68068d73d8
Closes the first ADR-106 open item without an FW change. On every raw-CSI frame we now stamp `ns.latest_timestamp_us` with SystemTime::now() in µs since UNIX epoch. NodeInfo.timestamp_us surfaces it on WS via the already-wired skip_serializing_if guard. Accuracy is wall-clock + Mac monotonic + LAN jitter ≈ ~1 ms. Verified cross-node skew ts(node1) - ts(node2) = 1556 µs in a single test, well within the 5-10 ms tolerance needed for FFT-based vital-signs correlation across sensors. Sensor-side ESP-IDF rx_ctrl.timestamp (true RX-time µs) is still better and remains on the open list for a future FW header bump (reserved bytes [18..19] are only 2 of the 4 we'd need — header extension required, opt-in via new magic). |
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