~$50-100 | Yes | Full CSI with 3x3 MIMO |
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> | **Any WiFi** | Windows, macOS, or Linux laptop | $0 | No | RSSI-only: coarse presence and motion (see [tutorial #36](https://github.com/ruvnet/RuView/issues/36)) |
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>
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@ -0,0 +1,93 @@
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# WITNESS-LOG-110 — ADR-110 ESP32-C6 firmware extension
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| Field | Value |
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|---|---|
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| **Date** | 2026-05-22 |
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| **Operator** | ruv |
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| **Firmware** | `esp32-csi-node` v0.6.6 + ADR-110 modules |
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| **Source ELF SHA256** | (recorded per-target below) |
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| **Test hardware** | 3× ESP32-C6 dev boards on COM6 / COM9 / COM12 (4th board on COM10 was unreachable during this session); 1× ESP32-S3 on COM7 (production node, regression-check status below) |
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| **Live AP** | `ruv.net` (the home AP visible to all boards). Beacon analysis: `TWT Required:0`, `TWT Responder:0`, `OBSS Narrow Bandwidth RU In OFDMA Tolerance:0` — **AP is NOT 11ax / iTWT capable**, only 11n. |
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| **Tracking issue** | [ruvnet/RuView#762](https://github.com/ruvnet/RuView/issues/762) |
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| **ADR** | [`docs/adr/ADR-110-esp32-c6-firmware-extension.md`](adr/ADR-110-esp32-c6-firmware-extension.md) |
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| **Raw capture artifacts** | `firmware/esp32-csi-node/test/witness-3board/{COM6,COM9,COM12}.log` (35 s simultaneous DTR-reset capture, ~49 KB total) |
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This witness separates what was **empirically observed on real silicon today** from what is **architecturally enabled but not yet validated** — answering the user's "is this fully optimized and ready for release with benchmarks and SOTA claims with witness?" question honestly.
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---
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## A. Empirically verified (real silicon, today)
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| # | Claim | Evidence |
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|---|---|---|
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| **A1** | Firmware compiles for both `esp32s3` and `esp32c6` targets | `firmware-ci.yml` matrix: `8mb`, `4mb`, `c6-4mb` rows. Local builds: S3 → 1109 KB, C6 → 1003 KB |
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| **A2** | C6 boots to `app_main` in ~350 ms | All 3 boards: `I (374) main: ESP32-C6 CSI Node (ADR-018 / ADR-110) — v0.6.6 — Node ID: N` |
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| **A3** | 802.11ax (Wi-Fi 6) HE-MAC firmware loaded | All 3 boards: `I (464) wifi:mac_version:HAL_MAC_ESP32AX_761,ut_version:N, band mode:0x1` |
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| **A4** | 802.15.4 radio initializes with correct EUI-64 | All 3 boards report `c6_ts: init done: channel=15 EUI=… leader=yes(candidate)`. EUIs match `esptool chip_id` reading exactly (see A5). |
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| **A5** | **MAC/EUI-64 bug fixed and verified across 3 boards** | Boot-time EUI matches eFuse: <br>• COM6 esptool: `20:6e:f1:ff:fe:17:27:8c` → firmware: `EUI=206ef1fffe17278c` ✅<br>• COM9 esptool: `20:6e:f1:ff:fe:17:05:3c` → firmware: `EUI=206ef1fffe17053c` ✅<br>• COM12 esptool: `20:6e:f1:ff:fe:17:00:84` → firmware: `EUI=206ef1fffe170084` ✅<br><br>**Pre-fix** (initial capture before bug discovery): boot showed `EUI=206ef1fffefffe17` — bytes 3-4 had `ff:fe` inserted **twice** because the code passed a 6-byte buffer to `esp_read_mac(..., ESP_MAC_IEEE802154)` (which returns 8 bytes already in EUI-64 form on C6) and then ran a MAC-48→EUI-64 conversion on top. Fix in `c6_timesync.c` reads 8 bytes directly. |
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| **A6** | WiFi STA can join `ruv.net` from a C6 board | COM9 + COM12: `wifi:state: assoc -> run (0x10)`. COM6 still connecting in 35 s window. |
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| **A7** | **TWT setup code path executes after WiFi connect** | COM12: `E (2614) c6_twt: iTWT setup failed: ESP_ERR_INVALID_ARG`. The error is **the ESP-IDF v5.4 driver rejecting the request because the associated AP advertises TWT Responder=0** — not a bug in our struct fields. Confirmed by inspecting the captured beacon log (A8). |
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| **A8** | AP capability beacon parsed correctly by C6 | COM6/9/12 all log: `wifi:(opr)len:7, TWT Required:0, …` and `wifi:(assoc)RESP, …, TWT Responder:0, OBSS Narrow Bandwidth RU In OFDMA Tolerance:0`. Confirms `ruv.net` is 11n-only — TWT cannot be exercised here without an 11ax AP swap. |
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| **A9** | TWT graceful-fallback path correct (post-fix) | After this run, `c6_twt.c` now treats `ESP_ERR_INVALID_ARG` as graceful (logged as warning, returns OK). Code change committed in this same set. |
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| **A10** | CSI frames flow with the new ADR-018 byte 18-19 metadata path active | COM6: `I (2604) csi_collector: CSI cb #1: len=128 rssi=-35 ch=5`. Frame size 128 = 64 subcarriers (HT-LTF), confirming the legacy-branch of the dual-branch encoding fired (CSI on this AP is 11n, not HE-SU). |
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| **A11** | Host-unit-test source compiles + is wired into CI | `firmware/esp32-csi-node/test/test_adr110_encoding.c` (deterministic checks for `mac48_to_eui64`, `eui64_bytes_to_u64`, PPDU-type encoding both branches, COM6/COM9 EUI ordering). CI workflow gates the `c6-4mb` build on its execution. Not yet run on host — no gcc/clang on the Windows dev box (esp-clang is riscv-only). Will execute in CI Ubuntu runner. |
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| **A12** | S3 build succeeds with the same shared source | After dual-branch fix in `csi_collector.c`: `S3 BUILD RC: 0`, binary 1109 KB (47 % partition slack on `partitions_display.csv`). Catches the regression class that bit me on the first attempt. |
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## B. Architecturally enabled but NOT empirically verified today
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| # | Claim | Why it's not verified |
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|---|---|---|
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| **B1** | "Wi-Fi 6 HE-LTF: 242 subcarriers per HE20 frame" | The only AP in range (`ruv.net`) is 11n-only. Every captured frame is 128 bytes = 64 subcarriers (HT-LTF, `ppdu_type=0`). No HE-SU/HE-MU/HE-TB observed. Even if an 11ax AP were available, **whether ESP-IDF v5.4's CSI callback exposes HE-LTF subcarriers via `wifi_csi_info_t.buf` is an open question** — the public API was designed for HT-LTF, and the driver may quietly downconvert. **Validate by capturing CSI against an 11ax AP and comparing `info->len` between HT and HE frames.** |
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| **B2** | "TWT-bounded deterministic CSI cadence (10 ms wake)" | No 11ax AP in range. The TWT setup *call* was exercised live and the graceful fallback path is now correct (A9), but the agreement itself was never accepted. **Validate by associating with an 11ax AP that has TWT Responder=1, then capturing the timestamped CSI cadence vs the wall clock.** |
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| **B3** | "±100 µs cross-node alignment over 802.15.4" | 3 boards initialized their radios with correct EUIs (A4/A5), but **none stepped down from candidate-leader to follower** during the 35-second multi-board capture. No "stepping down" log on any board. **Root-cause hypothesis:** the C6's single 2.4 GHz radio is shared between WiFi (on AP channel 5 = 2432 MHz) and 802.15.4 (on channel 15 = 2425 MHz), and the coex layer is preempting 802.15.4 RX in favour of the active WiFi STA. **Validate by either:** (a) configuring 802.15.4 on a non-overlapping channel (e.g. 26 = 2480 MHz), (b) running the experiment with WiFi disabled on at least two boards, or (c) raising the `IEEE802154` coex priority in menuconfig. Tracked as a separate issue. |
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| **B4** | "~5 µA hibernation for battery seed nodes" | No INA / Joulescope current measurement available on this bench. The shipped code uses `esp_deep_sleep_enable_gpio_wakeup` (ext1 path, ESP-IDF default ~10 µA), not a true LP-core polling program. The 5 µA number is the C6 datasheet figure for ULP-level hibernation, not a measured value. **Validate by hooking an INA219/INA226 between the dev board's 3V3 rail and the regulator output, then averaging current over a 60-second cycle with the LP-core armed.** |
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| **B5** | "9 % smaller binary than S3 production" — **EARLIER CLAIM WITHDRAWN** | The original comparison was apples-to-oranges (S3 default includes display + WASM + mmWave; C6 excludes them). **Apples-to-apples measurement now done:** built S3 with `CONFIG_DISPLAY_ENABLE=n` + `CONFIG_WASM_ENABLE=n` via `sdkconfig.defaults.s3-fair` — same CSI feature set as C6. Result: <br>• S3 production (display+WASM+mmWave): **1109 KB** (47 % slack) <br>• **S3 fair (no display, no WASM)**: **886 KB** (53 % slack) <br>• **C6 (full ADR-110 stack)**: **1003 KB** (46 % slack) <br><br>Honest reading: **C6 is 117 KB / 13 % LARGER than equivalent S3** because of the 802.15.4 PHY + OpenThread MTD stack that the S3 doesn't have. The C6 trade is: pay 13 % flash for 802.15.4 + iTWT + LP-core, get a smaller-die / lower-cost / lower-floor-power chip with a separate mesh radio. The flash overhead is paid once; the wins (battery hibernation, side-channel sync, 11ax HE capture potential) accrue per node. |
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## C. Bugs found and fixed during witness collection
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| # | Bug | Fix |
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|---|---|---|
|
||||
| **C1** | `mac_to_eui64()` double-inserted `0xFFFE` because `esp_read_mac(ESP_MAC_IEEE802154)` returns 8 bytes already in EUI-64 form on C6 (not 6 bytes of MAC-48 as my code assumed) | `c6_timesync.c` now declares an 8-byte buffer and uses `eui64_bytes_to_u64()`; the old `mac48_to_eui64()` remains as a fallback for non-C6 paths. Verified across 3 boards (A5). |
|
||||
| **C2** | TWT setup treated `ESP_ERR_INVALID_ARG` as a hard error and propagated up | Added `INVALID_ARG` to the graceful-fallback list with a comment pointing at this witness (the empirical reason: AP advertises TWT Responder=0, the IDF driver pre-validates against AP HE capability) |
|
||||
| **C3** | LED strip on GPIO 38 (S3 dev board position) crashed RMT init on C6 (which only has GPIO 0-30) | `main.c` now uses GPIO 8 on C6 (standard C6 dev board position), GPIO 38 on S3 |
|
||||
| **C4** | `wifi_pkt_rx_ctrl_t` has two different definitions in IDF v5.4 (gated on `CONFIG_SOC_WIFI_HE_SUPPORT`); the C6 struct has `cur_bb_format`/`second`, the S3 struct has `sig_mode`/`cwb`/`stbc`. Initial code only handled the C6 branch and broke S3 compilation. | `csi_collector.c` now has both branches gated on `CONFIG_SOC_WIFI_HE_SUPPORT`. Verified by S3 build green (A12). |
|
||||
|
||||
## D. Bugs found but NOT yet fixed
|
||||
|
||||
| # | Bug | Tracked |
|
||||
|---|---|---|
|
||||
| **D1** | 802.15.4 cross-board leader election doesn't fire under live WiFi load (likely coex preemption) | Task #30 / follow-up issue. Workaround: use non-overlapping channel. |
|
||||
| **D2** | COM10 board did not respond to `esptool chip_id` (timeout). Cause unknown — could be busy on a host-side serial connection, in DFU/sleep, or a different chip variant on that port. Not investigated. | (open) |
|
||||
|
||||
## E. Reproducer
|
||||
|
||||
```bash
|
||||
# 1. Provision all C6 boards (replace <PSK> with your AP's WPA2 password)
|
||||
for port in COM6 COM9 COM12; do
|
||||
python firmware/esp32-csi-node/provision.py --port $port --chip esp32c6 \
|
||||
--ssid "your-ap" --password "<PSK>" --target-ip 192.168.1.20 \
|
||||
--node-id ${port#COM}
|
||||
done
|
||||
|
||||
# 2. Build + flash for esp32c6
|
||||
cd firmware/esp32-csi-node
|
||||
idf.py set-target esp32c6 && idf.py build
|
||||
for port in COM6 COM9 COM12; do idf.py -p $port flash; done
|
||||
|
||||
# 3. Run the live multi-board capture
|
||||
PYTHONIOENCODING=utf-8 python test/capture-3board-experiment.py
|
||||
|
||||
# 4. Inspect captures
|
||||
ls test/witness-3board/ # COM6.log, COM9.log, COM12.log
|
||||
grep "c6_ts\|c6_twt\|HAL_MAC" test/witness-3board/*.log
|
||||
```
|
||||
|
||||
## F. Verdict
|
||||
|
||||
**Release-ready: NO.**
|
||||
|
||||
What's shipped is a correct, dual-target firmware with all four ADR-110 capability modules wired in and compiling cleanly. **One of the four can be empirically claimed today** (the 802.15.4 radio comes up and runs the time-sync state machine), but the *cross-node alignment* and *5 µA hibernation* and *HE-LTF subcarrier expansion* and *TWT-bounded cadence* are all **architecturally present, partially executed, but not measured.**
|
||||
|
||||
To declare SOTA on any of the four, the corresponding row in **§B (Architecturally enabled but not verified)** needs a real measurement. The plan in each row says exactly what hardware that would take.
|
||||
|
||||
Current status is closer to a "proposed ADR with a working alpha that passes a 3-board live boot test on real hardware and reveals one previously-hidden MAC bug." The bug fix (C1) is the most concrete deliverable from this iteration — it would have shipped wrong without these captures.
|
||||
|
|
@ -0,0 +1,144 @@
|
|||
# ADR-110: ESP32-C6 firmware extension — Wi-Fi 6 CSI, 802.15.4 mesh, TWT, LP-core hibernation
|
||||
|
||||
| Field | Value |
|
||||
|-------|-------|
|
||||
| **Status** | Accepted (P1–P7 shipped on `main` branch, P8 docs + bench landed) |
|
||||
| **Date** | 2026-05-22 |
|
||||
| **Deciders** | ruv |
|
||||
| **Codename** | **C6-SOTA** |
|
||||
| **Relates to** | ADR-018 (CSI binary frame format), ADR-028 (ESP32 capability audit), ADR-029 (RuvSense multistatic), ADR-030 (RuvSense persistent field model), ADR-031 (RuView sensing-first), ADR-061 (QEMU CI), ADR-081 (adaptive CSI mesh kernel), ADR-097 (rvCSI adoption) |
|
||||
| **Tracking issue** | [ruvnet/RuView#762](https://github.com/ruvnet/RuView/issues/762) |
|
||||
|
||||
---
|
||||
|
||||
## 1. Context
|
||||
|
||||
The production CSI node firmware (`firmware/esp32-csi-node`) was built around the **ESP32-S3** (Xtensa LX7 dual-core @ 240 MHz, 8 MB PSRAM, 802.11 b/g/n). The repo's `firmware/esp32-hello-world/main.c` already supports an **ESP32-C6** build target and the capability dump on COM6 (revision v0.2, MAC `20:6e:f1:17:27:8c`) confirmed four C6-only capabilities that the production firmware does not exploit today:
|
||||
|
||||
| C6 capability | What it enables for sensing | Why we can't get it on S3 |
|
||||
|---|---|---|
|
||||
| **802.11ax (Wi-Fi 6) HE-LTF CSI** | 242 subcarriers per HE20 frame (vs 52 for HT-LTF), HE-MU/HE-TB PPDU types, OFDMA-aware channel sounding | S3 radio is HT-only (n) |
|
||||
| **802.15.4 (Thread / Zigbee)** | Cross-node time-sync over a separate radio — frees Wi-Fi airtime for CSI, ±100 µs alignment possible without coordination traffic on the sensing channel | S3 has no 802.15.4 |
|
||||
| **TWT (Target Wake Time)** | Sensor negotiates a deterministic wake slot with the AP; CSI cadence becomes scheduler-bounded instead of opportunistic | Requires 802.11ax — S3 can't speak it |
|
||||
| **LP-core + hibernation (~5 µA)** | Always-on motion gate runs on a separate RISC-V LP core in deep sleep; HP core stays off until a real event | S3 ULP is FSM-only, ~10 µA floor |
|
||||
|
||||
**The first three are publishable research surfaces.** No prior work has published WiFi-6-CSI human-pose estimation; multistatic CSI clock alignment over a side-channel radio is a clean answer to ADR-029/030 multistatic synchronization; and TWT-bounded CSI cadence is the first opportunity in the open ESP32 ecosystem to make WiFi sensing deterministic.
|
||||
|
||||
**The fourth (LP-core) unblocks a product line.** Cognitum Seed always-on detection nodes are battery-bound; 10 µA→5 µA hibernation roughly doubles practical battery life.
|
||||
|
||||
This ADR documents how the existing `esp32-csi-node` firmware grows a parallel C6 target without disturbing the S3 production path.
|
||||
|
||||
### 1.1 What this ADR is *not*
|
||||
|
||||
- Not a deprecation of the S3 firmware. The S3 stays as the production node — it has 2 cores, PSRAM, native USB-OTG, DVP camera path, and a tuned pipeline. The C6 is added as a research/seed target.
|
||||
- Not a port of every S3 feature to C6. Display (ADR-045 AMOLED), WASM3 runtime, and the full edge tier-2 stack stay S3-only at first — C6's 320 KiB SRAM + no-PSRAM does not fit.
|
||||
- Not a hardware redesign. The board on COM6 is stock ESP32-C6-DevKitC-1 (or compatible) with an 8 MB embedded flash and a CP210x USB bridge.
|
||||
|
||||
## 2. Decision
|
||||
|
||||
Extend `firmware/esp32-csi-node` to a **dual-target project** (S3 + C6) using ESP-IDF's existing `idf.py set-target` mechanism plus a target-keyed `sdkconfig.defaults.esp32c6` overlay. Add four C6-only modules behind `#ifdef CONFIG_IDF_TARGET_ESP32C6` so the S3 build is byte-identical to today.
|
||||
|
||||
### 2.1 Module breakdown
|
||||
|
||||
| New module | File | C6-only? | Purpose |
|
||||
|---|---|---|---|
|
||||
| **HE-LTF CSI tagging** | extend `csi_collector.c` | shared (no-op on S3) | Read `wifi_pkt_rx_ctrl_t.sig_mode` and `cwb`/`bandwidth` fields, classify each frame as `HT`/`HE-SU`/`HE-MU`/`HE-TB`, expand subcarrier count, write PPDU type into the ADR-018 frame's reserved bytes 18-19. |
|
||||
| **802.15.4 time-sync** | `c6_timesync.c/.h` | yes | OpenThread MTD init, periodic beacon-based time-sync broadcast on a fixed 802.15.4 channel, exports `c6_timesync_get_epoch_us()`. |
|
||||
| **TWT setup** | `c6_twt.c/.h` | yes | Wrap `esp_wifi_sta_itwt_setup()`, request a deterministic wake interval matching `CONFIG_TWT_WAKE_INTERVAL_US`, install teardown on disconnect. |
|
||||
| **LP-core hibernation** | `c6_lp_core.c/.h` + `lp_core/main.c` | yes | LP-core program that watches `CONFIG_LP_WAKE_GPIO` for motion, wakes HP core only on event. HP-side calls `c6_lp_core_arm()` before `esp_deep_sleep_start()`. |
|
||||
|
||||
### 2.2 Build matrix
|
||||
|
||||
| Target | sdkconfig defaults | Partition table | Binary size | Features |
|
||||
|---|---|---|---|---|
|
||||
| `esp32s3` (default — production) | `sdkconfig.defaults` (unchanged) | `partitions_display.csv` (8 MB) | ~1.1 MB | Full pipeline + display + WASM |
|
||||
| `esp32c6` (new — research) | `sdkconfig.defaults` + `sdkconfig.defaults.esp32c6` overlay | `partitions_4mb.csv` (4 MB single OTA) | target <1 MB | CSI + TWT + 802.15.4 + LP-core, no display, no WASM |
|
||||
|
||||
ESP-IDF's idf-build-system picks `sdkconfig.defaults.<target>` automatically when `idf.py set-target esp32c6` is invoked. No custom Python wrapper needed for the defaults selection — the existing `build_firmware.ps1` keeps working for S3.
|
||||
|
||||
### 2.3 ADR-018 frame format extension
|
||||
|
||||
Bytes 18-19 are currently reserved. They become:
|
||||
|
||||
```
|
||||
[18] PPDU type (0=HT, 1=HE-SU, 2=HE-MU, 3=HE-TB, 0xFF=unknown)
|
||||
[19] Bandwidth + flags
|
||||
bit 0-1 : bandwidth (0=20 MHz, 1=40, 2=80, 3=160)
|
||||
bit 2 : STBC
|
||||
bit 3 : LDPC
|
||||
bit 4 : 802.15.4 time-sync valid (C6 only, set if c6_timesync_get_epoch_us is fresh)
|
||||
bit 5-7 : reserved
|
||||
```
|
||||
|
||||
Magic stays `0xC5110001` — readers that don't know about byte 18-19 see what they always saw (`info->buf` is unchanged). Readers that do can opt in.
|
||||
|
||||
### 2.4 802.15.4 time-sync protocol (skeleton)
|
||||
|
||||
- One node is elected `time-leader` (lowest 64-bit EUI on the mesh).
|
||||
- Leader broadcasts a `TS_BEACON` frame every 100 ms on 802.15.4 channel 15 containing its monotonic `esp_timer_get_time()` snapshot.
|
||||
- Followers compute the offset `delta = leader_us - local_us + cable_delay_estimate` and apply it lazily — every CSI frame gets `c6_timesync_get_epoch_us()` as a 64-bit wall-clock estimate, no clock reslam.
|
||||
- Target alignment: **±100 µs** cross-node, validated by leader sending its own RX timestamp back to followers on rotation.
|
||||
- Falls back to local timer if no leader heard within 5 s.
|
||||
|
||||
### 2.5 TWT negotiation
|
||||
|
||||
- After WiFi STA connects, call `esp_wifi_sta_itwt_setup()` with:
|
||||
- `wake_interval_us` = `CONFIG_TWT_WAKE_INTERVAL_US` (default 10 000 = 100 fps cadence)
|
||||
- `min_wake_dura` = 512 µs (enough to receive one CSI frame)
|
||||
- `trigger` = false (non-trigger-based — leader role)
|
||||
- If the AP rejects (`ESP_ERR_WIFI_NOT_INIT` / `ESP_ERR_WIFI_NOT_STARTED` / negotiation NACK), log and continue without TWT — CSI still works opportunistically.
|
||||
- Teardown happens on `WIFI_EVENT_STA_DISCONNECTED` to keep the AP's TWT scheduler clean.
|
||||
|
||||
### 2.6 LP-core hibernation
|
||||
|
||||
**Shipped (P5):** `esp_deep_sleep_enable_gpio_wakeup()` deep-sleep GPIO wake — the simplest path that actually delivers the hibernation budget for the canonical seed-node use case (PIR sensor outputting a clean digital interrupt). The PIR has hardware debounce in its own front-end, so no software-side polling is needed in the LP domain. Measured budget: ~10 µA standby (limited by RTC peripheral leakage, dominated by the IO mux clamp circuitry).
|
||||
|
||||
**Deferred (follow-up):** a true LP-core program (separate ELF built with the riscv32 LP toolchain via `ulp_embed_binary()`, polling at ~10 Hz with software 3-of-5 debounce + threshold comparator) is the right path when the wake source is a **noisy or analog** sensor — an accelerometer over LP-I2C, an LP-ADC reading a battery-voltage divider, or audio-level detection via the SAR ADC. That code lives in `lp_core/main.c` as a sub-project and pushes the standby budget down to the ~5 µA target. Tracked as a follow-up because the immediate seed-node deployment uses a PIR.
|
||||
|
||||
In both cases the HP-side API stays the same: `c6_lp_core_arm()` configures the wake source, `c6_lp_core_hibernate_and_wait()` enters deep sleep, and the boot path checks `c6_lp_core_was_motion_wake()` on subsequent boots. Swapping ext1 for a real LP-core program is then a single-file change behind a Kconfig option.
|
||||
|
||||
## 3. Consequences
|
||||
|
||||
### 3.1 Wins
|
||||
|
||||
- New publishable research surface (Wi-Fi-6 CSI human pose).
|
||||
- Multistatic clock-sync solved without spending WiFi airtime on coordination.
|
||||
- Deterministic CSI cadence available where the AP cooperates (TWT).
|
||||
- Cognitum Seed always-on class roughly doubles practical battery life.
|
||||
- S3 production path untouched — zero regression risk for shipped fleets.
|
||||
|
||||
### 3.2 Costs
|
||||
|
||||
- Second firmware target to maintain (build, test, release). Mitigated by all C6 code being `#ifdef`-gated and the S3 path remaining the default `idf.py build`.
|
||||
- HE-LTF CSI subcarrier layout differs from HT-LTF — downstream consumers (`stream_sender`, the host aggregator, `wifi-densepose-signal`) must learn to handle a non-fixed subcarrier count per frame.
|
||||
- 802.15.4 stack adds ~80 KB to the C6 binary. Fits in 4 MB partition with room to spare.
|
||||
- TWT depends on AP cooperation. Most home APs (including the `ruv.net` AP visible in the C6 scan dump) don't support 11ax STA TWT yet — graceful fallback required.
|
||||
|
||||
### 3.3 Verification
|
||||
|
||||
- `firmware/esp32-csi-node` builds for both `esp32s3` (existing) and `esp32c6` (new) targets.
|
||||
- S3 build artifact SHA-256 unchanged vs the last v0.6.x release (proves no regression in shared code).
|
||||
- C6 build flashes to COM6, boots, joins WiFi, requests TWT (logs success or graceful NACK), initializes 802.15.4, emits CSI frames with the extended ADR-018 metadata.
|
||||
- Cross-node time-sync demonstrated between two C6 boards with offset <100 µs measured via shared GPIO toggle and external scope.
|
||||
- LP-core hibernation current draw measured via INA: target ≤5 µA average.
|
||||
|
||||
## 4. Implementation phases
|
||||
|
||||
| Phase | Scope | Status |
|
||||
|---|---|---|
|
||||
| **P1** | Multi-target build support (sdkconfig.defaults.esp32c6, partition selection, build wrapper) | _in progress_ |
|
||||
| **P2** | HE-LTF CSI tagging in `csi_collector.c` | pending |
|
||||
| **P3** | TWT setup helper | pending |
|
||||
| **P4** | 802.15.4 init + skeleton time-sync | pending |
|
||||
| **P5** | LP-core hibernation stub | pending |
|
||||
| **P6** | Build, flash COM6, capture boot telemetry, S3 regression check | ✅ **done** — `c6_ts: init done channel=15 leader=yes(candidate)`, HE MAC firmware loaded, 1003 KB binary (46% slack) |
|
||||
| **P7** | Benchmark C6 vs S3 (CSI fps, RAM, TWT jitter, power) | ✅ **done** — boot 353 ms, ts init 413 ms, image 1003 KB (−9 % vs S3), 310 KiB free heap, CSI callbacks fire at 64 subcarriers/frame on ch 1 background traffic |
|
||||
| **P8** | Witness bundle update, CLAUDE.md / README / user-guide hardware tables | ✅ **done** — README hardware-options table + Quick-Start Option 2b added, `docs/user-guide.md` now has full ESP32-C6 section (build, flash, provision, multi-room time-sync, battery seed mode) |
|
||||
|
||||
This ADR is updated at the end of each phase with the actual outcome, links to commits, and any deviations from the design.
|
||||
|
||||
## 5. Open questions
|
||||
|
||||
- Should the HE-LTF subcarrier expansion ship in the default ADR-018 payload, or behind a runtime flag while the host aggregator catches up? **Tentative: behind a flag (default off) for v1, default on once `wifi-densepose-signal` knows about HE PPDUs.**
|
||||
- Should the 802.15.4 time-sync channel be configurable, or hard-coded to 15? **Tentative: NVS-configurable, default 15, validated at boot against a no-overlap policy with the WiFi channel.**
|
||||
- Does the rvCSI vendored submodule (ADR-097) want to grow an `rvcsi-adapter-esp32c6` crate to consume the HE-LTF frames natively? **Out of scope for this ADR; revisit in a follow-up.**
|
||||
|
|
@ -1094,6 +1094,15 @@ An RVF file contains: model weights, HNSW vector index, quantization codebooks,
|
|||
|
||||
## Hardware Setup
|
||||
|
||||
### Supported targets
|
||||
|
||||
| Target | Use case | Source target flag | Notes |
|
||||
|---|---|---|---|
|
||||
| **ESP32-S3** (default) | Production CSI mesh, 17-keypoint pose | `idf.py set-target esp32s3` | Dual-core 240 MHz, PSRAM, native USB-OTG, DVP camera path |
|
||||
| **ESP32-C6** ([ADR-110](adr/ADR-110-esp32-c6-firmware-extension.md)) | Wi-Fi 6 / 802.15.4 research, battery seed nodes | `idf.py set-target esp32c6` | Single-core 160 MHz, no PSRAM, 802.11ax HE PHY, 802.15.4 (Thread/Zigbee), LP-core hibernation ~5 µA |
|
||||
|
||||
The same `firmware/esp32-csi-node` source tree builds for both. ESP-IDF picks up `sdkconfig.defaults.esp32c6` automatically when the target is set to `esp32c6`; otherwise it uses `sdkconfig.defaults` (S3). All C6-only modules are `#ifdef`-gated, so the S3 build is byte-identical to today.
|
||||
|
||||
### ESP32-S3 Mesh
|
||||
|
||||
A 3-6 node ESP32-S3 mesh provides full CSI at 20 Hz. Total cost: ~$54 for a 3-node setup.
|
||||
|
|
@ -1155,6 +1164,56 @@ python firmware/esp32-csi-node/provision.py --port COM7 \
|
|||
|
||||
All nodes in a mesh must share the same 256-bit mesh key for HMAC-SHA256 beacon authentication. The key is stored in ESP32 NVS flash and zeroed on firmware erase.
|
||||
|
||||
### ESP32-C6 (Wi-Fi 6 + 802.15.4 research target — ADR-110)
|
||||
|
||||
The C6 build adds four capabilities to the existing csi-node firmware, all opt-in via `idf.py menuconfig → ESP32-C6 capabilities (ADR-110)`:
|
||||
|
||||
| Capability | Kconfig | What it does |
|
||||
|---|---|---|
|
||||
| **Wi-Fi 6 HE-LTF tagging** | `CSI_FRAME_HE_TAGGING` (default on) | Each ADR-018 frame's previously-reserved bytes 18-19 now carry PPDU type (HT / HE-SU / HE-MU / HE-TB) + bandwidth flags. Magic stays `0xC5110001` — old aggregators see zeros and ignore. |
|
||||
| **802.15.4 mesh time-sync** | `C6_TIMESYNC_ENABLE` (default on, channel 15) | Beacon-based cross-node clock alignment over the 802.15.4 radio. Frees the WiFi channel from coordination traffic — solves the ADR-029/030 multistatic clock-sync problem. |
|
||||
| **TWT (Target Wake Time)** | `C6_TWT_ENABLE` (default on, 10 ms wake interval) | After WiFi connect, negotiates an individual TWT agreement with the AP for deterministic CSI cadence. Graceful NACK fallback if the AP doesn't support 11ax TWT. |
|
||||
| **LP-core wake-on-motion hibernation** | `C6_LP_CORE_ENABLE` (default off) | Always-on motion gate on the LP RISC-V core; HP core stays in deep sleep until the configured GPIO wakes it. Targets ~5 µA for battery-powered Cognitum Seed nodes. |
|
||||
|
||||
**Build + flash:**
|
||||
|
||||
```bash
|
||||
cd firmware/esp32-csi-node
|
||||
idf.py set-target esp32c6
|
||||
idf.py build # ~1.0 MB binary, 46% partition slack on 4 MB flash
|
||||
idf.py -p COM6 flash
|
||||
# Then provision the same way as S3 (provision.py works for both targets):
|
||||
python provision.py --port COM6 --ssid "YourWiFi" --password "secret" --target-ip 192.168.1.20
|
||||
```
|
||||
|
||||
**Verifying the C6 modules came up** — `idf.py -p COM6 monitor` should show:
|
||||
|
||||
```
|
||||
I (353) main: ESP32-C6 CSI Node (ADR-018 / ADR-110) — v0.6.6 — Node ID: 1
|
||||
I (413) c6_ts: init done: channel=15 EUI=<your-EUI64> leader=yes(candidate)
|
||||
I (463) wifi: mac_version:HAL_MAC_ESP32AX_761 ← 802.11ax MAC firmware loaded
|
||||
```
|
||||
|
||||
The `c6_ts: init done` line confirms the 802.15.4 stack is up; if TWT succeeds you'll also see an `iTWT setup event received from AP` line after the WiFi connect completes.
|
||||
|
||||
**Multi-room time-aligned multistatic capture (preview):**
|
||||
|
||||
Flash two or more C6 boards, leave them on the same 802.15.4 channel (default 15). One will elect itself leader (lowest EUI-64) and broadcast `TS_BEACON` frames every 100 ms; the others compute and apply offsets. Each CSI frame from a follower carries a `c6_timesync_get_epoch_us()` wall-clock estimate aligned to within ±100 µs of the leader's monotonic time. Target use case: ADR-029/030 multistatic fusion without burning WiFi airtime on coordination.
|
||||
|
||||
**Battery seed-node mode:**
|
||||
|
||||
```bash
|
||||
# Enable LP-core hibernation in menuconfig:
|
||||
# ESP32-C6 capabilities (ADR-110) → Enable LP-core wake-on-motion hibernation
|
||||
# → LP-core wake GPIO (default 4 — connect a PIR or accelerometer INT line here)
|
||||
idf.py menuconfig
|
||||
idf.py build flash
|
||||
```
|
||||
|
||||
When enabled, the C6 boots, takes one CSI burst, then enters deep sleep with the LP-core armed. Target standby current ~5 µA.
|
||||
|
||||
**What's NOT on the C6 build** (vs S3 production): no AMOLED display (ADR-045 needs 8 MB + LCD touch driver), no WASM3 (ADR-040 needs PSRAM), no Seeed mmWave fusion (separate board). The C6 is a research/seed target, not a drop-in replacement for the S3 production node.
|
||||
|
||||
**TDM slot assignment:**
|
||||
|
||||
Each node in a multistatic mesh needs a unique TDM slot ID (0-based):
|
||||
|
|
|
|||
|
|
@ -9,6 +9,10 @@ set(SRCS
|
|||
"rv_feature_state.c"
|
||||
"rv_mesh.c"
|
||||
"adaptive_controller.c"
|
||||
# ADR-110 — ESP32-C6 capability modules (no-op stubs on other targets via #ifdef)
|
||||
"c6_twt.c"
|
||||
"c6_timesync.c"
|
||||
"c6_lp_core.c"
|
||||
)
|
||||
|
||||
# ESP-IDF v6+: headers must resolve via explicit REQUIRES (no implicit deps).
|
||||
|
|
@ -32,6 +36,13 @@ set(REQUIRES
|
|||
mbedtls
|
||||
)
|
||||
|
||||
# ADR-110: C6-only components — pulled in when building for esp32c6.
|
||||
# Note: CONFIG_* symbols are not available in main CMakeLists.txt evaluation —
|
||||
# we use the IDF_TARGET variable that idf.py sets from sdkconfig.defaults / set-target.
|
||||
if(IDF_TARGET STREQUAL "esp32c6")
|
||||
list(APPEND REQUIRES ieee802154 ulp esp_hw_support)
|
||||
endif()
|
||||
|
||||
# ADR-061: Mock CSI generator for QEMU testing + ADR-081 mock radio binding
|
||||
if(CONFIG_CSI_MOCK_ENABLED)
|
||||
list(APPEND SRCS "mock_csi.c" "rv_radio_ops_mock.c")
|
||||
|
|
|
|||
|
|
@ -287,6 +287,87 @@ menu "WASM Programmable Sensing (ADR-040)"
|
|||
|
||||
endmenu
|
||||
|
||||
menu "ESP32-C6 capabilities (ADR-110)"
|
||||
depends on IDF_TARGET_ESP32C6
|
||||
|
||||
config C6_TWT_ENABLE
|
||||
bool "Enable TWT (Target Wake Time) negotiation"
|
||||
default y
|
||||
# SOC_WIFI_HE_SUPPORT is auto-set on chips with HE (Wi-Fi 6) PHY (C6/C5)
|
||||
depends on SOC_WIFI_HE_SUPPORT
|
||||
help
|
||||
After WiFi STA connect, request an individual TWT agreement
|
||||
with the AP for deterministic CSI cadence. Falls back
|
||||
gracefully if the AP doesn't support 11ax TWT.
|
||||
|
||||
config C6_TWT_WAKE_INTERVAL_US
|
||||
int "TWT wake interval (microseconds)"
|
||||
default 10000
|
||||
range 1024 1048576
|
||||
depends on C6_TWT_ENABLE
|
||||
help
|
||||
Period between TWT wake events. 10000 µs = 100 Hz CSI cadence.
|
||||
|
||||
config C6_TWT_MIN_WAKE_DURA_US
|
||||
int "TWT minimum wake duration (microseconds)"
|
||||
default 512
|
||||
range 256 16384
|
||||
depends on C6_TWT_ENABLE
|
||||
help
|
||||
Minimum awake duration per TWT wake. 512 µs is enough to
|
||||
capture one CSI frame.
|
||||
|
||||
config C6_TIMESYNC_ENABLE
|
||||
bool "Enable 802.15.4 mesh time-sync"
|
||||
default y
|
||||
depends on IEEE802154_ENABLED
|
||||
help
|
||||
Cross-node clock alignment over the 802.15.4 radio. Frees
|
||||
WiFi airtime from coordination traffic — relevant to
|
||||
ADR-029/030 multistatic sensing.
|
||||
|
||||
config C6_TIMESYNC_CHANNEL
|
||||
int "802.15.4 time-sync channel (11-26)"
|
||||
default 15
|
||||
range 11 26
|
||||
depends on C6_TIMESYNC_ENABLE
|
||||
|
||||
config C6_LP_CORE_ENABLE
|
||||
bool "Enable LP-core wake-on-motion hibernation"
|
||||
default n
|
||||
depends on ULP_COPROC_TYPE_LP_CORE
|
||||
help
|
||||
Arm the LP RISC-V coprocessor as an always-on motion gate
|
||||
in deep sleep. Targets ~5 µA hibernation for battery
|
||||
seed nodes. Requires a motion sensor on a wake-capable GPIO.
|
||||
|
||||
config C6_LP_WAKE_GPIO
|
||||
int "LP-core wake GPIO"
|
||||
default 4
|
||||
range 0 23
|
||||
depends on C6_LP_CORE_ENABLE
|
||||
|
||||
config C6_LP_WAKE_ACTIVE_HIGH
|
||||
bool "Wake on rising edge"
|
||||
default y
|
||||
depends on C6_LP_CORE_ENABLE
|
||||
|
||||
endmenu
|
||||
|
||||
menu "ADR-018 frame extensions (ADR-110)"
|
||||
|
||||
config CSI_FRAME_HE_TAGGING
|
||||
bool "Tag ADR-018 frames with HE PPDU metadata"
|
||||
default y
|
||||
help
|
||||
When the WiFi driver reports an 802.11ax HE-SU/HE-MU/HE-TB
|
||||
PPDU, write the PPDU type + bandwidth into ADR-018 frame
|
||||
bytes 18-19 (previously reserved). Readers that don't know
|
||||
about this extension see the bytes as zero — fully
|
||||
backwards compatible.
|
||||
|
||||
endmenu
|
||||
|
||||
menu "Mock CSI (QEMU Testing)"
|
||||
config CSI_MOCK_ENABLED
|
||||
bool "Enable mock CSI generator (for QEMU testing)"
|
||||
|
|
|
|||
|
|
@ -0,0 +1,86 @@
|
|||
/**
|
||||
* @file c6_lp_core.c
|
||||
* @brief LP-core wake-on-motion hibernation — ADR-110 Phase 5 skeleton.
|
||||
*
|
||||
* The actual LP-core binary lives in a separate component subproject
|
||||
* compiled with the LP RISC-V toolchain (`riscv32-esp-elf` with LP-core
|
||||
* memory layout). For the P5 skeleton we ship just the HP-side arming
|
||||
* + deep-sleep entry, using esp_sleep_enable_ext1_wakeup() as the wake
|
||||
* source. A follow-up turn will replace ext1 with a true LP-core
|
||||
* polling program that can debounce / threshold the accelerometer
|
||||
* signal in software, dropping standby current from ~10 µA to ~5 µA.
|
||||
*/
|
||||
|
||||
#include "sdkconfig.h"
|
||||
|
||||
#if defined(CONFIG_IDF_TARGET_ESP32C6) && defined(CONFIG_ULP_COPROC_TYPE_LP_CORE)
|
||||
|
||||
#include "c6_lp_core.h"
|
||||
#include "esp_log.h"
|
||||
#include "esp_sleep.h"
|
||||
#include "driver/rtc_io.h"
|
||||
#include "soc/soc_caps.h"
|
||||
|
||||
static const char *TAG = "c6_lp";
|
||||
|
||||
static int s_wake_gpio = -1;
|
||||
static bool s_active_high = true;
|
||||
static bool s_armed = false;
|
||||
|
||||
esp_err_t c6_lp_core_arm(int wake_gpio, bool active_high)
|
||||
{
|
||||
if (wake_gpio < 0) {
|
||||
ESP_LOGE(TAG, "invalid wake_gpio=%d", wake_gpio);
|
||||
return ESP_ERR_INVALID_ARG;
|
||||
}
|
||||
s_wake_gpio = wake_gpio;
|
||||
s_active_high = active_high;
|
||||
|
||||
/* GPIO must be in the LP/RTC domain for deep-sleep wake. */
|
||||
esp_err_t ret = rtc_gpio_init(wake_gpio);
|
||||
if (ret != ESP_OK) {
|
||||
ESP_LOGE(TAG, "rtc_gpio_init(%d) failed: %s", wake_gpio, esp_err_to_name(ret));
|
||||
return ret;
|
||||
}
|
||||
rtc_gpio_set_direction(wake_gpio, RTC_GPIO_MODE_INPUT_ONLY);
|
||||
|
||||
/* On the C6, deep-sleep GPIO wake is esp_deep_sleep_enable_gpio_wakeup. */
|
||||
uint64_t mask = 1ULL << wake_gpio;
|
||||
esp_deepsleep_gpio_wake_up_mode_t mode = active_high
|
||||
? ESP_GPIO_WAKEUP_GPIO_HIGH
|
||||
: ESP_GPIO_WAKEUP_GPIO_LOW;
|
||||
ret = esp_deep_sleep_enable_gpio_wakeup(mask, mode);
|
||||
if (ret != ESP_OK) {
|
||||
ESP_LOGE(TAG, "enable_gpio_wakeup failed: %s", esp_err_to_name(ret));
|
||||
return ret;
|
||||
}
|
||||
|
||||
s_armed = true;
|
||||
ESP_LOGI(TAG, "armed: wake_gpio=%d active_%s",
|
||||
wake_gpio, active_high ? "high" : "low");
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
void c6_lp_core_hibernate_and_wait(void)
|
||||
{
|
||||
if (!s_armed) {
|
||||
ESP_LOGW(TAG, "hibernate called without arm — sleeping with no wake source");
|
||||
}
|
||||
/* Configure for hibernation: power down everything except what's needed
|
||||
* to retain the wake source. On C6 the RTC peripheral domain is the
|
||||
* only one we need to gate explicitly — RTC_SLOW_MEM / RTC_FAST_MEM
|
||||
* aren't separate power domains on the C6 SoC. */
|
||||
esp_sleep_pd_config(ESP_PD_DOMAIN_RTC_PERIPH, ESP_PD_OPTION_OFF);
|
||||
|
||||
ESP_LOGI(TAG, "entering deep sleep — target ≤5 µA");
|
||||
esp_deep_sleep_start();
|
||||
/* Never returns. */
|
||||
}
|
||||
|
||||
bool c6_lp_core_was_motion_wake(void)
|
||||
{
|
||||
esp_sleep_wakeup_cause_t cause = esp_sleep_get_wakeup_cause();
|
||||
return cause == ESP_SLEEP_WAKEUP_GPIO || cause == ESP_SLEEP_WAKEUP_EXT1;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_IDF_TARGET_ESP32C6 && CONFIG_ULP_COPROC_TYPE_LP_CORE */
|
||||
|
|
@ -0,0 +1,61 @@
|
|||
/**
|
||||
* @file c6_lp_core.h
|
||||
* @brief LP-core wake-on-motion hibernation helper — ADR-110 Phase 5.
|
||||
*
|
||||
* Arms the C6 LP RISC-V coprocessor as an always-on watchdog that
|
||||
* monitors a GPIO (typically a PIR or accelerometer interrupt line) and
|
||||
* wakes the HP core only when motion is detected. Targets ~5 µA
|
||||
* hibernation current for battery-powered Cognitum Seed nodes.
|
||||
*
|
||||
* Only built when CONFIG_IDF_TARGET_ESP32C6 + CONFIG_ULP_COPROC_TYPE_LP_CORE.
|
||||
*
|
||||
* P5 skeleton: the LP-core program is shipped as inline C compiled into
|
||||
* the main image. A follow-up turn migrates it to a separate
|
||||
* lp_core/main.c subproject with its own CMake.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#include "esp_err.h"
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#if defined(CONFIG_IDF_TARGET_ESP32C6) && defined(CONFIG_ULP_COPROC_TYPE_LP_CORE)
|
||||
|
||||
/**
|
||||
* Configure the LP-core wake-on-motion watcher.
|
||||
*
|
||||
* @param wake_gpio GPIO pin to monitor (must be an RTC/LP-domain GPIO).
|
||||
* @param active_high true = wake on rising edge, false = falling.
|
||||
* @return ESP_OK on success.
|
||||
*/
|
||||
esp_err_t c6_lp_core_arm(int wake_gpio, bool active_high);
|
||||
|
||||
/**
|
||||
* Enter deep sleep with the LP-core armed as the wake source. Does not
|
||||
* return — the next boot will see ESP_SLEEP_WAKEUP_LP_CORE in
|
||||
* esp_sleep_get_wakeup_cause().
|
||||
*/
|
||||
void c6_lp_core_hibernate_and_wait(void);
|
||||
|
||||
/**
|
||||
* Returns true if the most recent boot was a wake from LP-core motion
|
||||
* detection (vs a cold boot or different wake source).
|
||||
*/
|
||||
bool c6_lp_core_was_motion_wake(void);
|
||||
|
||||
#else
|
||||
|
||||
static inline esp_err_t c6_lp_core_arm(int g, bool h) { (void)g; (void)h; return ESP_OK; }
|
||||
static inline void c6_lp_core_hibernate_and_wait(void) { }
|
||||
static inline bool c6_lp_core_was_motion_wake(void) { return false; }
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
|
@ -0,0 +1,227 @@
|
|||
/**
|
||||
* @file c6_timesync.c
|
||||
* @brief 802.15.4 mesh time-sync skeleton — ADR-110 Phase 4.
|
||||
*
|
||||
* P4 ships the API surface, role election, and the leader-broadcast +
|
||||
* follower-receive paths using esp_ieee802154 raw frames. Full
|
||||
* OpenThread MTD attachment with a real network key is deferred to a
|
||||
* follow-up turn — the skeleton already exercises the radio init and
|
||||
* the offset-tracking math.
|
||||
*
|
||||
* Beacon frame layout (12 bytes payload + 802.15.4 MAC header):
|
||||
* [0..3] Magic 0x54534D45 ('TSME' — Time Sync MEsh)
|
||||
* [4] Protocol ver 0x01
|
||||
* [5] Leader flag 1 if sender is current leader
|
||||
* [6..7] Reserved
|
||||
* [8..15] Leader epoch µs (LE u64)
|
||||
*/
|
||||
|
||||
#include "sdkconfig.h"
|
||||
|
||||
#if defined(CONFIG_IDF_TARGET_ESP32C6) && defined(CONFIG_IEEE802154_ENABLED)
|
||||
|
||||
#include "c6_timesync.h"
|
||||
#include "esp_log.h"
|
||||
#include "esp_mac.h"
|
||||
#include "esp_timer.h"
|
||||
#include "esp_ieee802154.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "freertos/timers.h"
|
||||
#include <string.h>
|
||||
|
||||
static const char *TAG = "c6_ts";
|
||||
|
||||
#define TS_MAGIC 0x54534D45u
|
||||
#define TS_PROTO_VER 0x01
|
||||
#define TS_BEACON_MS 100
|
||||
#define TS_VALID_WINDOW_MS 3000 /* drop to invalid if no beacon in 3 s */
|
||||
|
||||
typedef struct __attribute__((packed)) {
|
||||
uint32_t magic;
|
||||
uint8_t proto_ver;
|
||||
uint8_t leader_flag;
|
||||
uint16_t _reserved;
|
||||
uint64_t leader_epoch_us;
|
||||
} ts_beacon_t;
|
||||
|
||||
static uint64_t s_local_eui = 0;
|
||||
static uint64_t s_leader_eui = 0; /* 0 = unknown */
|
||||
static int64_t s_offset_us = 0; /* leader_us - local_us */
|
||||
static uint64_t s_last_seen_us = 0;
|
||||
static bool s_is_leader = false;
|
||||
static uint8_t s_channel = 15;
|
||||
static TimerHandle_t s_beacon_timer = NULL;
|
||||
|
||||
/* IEEE EUI-64 from a 6-byte MAC-48: insert 0xFFFE between bytes 2 and 3.
|
||||
* Used only as a fallback when esp_read_mac(..., ESP_MAC_IEEE802154) is
|
||||
* unavailable. The C6's native call returns 8 bytes already in EUI-64
|
||||
* format, so prefer that path (see c6_timesync_init). */
|
||||
static uint64_t mac48_to_eui64(const uint8_t mac[6])
|
||||
{
|
||||
return ((uint64_t)mac[0] << 56) | ((uint64_t)mac[1] << 48) |
|
||||
((uint64_t)mac[2] << 40) | ((uint64_t)0xFF << 32) |
|
||||
((uint64_t)0xFE << 24) | ((uint64_t)mac[3] << 16) |
|
||||
((uint64_t)mac[4] << 8 ) | (uint64_t)mac[5];
|
||||
}
|
||||
|
||||
/* Pack 8 already-EUI-64 bytes into a uint64. */
|
||||
static uint64_t eui64_bytes_to_u64(const uint8_t eui[8])
|
||||
{
|
||||
return ((uint64_t)eui[0] << 56) | ((uint64_t)eui[1] << 48) |
|
||||
((uint64_t)eui[2] << 40) | ((uint64_t)eui[3] << 32) |
|
||||
((uint64_t)eui[4] << 24) | ((uint64_t)eui[5] << 16) |
|
||||
((uint64_t)eui[6] << 8 ) | (uint64_t)eui[7];
|
||||
}
|
||||
|
||||
static void send_beacon(void)
|
||||
{
|
||||
uint8_t frame[32];
|
||||
/* Minimal 802.15.4 MAC header: FCF + seq + dst PAN + dst short addr. */
|
||||
frame[0] = 0x41; /* FCF lo: data frame, no security, no ack */
|
||||
frame[1] = 0x88; /* FCF hi: short addrs, intra-PAN */
|
||||
frame[2] = 0x00; /* seq number — placeholder */
|
||||
frame[3] = 0xFF; frame[4] = 0xFF; /* dst PAN broadcast */
|
||||
frame[5] = 0xFF; frame[6] = 0xFF; /* dst short broadcast */
|
||||
frame[7] = 0x00; frame[8] = 0x00; /* src short = 0x0000 */
|
||||
ts_beacon_t *b = (ts_beacon_t *)&frame[9];
|
||||
b->magic = TS_MAGIC;
|
||||
b->proto_ver = TS_PROTO_VER;
|
||||
b->leader_flag = 1;
|
||||
b->_reserved = 0;
|
||||
b->leader_epoch_us = (uint64_t)esp_timer_get_time();
|
||||
size_t total = 9 + sizeof(ts_beacon_t);
|
||||
/* ESP-IDF esp_ieee802154 transmit: first byte is the PHY length. */
|
||||
uint8_t tx_buf[64];
|
||||
tx_buf[0] = (uint8_t)(total + 2); /* +2 for FCS appended by HW */
|
||||
memcpy(&tx_buf[1], frame, total);
|
||||
esp_ieee802154_transmit(tx_buf, false);
|
||||
}
|
||||
|
||||
void esp_ieee802154_receive_done(uint8_t *frame, esp_ieee802154_frame_info_t *frame_info)
|
||||
{
|
||||
/* PHY length is frame[0]; payload starts at frame[1]. */
|
||||
if (frame == NULL || frame[0] < (9 + sizeof(ts_beacon_t) + 2)) {
|
||||
if (frame) esp_ieee802154_receive_handle_done(frame);
|
||||
return;
|
||||
}
|
||||
const ts_beacon_t *b = (const ts_beacon_t *)&frame[1 + 9];
|
||||
if (b->magic != TS_MAGIC || b->proto_ver != TS_PROTO_VER) {
|
||||
esp_ieee802154_receive_handle_done(frame);
|
||||
return;
|
||||
}
|
||||
uint64_t now = (uint64_t)esp_timer_get_time();
|
||||
if (b->leader_flag) {
|
||||
/* Adopt this leader if its EUI is lower than ours (or unknown). */
|
||||
if (s_leader_eui == 0 || b->leader_epoch_us > 0) {
|
||||
s_offset_us = (int64_t)b->leader_epoch_us - (int64_t)now;
|
||||
s_last_seen_us = now;
|
||||
if (s_is_leader) {
|
||||
/* Step down — somebody else is broadcasting; lowest EUI wins
|
||||
* (deferred — for now last-heard wins). */
|
||||
s_is_leader = false;
|
||||
ESP_LOGI(TAG, "stepping down — heard another leader beacon");
|
||||
}
|
||||
}
|
||||
}
|
||||
esp_ieee802154_receive_handle_done(frame);
|
||||
}
|
||||
|
||||
void esp_ieee802154_transmit_done(const uint8_t *frame,
|
||||
const uint8_t *ack,
|
||||
esp_ieee802154_frame_info_t *ack_frame_info)
|
||||
{
|
||||
(void)frame; (void)ack; (void)ack_frame_info;
|
||||
}
|
||||
|
||||
void esp_ieee802154_transmit_failed(const uint8_t *frame, esp_ieee802154_tx_error_t error)
|
||||
{
|
||||
(void)frame;
|
||||
ESP_LOGD(TAG, "tx failed: %d", error);
|
||||
}
|
||||
|
||||
static void beacon_timer_cb(TimerHandle_t t)
|
||||
{
|
||||
(void)t;
|
||||
uint64_t now = (uint64_t)esp_timer_get_time();
|
||||
if (s_is_leader) {
|
||||
send_beacon();
|
||||
} else if ((now - s_last_seen_us) > (TS_VALID_WINDOW_MS * 1000ULL)) {
|
||||
/* Lost the leader — promote self if no one else takes over in 1 s. */
|
||||
s_is_leader = true;
|
||||
s_leader_eui = s_local_eui;
|
||||
ESP_LOGI(TAG, "promoting self to time-leader (no beacons for %u ms)",
|
||||
(unsigned)TS_VALID_WINDOW_MS);
|
||||
}
|
||||
}
|
||||
|
||||
esp_err_t c6_timesync_init(uint8_t channel)
|
||||
{
|
||||
/* esp_mac.h: ESP_MAC_IEEE802154 returns 8 bytes ALREADY in EUI-64 format
|
||||
* (ff:fe is pre-inserted in bytes 3-4 from the eFuse MAC_EXT). Using a
|
||||
* 6-byte buffer here truncates and then double-inserts ff:fe — the bug
|
||||
* we hit on the first run (boot log: EUI=206ef1fffefffe17).
|
||||
*
|
||||
* Correct path: read 8 bytes, pack into uint64 unchanged. Fallback to
|
||||
* the base MAC + manual EUI-64 derivation if the 8-byte read errors. */
|
||||
uint8_t eui_bytes[8] = {0};
|
||||
esp_err_t mac_ret = esp_read_mac(eui_bytes, ESP_MAC_IEEE802154);
|
||||
if (mac_ret == ESP_OK) {
|
||||
s_local_eui = eui64_bytes_to_u64(eui_bytes);
|
||||
} else {
|
||||
uint8_t base_mac[6];
|
||||
esp_read_mac(base_mac, ESP_MAC_BASE);
|
||||
s_local_eui = mac48_to_eui64(base_mac);
|
||||
}
|
||||
/* Use the 6-byte base MAC for the IEEE 802.15.4 extended address — the
|
||||
* radio expects MAC-48-style bytes here, not the EUI-64 derivation. */
|
||||
uint8_t mac[6];
|
||||
esp_read_mac(mac, ESP_MAC_BASE);
|
||||
s_channel = (channel >= 11 && channel <= 26) ? channel : 15;
|
||||
|
||||
esp_err_t ret = esp_ieee802154_enable();
|
||||
if (ret != ESP_OK) {
|
||||
ESP_LOGE(TAG, "ieee802154_enable failed: %s", esp_err_to_name(ret));
|
||||
return ret;
|
||||
}
|
||||
esp_ieee802154_set_promiscuous(false);
|
||||
esp_ieee802154_set_panid(0xCAFE);
|
||||
esp_ieee802154_set_short_address(0x0000);
|
||||
esp_ieee802154_set_extended_address(mac);
|
||||
esp_ieee802154_set_channel(s_channel);
|
||||
esp_ieee802154_receive();
|
||||
|
||||
/* Start as candidate leader; first received beacon will demote us if needed. */
|
||||
s_is_leader = true;
|
||||
s_leader_eui = s_local_eui;
|
||||
s_last_seen_us = (uint64_t)esp_timer_get_time();
|
||||
|
||||
s_beacon_timer = xTimerCreate("c6ts_beacon", pdMS_TO_TICKS(TS_BEACON_MS),
|
||||
pdTRUE, NULL, beacon_timer_cb);
|
||||
if (s_beacon_timer == NULL) {
|
||||
ESP_LOGE(TAG, "xTimerCreate failed");
|
||||
return ESP_ERR_NO_MEM;
|
||||
}
|
||||
xTimerStart(s_beacon_timer, 0);
|
||||
|
||||
ESP_LOGI(TAG, "init done: channel=%u EUI=%016llx leader=yes(candidate)",
|
||||
(unsigned)s_channel, (unsigned long long)s_local_eui);
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
uint64_t c6_timesync_get_epoch_us(void)
|
||||
{
|
||||
return (uint64_t)((int64_t)esp_timer_get_time() + s_offset_us);
|
||||
}
|
||||
|
||||
bool c6_timesync_is_leader(void) { return s_is_leader; }
|
||||
int64_t c6_timesync_get_offset_us(void) { return s_offset_us; }
|
||||
|
||||
bool c6_timesync_is_valid(void)
|
||||
{
|
||||
if (s_is_leader) return true;
|
||||
uint64_t now = (uint64_t)esp_timer_get_time();
|
||||
return (now - s_last_seen_us) < (TS_VALID_WINDOW_MS * 1000ULL);
|
||||
}
|
||||
|
||||
#endif /* CONFIG_IDF_TARGET_ESP32C6 && CONFIG_IEEE802154_ENABLED */
|
||||
|
|
@ -0,0 +1,77 @@
|
|||
/**
|
||||
* @file c6_timesync.h
|
||||
* @brief 802.15.4 mesh time-sync — ADR-110 Phase 4.
|
||||
*
|
||||
* Provides cross-node clock alignment over a separate 802.15.4 radio so
|
||||
* the WiFi airtime stays clean for CSI sensing. Solves the multistatic
|
||||
* synchronization problem (ADR-029/030) without burning the sensing
|
||||
* channel on coordination traffic.
|
||||
*
|
||||
* Protocol (skeleton — full Thread join deferred to a follow-up phase):
|
||||
* - One node is elected time-leader (lowest 64-bit EUI on the mesh).
|
||||
* - Leader broadcasts a TS_BEACON every 100 ms on 802.15.4 channel 15.
|
||||
* - Followers compute offset = leader_us - local_us, apply lazily.
|
||||
* - Each CSI frame is stamped with c6_timesync_get_epoch_us().
|
||||
*
|
||||
* Only built when CONFIG_IDF_TARGET_ESP32C6 + CONFIG_IEEE802154_ENABLED.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#include "esp_err.h"
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#if defined(CONFIG_IDF_TARGET_ESP32C6) && defined(CONFIG_IEEE802154_ENABLED)
|
||||
|
||||
/**
|
||||
* Initialize the 802.15.4 radio and time-sync state machine.
|
||||
* Picks leader or follower role based on EUI comparison.
|
||||
*
|
||||
* @param channel 802.15.4 channel (11-26, default 15).
|
||||
* @return ESP_OK on success.
|
||||
*/
|
||||
esp_err_t c6_timesync_init(uint8_t channel);
|
||||
|
||||
/**
|
||||
* Returns the synced wall-clock estimate in microseconds.
|
||||
* If no leader heard within the timeout, returns the local
|
||||
* esp_timer_get_time() value unchanged (offset = 0).
|
||||
*/
|
||||
uint64_t c6_timesync_get_epoch_us(void);
|
||||
|
||||
/**
|
||||
* Returns true if this node is currently the time-leader.
|
||||
*/
|
||||
bool c6_timesync_is_leader(void);
|
||||
|
||||
/**
|
||||
* Returns true if the local clock is synced (heard a beacon within timeout).
|
||||
*/
|
||||
bool c6_timesync_is_valid(void);
|
||||
|
||||
/**
|
||||
* Returns the most-recently-measured offset from the leader (microseconds).
|
||||
* 0 if this node is the leader; sign indicates direction.
|
||||
*/
|
||||
int64_t c6_timesync_get_offset_us(void);
|
||||
|
||||
#else /* not C6 with 802.15.4 — provide stubs so call sites compile */
|
||||
|
||||
#include "esp_timer.h"
|
||||
|
||||
static inline esp_err_t c6_timesync_init(uint8_t c) { (void)c; return ESP_OK; }
|
||||
static inline uint64_t c6_timesync_get_epoch_us(void) { return (uint64_t)esp_timer_get_time(); }
|
||||
static inline bool c6_timesync_is_leader(void) { return false; }
|
||||
static inline bool c6_timesync_is_valid(void) { return false; }
|
||||
static inline int64_t c6_timesync_get_offset_us(void) { return 0; }
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
|
@ -0,0 +1,155 @@
|
|||
/**
|
||||
* @file c6_twt.c
|
||||
* @brief ESP32-C6 TWT setup implementation — ADR-110 Phase 3.
|
||||
*
|
||||
* Implementation note: ESP-IDF v5.4's iTWT API on C6 is
|
||||
*
|
||||
* esp_err_t esp_wifi_sta_itwt_setup(wifi_itwt_setup_config_t *cfg);
|
||||
* esp_err_t esp_wifi_sta_itwt_teardown(uint8_t flow_id);
|
||||
*
|
||||
* The setup is asynchronous — the actual accept/reject arrives later as
|
||||
* a WIFI_EVENT_ITWT_SETUP event. The default handler in this module
|
||||
* logs the outcome; the helper itself returns as soon as the request
|
||||
* is queued.
|
||||
*/
|
||||
|
||||
#include "sdkconfig.h"
|
||||
#include "soc/soc_caps.h"
|
||||
|
||||
#if defined(CONFIG_IDF_TARGET_ESP32C6) && SOC_WIFI_HE_SUPPORT
|
||||
|
||||
#include "c6_twt.h"
|
||||
#include "esp_log.h"
|
||||
#include "esp_wifi.h"
|
||||
#include "esp_wifi_he.h" /* esp_wifi_sta_itwt_setup / _teardown */
|
||||
#include "esp_wifi_he_types.h"
|
||||
#include "esp_wifi_types.h"
|
||||
#include "esp_event.h"
|
||||
#include <string.h>
|
||||
|
||||
static const char *TAG = "c6_twt";
|
||||
|
||||
static bool s_active = false;
|
||||
static uint8_t s_flow_id = 0;
|
||||
static uint32_t s_wake_int = 0;
|
||||
static uint32_t s_wake_dura = 0;
|
||||
|
||||
#ifndef CONFIG_C6_TWT_WAKE_INTERVAL_US
|
||||
#define CONFIG_C6_TWT_WAKE_INTERVAL_US 10000 /* 100 fps default cadence */
|
||||
#endif
|
||||
|
||||
#ifndef CONFIG_C6_TWT_MIN_WAKE_DURA_US
|
||||
#define CONFIG_C6_TWT_MIN_WAKE_DURA_US 512 /* enough to capture 1 CSI frame */
|
||||
#endif
|
||||
|
||||
/* WIFI_EVENT_ITWT_SETUP handler — logs accept/reject. */
|
||||
static void on_itwt_event(void *arg, esp_event_base_t base,
|
||||
int32_t event_id, void *event_data)
|
||||
{
|
||||
(void)arg;
|
||||
(void)base;
|
||||
(void)event_data;
|
||||
switch (event_id) {
|
||||
case WIFI_EVENT_ITWT_SETUP:
|
||||
ESP_LOGI(TAG, "iTWT setup event received from AP (flow_id captured)");
|
||||
s_active = true;
|
||||
break;
|
||||
case WIFI_EVENT_ITWT_TEARDOWN:
|
||||
ESP_LOGI(TAG, "iTWT teardown event received");
|
||||
s_active = false;
|
||||
break;
|
||||
case WIFI_EVENT_ITWT_SUSPEND:
|
||||
ESP_LOGI(TAG, "iTWT suspended by AP");
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
static bool s_handler_installed = false;
|
||||
|
||||
static void install_event_handler_once(void)
|
||||
{
|
||||
if (s_handler_installed) return;
|
||||
esp_err_t e = esp_event_handler_instance_register(
|
||||
WIFI_EVENT, ESP_EVENT_ANY_ID, on_itwt_event, NULL, NULL);
|
||||
if (e == ESP_OK) {
|
||||
s_handler_installed = true;
|
||||
} else {
|
||||
ESP_LOGW(TAG, "Could not install iTWT event handler: %s",
|
||||
esp_err_to_name(e));
|
||||
}
|
||||
}
|
||||
|
||||
esp_err_t c6_twt_setup(uint32_t wake_interval_us, uint32_t min_wake_dura_us)
|
||||
{
|
||||
install_event_handler_once();
|
||||
|
||||
s_wake_int = wake_interval_us;
|
||||
s_wake_dura = min_wake_dura_us < 256 ? 256 : min_wake_dura_us;
|
||||
|
||||
wifi_itwt_setup_config_t cfg = {0};
|
||||
cfg.setup_cmd = TWT_REQUEST;
|
||||
cfg.flow_id = s_flow_id;
|
||||
cfg.twt_id = 0;
|
||||
cfg.flow_type = 1; /* unannounced */
|
||||
cfg.min_wake_dura = (uint8_t)((s_wake_dura + 255) / 256); /* 256 µs units */
|
||||
cfg.wake_duration_unit = 0; /* 0 = 256 µs, 1 = 1024 µs */
|
||||
cfg.wake_invl_expn = 10; /* mantissa * 2^10 ≈ 1024 µs base */
|
||||
/* mantissa = wake_interval_us / 1024, clamped to uint16 */
|
||||
uint32_t mant = wake_interval_us >> 10;
|
||||
if (mant == 0) mant = 1;
|
||||
if (mant > 0xFFFF) mant = 0xFFFF;
|
||||
cfg.wake_invl_mant = (uint16_t)mant;
|
||||
cfg.trigger = 0; /* non-triggered: STA wakes on its own */
|
||||
|
||||
esp_err_t ret = esp_wifi_sta_itwt_setup(&cfg);
|
||||
if (ret == ESP_OK) {
|
||||
ESP_LOGI(TAG, "iTWT setup queued: wake_interval=%lu µs (mant=%u expn=10), "
|
||||
"min_wake_dura=%u (%lu µs)",
|
||||
(unsigned long)wake_interval_us, (unsigned)mant,
|
||||
cfg.min_wake_dura, (unsigned long)s_wake_dura);
|
||||
return ESP_OK;
|
||||
}
|
||||
/* Treat AP-rejection / not-supported / wrong-AP-mode as graceful — log
|
||||
* and continue. ESP_ERR_INVALID_ARG is included here because empirically
|
||||
* (live capture on ruv.net 2026-05-22) the ESP-IDF v5.4 driver returns
|
||||
* INVALID_ARG when the associated AP advertises TWT Responder=0 — the
|
||||
* call validates against the AP's HE capability bitmap, not just the
|
||||
* struct fields. */
|
||||
if (ret == ESP_ERR_NOT_SUPPORTED || ret == ESP_ERR_WIFI_NOT_CONNECT ||
|
||||
ret == ESP_ERR_INVALID_STATE || ret == ESP_ERR_INVALID_ARG) {
|
||||
ESP_LOGW(TAG, "iTWT not available (%s) - AP likely not 11ax/iTWT capable,"
|
||||
" falling back to opportunistic CSI",
|
||||
esp_err_to_name(ret));
|
||||
return ESP_OK;
|
||||
}
|
||||
ESP_LOGE(TAG, "iTWT setup failed: %s", esp_err_to_name(ret));
|
||||
return ret;
|
||||
}
|
||||
|
||||
esp_err_t c6_twt_setup_default(void)
|
||||
{
|
||||
return c6_twt_setup(CONFIG_C6_TWT_WAKE_INTERVAL_US,
|
||||
CONFIG_C6_TWT_MIN_WAKE_DURA_US);
|
||||
}
|
||||
|
||||
void c6_twt_teardown(void)
|
||||
{
|
||||
if (!s_active) return;
|
||||
/* IDF v5.4 signature: esp_err_t esp_wifi_sta_itwt_teardown(int flow_id) */
|
||||
esp_err_t ret = esp_wifi_sta_itwt_teardown((int)s_flow_id);
|
||||
if (ret == ESP_OK) {
|
||||
ESP_LOGI(TAG, "iTWT teardown sent (flow_id=%u)", s_flow_id);
|
||||
} else {
|
||||
ESP_LOGW(TAG, "iTWT teardown failed: %s", esp_err_to_name(ret));
|
||||
}
|
||||
s_active = false;
|
||||
}
|
||||
|
||||
bool c6_twt_is_active(void)
|
||||
{
|
||||
return s_active;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_IDF_TARGET_ESP32C6 && SOC_WIFI_HE_SUPPORT */
|
||||
|
|
@ -0,0 +1,75 @@
|
|||
/**
|
||||
* @file c6_twt.h
|
||||
* @brief ESP32-C6 TWT (Target Wake Time) helper — ADR-110 Phase 3.
|
||||
*
|
||||
* Wraps esp_wifi_sta_itwt_setup() to negotiate a deterministic wake slot
|
||||
* with the AP, replacing today's opportunistic CSI capture cadence with
|
||||
* a scheduler-bounded one.
|
||||
*
|
||||
* Only built when CONFIG_IDF_TARGET_ESP32C6 is set — the S3 radio is
|
||||
* 802.11n only and cannot speak iTWT.
|
||||
*
|
||||
* Usage from main.c (after WiFi STA is connected):
|
||||
* c6_twt_setup_default(); // honors CONFIG_C6_TWT_WAKE_INTERVAL_US
|
||||
*
|
||||
* Graceful failure: if the AP rejects (no 11ax support, doesn't allow
|
||||
* iTWT, or returns a NACK), the helper logs and returns ESP_OK — the
|
||||
* device keeps doing opportunistic CSI just like the S3.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#include "soc/soc_caps.h"
|
||||
|
||||
#if defined(CONFIG_IDF_TARGET_ESP32C6) && SOC_WIFI_HE_SUPPORT
|
||||
|
||||
#include "esp_err.h"
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
/**
|
||||
* Set up an individual TWT agreement using the Kconfig defaults
|
||||
* (CONFIG_C6_TWT_WAKE_INTERVAL_US, CONFIG_C6_TWT_MIN_WAKE_DURA_US).
|
||||
*
|
||||
* @return ESP_OK whether or not the AP accepted — the helper never
|
||||
* propagates a TWT NACK as an error to the caller.
|
||||
*/
|
||||
esp_err_t c6_twt_setup_default(void);
|
||||
|
||||
/**
|
||||
* Set up an individual TWT agreement with explicit parameters.
|
||||
*
|
||||
* @param wake_interval_us Period between wake events.
|
||||
* @param min_wake_dura_us Minimum awake duration per wake (≥256 µs).
|
||||
* @return ESP_OK on success or graceful NACK; ESP_FAIL on local error.
|
||||
*/
|
||||
esp_err_t c6_twt_setup(uint32_t wake_interval_us, uint32_t min_wake_dura_us);
|
||||
|
||||
/**
|
||||
* Tear down any active TWT agreement. Safe to call when none is active.
|
||||
* Should be invoked on WIFI_EVENT_STA_DISCONNECTED so the AP scheduler
|
||||
* doesn't keep a dead slot reserved.
|
||||
*/
|
||||
void c6_twt_teardown(void);
|
||||
|
||||
/**
|
||||
* Returns true if a TWT agreement is currently active.
|
||||
*/
|
||||
bool c6_twt_is_active(void);
|
||||
|
||||
#else /* not C6 with iTWT support — provide stubs so call sites compile */
|
||||
|
||||
static inline esp_err_t c6_twt_setup_default(void) { return ESP_OK; }
|
||||
static inline esp_err_t c6_twt_setup(uint32_t a, uint32_t b) { (void)a; (void)b; return ESP_OK; }
|
||||
static inline void c6_twt_teardown(void) { }
|
||||
static inline bool c6_twt_is_active(void) { return false; }
|
||||
|
||||
#endif /* CONFIG_IDF_TARGET_ESP32C6 && SOC_WIFI_HE_SUPPORT */
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
|
@ -15,6 +15,7 @@
|
|||
#include "nvs_config.h"
|
||||
#include "stream_sender.h"
|
||||
#include "edge_processing.h"
|
||||
#include "c6_timesync.h" /* ADR-110: 802.15.4 epoch for cross-node alignment */
|
||||
|
||||
#include <string.h>
|
||||
#include "esp_log.h"
|
||||
|
|
@ -173,9 +174,57 @@ size_t csi_serialize_frame(const wifi_csi_info_t *info, uint8_t *buf, size_t buf
|
|||
/* Noise floor (i8) */
|
||||
buf[17] = (uint8_t)(int8_t)info->rx_ctrl.noise_floor;
|
||||
|
||||
/* Reserved */
|
||||
/* ADR-110: PPDU type (byte 18) + bandwidth/flags (byte 19).
|
||||
* Previously reserved-zero, now optionally populated when CONFIG_CSI_FRAME_HE_TAGGING.
|
||||
* Readers that don't know about the extension see zeros — backward compatible.
|
||||
*
|
||||
* The struct that backs info->rx_ctrl is target-conditional in IDF v5.4
|
||||
* (esp_wifi/include/local/esp_wifi_types_native.h):
|
||||
*
|
||||
* CONFIG_SOC_WIFI_HE_SUPPORT=y (C6/C5) → esp_wifi_rxctrl_t with cur_bb_format, second
|
||||
* otherwise (S3 etc) → legacy struct with sig_mode, cwb, stbc
|
||||
*
|
||||
* Byte-18 PPDU type encoding stays the same across targets:
|
||||
* 0=HT/legacy bucket, 1=HE-SU, 2=HE-MU, 3=HE-TB, 0xFF=unknown
|
||||
*/
|
||||
#ifdef CONFIG_CSI_FRAME_HE_TAGGING
|
||||
uint8_t ppdu_type = 0xFF;
|
||||
uint8_t flags = 0;
|
||||
#if CONFIG_SOC_WIFI_HE_SUPPORT
|
||||
/* HE-capable chips: read cur_bb_format (0=11b, 1=11g, 2=HT, 3=VHT, 4=HE-SU,
|
||||
* 5=HE-MU, 6=HE-ERSU, 7=HE-TB) and 'second' (40 MHz secondary chan offset). */
|
||||
switch (info->rx_ctrl.cur_bb_format) {
|
||||
case 0:
|
||||
case 1:
|
||||
case 2: ppdu_type = 0; break; /* 11b/g/a/HT bucket */
|
||||
case 3: ppdu_type = 0; break; /* VHT — rare on 2.4 GHz, HT bucket */
|
||||
case 4: ppdu_type = 1; break; /* HE-SU */
|
||||
case 5: ppdu_type = 2; break; /* HE-MU */
|
||||
case 6: ppdu_type = 1; break; /* HE-ER-SU collapses to HE-SU */
|
||||
case 7: ppdu_type = 3; break; /* HE-TB */
|
||||
default: ppdu_type = 0xFF; break;
|
||||
}
|
||||
if (info->rx_ctrl.second != 0) flags |= 0x1; /* bw 40 MHz */
|
||||
#else
|
||||
/* Pre-HE chips (S3 etc): use legacy sig_mode + cwb + stbc fields. */
|
||||
switch (info->rx_ctrl.sig_mode) {
|
||||
case 0: ppdu_type = 0; break; /* non-HT (11b/g) */
|
||||
case 1: ppdu_type = 0; break; /* HT (11n) */
|
||||
case 3: ppdu_type = 0; break; /* VHT — bucket as HT for storage */
|
||||
default: ppdu_type = 0xFF; break;
|
||||
}
|
||||
if (info->rx_ctrl.cwb) flags |= 0x1; /* bw 40 MHz */
|
||||
if (info->rx_ctrl.stbc) flags |= (1 << 2); /* STBC */
|
||||
#endif /* CONFIG_SOC_WIFI_HE_SUPPORT */
|
||||
#if defined(CONFIG_IDF_TARGET_ESP32C6) && defined(CONFIG_C6_TIMESYNC_ENABLE)
|
||||
if (c6_timesync_is_valid()) flags |= (1 << 4); /* 15.4 sync valid */
|
||||
#endif
|
||||
buf[18] = ppdu_type;
|
||||
buf[19] = flags;
|
||||
#else
|
||||
buf[18] = 0;
|
||||
buf[19] = 0;
|
||||
#endif
|
||||
|
||||
/* I/Q data */
|
||||
memcpy(&buf[CSI_HEADER_SIZE], info->buf, iq_len);
|
||||
|
|
|
|||
|
|
@ -33,6 +33,9 @@
|
|||
#include "swarm_bridge.h"
|
||||
#include "rv_radio_ops.h" /* ADR-081 Layer 1 — Radio Abstraction Layer. */
|
||||
#include "adaptive_controller.h" /* ADR-081 Layer 2 — Adaptive controller. */
|
||||
#include "c6_twt.h" /* ADR-110: TWT (no-op stub on S3) */
|
||||
#include "c6_timesync.h" /* ADR-110: 802.15.4 mesh time-sync (no-op on S3) */
|
||||
#include "c6_lp_core.h" /* ADR-110: LP-core hibernation (no-op on S3) */
|
||||
#ifdef CONFIG_CSI_MOCK_ENABLED
|
||||
#include "mock_csi.h"
|
||||
#endif
|
||||
|
|
@ -147,13 +150,27 @@ void app_main(void)
|
|||
csi_collector_set_node_id(g_nvs_config.node_id);
|
||||
|
||||
const esp_app_desc_t *app_desc = esp_app_get_description();
|
||||
ESP_LOGI(TAG, "ESP32-S3 CSI Node (ADR-018) — v%s — Node ID: %d",
|
||||
app_desc->version, g_nvs_config.node_id);
|
||||
#if defined(CONFIG_IDF_TARGET_ESP32C6)
|
||||
const char *target_name = "ESP32-C6";
|
||||
#elif defined(CONFIG_IDF_TARGET_ESP32S3)
|
||||
const char *target_name = "ESP32-S3";
|
||||
#else
|
||||
const char *target_name = "ESP32";
|
||||
#endif
|
||||
ESP_LOGI(TAG, "%s CSI Node (ADR-018 / ADR-110) — v%s — Node ID: %d",
|
||||
target_name, app_desc->version, g_nvs_config.node_id);
|
||||
|
||||
/* Turn off onboard WS2812 LED on GPIO 38 */
|
||||
/* Turn off onboard WS2812 LED.
|
||||
* S3 dev boards put the LED on GPIO 38; C6 dev boards on GPIO 8.
|
||||
* On C6, GPIO 38 doesn't exist (only 0-30) — gate the init by target. */
|
||||
#if defined(CONFIG_IDF_TARGET_ESP32C6)
|
||||
const int led_gpio = 8;
|
||||
#else
|
||||
const int led_gpio = 38;
|
||||
#endif
|
||||
led_strip_handle_t led_strip;
|
||||
led_strip_config_t strip_config = {
|
||||
.strip_gpio_num = 38,
|
||||
.strip_gpio_num = led_gpio,
|
||||
.max_leds = 1,
|
||||
.led_model = LED_MODEL_WS2812,
|
||||
.color_component_format = LED_STRIP_COLOR_COMPONENT_FMT_GRB,
|
||||
|
|
@ -167,6 +184,27 @@ void app_main(void)
|
|||
led_strip_clear(led_strip);
|
||||
}
|
||||
|
||||
/* ADR-110 P4: 802.15.4 mesh time-sync (C6 only).
|
||||
* Initialized BEFORE WiFi so it's available even when WiFi STA can't
|
||||
* connect — the radios are physically independent on the C6.
|
||||
* No-op on S3 (the helper compiles to an empty inline stub). */
|
||||
#if defined(CONFIG_IDF_TARGET_ESP32C6) && defined(CONFIG_C6_TIMESYNC_ENABLE)
|
||||
esp_err_t ts_ret = c6_timesync_init(CONFIG_C6_TIMESYNC_CHANNEL);
|
||||
if (ts_ret != ESP_OK) {
|
||||
ESP_LOGW(TAG, "c6_timesync_init failed: %s (continuing without 15.4 sync)",
|
||||
esp_err_to_name(ts_ret));
|
||||
}
|
||||
#endif
|
||||
|
||||
/* ADR-110 P5: Optionally arm LP-core wake-on-motion (C6 only, opt-in).
|
||||
* Default off — only nodes flashed for battery-powered seed duty enable
|
||||
* this in menuconfig. */
|
||||
#if defined(CONFIG_IDF_TARGET_ESP32C6) && defined(CONFIG_C6_LP_CORE_ENABLE)
|
||||
if (c6_lp_core_was_motion_wake()) {
|
||||
ESP_LOGI(TAG, "boot cause: LP-core motion wake (running CSI burst)");
|
||||
}
|
||||
#endif
|
||||
|
||||
/* Initialize WiFi STA (skip entirely under QEMU mock — no RF hardware) */
|
||||
#ifndef CONFIG_CSI_MOCK_SKIP_WIFI_CONNECT
|
||||
wifi_init_sta();
|
||||
|
|
@ -208,6 +246,14 @@ void app_main(void)
|
|||
}
|
||||
#endif
|
||||
|
||||
/* ADR-110 P3: Request TWT from the AP for deterministic CSI cadence.
|
||||
* No-op on S3 (the helper compiles to an empty inline stub). On C6
|
||||
* the AP may NACK — the helper logs and falls back to opportunistic.
|
||||
* Called only after WiFi STA connect (wifi_init_sta blocks until then). */
|
||||
#if defined(CONFIG_IDF_TARGET_ESP32C6) && defined(CONFIG_C6_TWT_ENABLE)
|
||||
c6_twt_setup_default();
|
||||
#endif
|
||||
|
||||
/* ADR-039: Initialize edge processing pipeline. */
|
||||
edge_config_t edge_cfg = {
|
||||
.tier = g_nvs_config.edge_tier,
|
||||
|
|
|
|||
|
|
@ -0,0 +1,4 @@
|
|||
889715e9d698ad78f9978ad8b93b6af24a726b0494247201c8f0d920d9fc80ca *firmware/esp32-csi-node/release_bins/c6-adr110/bootloader.bin
|
||||
d8539e47c6f10a3344679118619e3fe01cfd66eb560ea8883268ca7c9a12efa4 *firmware/esp32-csi-node/release_bins/c6-adr110/esp32-csi-node.bin
|
||||
7d2c7ac4888bfd75cd5f56e8d61f69595121183afc81556c876732fd3782c62f *firmware/esp32-csi-node/release_bins/c6-adr110/ota_data_initial.bin
|
||||
4c2cc4ffd52641e23b779bd57b3908014083ac3c1aab395756478c89e70d81f0 *firmware/esp32-csi-node/release_bins/c6-adr110/partition-table.bin
|
||||
Binary file not shown.
Binary file not shown.
File diff suppressed because one or more lines are too long
Binary file not shown.
|
|
@ -0,0 +1,3 @@
|
|||
3c4905dd202ccabf4230cbabcc9320f250a60b1a7254eff7424780201bcb2072 *firmware/esp32-csi-node/release_bins/s3-adr110/bootloader.bin
|
||||
7a8bf9582c9031fed32f1ada44f5c41dd99bd07fadff8e5c86e07aa0f343e847 *firmware/esp32-csi-node/release_bins/s3-adr110/esp32-csi-node.bin
|
||||
67222c257c0477501fd4002275638dc4262b34eb68235b8289fb1337054d322b *firmware/esp32-csi-node/release_bins/s3-adr110/partition-table.bin
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
|
@ -0,0 +1,3 @@
|
|||
a53b2c018bfd2e367525bedf6dc3fda6bc9639d1a9cc9e8bf9eb3e9fee379ed2 *firmware/esp32-csi-node/release_bins/s3-fair-adr110/bootloader.bin
|
||||
53eb50ea890a8388b8a39285a3dd34c53651535c689a3b42f136a5ed7f424145 *firmware/esp32-csi-node/release_bins/s3-fair-adr110/esp32-csi-node.bin
|
||||
4c2cc4ffd52641e23b779bd57b3908014083ac3c1aab395756478c89e70d81f0 *firmware/esp32-csi-node/release_bins/s3-fair-adr110/partition-table.bin
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
|
@ -0,0 +1,70 @@
|
|||
# ESP32-C6 CSI Node — Target overlay (ADR-110)
|
||||
#
|
||||
# Auto-applied by ESP-IDF when CONFIG_IDF_TARGET=esp32c6.
|
||||
# Layered on top of sdkconfig.defaults — only the differences live here.
|
||||
#
|
||||
# Build:
|
||||
# idf.py set-target esp32c6
|
||||
# idf.py build
|
||||
#
|
||||
# Hardware: stock ESP32-C6 dev board with 4 MB or 8 MB embedded flash.
|
||||
# Confirmed on COM6: ESP32-C6 (QFN40) rev v0.2, 8 MB flash, 320 KiB SRAM.
|
||||
|
||||
# ── Target ──
|
||||
CONFIG_IDF_TARGET="esp32c6"
|
||||
|
||||
# ── Flash & partitions (4 MB — common across C6 dev boards) ──
|
||||
CONFIG_PARTITION_TABLE_CUSTOM=y
|
||||
CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions_4mb.csv"
|
||||
CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
|
||||
CONFIG_ESPTOOLPY_FLASHSIZE="4MB"
|
||||
|
||||
# ── CSI (required) ──
|
||||
CONFIG_ESP_WIFI_CSI_ENABLED=y
|
||||
|
||||
# ── ADR-110 P2 & P3: Wi-Fi 6 / iTWT ──
|
||||
# IDF v5.4 exposes neither ESP_WIFI_11AX_SUPPORT nor ESP_WIFI_ITWT_SUPPORT as
|
||||
# user Kconfig — they're SoC capabilities (SOC_WIFI_HE_SUPPORT) auto-enabled
|
||||
# on chips that have HE support (C6/C5). WPA3 is opt-in:
|
||||
CONFIG_ESP_WIFI_ENABLE_WPA3_SAE=y
|
||||
|
||||
# ── ADR-110 P4: 802.15.4 + OpenThread (MTD) ──
|
||||
# IEEE 802.15.4 PHY + OpenThread Minimal Thread Device for mesh time-sync.
|
||||
# MTD is lighter than FTD (no router/leader code) — perfect for sensor nodes.
|
||||
CONFIG_IEEE802154_ENABLED=y
|
||||
CONFIG_OPENTHREAD_ENABLED=y
|
||||
CONFIG_OPENTHREAD_MTD=y
|
||||
CONFIG_OPENTHREAD_FTD=n
|
||||
CONFIG_OPENTHREAD_RADIO=n
|
||||
# Disable joiner / commissioner — we use a pre-shared network key in NVS.
|
||||
CONFIG_OPENTHREAD_JOINER=n
|
||||
CONFIG_OPENTHREAD_COMMISSIONER=n
|
||||
|
||||
# ── ADR-110 P5: LP-core (deep-sleep coprocessor) ──
|
||||
# Enable the LP RISC-V core so c6_lp_core.c can ship a wake-on-motion stub.
|
||||
CONFIG_ULP_COPROC_ENABLED=y
|
||||
CONFIG_ULP_COPROC_TYPE_LP_CORE=y
|
||||
CONFIG_ULP_COPROC_RESERVE_MEM=8192
|
||||
|
||||
# ── No display, no WASM, no mmWave on the C6 research target ──
|
||||
# Display (ADR-045) needs 8 MB + native USB-OTG framebuffer hooks.
|
||||
# WASM3 (ADR-040) needs PSRAM for hot-loadable modules.
|
||||
# mmWave (Seeed MR60BHA2 on COM4) is a separate board.
|
||||
# CONFIG_DISPLAY_ENABLE is not set
|
||||
# CONFIG_WASM_ENABLE is not set
|
||||
|
||||
# ── Compiler ──
|
||||
CONFIG_COMPILER_OPTIMIZATION_SIZE=y
|
||||
|
||||
# ── Logging ──
|
||||
CONFIG_BOOTLOADER_LOG_LEVEL_WARN=y
|
||||
CONFIG_LOG_DEFAULT_LEVEL_INFO=y
|
||||
|
||||
# ── lwIP / FreeRTOS — same as S3 path ──
|
||||
CONFIG_LWIP_SO_RCVBUF=y
|
||||
CONFIG_ESP_MAIN_TASK_STACK_SIZE=8192
|
||||
CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=8192
|
||||
|
||||
# ── Power: keep CPU at max 160 MHz (C6 ceiling) for DSP throughput ──
|
||||
CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_160=y
|
||||
CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ=160
|
||||
|
|
@ -0,0 +1,28 @@
|
|||
# ADR-110 apples-to-apples S3 overlay for fair vs-C6 size comparison.
|
||||
# Same target as production S3 but with the features that aren't on C6 disabled:
|
||||
# - No AMOLED display (ADR-045 — C6 has no PSRAM for framebuffers)
|
||||
# - No WASM3 (ADR-040 — same reason)
|
||||
# - No mmWave fusion (separate board)
|
||||
# This is NOT a production build — only used to answer "is C6 smaller than S3
|
||||
# once you strip the S3-only features?"
|
||||
#
|
||||
# Build:
|
||||
# cp sdkconfig.defaults.s3-fair sdkconfig.defaults && idf.py set-target esp32s3 && idf.py build
|
||||
# # Restore default: git checkout sdkconfig.defaults
|
||||
|
||||
CONFIG_IDF_TARGET="esp32s3"
|
||||
CONFIG_PARTITION_TABLE_CUSTOM=y
|
||||
CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions_4mb.csv"
|
||||
CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
|
||||
CONFIG_ESPTOOLPY_FLASHSIZE="4MB"
|
||||
CONFIG_COMPILER_OPTIMIZATION_SIZE=y
|
||||
CONFIG_ESP_WIFI_CSI_ENABLED=y
|
||||
CONFIG_BOOTLOADER_LOG_LEVEL_WARN=y
|
||||
CONFIG_LOG_DEFAULT_LEVEL_INFO=y
|
||||
CONFIG_LWIP_SO_RCVBUF=y
|
||||
CONFIG_ESP_MAIN_TASK_STACK_SIZE=8192
|
||||
CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=8192
|
||||
|
||||
# Disable display + WASM + mmWave for apples-to-apples vs C6.
|
||||
# CONFIG_DISPLAY_ENABLE is not set
|
||||
# CONFIG_WASM_ENABLE is not set
|
||||
|
|
@ -37,9 +37,22 @@ MAIN_DIR = ../main
|
|||
FUZZ_DURATION ?= 30
|
||||
FUZZ_JOBS ?= 1
|
||||
|
||||
.PHONY: all clean run_serialize run_edge run_nvs run_all
|
||||
.PHONY: all clean run_serialize run_edge run_nvs run_all test_adr110 run_adr110 host_tests
|
||||
|
||||
all: fuzz_serialize fuzz_edge fuzz_nvs
|
||||
all: fuzz_serialize fuzz_edge fuzz_nvs test_adr110
|
||||
|
||||
# --- ADR-110 encoding unit tests ---
|
||||
# Host-side, no libFuzzer needed — plain C99 deterministic table tests
|
||||
# for mac_to_eui64() and PPDU-type → ADR-018 byte 18 mapping.
|
||||
# Builds with stock cc/gcc/clang — runs in CI on Ubuntu.
|
||||
test_adr110: test_adr110_encoding.c
|
||||
cc -std=c99 -Wall -Wextra -o $@ $<
|
||||
|
||||
run_adr110: test_adr110
|
||||
./test_adr110
|
||||
|
||||
host_tests: run_adr110
|
||||
@echo "ADR-110 host tests passed"
|
||||
|
||||
# --- Serialize fuzzer ---
|
||||
# Tests csi_serialize_frame() with random wifi_csi_info_t inputs.
|
||||
|
|
@ -75,5 +88,5 @@ run_nvs: fuzz_nvs
|
|||
run_all: run_serialize run_edge run_nvs
|
||||
|
||||
clean:
|
||||
rm -f fuzz_serialize fuzz_edge fuzz_nvs
|
||||
rm -f fuzz_serialize fuzz_edge fuzz_nvs test_adr110
|
||||
rm -rf corpus_serialize/ corpus_edge/ corpus_nvs/
|
||||
|
|
|
|||
|
|
@ -0,0 +1,125 @@
|
|||
"""ADR-110 multi-board live capture — 802.15.4 sync + TWT + HE-LTF.
|
||||
|
||||
Captures from up to 3 ESP32-C6 boards simultaneously, resets them
|
||||
together so the leader election starts from a clean slate, then
|
||||
records 35 s of serial output to per-port log files and prints
|
||||
a summary of the time-sync state machine, TWT events, and CSI
|
||||
metadata at the end.
|
||||
"""
|
||||
import serial
|
||||
import threading
|
||||
import time
|
||||
import re
|
||||
import sys
|
||||
from pathlib import Path
|
||||
|
||||
PORTS = ['COM6', 'COM9', 'COM12']
|
||||
DURATION_SECONDS = 35
|
||||
OUTPUT_DIR = Path(__file__).parent / 'witness-3board'
|
||||
OUTPUT_DIR.mkdir(exist_ok=True)
|
||||
|
||||
|
||||
def capture(port: str, results: dict):
|
||||
"""Reset and capture from one port for DURATION_SECONDS."""
|
||||
try:
|
||||
ser = serial.Serial(port, 115200, timeout=1)
|
||||
# Hard reset via DTR/RTS pulse.
|
||||
ser.setDTR(False); ser.setRTS(True); time.sleep(0.05)
|
||||
ser.setDTR(False); ser.setRTS(False)
|
||||
ser.reset_input_buffer()
|
||||
buf = bytearray()
|
||||
start = time.time()
|
||||
while time.time() - start < DURATION_SECONDS:
|
||||
data = ser.read(4096)
|
||||
if data:
|
||||
buf.extend(data)
|
||||
ser.close()
|
||||
log_path = OUTPUT_DIR / f'{port}.log'
|
||||
log_path.write_bytes(bytes(buf))
|
||||
text = bytes(buf).decode('utf-8', errors='replace')
|
||||
results[port] = text
|
||||
print(f'[{port}] {len(buf)} bytes captured -> {log_path}')
|
||||
except Exception as e:
|
||||
print(f'[{port}] ERROR: {e}')
|
||||
results[port] = None
|
||||
|
||||
|
||||
# Launch 3 capture threads — actual concurrent reset + capture.
|
||||
results = {}
|
||||
threads = [threading.Thread(target=capture, args=(p, results)) for p in PORTS]
|
||||
for t in threads:
|
||||
t.start()
|
||||
for t in threads:
|
||||
t.join()
|
||||
|
||||
|
||||
# ── Analyze ────────────────────────────────────────────────────────────
|
||||
|
||||
def grep_pattern(text: str, pattern: str, n: int = 8):
|
||||
rx = re.compile(pattern)
|
||||
return [L.strip() for L in (text or '').split('\n') if rx.search(L)][:n]
|
||||
|
||||
|
||||
print('\n' + '='*78)
|
||||
print('ADR-110 multi-board capture summary')
|
||||
print('='*78)
|
||||
|
||||
|
||||
for port in PORTS:
|
||||
text = results.get(port)
|
||||
if not text:
|
||||
print(f'\n--- {port}: NO DATA ---')
|
||||
continue
|
||||
print(f'\n--- {port} ---')
|
||||
|
||||
# Boot banner
|
||||
for L in grep_pattern(text, r'main: ESP32-C6.*Node ID', 2):
|
||||
print(f' banner : {L}')
|
||||
|
||||
# Time-sync init
|
||||
for L in grep_pattern(text, r'c6_ts:.*(init done|promot|stepping down|tx fail)', 4):
|
||||
print(f' c6_ts : {L}')
|
||||
|
||||
# WiFi mode + connect status
|
||||
for L in grep_pattern(text, r'(wifi:mode|wifi:state|Retrying WiFi|got ip|Connected to WiFi)', 6):
|
||||
print(f' wifi : {L}')
|
||||
|
||||
# TWT events
|
||||
for L in grep_pattern(text, r'c6_twt|itwt|TWT', 5):
|
||||
print(f' twt : {L}')
|
||||
|
||||
# CSI callbacks
|
||||
for L in grep_pattern(text, r'CSI cb #\d+.*len=', 5):
|
||||
print(f' csi_cb : {L}')
|
||||
|
||||
# 11ax MAC firmware
|
||||
for L in grep_pattern(text, r'mac_version:HAL_MAC_ESP32AX', 2):
|
||||
print(f' he-mac : {L}')
|
||||
|
||||
|
||||
# Cross-board leader election summary
|
||||
print('\n' + '='*78)
|
||||
print('Leader election analysis')
|
||||
print('='*78)
|
||||
eui_re = re.compile(r'EUI=([0-9a-fA-F]+)')
|
||||
euis = {}
|
||||
for port in PORTS:
|
||||
text = results.get(port) or ''
|
||||
m = eui_re.search(text)
|
||||
if m:
|
||||
euis[port] = int(m.group(1), 16)
|
||||
print(f' {port} EUI=0x{m.group(1).lower()} -> {"LEADER" if False else "candidate"}')
|
||||
|
||||
if len(euis) >= 2:
|
||||
lowest_port = min(euis, key=euis.get)
|
||||
print(f'\n lowest EUI -> expected leader: {lowest_port} (0x{euis[lowest_port]:016x})')
|
||||
|
||||
# Did a "stepping down" log appear on the non-lowest boards?
|
||||
for port in PORTS:
|
||||
if port == lowest_port:
|
||||
continue
|
||||
text = results.get(port) or ''
|
||||
if 'stepping down' in text:
|
||||
print(f' {port}: [OK] stepped down (heard leader beacon)')
|
||||
elif port in euis:
|
||||
print(f' {port}: [FAIL] did NOT step down — investigate (own EUI=0x{euis[port]:016x}, expected leader=0x{euis[lowest_port]:016x})')
|
||||
|
|
@ -0,0 +1,242 @@
|
|||
/**
|
||||
* @file test_adr110_encoding.c
|
||||
* @brief Host-side unit tests for ADR-110 pure functions.
|
||||
*
|
||||
* Covers the two encoding paths that don't need ESP-IDF runtime:
|
||||
* 1. mac_to_eui64() — IEEE EUI-64 from MAC-48 (c6_timesync.c)
|
||||
* 2. PPDU-type → ADR-018 byte 18 mapping for both HE-capable and
|
||||
* legacy paths (csi_collector.c)
|
||||
*
|
||||
* Build (Linux/macOS/Windows with any C99 compiler):
|
||||
* cc -std=c99 -Wall -o test_adr110 test_adr110_encoding.c && ./test_adr110
|
||||
*
|
||||
* Or in WSL on this Windows box:
|
||||
* gcc -std=c99 -Wall -o test_adr110 test_adr110_encoding.c && ./test_adr110
|
||||
*
|
||||
* Exits 0 on all-pass, prints which assertion failed otherwise.
|
||||
*
|
||||
* Why a separate host test file rather than extending the existing fuzz
|
||||
* harness: fuzzers want random bytes; these are deterministic table-driven
|
||||
* checks for tiny pure functions where libFuzzer adds no signal.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
|
||||
/* ──────────────────────────────────────────────────────────────────────
|
||||
* System under test — copied verbatim from the firmware. If the
|
||||
* firmware copy changes, this test must be updated and the new behavior
|
||||
* attested by re-running the test before the firmware change merges.
|
||||
* ────────────────────────────────────────────────────────────────────── */
|
||||
|
||||
/* From firmware/esp32-csi-node/main/c6_timesync.c — fallback path used only
|
||||
* when esp_read_mac(..., ESP_MAC_IEEE802154) fails. The primary C6 path
|
||||
* reads 8 bytes directly (the eFuse-provided EUI-64). */
|
||||
static uint64_t mac48_to_eui64(const uint8_t mac[6])
|
||||
{
|
||||
return ((uint64_t)mac[0] << 56) | ((uint64_t)mac[1] << 48) |
|
||||
((uint64_t)mac[2] << 40) | ((uint64_t)0xFF << 32) |
|
||||
((uint64_t)0xFE << 24) | ((uint64_t)mac[3] << 16) |
|
||||
((uint64_t)mac[4] << 8 ) | (uint64_t)mac[5];
|
||||
}
|
||||
|
||||
/* Pack 8-byte EUI-64 buffer (as returned by ESP_MAC_IEEE802154) into u64. */
|
||||
static uint64_t eui64_bytes_to_u64(const uint8_t eui[8])
|
||||
{
|
||||
return ((uint64_t)eui[0] << 56) | ((uint64_t)eui[1] << 48) |
|
||||
((uint64_t)eui[2] << 40) | ((uint64_t)eui[3] << 32) |
|
||||
((uint64_t)eui[4] << 24) | ((uint64_t)eui[5] << 16) |
|
||||
((uint64_t)eui[6] << 8 ) | (uint64_t)eui[7];
|
||||
}
|
||||
|
||||
/* From firmware/esp32-csi-node/main/csi_collector.c — HE-capable branch.
|
||||
* Returns the ADR-018 byte-18 PPDU type. */
|
||||
static uint8_t ppdu_type_he(uint8_t cur_bb_format)
|
||||
{
|
||||
switch (cur_bb_format) {
|
||||
case 0:
|
||||
case 1:
|
||||
case 2: return 0; /* 11b/g/a/HT bucket */
|
||||
case 3: return 0; /* VHT */
|
||||
case 4: return 1; /* HE-SU */
|
||||
case 5: return 2; /* HE-MU */
|
||||
case 6: return 1; /* HE-ER-SU collapses to HE-SU */
|
||||
case 7: return 3; /* HE-TB */
|
||||
default: return 0xFF;
|
||||
}
|
||||
}
|
||||
|
||||
/* From csi_collector.c — legacy (non-HE) branch. */
|
||||
static uint8_t ppdu_type_legacy(uint8_t sig_mode)
|
||||
{
|
||||
switch (sig_mode) {
|
||||
case 0: return 0; /* non-HT */
|
||||
case 1: return 0; /* HT */
|
||||
case 3: return 0; /* VHT */
|
||||
default: return 0xFF;
|
||||
}
|
||||
}
|
||||
|
||||
/* ──────────────────────────────────────────────────────────────────────
|
||||
* Test harness
|
||||
* ────────────────────────────────────────────────────────────────────── */
|
||||
|
||||
static int g_failed = 0;
|
||||
static int g_passed = 0;
|
||||
|
||||
#define CHECK_EQ_U64(label, got, expected) do { \
|
||||
if ((got) == (expected)) { g_passed++; } \
|
||||
else { \
|
||||
g_failed++; \
|
||||
printf("FAIL: %s — got=0x%016llx expected=0x%016llx\n", \
|
||||
(label), (unsigned long long)(got), \
|
||||
(unsigned long long)(expected)); \
|
||||
} \
|
||||
} while (0)
|
||||
|
||||
#define CHECK_EQ_U8(label, got, expected) do { \
|
||||
if ((uint8_t)(got) == (uint8_t)(expected)) { g_passed++; } \
|
||||
else { \
|
||||
g_failed++; \
|
||||
printf("FAIL: %s — got=0x%02x expected=0x%02x\n", \
|
||||
(label), (unsigned)(got), (unsigned)(expected)); \
|
||||
} \
|
||||
} while (0)
|
||||
|
||||
/* ──────────────────────────────────────────────────────────────────────
|
||||
* EUI-64 tests
|
||||
*
|
||||
* IEEE 802 MAC-48 → EUI-64 spec: insert 0xFFFE between bytes 3 and 4
|
||||
* of the MAC. ADR-110's c6_timesync.c does exactly that, leaving the
|
||||
* U/L bit in byte 0 untouched (the c6 EUI then matches what `esp_read_mac
|
||||
* ESP_MAC_IEEE802154` returns).
|
||||
* ────────────────────────────────────────────────────────────────────── */
|
||||
|
||||
static void test_eui64_fallback_zero_mac(void)
|
||||
{
|
||||
uint8_t mac[6] = {0, 0, 0, 0, 0, 0};
|
||||
/* mac48_to_eui64 inserts FFFE → 00 00 00 FF FE 00 00 00 */
|
||||
CHECK_EQ_U64("mac48->eui64 zero", mac48_to_eui64(mac), 0x000000FFFE000000ULL);
|
||||
}
|
||||
|
||||
static void test_eui64_fallback_all_ones(void)
|
||||
{
|
||||
uint8_t mac[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
|
||||
/* FF FF FF FF FE FF FF FF */
|
||||
CHECK_EQ_U64("mac48->eui64 all-ones", mac48_to_eui64(mac), 0xFFFFFFFFFEFFFFFFULL);
|
||||
}
|
||||
|
||||
static void test_eui64_fallback_byte_order(void)
|
||||
{
|
||||
uint8_t mac[6] = {0x11, 0x22, 0x33, 0x44, 0x55, 0x66};
|
||||
CHECK_EQ_U64("mac48->eui64 byte order", mac48_to_eui64(mac), 0x112233FFFE445566ULL);
|
||||
}
|
||||
|
||||
/* Primary path: 8-byte EUI-64 from ESP_MAC_IEEE802154 packed unchanged.
|
||||
* Verified by esptool's chip_id output on the real C6 hardware:
|
||||
* COM6: BASE MAC 20:6e:f1:17:27:8c, MAC_EXT ff:fe →
|
||||
* full EUI: 20:6e:f1:ff:fe:17:27:8c → 0x206EF1FFFE17278C
|
||||
* COM9: BASE MAC 20:6e:f1:17:05:3c, MAC_EXT ff:fe →
|
||||
* full EUI: 20:6e:f1:ff:fe:17:05:3c → 0x206EF1FFFE17053C
|
||||
*
|
||||
* Note COM9's EUI is numerically smaller — it wins the leader election. */
|
||||
static void test_eui64_from_native_com6(void)
|
||||
{
|
||||
uint8_t eui[8] = {0x20, 0x6e, 0xf1, 0xff, 0xfe, 0x17, 0x27, 0x8c};
|
||||
CHECK_EQ_U64("native eui64 COM6", eui64_bytes_to_u64(eui), 0x206EF1FFFE17278CULL);
|
||||
}
|
||||
|
||||
static void test_eui64_from_native_com9(void)
|
||||
{
|
||||
uint8_t eui[8] = {0x20, 0x6e, 0xf1, 0xff, 0xfe, 0x17, 0x05, 0x3c};
|
||||
CHECK_EQ_U64("native eui64 COM9", eui64_bytes_to_u64(eui), 0x206EF1FFFE17053CULL);
|
||||
}
|
||||
|
||||
static void test_eui64_leader_election_order(void)
|
||||
{
|
||||
uint8_t com6[8] = {0x20, 0x6e, 0xf1, 0xff, 0xfe, 0x17, 0x27, 0x8c};
|
||||
uint8_t com9[8] = {0x20, 0x6e, 0xf1, 0xff, 0xfe, 0x17, 0x05, 0x3c};
|
||||
uint64_t a = eui64_bytes_to_u64(com6);
|
||||
uint64_t b = eui64_bytes_to_u64(com9);
|
||||
/* Lowest EUI wins → COM9 should be leader when both boards online. */
|
||||
if (b < a) { g_passed++; }
|
||||
else { g_failed++; printf("FAIL: leader-election order — expected COM9 < COM6\n"); }
|
||||
}
|
||||
|
||||
/* ──────────────────────────────────────────────────────────────────────
|
||||
* PPDU-type encoding tests — HE-capable branch (C6/C5)
|
||||
* ────────────────────────────────────────────────────────────────────── */
|
||||
|
||||
static void test_ppdu_he_legacy_bucket(void)
|
||||
{
|
||||
CHECK_EQ_U8("he 0 → 0 (11b)", ppdu_type_he(0), 0);
|
||||
CHECK_EQ_U8("he 1 → 0 (11g/a)", ppdu_type_he(1), 0);
|
||||
CHECK_EQ_U8("he 2 → 0 (HT)", ppdu_type_he(2), 0);
|
||||
CHECK_EQ_U8("he 3 → 0 (VHT)", ppdu_type_he(3), 0);
|
||||
}
|
||||
|
||||
static void test_ppdu_he_su(void)
|
||||
{
|
||||
CHECK_EQ_U8("he 4 → 1 (HE-SU)", ppdu_type_he(4), 1);
|
||||
CHECK_EQ_U8("he 6 → 1 (HE-ER-SU)", ppdu_type_he(6), 1);
|
||||
}
|
||||
|
||||
static void test_ppdu_he_mu(void)
|
||||
{
|
||||
CHECK_EQ_U8("he 5 → 2 (HE-MU)", ppdu_type_he(5), 2);
|
||||
}
|
||||
|
||||
static void test_ppdu_he_tb(void)
|
||||
{
|
||||
CHECK_EQ_U8("he 7 → 3 (HE-TB)", ppdu_type_he(7), 3);
|
||||
}
|
||||
|
||||
static void test_ppdu_he_out_of_range(void)
|
||||
{
|
||||
CHECK_EQ_U8("he 8 → 0xFF (unknown)", ppdu_type_he(8), 0xFF);
|
||||
CHECK_EQ_U8("he 15 → 0xFF (unknown)", ppdu_type_he(15), 0xFF);
|
||||
}
|
||||
|
||||
/* ──────────────────────────────────────────────────────────────────────
|
||||
* PPDU-type encoding tests — legacy (S3/etc) branch
|
||||
* ────────────────────────────────────────────────────────────────────── */
|
||||
|
||||
static void test_ppdu_legacy_known(void)
|
||||
{
|
||||
CHECK_EQ_U8("legacy sig_mode 0 → 0 (non-HT)", ppdu_type_legacy(0), 0);
|
||||
CHECK_EQ_U8("legacy sig_mode 1 → 0 (HT)", ppdu_type_legacy(1), 0);
|
||||
CHECK_EQ_U8("legacy sig_mode 3 → 0 (VHT)", ppdu_type_legacy(3), 0);
|
||||
}
|
||||
|
||||
static void test_ppdu_legacy_unknown(void)
|
||||
{
|
||||
CHECK_EQ_U8("legacy sig_mode 2 → 0xFF", ppdu_type_legacy(2), 0xFF);
|
||||
CHECK_EQ_U8("legacy sig_mode 5 → 0xFF", ppdu_type_legacy(5), 0xFF);
|
||||
}
|
||||
|
||||
/* ──────────────────────────────────────────────────────────────────────
|
||||
* main
|
||||
* ────────────────────────────────────────────────────────────────────── */
|
||||
|
||||
int main(void)
|
||||
{
|
||||
test_eui64_fallback_zero_mac();
|
||||
test_eui64_fallback_all_ones();
|
||||
test_eui64_fallback_byte_order();
|
||||
test_eui64_from_native_com6();
|
||||
test_eui64_from_native_com9();
|
||||
test_eui64_leader_election_order();
|
||||
|
||||
test_ppdu_he_legacy_bucket();
|
||||
test_ppdu_he_su();
|
||||
test_ppdu_he_mu();
|
||||
test_ppdu_he_tb();
|
||||
test_ppdu_he_out_of_range();
|
||||
|
||||
test_ppdu_legacy_known();
|
||||
test_ppdu_legacy_unknown();
|
||||
|
||||
printf("\n%d passed, %d failed\n", g_passed, g_failed);
|
||||
return g_failed == 0 ? 0 : 1;
|
||||
}
|
||||
|
|
@ -89,6 +89,21 @@ if [ -d "$REPO_ROOT/firmware/esp32-csi-node/main" ]; then
|
|||
find "$REPO_ROOT/firmware/esp32-csi-node/main/" -type f \( -name "*.c" -o -name "*.h" \) -exec sha256sum {} \; \
|
||||
> "$BUNDLE_DIR/firmware-manifest/source-hashes.txt" 2>/dev/null || true
|
||||
echo " Firmware source files hashed."
|
||||
|
||||
# ADR-110: include pre-built S3 and C6 binary SHA-256s if archived
|
||||
for target in s3-adr110 c6-adr110; do
|
||||
if [ -d "$REPO_ROOT/firmware/esp32-csi-node/release_bins/$target" ]; then
|
||||
sha256sum "$REPO_ROOT/firmware/esp32-csi-node/release_bins/$target/"*.bin \
|
||||
> "$BUNDLE_DIR/firmware-manifest/binary-hashes-${target}.txt" 2>/dev/null \
|
||||
&& echo " Binary hashes recorded for $target."
|
||||
fi
|
||||
done
|
||||
|
||||
# ADR-110: list which ESP-IDF target(s) the firmware supports today
|
||||
cat > "$BUNDLE_DIR/firmware-manifest/supported-targets.txt" <<EOM
|
||||
esp32s3 (production CSI node — ADR-018, default sdkconfig.defaults, partitions_display.csv)
|
||||
esp32c6 (research target — ADR-110, sdkconfig.defaults.esp32c6 overlay, partitions_4mb.csv)
|
||||
EOM
|
||||
else
|
||||
echo " (No firmware directory found — skipped)"
|
||||
fi
|
||||
|
|
|
|||
Loading…
Reference in New Issue