# ESP32-S3 CSI Node Firmware

**Turn a $7 microcontroller into a privacy-first human sensing node.**

This firmware captures WiFi Channel State Information (CSI) from an ESP32-S3 and transforms it into real-time presence detection, vital sign monitoring, and programmable sensing -- all without cameras or wearables. Part of the [WiFi-DensePose](../../README.md) project.

[![ESP-IDF v5.2](https://img.shields.io/badge/ESP--IDF-v5.2-blue.svg)](https://docs.espressif.com/projects/esp-idf/en/v5.2/)
[![Target: ESP32-S3](https://img.shields.io/badge/target-ESP32--S3-purple.svg)](https://www.espressif.com/en/products/socs/esp32-s3)
[![License: MIT OR Apache-2.0](https://img.shields.io/badge/license-MIT%20OR%20Apache--2.0-green.svg)](../../LICENSE)
[![Binary: ~943 KB](https://img.shields.io/badge/binary-~943%20KB-orange.svg)](#memory-budget)
[![CI: Docker Build](https://img.shields.io/badge/CI-Docker%20Build-brightgreen.svg)](../../.github/workflows/firmware-ci.yml)

> | Capability | Method | Performance |
> |------------|--------|-------------|
> | **CSI streaming** | Per-subcarrier I/Q capture over UDP | ~20 Hz, ADR-018 binary format |
> | **Breathing detection** | Bandpass 0.1-0.5 Hz, zero-crossing BPM | 6-30 BPM |
> | **Heart rate** | Bandpass 0.8-2.0 Hz, zero-crossing BPM | 40-120 BPM |
> | **Presence indicator** (heuristic) | Phase variance + adaptive threshold (60 s ambient learning) | < 1 ms latency, false-positives under strong RF interference — see [Tier 2 caveats](#what-this-firmware-does-not-do-tier-2-caveats) |
> | **Fall detection** | Phase acceleration threshold | Configurable sensitivity |
> | **Programmable sensing** | WASM modules loaded over HTTP | Hot-swap, no reflash |

---

## Quick Start

For users who want to get running fast. Detailed explanations follow in later sections.

### 1. Build (Docker -- the only reliable method)

```bash
# From the repository root:
MSYS_NO_PATHCONV=1 docker run --rm \
  -v "$(pwd)/firmware/esp32-csi-node:/project" -w /project \
  espressif/idf:v5.2 bash -c \
  "rm -rf build sdkconfig && idf.py set-target esp32s3 && idf.py build"
```

### 2. Flash

Offsets must match `partitions_display.csv` (8 MB) or `partitions_4mb.csv` (4 MB):
`bootloader=0x0`, `partition-table=0x8000`, `otadata=0xf000`, `app (ota_0)=0x20000`.

```bash
python -m esptool --chip esp32s3 --port COM7 --baud 460800 \
  write_flash --flash_mode dio --flash_size 8MB \
  0x0     firmware/esp32-csi-node/build/bootloader/bootloader.bin \
  0x8000  firmware/esp32-csi-node/build/partition_table/partition-table.bin \
  0xf000  firmware/esp32-csi-node/build/ota_data_initial.bin \
  0x20000 firmware/esp32-csi-node/build/esp32-csi-node.bin
```

### 3. Provision WiFi credentials (no reflash needed)

```bash
python firmware/esp32-csi-node/provision.py --port COM7 \
  --ssid "YourSSID" --password "YourPass" --target-ip 192.168.1.20
```

### 4. Start the sensing server

```bash
cargo run -p wifi-densepose-sensing-server -- --http-port 3000 --source auto
```

### 5. Open the UI

Navigate to [http://localhost:3000](http://localhost:3000) in your browser.

### 6. (Optional) Upload a WASM sensing module

```bash
curl -X POST http://<ESP32_IP>:8032/wasm/upload --data-binary @gesture.rvf
curl http://<ESP32_IP>:8032/wasm/list
```

---

## Hardware Requirements

| Component | Specification | Notes |
|-----------|---------------|-------|
| **SoC** | ESP32-S3 (QFN56) | Dual-core Xtensa LX7, 240 MHz |
| **Flash** | 8 MB | ~943 KB used by firmware |
| **PSRAM** | 8 MB | 640 KB used for WASM arenas |
| **USB bridge** | Silicon Labs CP210x | Install the [CP210x driver](https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers) |
| **Recommended boards** | ESP32-S3-DevKitC-1, XIAO ESP32-S3 | Any ESP32-S3 with 8 MB flash works |
| **Deployment** | 3-6 nodes per room | Multistatic mesh for 360-degree coverage |

> **Tip:** A single node provides presence and vital signs along its line of sight. Multiple nodes (3-6) create a multistatic mesh that resolves 3D pose with <30 mm jitter and zero identity swaps.

---

## Firmware Architecture

The firmware implements a tiered processing pipeline. Each tier builds on the previous one. The active tier is selectable at compile time (Kconfig) or at runtime (NVS) without reflashing.

```
                        ESP32-S3 CSI Node
+--------------------------------------------------------------------------+
|  Core 0 (WiFi)              |  Core 1 (DSP)                             |
|                              |                                            |
|  WiFi STA + CSI callback     |  SPSC ring buffer consumer                |
|  Channel hopping (ADR-029)   |  Tier 0: Raw passthrough                  |
|  NDP injection               |  Tier 1: Phase unwrap, Welford, top-K     |
|  TDM slot management         |  Tier 2: Vitals, presence, fall detect    |
|                              |  Tier 3: WASM module dispatch             |
+--------------------------------------------------------------------------+
|  NVS config  |  OTA server (8032)  |  UDP sender  |  Power management    |
+--------------------------------------------------------------------------+
```

### Tier 0 -- Raw CSI Passthrough (Stable)

The default, production-stable baseline. Captures CSI frames from the WiFi driver and streams them over UDP in the ADR-018 binary format.

- **Magic:** `0xC5110001`
- **Rate:** ~20 Hz per channel
- **Payload:** 20-byte header + I/Q pairs (2 bytes per subcarrier per antenna)
- **Bandwidth:** ~5 KB/s per node (64 subcarriers, 1 antenna)

### Tier 1 -- Basic DSP (Stable)

Adds on-device signal conditioning to reduce bandwidth and improve signal quality.

- **Phase unwrapping** -- removes 2-pi discontinuities
- **Welford running statistics** -- incremental mean and variance per subcarrier
- **Top-K subcarrier selection** -- tracks only the K highest-variance subcarriers
- **Delta compression** -- XOR + RLE encoding reduces bandwidth by ~70%

### Tier 2 -- Full Pipeline (Stable)

Adds real-time health and safety monitoring.

- **Breathing rate** -- biquad IIR bandpass 0.1-0.5 Hz, zero-crossing BPM (6-30 BPM)
- **Heart rate** -- biquad IIR bandpass 0.8-2.0 Hz, zero-crossing BPM (40-120 BPM)
- **Presence indicator** -- phase variance vs an adaptively-calibrated threshold (60 s ambient learning at boot). Heuristic, not a learned classifier — strong RF interferers (fans, microwaves, transmit-power swings) can push variance above threshold without anyone in the room. See "What this firmware does NOT do" below.
- **Fall detection** -- phase acceleration exceeds configurable threshold
- **Multi-person slot count** -- partitions the top-K subcarriers into `top_k / 2` groups (clamped to `[1, EDGE_MAX_PERSONS]`), computes per-group filtered breathing/heart-rate estimates, and reports the slot count as `pkt.n_persons`. This is a **slot-capacity heuristic**, not a learned counter — the reported count tracks subcarrier diversity, not actual occupancy. See [`edge_processing.c:481-548`](main/edge_processing.c#L481-L548).
- **Vitals packet** -- 32-byte UDP packet at 1 Hz (magic `0xC5110002`)

### What this firmware does NOT do (Tier 2 caveats)

- It does **not** run a trained neural model. The "person count" is an
  arithmetic slot-capacity heuristic over the top-K subcarrier groups
  (`firmware/esp32-csi-node/main/edge_processing.c:481`). It tracks
  subcarrier diversity, not actual occupancy.
- It does **not** run pose estimation. Pose-related features in the host
  UI come from the Rust `wifi-densepose-sensing-server` running a separate
  pipeline. When no `.rvf` model file is loaded via `--model`, the server
  drives the on-screen skeleton from signal-based heuristics (amplitude
  variance, motion-band power), not from learned keypoint inference. The
  repository does not ship pre-trained weights — see issues
  [#509](../../issues/509) and [#506](../../issues/506) for context, and
  [ADR-079](../../docs/adr/ADR-079-camera-supervised-pose-finetune.md) for
  the planned training path (phases P7-P9 are `Pending`).
- The presence indicator is a calibrated variance threshold and **will
  false-positive** under strong RF interference from non-human sources
  (fans near the antenna, microwave duty cycles, neighbouring AP power
  swings) without re-running the 60-second ambient calibration. If you
  see ghost detections, re-calibrate by power-cycling in an empty room.

### Tier 3 -- WASM Programmable Sensing (Alpha)

Turns the ESP32 from a fixed-function sensor into a programmable sensing computer. Instead of reflashing firmware to change algorithms, you upload new sensing logic as small WASM modules -- compiled from Rust, packaged in signed RVF containers.

See the [WASM Programmable Sensing](#wasm-programmable-sensing-tier-3) section for full details.

---

## Wire Protocols

All packets are sent over UDP to the configured aggregator. The magic number in the first 4 bytes identifies the packet type.

| Magic | Name | Rate | Size | Contents |
|-------|------|------|------|----------|
| `0xC5110001` | CSI Frame (ADR-018) | ~20 Hz | Variable | Raw I/Q per subcarrier per antenna |
| `0xC5110002` | Vitals Packet | 1 Hz | 32 bytes | Presence, breathing BPM, heart rate, fall flag, occupancy |
| `0xC5110004` | WASM Output | Event-driven | Variable | Custom events from WASM modules (u8 type + f32 value) |

### ADR-018 Binary Frame Format

```
Offset  Size  Field
0       4     Magic: 0xC5110001
4       1     Node ID
5       1     Number of antennas
6       2     Number of subcarriers (LE u16)
8       4     Frequency MHz (LE u32)
12      4     Sequence number (LE u32)
16      1     RSSI (i8)
17      1     Noise floor (i8)
18      2     Reserved
20      N*2   I/Q pairs (n_antennas * n_subcarriers * 2 bytes)
```

### Vitals Packet (32 bytes)

```
Offset  Size  Field
0       4     Magic: 0xC5110002
4       1     Node ID
5       1     Flags (bit0=presence, bit1=fall, bit2=motion)
6       2     Breathing rate (BPM * 100, fixed-point)
8       4     Heart rate (BPM * 10000, fixed-point)
12      1     RSSI (i8)
13      1     Number of detected persons
14      2     Reserved
16      4     Motion energy (f32)
20      4     Presence score (f32)
24      4     Timestamp (ms since boot)
28      4     Reserved
```

---

## Building

### Prerequisites

| Component | Version | Purpose |
|-----------|---------|---------|
| Docker Desktop | 28.x+ | Cross-compile firmware in ESP-IDF container |
| esptool | 5.x+ | Flash firmware to ESP32 (`pip install esptool`) |
| Python 3.10+ | 3.10+ | Provisioning script, serial monitor |
| ESP32-S3 board | -- | Target hardware |
| CP210x driver | -- | USB-UART bridge driver ([download](https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers)) |

> **Why Docker?** ESP-IDF does NOT work from Git Bash/MSYS2 on Windows. The `idf.py` script detects the `MSYSTEM` environment variable and skips `main()`. Even removing `MSYSTEM`, the `cmd.exe` subprocess injects `doskey` aliases that break the ninja linker. Docker is the only reliable cross-platform build method.

### Build Command

```bash
# From the repository root:
MSYS_NO_PATHCONV=1 docker run --rm \
  -v "$(pwd)/firmware/esp32-csi-node:/project" -w /project \
  espressif/idf:v5.2 bash -c \
  "rm -rf build sdkconfig && idf.py set-target esp32s3 && idf.py build"
```

The `MSYS_NO_PATHCONV=1` prefix prevents Git Bash from mangling the `/project` path to `C:/Program Files/Git/project`.

**Build output:**
- `build/bootloader/bootloader.bin` -- second-stage bootloader
- `build/partition_table/partition-table.bin` -- flash partition layout
- `build/esp32-csi-node.bin` -- application firmware

### Custom Configuration

To change Kconfig settings before building:

```bash
MSYS_NO_PATHCONV=1 docker run --rm -it \
  -v "$(pwd)/firmware/esp32-csi-node:/project" -w /project \
  espressif/idf:v5.2 bash -c \
  "idf.py set-target esp32s3 && idf.py menuconfig"
```

Or create/edit `sdkconfig.defaults` before building:

```ini
CONFIG_IDF_TARGET="esp32s3"
CONFIG_ESP_WIFI_CSI_ENABLED=y
CONFIG_CSI_NODE_ID=1
CONFIG_CSI_WIFI_SSID="wifi-densepose"
CONFIG_CSI_WIFI_PASSWORD=""
CONFIG_CSI_TARGET_IP="192.168.1.100"
CONFIG_CSI_TARGET_PORT=5005
CONFIG_EDGE_TIER=2
CONFIG_WASM_MAX_MODULES=4
CONFIG_WASM_VERIFY_SIGNATURE=y
```

---

## Flashing

Find your serial port: `COM7` on Windows, `/dev/ttyUSB0` on Linux, `/dev/cu.SLAB_USBtoUART` on macOS.

```bash
python -m esptool --chip esp32s3 --port COM7 --baud 460800 \
  write_flash --flash_mode dio --flash_size 8MB \
  0x0     firmware/esp32-csi-node/build/bootloader/bootloader.bin \
  0x8000  firmware/esp32-csi-node/build/partition_table/partition-table.bin \
  0xf000  firmware/esp32-csi-node/build/ota_data_initial.bin \
  0x20000 firmware/esp32-csi-node/build/esp32-csi-node.bin
```

### Serial Monitor

```bash
python -m serial.tools.miniterm COM7 115200
```

Expected output after boot:

```
I (321) main: ESP32-S3 CSI Node (ADR-018) -- Node ID: 1
I (345) main: WiFi STA initialized, connecting to SSID: wifi-densepose
I (1023) main: Connected to WiFi
I (1025) main: CSI streaming active -> 192.168.1.100:5005 (edge_tier=2, OTA=ready, WASM=ready)
```

---

## Runtime Configuration (NVS)

All settings can be changed at runtime via Non-Volatile Storage (NVS) without reflashing the firmware. NVS values override Kconfig defaults.

### Provisioning Script

The easiest way to write NVS settings:

```bash
python firmware/esp32-csi-node/provision.py --port COM7 \
  --ssid "MyWiFi" \
  --password "MyPassword" \
  --target-ip 192.168.1.20
```

### NVS Key Reference

#### Network Settings

| Key | Type | Default | Description |
|-----|------|---------|-------------|
| `ssid` | string | `wifi-densepose` | WiFi SSID |
| `password` | string | *(empty)* | WiFi password |
| `target_ip` | string | `192.168.1.100` | Aggregator server IP address |
| `target_port` | u16 | `5005` | Aggregator UDP port |
| `node_id` | u8 | `1` | Unique node identifier (0-255) |

#### Channel Hopping and TDM (ADR-029)

| Key | Type | Default | Description |
|-----|------|---------|-------------|
| `hop_count` | u8 | `1` | Number of channels to hop (1 = single-channel mode) |
| `chan_list` | blob | `[6]` | WiFi channel numbers for hopping |
| `dwell_ms` | u32 | `50` | Dwell time per channel in milliseconds |
| `tdm_slot` | u8 | `0` | This node's TDM slot index (0-based) |
| `tdm_nodes` | u8 | `1` | Total number of nodes in the TDM schedule |

#### Edge Intelligence (ADR-039)

| Key | Type | Default | Description |
|-----|------|---------|-------------|
| `edge_tier` | u8 | `2` | Processing tier: 0=raw, 1=basic DSP, 2=full pipeline |
| `pres_thresh` | u16 | *auto* | Presence threshold (x1000). 0 = auto-calibrate from 60 s ambient |
| `fall_thresh` | u16 | `2000` | Fall detection threshold (x1000). 2000 = 2.0 rad/s^2 |
| `vital_win` | u16 | `256` | Phase history window depth (frames) |
| `vital_int` | u16 | `1000` | Vitals packet send interval (ms) |
| `subk_count` | u8 | `8` | Top-K subcarrier count for variance tracking |
| `power_duty` | u8 | `100` | Power duty cycle percentage (10-100). 100 = always on |

#### WASM Programmable Sensing (ADR-040)

| Key | Type | Default | Description |
|-----|------|---------|-------------|
| `wasm_max` | u8 | `4` | Maximum concurrent WASM module slots (1-8) |
| `wasm_verify` | u8 | `1` | Require Ed25519 signature verification for uploads |

---

## Kconfig Menus

Three configuration menus are available via `idf.py menuconfig`:

### "CSI Node Configuration"

Basic WiFi and network settings: SSID, password, channel, node ID, aggregator IP/port.

### "Edge Intelligence (ADR-039)"

Processing tier selection, vitals interval, top-K subcarrier count, fall detection threshold, power duty cycle.

### "WASM Programmable Sensing (ADR-040)"

Maximum module slots, Ed25519 signature verification toggle, timer interval for `on_timer()` callbacks.

---

## WASM Programmable Sensing (Tier 3)

### Overview

Tier 3 turns the ESP32 from a fixed-function sensor into a programmable sensing computer. Instead of reflashing firmware to change algorithms, you upload new sensing logic as small WASM modules. These modules are:

- **Compiled from Rust** using the `wasm32-unknown-unknown` target
- **Packaged in signed RVF containers** with Ed25519 signatures
- **Uploaded over HTTP** to the running device (no physical access needed)
- **Executed per-frame** (~20 Hz) by the WASM3 interpreter after Tier 2 DSP completes

### RVF (RuVector Format)

RVF is a signed container that wraps a WASM binary with metadata for tamper detection and authenticity.

```
+------------------+-------------------+------------------+------------------+
| Header (32 B)    | Manifest (96 B)   | WASM payload     | Ed25519 sig (64B)|
+------------------+-------------------+------------------+------------------+
```

**Total overhead:** 192 bytes (32-byte header + 96-byte manifest + 64-byte signature).

| Field | Size | Contents |
|-------|------|----------|
| **Header** | 32 bytes | Magic (`RVF\x01`), format version, section sizes, flags |
| **Manifest** | 96 bytes | Module name, author, capabilities bitmask, budget request, SHA-256 build hash, event schema version |
| **WASM payload** | Variable | The compiled `.wasm` binary (max 128 KB) |
| **Signature** | 64 bytes | Ed25519 signature covering header + manifest + WASM |

### Host API

WASM modules import functions from the `"csi"` namespace to access sensor data:

| Function | Signature | Description |
|----------|-----------|-------------|
| `csi_get_phase` | `(i32) -> f32` | Phase (radians) for subcarrier index |
| `csi_get_amplitude` | `(i32) -> f32` | Amplitude for subcarrier index |
| `csi_get_variance` | `(i32) -> f32` | Running variance (Welford) for subcarrier |
| `csi_get_bpm_breathing` | `() -> f32` | Breathing rate BPM from Tier 2 |
| `csi_get_bpm_heartrate` | `() -> f32` | Heart rate BPM from Tier 2 |
| `csi_get_presence` | `() -> i32` | Presence flag (0 = empty, 1 = present) |
| `csi_get_motion_energy` | `() -> f32` | Motion energy scalar |
| `csi_get_n_persons` | `() -> i32` | Number of detected persons |
| `csi_get_timestamp` | `() -> i32` | Milliseconds since boot |
| `csi_emit_event` | `(i32, f32)` | Emit a typed event to the host (sent over UDP) |
| `csi_log` | `(i32, i32)` | Debug log from WASM (pointer + length) |
| `csi_get_phase_history` | `(i32, i32) -> i32` | Copy phase ring buffer into WASM memory |

### Module Lifecycle

Every WASM module must export these three functions:

| Export | Called | Purpose |
|--------|--------|---------|
| `on_init()` | Once, when started | Allocate state, initialize algorithms |
| `on_frame(n_subcarriers: i32)` | Per CSI frame (~20 Hz) | Process sensor data, emit events |
| `on_timer()` | At configurable interval (default 1 s) | Periodic housekeeping, aggregated output |

### HTTP Management Endpoints

All endpoints are served on **port 8032** (shared with the OTA update server).

| Method | Path | Description |
|--------|------|-------------|
| `POST` | `/wasm/upload` | Upload an RVF container or raw `.wasm` binary (max 128 KB) |
| `GET` | `/wasm/list` | List all module slots with state, telemetry, and RVF metadata |
| `POST` | `/wasm/start/:id` | Start a loaded module (calls `on_init`) |
| `POST` | `/wasm/stop/:id` | Stop a running module |
| `DELETE` | `/wasm/:id` | Unload a module and free its PSRAM arena |

### Included WASM Modules

The `wifi-densepose-wasm-edge` Rust crate provides three flagship modules:

| Module | File | Description |
|--------|------|-------------|
| **gesture** | `gesture.rs` | DTW template matching for wave, push, pull, and swipe gestures |
| **coherence** | `coherence.rs` | Phase phasor coherence monitoring with hysteresis gate |
| **adversarial** | `adversarial.rs` | Signal anomaly detection (phase jumps, flatlines, energy spikes) |

Build all modules:

```bash
cargo build -p wifi-densepose-wasm-edge --target wasm32-unknown-unknown --release
```

### Safety Features

| Protection | Detail |
|------------|--------|
| **Memory isolation** | Fixed 160 KB PSRAM arenas per slot (no heap fragmentation) |
| **Budget guard** | 10 ms per-frame default; auto-stop after 10 consecutive budget faults |
| **Signature verification** | Ed25519 enabled by default; disable with `wasm_verify=0` in NVS for development |
| **Hash verification** | SHA-256 of WASM payload checked against RVF manifest |
| **Slot limit** | Maximum 4 concurrent module slots (configurable to 8) |
| **Per-module telemetry** | Frame count, event count, mean/max execution time, budget faults |

---

## Memory Budget

| Component | SRAM | PSRAM | Flash |
|-----------|------|-------|-------|
| Base firmware (Tier 0) | ~12 KB | -- | ~820 KB |
| Tier 1-2 DSP pipeline | ~10 KB | -- | ~33 KB |
| WASM3 interpreter | ~10 KB | -- | ~100 KB |
| WASM arenas (x4 slots) | -- | 640 KB | -- |
| Host API + HTTP upload | ~3 KB | -- | ~23 KB |
| **Total** | **~35 KB** | **640 KB** | **~943 KB** |

- **PSRAM remaining:** 7.36 MB (available for future use)
- **Flash partition:** 1 MB OTA slot (6% headroom at current binary size)
- **SRAM remaining:** ~280 KB (FreeRTOS + WiFi stack uses the rest)

---

## Source Files

| File | Description |
|------|-------------|
| `main/main.c` | Application entry point: NVS init, WiFi STA, CSI collector, edge pipeline, OTA server, WASM runtime init |
| `main/csi_collector.c` / `.h` | WiFi CSI frame capture, ADR-018 binary serialization, channel hopping, NDP injection |
| `main/stream_sender.c` / `.h` | UDP socket management and packet transmission to aggregator |
| `main/nvs_config.c` / `.h` | Runtime configuration: loads Kconfig defaults, overrides from NVS |
| `main/edge_processing.c` / `.h` | Tier 0-2 DSP pipeline: SPSC ring buffer, biquad IIR filters, Welford stats, BPM extraction, presence, fall detection |
| `main/ota_update.c` / `.h` | HTTP OTA firmware update server on port 8032 |
| `main/power_mgmt.c` / `.h` | Battery-aware light sleep duty cycling |
| `main/wasm_runtime.c` / `.h` | WASM3 interpreter: module slots, host API bindings, budget guard, per-frame dispatch |
| `main/wasm_upload.c` / `.h` | HTTP endpoints for WASM module upload, list, start, stop, delete |
| `main/rvf_parser.c` / `.h` | RVF container parser: header validation, manifest extraction, SHA-256 hash verification |
| `components/wasm3/` | WASM3 interpreter library (MIT license, ~100 KB flash, ~10 KB RAM) |

---

## Architecture Diagram

```
ESP32-S3 Node                                 Host Machine
+------------------------------------------+  +---------------------------+
| Core 0 (WiFi)      Core 1 (DSP)         |  |                           |
|                                          |  |                           |
| WiFi STA --------> SPSC Ring Buffer      |  |                           |
| CSI Callback        |                    |  |                           |
| Channel Hop         v                    |  |                           |
| NDP Inject   +-- Tier 0: Raw ADR-018 ---------> UDP/5005               |
|              |   Tier 1: Phase + Welford |  |   Sensing Server          |
|              |   Tier 2: Vitals + Fall  ---------> (vitals)             |
|              |   Tier 3: WASM Dispatch  ---------> (events)             |
|              +                           |  |     |                     |
| NVS Config   OTA/WASM HTTP (port 8032)  |  |     v                     |
| Power Mgmt   POST /ota                  |  |   Web UI (:3000)          |
|              POST /wasm/upload           |  |   Pose + Vitals + Alerts  |
+------------------------------------------+  +---------------------------+
```

---

## CI/CD

The firmware is continuously verified by [`.github/workflows/firmware-ci.yml`](../../.github/workflows/firmware-ci.yml):

| Step | Check | Threshold |
|------|-------|-----------|
| **Docker build** | Full compile with ESP-IDF v5.4 container | Must succeed |
| **Binary size gate** | `esp32-csi-node.bin` file size | Must be < 950 KB |
| **Flash image integrity** | Partition table magic, bootloader presence, non-padding content | Warnings on failure |
| **Artifact upload** | Bootloader + partition table + app binary | 30-day retention |

---

## QEMU Testing (ADR-061)

Test the firmware without physical hardware using Espressif's QEMU fork. A compile-time mock CSI generator (`CONFIG_CSI_MOCK_ENABLED=y`) replaces the real WiFi CSI callback with a timer-driven synthetic frame injector that exercises the full edge processing pipeline -- biquad filtering, Welford stats, top-K selection, presence/fall detection, and vitals extraction.

### Prerequisites

- **ESP-IDF v5.4** -- [installation guide](https://docs.espressif.com/projects/esp-idf/en/v5.4/esp32s3/get-started/)
- **Espressif QEMU fork** -- must be built from source (not in Ubuntu packages):

```bash
git clone --depth 1 https://github.com/espressif/qemu.git /tmp/qemu
cd /tmp/qemu
./configure --target-list=xtensa-softmmu --enable-slirp
make -j$(nproc)
sudo cp build/qemu-system-xtensa /usr/local/bin/
```

### Quick Start

Three commands to go from source to running firmware in QEMU:

```bash
cd firmware/esp32-csi-node

# 1. Build with mock CSI enabled (replaces real WiFi CSI with synthetic frames)
idf.py -D SDKCONFIG_DEFAULTS="sdkconfig.defaults;sdkconfig.qemu" build

# 2. Create merged flash image
esptool.py --chip esp32s3 merge_bin -o build/qemu_flash.bin \
  --flash_mode dio --flash_freq 80m --flash_size 8MB \
  0x0     build/bootloader/bootloader.bin \
  0x8000  build/partition_table/partition-table.bin \
  0x20000 build/esp32-csi-node.bin

# 3. Run in QEMU
qemu-system-xtensa -machine esp32s3 -nographic \
  -drive file=build/qemu_flash.bin,if=mtd,format=raw \
  -serial mon:stdio -no-reboot
```

The firmware boots FreeRTOS, loads NVS config, starts the mock CSI generator at 20 Hz, and runs all edge processing. UART output shows log lines that can be validated automatically.

### Mock CSI Scenarios

The mock generator cycles through 10 scenarios that exercise every edge processing path:

| ID | Scenario | Duration | Expected Output |
|----|----------|----------|-----------------|
| 0 | Empty room | 10 s | `presence=0`, `motion_energy < thresh` |
| 1 | Static person | 10 s | `presence=1`, `breathing_rate` in [10, 25], `fall=0` |
| 2 | Walking person | 10 s | `presence=1`, `motion_energy > 0.5`, `fall=0` |
| 3 | Fall event | 5 s | `fall=1` flag set, `motion_energy` spike |
| 4 | Multi-person | 15 s | `n_persons=2`, independent breathing rates |
| 5 | Channel sweep | 5 s | Frames on channels 1, 6, 11 in sequence |
| 6 | MAC filter test | 5 s | Frames with wrong MAC dropped (counter check) |
| 7 | Ring buffer overflow | 3 s | 1000 frames in 100 ms burst, graceful drop |
| 8 | Boundary RSSI | 5 s | RSSI sweeps -127 to 0, no crash |
| 9 | Zero-length frame | 2 s | `iq_len=0` frames, serialize returns 0 |

### NVS Provisioning Matrix

14 NVS configurations are tested in CI to ensure all config paths work correctly:

| Config | NVS Values | Validates |
|--------|-----------|-----------|
| `default` | (empty NVS) | Kconfig fallback paths |
| `wifi-only` | ssid, password | Basic provisioning |
| `full-adr060` | channel=6, filter_mac=AA:BB:CC:DD:EE:FF | Channel override + MAC filter |
| `edge-tier0` | edge_tier=0 | Raw CSI passthrough (no DSP) |
| `edge-tier1` | edge_tier=1, pres_thresh=100, fall_thresh=2000 | Stats-only mode |
| `edge-tier2-custom` | edge_tier=2, vital_win=128, vital_int=500, subk_count=16 | Full vitals with custom params |
| `tdm-3node` | tdm_slot=1, tdm_nodes=3, node_id=1 | TDM mesh timing |
| `wasm-signed` | wasm_max=4, wasm_verify=1, wasm_pubkey=<32B> | WASM with Ed25519 verification |
| `wasm-unsigned` | wasm_max=2, wasm_verify=0 | WASM without signature check |
| `5ghz-channel` | channel=36, filter_mac=... | 5 GHz CSI collection |
| `boundary-max` | target_port=65535, node_id=255, top_k=32, vital_win=256 | Max-range values |
| `boundary-min` | target_port=1, node_id=0, top_k=1, vital_win=32 | Min-range values |
| `power-save` | power_duty=10, edge_tier=0 | Low-power mode |
| `corrupt-nvs` | (partial/corrupt partition) | Graceful fallback to defaults |

Generate all configs for CI testing:

```bash
python scripts/generate_nvs_matrix.py
```

### Validation Checks

The output validation script (`scripts/validate_qemu_output.py`) parses UART logs and checks:

| Check | Pass Criteria | Severity |
|-------|---------------|----------|
| Boot | `app_main()` called, no panic/assert | FATAL |
| NVS load | `nvs_config:` log line present | FATAL |
| Mock CSI init | `mock_csi: Starting mock CSI generator` | FATAL |
| Frame generation | `mock_csi: Generated N frames` where N > 0 | ERROR |
| Edge pipeline | `edge_processing: DSP task started on Core 1` | ERROR |
| Vitals output | At least one `vitals:` log line with valid BPM | ERROR |
| Presence detection | `presence=1` during person scenarios | WARN |
| Fall detection | `fall=1` during fall scenario | WARN |
| MAC filter | `csi_collector: MAC filter dropped N frames` where N > 0 | WARN |
| ADR-018 serialize | `csi_collector: Serialized N frames` where N > 0 | ERROR |
| No crash | No `Guru Meditation Error`, no `assert failed`, no `abort()` | FATAL |
| Clean exit | Firmware reaches end of scenario sequence | ERROR |
| Heap OK | No `HEAP_ERROR` or `out of memory` | FATAL |
| Stack OK | No `Stack overflow` detected | FATAL |

Exit codes: `0` = all pass, `1` = WARN only, `2` = ERROR, `3` = FATAL.

### GDB Debugging

QEMU provides a built-in GDB stub for zero-cost breakpoint debugging without JTAG hardware:

```bash
# Launch QEMU paused, with GDB stub on port 1234
qemu-system-xtensa \
  -machine esp32s3 -nographic \
  -drive file=build/qemu_flash.bin,if=mtd,format=raw \
  -serial mon:stdio \
  -s -S

# In another terminal, attach GDB
xtensa-esp-elf-gdb build/esp32-csi-node.elf \
  -ex "target remote :1234" \
  -ex "b edge_processing.c:dsp_task" \
  -ex "b csi_collector.c:csi_serialize_frame" \
  -ex "b mock_csi.c:mock_generate_csi_frame" \
  -ex "watch g_nvs_config.csi_channel" \
  -ex "continue"
```

Key breakpoints:

| Location | Purpose |
|----------|---------|
| `edge_processing.c:dsp_task` | DSP consumer loop entry |
| `edge_processing.c:presence_detect` | Threshold comparison |
| `edge_processing.c:fall_detect` | Phase acceleration check |
| `csi_collector.c:csi_serialize_frame` | ADR-018 serialization |
| `nvs_config.c:nvs_config_load` | NVS parse logic |
| `wasm_runtime.c:wasm_on_csi` | WASM module dispatch |
| `mock_csi.c:mock_generate_csi_frame` | Synthetic frame generation |

VS Code integration -- add to `.vscode/launch.json`:

```json
{
  "name": "QEMU ESP32-S3 Debug",
  "type": "cppdbg",
  "request": "launch",
  "program": "${workspaceFolder}/firmware/esp32-csi-node/build/esp32-csi-node.elf",
  "miDebuggerPath": "xtensa-esp-elf-gdb",
  "miDebuggerServerAddress": "localhost:1234",
  "setupCommands": [
    { "text": "set remote hardware-breakpoint-limit 2" },
    { "text": "set remote hardware-watchpoint-limit 2" }
  ]
}
```

### Code Coverage

Build with gcov enabled and collect coverage after a QEMU run:

```bash
# Build with coverage overlay
idf.py -D SDKCONFIG_DEFAULTS="sdkconfig.defaults;sdkconfig.qemu;sdkconfig.coverage" build

# After QEMU run, generate HTML report
lcov --capture --directory build --output-file coverage.info
lcov --remove coverage.info '*/esp-idf/*' '*/test/*' --output-file coverage_filtered.info
genhtml coverage_filtered.info --output-directory build/coverage_report
```

Coverage targets:

| Module | Target |
|--------|--------|
| `edge_processing.c` | >= 80% |
| `csi_collector.c` | >= 90% |
| `nvs_config.c` | >= 95% |
| `mock_csi.c` | >= 95% |
| `stream_sender.c` | >= 80% |
| `wasm_runtime.c` | >= 70% |

### Fuzz Testing

Host-native fuzz targets compiled with libFuzzer + AddressSanitizer (no QEMU needed):

```bash
cd firmware/esp32-csi-node/test

# Build fuzz target
clang -fsanitize=fuzzer,address -I../main \
  fuzz_csi_serialize.c ../main/csi_collector.c \
  -o fuzz_serialize

# Run for 5 minutes
timeout 300 ./fuzz_serialize corpus/ || true
```

Fuzz targets:

| Target | Input | Looking For |
|--------|-------|-------------|
| `csi_serialize_frame()` | Random `wifi_csi_info_t` | Buffer overflow, NULL deref |
| `nvs_config_load()` | Crafted NVS partition binary | No crash, fallback to defaults |
| `edge_enqueue_csi()` | Rapid-fire 10,000 frames | Ring overflow, no data corruption |
| `rvf_parser.c` | Malformed RVF packets | Parse rejection, no crash |
| `wasm_upload.c` | Corrupt WASM blobs | Rejection without crash |

### QEMU CI Workflow

The GitHub Actions workflow (`.github/workflows/firmware-qemu.yml`) runs on every push or PR touching `firmware/**`:

1. Uses the `espressif/idf:v5.4` container image
2. Builds Espressif's QEMU fork from source
3. Runs a CI matrix across NVS configurations: `default`, `nvs-full`, `nvs-edge-tier0`, `nvs-tdm-3node`
4. For each config: provisions NVS, builds with mock CSI, runs in QEMU with timeout, validates UART output
5. Uploads QEMU logs as build artifacts for debugging failures

No physical ESP32 hardware is needed in CI.

---

## Troubleshooting

| Symptom | Cause | Fix |
|---------|-------|-----|
| No serial output | Wrong baud rate | Use `115200` in your serial monitor |
| WiFi won't connect | Wrong SSID/password | Re-run `provision.py` with correct credentials |
| No UDP frames received | Firewall blocking | Allow inbound UDP on port 5005 (see below) |
| `idf.py` fails on Windows | Git Bash/MSYS2 incompatibility | Use Docker -- this is the only supported build method on Windows |
| CSI callback not firing | Promiscuous mode issue | Verify `esp_wifi_set_promiscuous(true)` in `csi_collector.c` |
| WASM upload rejected | Signature verification | Disable with `wasm_verify=0` via NVS for development, or sign with Ed25519 |
| High frame drop rate | Ring buffer overflow | Reduce `edge_tier` or increase `dwell_ms` |
| Vitals readings unstable | Calibration period | Wait 60 seconds for adaptive threshold to settle |
| OTA update fails | Binary too large | Check binary is < 1 MB; current headroom is ~6% |
| Docker path error on Windows | MSYS path conversion | Prefix command with `MSYS_NO_PATHCONV=1` |

### Windows Firewall Rule

```powershell
netsh advfirewall firewall add rule name="ESP32 CSI" dir=in action=allow protocol=UDP localport=5005
```

---

## Architecture Decision Records

This firmware implements or references the following ADRs:

| ADR | Title | Status |
|-----|-------|--------|
| [ADR-018](../../docs/adr/ADR-018-csi-binary-frame-format.md) | CSI binary frame format | Accepted |
| [ADR-029](../../docs/adr/ADR-029-ruvsense-multistatic-sensing-mode.md) | Channel hopping and TDM protocol | Accepted |
| [ADR-039](../../docs/adr/ADR-039-esp32-edge-intelligence.md) | Edge intelligence tiers 0-2 | Accepted |
| [ADR-040](../../docs/adr/) | WASM programmable sensing (Tier 3) with RVF container format | Alpha |
| [ADR-057](../../docs/adr/ADR-057-build-time-csi-guard.md) | Build-time CSI guard (`CONFIG_ESP_WIFI_CSI_ENABLED`) | Accepted |
| [ADR-060](../../docs/adr/ADR-060-channel-mac-filter.md) | Channel override and MAC address filter | Accepted |
| [ADR-061](../../docs/adr/ADR-061-qemu-esp32s3-firmware-testing.md) | QEMU ESP32-S3 emulation for firmware testing | Proposed |

---

## License

This firmware is dual-licensed under [MIT](../../LICENSE-MIT) OR [Apache-2.0](../../LICENSE-APACHE), at your option.
