Iter 16 closes the math loop and updates ADR-110 to reflect the full
P1-P10 sprint outcome (per user request).
Code (the math layer that converts the iter 15 stored sync into a
per-frame mesh-aligned timestamp):
wifi-densepose-hardware:
SyncPacket::apply_to_local(local_at_frame_us: u64) -> u64
Pure integer math: offset = epoch - local; mesh = local_at_frame + offset.
3 new unit tests (10 total, all green):
- apply_to_local_recovers_packet_epoch (identity at the packet's local_us)
- apply_to_local_preserves_inter_frame_delta (Δlocal == Δmesh)
- apply_to_local_on_leader_is_near_identity (leader offset ≈ 0)
wifi-densepose-sensing-server:
NodeState::mesh_aligned_us(local_at_frame_us: u64) -> Option<u64>
Returns the recovered mesh timestamp using the most-recent sync
packet, or None if no sync seen or last one older than 9 s
(3× firmware VALID_WINDOW_MS = 9 s staleness gate).
cargo check -p wifi-densepose-sensing-server --no-default-features
→ green
ADR-110 substantial rewrite (per user "update adr 110 with details"):
- Status line: P1-P10 complete, firmware-side substrate closed at v0.7.0.
- Front matter now lists all 4 firmware releases + witness link.
- Phase table grows a P10 row capturing the v0.6.8 / v0.6.9 / v0.7.0
arc (EMA smoother + sync packet + bit-4 wire-fix + host crates).
- New §4.1 — /loop 5m SOTA sprint summary table (iters 1-16, 4 releases,
17 commits, 13 unit tests, what shipped each iter).
- New §4.2 — measured numbers table with 99.56% RX, 104.1 µs smoothed
stdev, 3.95x suppression, 1.4 ppm crystal skew, etc — every cell
backed by a witness §A0.x entry and a preserved bench log.
- New §4.3 — host-side production surface listing (sync_packet.rs +
sensing-server NodeState + Python parser, with file paths).
- §5 open question on 802.15.4 channel resolved (Kconfig, default ch26
not ch15, with the witness §D1 rationale).
- New §6 — explicit scope of what's outside this ADR (multistatic fusion
math in ADR-029/030, hardware-gated measurements needing INA / 11ax AP,
IDF upstream fixes pending).
Co-Authored-By: claude-flow <ruv@ruv.net>
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