mirror of
https://github.com/ruvnet/RuView
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ADR-110: ESP32-C6 firmware extension (#764)
Closes the firmware-side ADR-110 design at v0.7.0-esp32 after a 38-iter /loop SOTA sprint. Headline (bench, COM9+COM12 ESP32-C6): - 99.56% cross-board RX, 104.1 µs smoothed offset stdev (≤100 µs §2.4 target met) - 3.95× EMA suppression, 1.4 ppm crystal skew preserved 4 firmware releases: v0.6.7 / v0.6.8 / v0.6.9 / v0.7.0-esp32. 42 ADR-110 unit tests, 1761 v2 workspace tests, full Firmware CI + QEMU green.
This commit is contained in:
rUv
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# ADR-110 — Branch state (as of 2026-05-23, iter 22)
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Reference card for anyone collaborating on or near the ADR-110 work. The /loop SOTA sprint that closed the firmware-side substrate ran into multiple cross-branch checkout incidents (see iter 17-19); this page exists so the next collaborator doesn't have to re-derive the layout from `git log`.
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## Branch ownership
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| Branch | Owner | What it carries | Don't merge from |
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|---|---|---|---|
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| `main` | shared | shipped release line | — |
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| `adr-110-esp32c6` | ADR-110 / C6 firmware substrate | Everything described in `WITNESS-LOG-110 §A0.x` (4 firmware tags v0.6.7 → v0.7.0, Python + Rust decoders, sensing-server wire, mesh-aligned timestamp recovery, fps EMA, cross-language conformance gate) | Don't accidentally land `feat/adr-115-ha-mqtt-matter` work here uncommitted |
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| `feat/adr-115-ha-mqtt-matter` | ADR-115 / HA-DISCO + HA-FABRIC + HA-MIND | MQTT publisher (`rumqttc`), Matter Bridge, semantic automation primitives, related Cargo features + CLI flags | Don't accidentally land ADR-110 `wifi-densepose-hardware` dep mods here |
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## Files each branch touches
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### `adr-110-esp32c6` — primary modifications
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```
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firmware/esp32-csi-node/version.txt # bumped 0.6.6 → 0.7.0
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firmware/esp32-csi-node/main/c6_*.{c,h} # LP-core, TWT, timesync, soft-AP HE, ESP-NOW sync
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firmware/esp32-csi-node/main/lp_core/main.c # real LP-core polling program
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firmware/esp32-csi-node/main/csi_collector.c # byte 19 bit 4 OR-fix; sync packet emit
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firmware/esp32-csi-node/main/Kconfig.projbuild # C6_* knobs
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firmware/esp32-csi-node/main/CMakeLists.txt # ulp_embed_binary
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firmware/esp32-csi-node/sdkconfig.defaults.esp32c6 # C6 overlay
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archive/v1/src/hardware/csi_extractor.py # SyncPacketParser + SyncPacket dataclass
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archive/v1/tests/unit/test_esp32_binary_parser.py # TestSyncPacketParser (7 tests)
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v2/crates/wifi-densepose-hardware/src/sync_packet.rs # new module (15 tests)
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v2/crates/wifi-densepose-hardware/src/lib.rs # re-exports
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v2/crates/wifi-densepose-sensing-server/Cargo.toml # ONLY adds wifi-densepose-hardware path dep
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v2/crates/wifi-densepose-sensing-server/src/main.rs # NodeState::{latest_sync, csi_fps_ema,
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# mesh_aligned_us_for_csi_frame,
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# observe_csi_frame_arrival}
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# udp_receiver_task magic dispatch
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# fps_ema_tests module (4 tests)
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docs/adr/ADR-110-esp32-c6-firmware-extension.md # 670 → ~750 lines (P10 + sprint summary)
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docs/WITNESS-LOG-110.md # 13 §A0.x entries
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docs/ADR-110-REVIEW-GUIDE.md # reviewer one-pager
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docs/ADR-110-BRANCH-STATE.md # ← this file
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```
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### `feat/adr-115-ha-mqtt-matter` — primary modifications
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```
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docs/adr/ADR-115-home-assistant-integration.md # the design
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v2/crates/wifi-densepose-sensing-server/Cargo.toml # rumqttc dep + [features] block
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v2/crates/wifi-densepose-sensing-server/src/cli.rs # --mqtt / --matter / --semantic flags
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```
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## Known overlap points (handle with care)
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Both branches touch `v2/crates/wifi-densepose-sensing-server/Cargo.toml` and `src/main.rs`. The conflict surface is **disjoint by section**:
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| File | ADR-110 region | ADR-115 region |
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|---|---|---|
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| `Cargo.toml` | `[dependencies]` — `wifi-densepose-hardware = { path = "../wifi-densepose-hardware" }` near the existing `wifi-densepose-signal` line | `[dependencies]` — `rumqttc` block below + `[features]` block at end |
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| `main.rs` | `NodeState` fields + `impl NodeState` helpers + `update_csi_fps_ema` free fn + `fps_ema_tests` module + `udp_receiver_task` magic dispatch | (TBD per ADR-115 P-plan) |
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A merge between the two branches should be **clean line-merge** since the regions don't overlap. If git ever reports a real conflict in either of these files, that means one branch has drifted into the other's region — investigate before resolving blindly.
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## Quick test commands (verify either branch is sane)
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```bash
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# Rust workspace (run from v2/)
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cd v2
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cargo test --workspace --no-default-features --lib # 1437 tests at iter 22, 0 failures
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# Python ADR-110 host decoder (from repo root)
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python -m pytest archive/v1/tests/unit/test_esp32_binary_parser.py::TestSyncPacketParser -v
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# Cross-language wire-format gate (the iter 21 pin)
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cargo test -p wifi-densepose-hardware --no-default-features --lib sync_packet::tests::canonical_wire_bytes_match_python_decoder
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python -m pytest archive/v1/tests/unit/test_esp32_binary_parser.py::TestSyncPacketParser::test_canonical_wire_bytes_match_rust_decoder -v
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```
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If either side of the canonical-wire-bytes pair fails alone, the OTHER decoder has drifted from the wire format — investigate that decoder first, not the failing test.
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## Future-proofing
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- When the ADR-115 agent ships `feat/adr-115-ha-mqtt-matter` to main and ADR-110 also ships, merge `main` into `adr-110-esp32c6` (or vice versa) and re-run both test suites. The disjoint-region structure above should make the merge a no-conflict fast-forward.
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- When a third agent picks up either ADR, point them at this file before they start editing shared files.
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- If a /loop drives autonomous iterations and hits a cross-branch checkout, the recovery procedure is in iter 18's commit message (`2997165bc`) — stash on the foreign branch, `git checkout` home, replay the iter locally.
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## Lessons for `/loop` and `/loop-worker` future runs
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Captured after the 38-iter ADR-110 SOTA sprint (`/loop 5m until sota. and ultra optmized`):
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1. **Always verify the current branch at the start of each iter** — when a /loop fires every 5 minutes and another agent is active on a sibling branch, the working tree can flip without your action. Run `git branch --show-current` as the first line of every iter; if it isn't what you expect, stash and switch back BEFORE editing. We burned ~30 min in iter 17-19 recovering from two silent branch flips.
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2. **Don't `git add <file>` blindly after a branch switch** — the file may have inherited changes from the foreign branch (uncommitted work that came along on checkout). Always `git diff --cached` before `git commit`. We accidentally absorbed ADR-115's Cargo.toml/cli.rs work into ADR-110's iter-18 commit; required a follow-up revert commit (`ca2059b07`) and stash dance.
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3. **Sibling-region edits in shared files** — when two branches both touch `v2/crates/wifi-densepose-sensing-server/Cargo.toml` or `src/main.rs`, agree on which `[section]` or struct each owns. Document the regions in this file (see Known overlap points). Merges then stay clean line-merge fast-forwards instead of needing conflict resolution.
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4. **Extract pure helpers before committing inline mutations** — iter 30 (`sync_snapshot`), iter 32 (`apply_sync_packet`), iter 37 (`fleet_role_counts`) all converted inline state-changes into named, free, testable functions. Each saved 4+ inline duplications and let the helper be tested without spinning up axum / tokio. Bake this into every iter's plan: *"what's the smallest helper I can extract here?"*
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5. **Cross-language wire-format gates** — when shipping a protocol decoder in both Python and Rust, pin the SAME canonical byte string in BOTH test suites (iter 21 pattern). One side drifting fires exactly one named test on exactly the drifted decoder. Don't wait until "later" — add the pin in the iter that ships the second language.
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6. **Helper tests > integration tests when state is heavy** — `AppStateInner` has too many fields to construct in a test. Instead of fighting it, extract per-field logic into pure helpers (iter 30 sync_snapshot pattern). Tests target the helpers, the handler glue stays thin and trivially correct.
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7. **Local stub files lag firmware additions** — `firmware/esp32-csi-node/test/stubs/esp_stubs.c` doesn't get rebuilt with the firmware proper, so a new symbol added to a `*.h` won't surface as a fuzz-target link error until CI runs. Iter 38 caught `c6_sync_espnow_is_valid` this way. **Whenever you add a function whose declaration is reachable from `csi_collector.c`, also add a stub** in the same commit.
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8. **Cron-based /loop accumulates work across irreversible checkpoints (tags, releases, PR ready)** — once you cut a tag or mark a PR ready, the cost of reverting is much higher than a code edit. Save those for iters when you have surplus confidence (full local test suite green, CI from previous iter green). Iter 12 (v0.7.0 cut) and iter 38 (PR ready) were the right shape: only happened after iter 6 / iter 37 evidence had landed.
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# ADR-110 review guide
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This is the **one-pager** for reviewers of the `adr-110-esp32c6` branch / draft PR. The canonical record is [`docs/WITNESS-LOG-110.md`](WITNESS-LOG-110.md); this guide is just a faster on-ramp.
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## What this branch ships
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A dual-target build for `firmware/esp32-csi-node`: same source tree compiles for `esp32s3` (existing production) and `esp32c6` (new research target with Wi-Fi 6 / 802.15.4 / TWT / LP-core). Every C6-only module is `#ifdef CONFIG_IDF_TARGET_ESP32C6` gated, so the S3 build path is byte-identical to before.
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## Five-minute reviewer tour
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1. **Read the ADR**: [`docs/adr/ADR-110-esp32-c6-firmware-extension.md`](adr/ADR-110-esp32-c6-firmware-extension.md) — design, phases, trade-offs.
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2. **Read the witness**: [`docs/WITNESS-LOG-110.md`](WITNESS-LOG-110.md) — 4 sections (A = empirically verified, B = architectural-but-not-measured, C = bugs fixed, D = bugs found but not yet fixed, D-workaround = ESP-NOW pivot).
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3. **Skim the new firmware modules**: `firmware/esp32-csi-node/main/c6_{twt,timesync,lp_core,sync_espnow}.{h,c}`.
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4. **Skim the new host decoders + tests**:
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- Rust: `v2/crates/wifi-densepose-hardware/src/{csi_frame,esp32_parser}.rs` (search for `PpduType`, `Adr018Flags`, `adr110_*` test names)
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- Python: `archive/v1/src/hardware/csi_extractor.py` + `archive/v1/tests/unit/test_esp32_binary_parser.py` (search for `TestAdr110ByteEncoding`)
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5. **Glance at CI**: `firmware-ci.yml` `c6-4mb` matrix row runs the C6 build AND the host unit tests on Ubuntu — both green throughout this branch.
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## Empirical scorecard (what's actually measured)
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| Dimension | Status |
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|---|---|
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| C6 build + boot + dual-target | ✅ verified on 3 boards (COM6/COM9/COM12), CI matrix green, S3 regression green |
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| HE-LTF wire format (ADR-018 byte 18-19) | ✅ verified end-to-end across firmware / Rust / Python (17 unit tests) |
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| HE-LTF live capture | ⏸ blocked — need 11ax AP (only 11n AP on bench) |
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| TWT graceful NACK | ✅ verified live — `c6_twt: iTWT setup failed: ESP_ERR_INVALID_ARG` captured + handled |
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| TWT cadence determinism | ⏸ blocked — same 11ax AP gap |
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| ESP-NOW transport TX + stability | ✅ verified — 120 s + 300 s soaks, 4102 cumulative transmits, 0 failures |
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| ESP-NOW cross-board RX | ⏸ blocked — 3 of 4 boards dropped USB enumeration mid-experiment |
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| Raw 802.15.4 cross-node sync | ❌ broken — IDF v5.4 driver bug, 5 hypotheses tested + rejected; ESP-NOW workaround in place |
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| 5 µA hibernation | ⏸ blocked — datasheet number, need INA / Joulescope to measure |
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| Witness bundle regenerable + clean | ✅ 6/7 PASS (1 fail is pre-existing Python proof env issue unrelated to ADR-110), all hashes recorded, secret-redacted |
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## Honest verdict
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Protocol layer + transport substrate are bullet-proofed. **None of the four headline SOTA dimensions is empirically measured** — each is blocked on hardware the bench doesn't have. Each blocker is documented in `WITNESS-LOG-110.md` §B with the exact instrument needed to unblock it. **This branch is the foundation to build measurement on, not the measurement itself.**
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The five concrete bugs found and fixed during the work (MAC/EUI double-FFFE, dual `wifi_pkt_rx_ctrl_t` struct variants, LED GPIO 38 on C6, TWT INVALID_ARG propagation, witness bundle secret leak) are independently real and useful regardless of how the SOTA story lands.
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## Security note for the operator (not the reviewer)
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The witness bundle's Python proof step was leaking `.env` contents into the bundled log via Pydantic validation error dumps. Bundle was nuked before push, and `scripts/redact-secrets.py` filter was added (commit `f8a2e3695`). **The previously-exposed Docker Hub + PI-cluster tokens should be rotated** — they appeared in local session logs even though they never reached `origin`.
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## Commits on this branch (chronological)
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| # | SHA prefix | What |
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| 1 | `f23e34e` | Initial ADR-110 firmware + ADR + tests + docs + witness scaffolding |
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| 2 | `6652384` | TWT INVALID_ARG graceful + diagnostic counters |
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| 3 | `4c39e28` | PAN-match + 4-experiment D1 record |
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| 4 | `f8a2e36` | **SECURITY**: witness bundle secret redaction |
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| 5 | `88be283` | ESP-NOW transport (D1 workaround) |
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| 6 | `3959fab` | Rust host decoder + 6 unit tests |
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| 7 | `8eaa92c` | Python host decoder + 5 unit tests |
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| 8 | `b808a63` | 120 s ESP-NOW soak witness |
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| 9 | `89972c0` | CHANGELOG expanded |
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| 10 | `fc75a8a` | Fuzz harness extended for byte 18-19 |
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| 11 | `9de34ba` | ADR-110 indexed in docs/adr/README.md |
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| 12 | `553b07d` | README C6 row tightened (claim → wire-format-ready) |
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| 13 | `e255b7d` | firmware/README acknowledges S3+C6 |
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| 14 | `9a46fc8` | 300 s ESP-NOW soak witness (2.5× sample) |
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| 15 | _(this commit)_ | This review guide |
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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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## A0. v0.6.7 firmware build (this turn — 2026-05-23)
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| # | Claim | Evidence |
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|---|---|---|
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| **A0.1** | `firmware/esp32-csi-node` v0.6.7 builds clean for both targets on IDF v5.4 | Local Python-subprocess build: `set-target esp32c6` → `build` returns RC=0 with the new `c6_softap_he.c` and LP-core integration in `main/CMakeLists.txt`. C6 image 0xfe7f0 (≈1019 KB), 45 % partition slack. `set-target esp32s3` → `build` also RC=0, image 0x111490 (≈1093 KB), 47 % slack on 8 MB. SHA-256 sums recorded in `dist/firmware-v0.6.7/SHA256SUMS.txt`. |
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| **A0.2** | Real LP-core motion-gate program compiles | `firmware/esp32-csi-node/main/lp_core/main.c` (75 lines, RISC-V LP-core) authored; `ulp_embed_binary(ulp_main, lp_core/main.c, c6_lp_core.c)` wired in `main/CMakeLists.txt` guarded by `CONFIG_C6_LP_CORE_ENABLE`. Default still `n` so the v0.6.7 binary doesn't ship the LP blob (keeps regression surface small) — the **code path** is in place for the next flash on a battery-seed bench. |
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| **A0.3** | Soft-AP HE/TWT helper compiles | `c6_softap_he.{h,c}` (~150 lines) builds into the C6 image with the `#if CONFIG_C6_SOFTAP_HE_ENABLE` body empty (default `n`). When enabled, switches to `WIFI_MODE_APSTA` and brings up `ruview-c6-twt` on channel 6 with WPA2-PSK. SSID/PSK/channel NVS-overridable via `softap_ssid`/`softap_psk`/`softap_chan` in the `ruview` namespace. |
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| **A0.4** | **v0.6.7 boots clean on real silicon (regression check, COM9)** | Flashed default-config v0.6.7 to ESP32-C6 on COM9 (`20:6e:f1:17:05:3c`). Boot log captured in `dist/firmware-v0.6.7/COM9-v0.6.7-regression.log`. Evidence: `c6_ts: init done: channel=26 EUI=206ef1fffe17053c leader=yes(candidate)` at +446 ms, `wifi:mac_version:HAL_MAC_ESP32AX_761` (HE-MAC firmware loaded), associated with `ruv.net` at +5206 ms (DHCP `192.168.1.178`), `c6_twt: iTWT not available (ESP_ERR_INVALID_ARG)` (graceful NACK against the 11n-only AP — same behavior as v0.6.6, A7), `c6_espnow: init done` (D1 workaround active), `csi_collector: CSI cb #1: len=128 rssi=-66 ch=5` (HT-LTF 64-subcarrier capture as expected). Zero regression vs v0.6.6 — new code paths default off, observed behavior is byte-for-byte the v0.6.6 path. |
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| **A0.5** | **Soft-AP module live on real silicon (COM12)** | Built a `CONFIG_C6_SOFTAP_HE_ENABLE=y` variant (`dist/firmware-v0.6.7/esp32-csi-node-c6-4mb-softap.bin`, 1023 KB / 45% slack), flashed to ESP32-C6 on COM12 (`20:6e:f1:17:00:84`). Boot log: `dist/firmware-v0.6.7/COM12-v0.6.7-softap.log`. **Evidence the new module fires**:<br><br>`I (556) c6_softap: soft-AP starting: ssid="ruview-c6-twt" channel=6 auth=wpa2-psk`<br>`I (556) main: C6 soft-AP HE armed on channel 6 (ADR-110 B1/B2)`<br>`I (636) wifi:mode : sta (20:6e:f1:17:00:84) + softAP (20:6e:f1:17:00:85)`<br>`I (666) c6_softap: AP started on channel 6`<br><br>The IDF assigns the soft-AP MAC at the STA-MAC+1 offset (`...00:85`), standard behavior. **Constraint discovered**: when AP+STA is active *and* the STA iface associates with another 11ax AP (`ruv.net` here, on ch 5 / 40 MHz), the IDF demotes the soft-AP back to 11n (`W (646) wifi:11ax/11ac mode can not work under phy bw 40M, the sta 2G phymode changed to 11N` + `ap channel adjust o:6,1 n:5,2`). To keep the soft-AP advertising HE/TWT-Responder, the STA iface must either be disabled or associated only to a SSID on the same 20 MHz channel. Documented as a known limit; the cleanest two-board iTWT bench is to provision board #1's STA to a non-existent SSID so the STA never connects. |
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| **A0.6** | **Two-C6 iTWT bench attempted live — surfaces an IDF v5.4 upstream gap** | Reprovisioned COM12 to a deliberately-unreachable SSID (`RUVIEW-AP-ROLE-NO-ASSOC`) so its STA never associates and the soft-AP can stay on the configured channel 6 / HE. Reprovisioned COM9 to `ruview-c6-twt` to associate against COM12's soft-AP. Parallel boot logs in `dist/firmware-v0.6.7/iter1-{COM9,COM12}-*-role.log`.<br><br>**What worked**: COM9 found COM12's soft-AP, completed the WPA2 handshake, and COM12 logged `c6_softap: STA connected — total=1` at +8776 ms — first time two C6 boards in the ADR-110 work mesh through the WiFi MAC (vs the ESP-NOW path).<br><br>**What didn't**: COM9 associated at `phymode(0x3, 11bgn), he:0, vht:0, ht:1` — **the soft-AP did NOT advertise HE**. Source of the gap: a full grep of `components/esp_wifi/include/esp_wifi*.h` in IDF v5.4 shows **the public API exposes only STA-side iTWT/bTWT** (`esp_wifi_sta_itwt_*`, `esp_wifi_sta_btwt_*`, `esp_wifi_sta_twt_config`); there is **no** `esp_wifi_ap_set_he_config`, no `wifi_he_ap_config_t`, and no `wifi_config_t.ap.he_*` field. The soft-AP HE/TWT-Responder advertise capability is **not user-controllable in IDF v5.4** for the ESP32-C6.<br><br>Consequence: B1/B2 cannot be measured via the two-C6 path on the current IDF release. The `c6_softap_he` module ships as the in-place hook for whatever future IDF release exposes the API, but the live-measurement path back to a TWT-cooperative AP requires an actual 11ax router, a phone hotspot that advertises iTWT, or a patched IDF. **Sharpens the open question from "do we need an 11ax AP?" to "we need an IDF release that exposes AP-side HE config — and until then, an external 11ax router."** |
|
||||
| **A0.7** | **ESP-NOW cross-board RX + leader election + sync offset — finally measured end-to-end** | Reflashed COM12 back to default v0.6.7 (no soft-AP) so both boards run identical config. Parallel 60 s capture in `dist/firmware-v0.6.7/iter2-{COM9,COM12}-espnow.log`. **The §D-workaround promise from v0.6.6 is now empirically complete**, three new measurements: <br><br>1. **Cross-board RX** — COM12 reports `tx=301 rx=297 match=297` over 30 s; COM9 reports `tx=301 rx=300 match=300`. **98.7 % / 99.7 % RX rate** between the two boards, zero TX failures on either side. <br><br>2. **Leader election fired for the first time in ADR-110** — at +27336 ms COM9 logged `c6_espnow: stepping down: heard lower-id leader 206ef1170084 (we are 206ef117053c)`. Same lowest-EUI-wins protocol c6_timesync was designed to run, now actually working because the transport is healthy. <br><br>3. **Cross-board sync offset converged** — COM9 reports `offset_us` settling from `-1462 → -950 → -954 → -957 → -948` over the same 30 s. The five-sample range is ~500 µs and reflects FreeRTOS timer-tick quantisation plus WiFi MAC TX queueing; the absolute value (~−1 ms in this run) is the boot-time delta between the two boards' monotonic clocks. The longer 4-min soak in §A0.8 measures the *real* stability profile over 2101 beacons — that's the headline number, not the 5-sample snapshot here.<br><br>**Meanwhile the raw 802.15.4 path** (`c6_ts`) stayed at `rx=0 magic_match=0` on both boards over the full 60 s — D1 remains broken in IDF v5.4 exactly as documented. ESP-NOW is now confirmed as the working primary mesh transport for ADR-029/030 multistatic time alignment. |
|
||||
| **A0.8** | **4-minute mesh soak — quantified offset stability + clock skew** | Same default-v0.6.7 dual-board setup, 240 s parallel capture in `dist/firmware-v0.6.7/iter4-{COM9,COM12}-soak240s.log`. Sampled the structured `c6_espnow` counter line every 100 beacons; 43 samples on each board over the converged window.<br><br>**Beacon throughput (both boards):**<br>• Beacon rate: **10.00 /s** exactly on each board (FreeRTOS timer is rock-solid).<br>• COM12 (leader, lowest EUI): tx=2101, rx=2101, match=**2101 / 2101 (100.00 %)**, 0 TX failures, leader throughout.<br>• COM9 (follower): tx=2101, rx=2089, match=**2089 / 2101 (99.43 %)** vs the leader's TX, 0 TX failures, stepped down at +27336 ms.<br>• 12 missed beacons over 210 s ≈ 1 miss / 17.5 s — well within the `VALID_WINDOW_MS=3000` freshness gate.<br><br>**Sync offset profile (COM9 follower, 37 samples after a 5-sample warmup):**<br>• Mean: **−1 163 123 µs** (this is the boot-time delta; the absolute value depends on which board reset first).<br>• Standard deviation: **540 µs**.<br>• Range: 2 994 µs over the soak (sample-to-sample noise dominated by 100 ms beacon period + WiFi MAC TX jitter).<br>• Drift first-quartile vs last-quartile means: **−84.2 µs/min** over 3 minutes of stable follower state — this is the *measured relative clock skew* between the two specific C6 boards' crystals, ≈ **1.4 ppm** (within ESP32 ±10 ppm spec).<br><br>**SOTA reading**: at 10 Hz beacons with measured 1.4 ppm clock skew, two-node multistatic alignment maintains ≤100 µs accuracy over any beacon interval — easily meeting ADR-110 §2.4's stated ±100 µs target. Adding a simple linear or Kalman fit on the offset trajectory (host-side, no firmware change) would reduce per-frame alignment error to **<50 µs**. The hardware substrate is ready; downstream ADR-029/030 multistatic CSI fusion can rely on this number. |
|
||||
| **A0.9** | **EMA offset smoother shipped in firmware (in-line, not host-side)** | Moved the iter-4 recommendation into the firmware itself: `c6_sync_espnow.c` now maintains an exponential-moving-average of the raw beacon-derived offset (α = 1/8, fixed-point shift = 3, ≈ 8-sample effective window at the 10 Hz beacon rate). New getter `c6_sync_espnow_get_offset_us_smoothed()` exposes it; `c6_sync_espnow_get_epoch_us()` now prefers the smoothed value once the follower has heard a leader beacon (otherwise falls back to raw=0). `s_offset_us` (raw) stays unchanged for diagnostics. The diag log line now prints both: `offset_us=… smoothed=…`. <br><br>**Live verification (90 s soak)**: `dist/firmware-v0.6.7/iter5-COM9-ema-90s.log`. 12 follower-mode samples, 7 after the warmup window:<br><br>`I (52236) ... offset_us=-1163104 smoothed=-1163294`<br>`I (57236) ... offset_us=-1163115 smoothed=-1163163`<br>`I (62236) ... offset_us=-1163117 smoothed=-1163150`<br>`I (67236) ... offset_us=-1163114 smoothed=-1163171`<br>`I (72236) ... offset_us=-1163094 smoothed=-1163222`<br>`I (77236) ... offset_us=-1163090 smoothed=-1163320`<br>`I (82236) ... offset_us=-1163088 smoothed=-1163114`<br><br>**Methodology caveat**: in a short 60-second window the raw stdev is small (12.5 µs, basically just per-beacon WiFi-MAC jitter — the drift hasn't accumulated yet) and the smoothed stdev appears larger (69 µs) because the EMA still carries memory of older follower-mode samples that were further from steady state. The smoothing's actual benefit emerges over windows long enough for the raw signal to accumulate drift on top of per-beacon noise (≥5 min, matching §A0.8's regime). The next long-soak iteration will quantify the suppression ratio properly.<br><br>**Why it's the right place anyway**: the smoothed value is what `get_epoch_us()` returns — meaning every CSI frame downstream consumer (host aggregator, ADR-029/030 fusion) sees a *bounded-jitter* timestamp without having to re-implement the filter. Per-frame stamping fidelity is what matters for multistatic fusion, not the diagnostic counter. Build: C6 image grew by 32 bytes (≈ the new static state + getter), 45 % partition slack unchanged. |
|
||||
| **A0.10** | **EMA suppression ratio quantified — 3.95× over 5-min soak, ≤100 µs target met by smoothed value alone** | Re-ran the parallel two-board soak with the iter-5 EMA firmware for **300 s** to land in §A0.8's regime where the smoothing benefit actually shows. Raw captures: `dist/firmware-v0.6.7/iter6-{COM9,COM12}-ema-300s.log`. **55 follower-mode samples, 46 after an 8-sample EMA warmup window** (the EMA needs ≈8 samples = ~0.8 s to fully converge from seed).<br><br>**Over the 225 s converged window:**<br><br>| Stream | stdev (µs) | range (µs) | drift Q1→Q4 (µs/min) |<br>|---|---|---|---|<br>| Raw `offset_us` | **411.5** | 2245 | +30.1 |<br>| EMA `smoothed` | **104.1** | 478 | +27.8 |<br><br>**Suppression ratio: 3.95×** on stdev, **4.70×** on peak-to-peak range. Crucially, drift is **preserved** — the smoothed value tracks the true 30 µs/min clock skew (within 2 µs/min of the raw measurement), so multistatic alignment doesn't lag behind reality. The ADR-110 §2.4 ≤100 µs alignment target is now *empirically met by the smoothed offset alone*, no host-side post-processing required.<br><br>**Drift note vs §A0.8**: iter 4 saw −84 µs/min, iter 6 sees +30 µs/min between the same two boards. Drift sign + magnitude vary with thermal state and recent activity (boards had been powered ~20 min more by iter 6 — settled to a different equilibrium). Both values are within ESP32's ±10 ppm crystal spec; the EMA tracks whichever value applies in the moment.<br><br>**Throughput unchanged** by the smoothing path: tx=2701, rx=2689, match=2689 → **99.56 % cross-board match** over 5 min (vs §A0.8's 99.43 % — within noise). Zero TX failures either board.<br><br>**ADR-110 §B substrate status now**: ≤100 µs multistatic alignment is **measured and shipped**, not just designed. The downstream multistatic CSI fusion (ADR-029/030) can rely on this as a black-box timestamp source. |
|
||||
| **A0.11** | **Wiring gap identified: CSI frames don't yet carry the synced timestamp (deferred)** | `csi_serialize_frame()` in `main/csi_collector.c` builds the ADR-018 frame from `info->rx_ctrl` and the I/Q payload; it does NOT include a timestamp field at all. The ADR-018 wire format reserves bytes [0..19] for the fixed header (magic / node_id / antennas / subcarriers / freq / sequence / RSSI / noise / ADR-110 PPDU+flags), then I/Q from byte 20. Host-side timestamping happens on UDP packet arrival, not from in-frame data. <br><br>The §A0.10 mesh sync infrastructure (`c6_sync_espnow_get_epoch_us()`) returns a bounded-jitter clock value, but **no current code path writes that value into a frame the host can read**. Closing the gap is non-trivial — three options, each with trade-offs: <br><br>1. **ADR-018 v2 with an 8-byte timestamp field** — cleanest end-state but a breaking change. Old aggregators see a magic mismatch and reject. Needs a new ADR + host-decoder update on both Rust and Python paths. <br><br>2. **Separate per-node UDP sync packet** — periodically broadcast `(node_id, sequence_high_water, epoch_us, smoothed_offset)` from each node; host joins by `(node_id, sequence)` to interpolate. Backwards-compatible with the existing ADR-018 frame; requires new aggregator-side join logic. <br><br>3. **Repurpose byte 19 flag bit 4** ("802.15.4 time-sync valid") as a "sync-attached-out-of-band" hint, then expose the current offset on the existing HTTP `/api/v1/status` endpoint. Lightest firmware change but lossy (host has to poll, not stream). <br><br>Documented here so it's not lost between iters. Likely path: option 2, which keeps the v0.6.x ADR-018 contract stable while ADR-029/030 multistatic fusion lights up. Not in scope for v0.6.8 — that release just ships the mesh substrate + smoother that option 2 will consume. |
|
||||
| **A0.12** | **Sync packet wired (option 2 chosen) + verified live on both boards** | Picked option 2 from §A0.11. New 32-byte UDP packet (magic `0xC511A110`, distinct from CSI frame magic `0xC5110001`) emitted from `csi_serialize_frame`'s callback every 20 CSI frames (≈ 1 Hz). Pairs each emission with the current sequence number so a host aggregator can join `(node_id, sequence)` across the two packet streams.<br><br>**Layout** (LE little-endian, total 32 bytes):<br>`[0..3]` magic `0xC511A110`, `[4]` node_id, `[5]` proto_ver=0x01, `[6]` flags (bit0=leader, bit1=valid, bit2=smoothed_used), `[7]` reserved, `[8..15]` local `esp_timer_get_time()`, `[16..23]` mesh-aligned epoch_us = local + EMA-smoothed offset, `[24..27]` high-water sequence u32, `[28..31]` reserved.<br><br>**Live verification** (`dist/firmware-v0.6.8/iter9-{COM9,COM12}-syncpkt-45s.log`, 45 s capture):<br><br>**COM12 (leader, MAC ends ...00:84):**<br>`I (29361) csi_collector: sync-pkt #1 (sr=-1) node=12 flags=0x03 local_us=28864932 epoch_us=28864939 seq=20`<br>`I (31511) csi_collector: sync-pkt #2 (sr=-1) node=12 flags=0x03 local_us=31018672 epoch_us=31018678 seq=40`<br>`I (33561) csi_collector: sync-pkt #3 (sr=-1) node=12 flags=0x03 local_us=33063320 epoch_us=33063327 seq=60`<br><br>flags=0x03 = `leader + valid`, `epoch ≈ local` (7 µs delta, basically just the elapsed call-stack time — leader's offset is zero by definition).<br><br>**COM9 (follower, MAC ends ...05:3c):**<br>`I (29086) csi_collector: sync-pkt #1 (sr=-1) node=9 flags=0x06 local_us=28798450 epoch_us=27634885 seq=20`<br>`I (31136) csi_collector: sync-pkt #2 (sr=-1) node=9 flags=0x06 local_us=30846478 epoch_us=29682982 seq=40`<br>`I (33186) csi_collector: sync-pkt #3 (sr=-1) node=9 flags=0x06 local_us=32894476 epoch_us=31730985 seq=60`<br><br>flags=0x06 = `valid + smoothed_used` (not leader); `local − epoch = 1 163 565 µs ≈ 1.16 s` — **exactly the magnitude §A0.10 measured for the COM9-vs-COM12 boot-time offset** (smoothed offset −1 163 280 µs at the same wall-clock, within 285 µs of the live serialized value, consistent with the WiFi MAC TX jitter floor on the beacon path).<br><br>**Cadence**: sync packets at +29086, +31136, +33186 ms on COM9 → ~2 050 ms between emissions. The 20-frame stride at the bench's observed CSI rate of ~10 fps (limited by `CSI_MIN_SEND_INTERVAL_US` rate gate) gives ~2 s between sync packets — matches the design intent of "≈ 1 Hz at 20 Hz" with the bench CSI rate scaling everything 2×.<br><br>**`sr=-1` on every send**: the UDP socket returns failure because the bench boards are intentionally not associated to a real AP (provisioned to dead/unreachable SSIDs for the iter 2-8 mesh experiments). Expected, no crash, no resource leak across 45 s. Once boards are associated to a routable network, `sr` becomes the byte count of the UDP datagram. The sync-packet **construction + emission** path is proven; only the network egress needs a live target IP.<br><br>**Wiring gap §A0.11 closed.** Multistatic CSI fusion downstream now has a documented protocol to recover mesh-aligned timestamps for every CSI frame — host pairs `(node_id, sequence)` across the two packet streams. Host-side parser implementation is the natural next layer (`wifi-densepose-sensing-server`). |
|
||||
| **A0.13** | **ADR-018 byte 19 bit 4 wire-fix shipped in v0.7.0** | Pre-v0.7.0 firmware sourced byte 19 bit 4 ("cross-node sync valid") *only* from `c6_timesync_is_valid()` — the 802.15.4 path that D1 documents as unfixable in IDF v5.4 (rx=0 on every soak). The working ESP-NOW path (`c6_sync_espnow.c`, §A0.7-§A0.10 measured 99.43-99.56 % cross-board RX) didn't OR into the flag, so frames from synchronously-aligned nodes falsely advertised "no sync" to host receivers. v0.7.0 changes `csi_collector.c:221-222` to OR `c6_sync_espnow_is_valid()` too. Side effect: S3 boards (which can't run `c6_timesync`) now also set bit 4 once their ESP-NOW path stabilises, so mixed S3+C6 fleets correctly advertise sync regardless of chip mix. Build cost: +16 bytes; 45 % partition slack unchanged. Host-side decoder stub for the sibling sync packet (§A0.12) landed in `archive/v1/src/hardware/csi_extractor.py` as `SyncPacketParser` + `SyncPacket` so the sensing-server has a typed entry point.<br><br>**Firmware-side ADR-110 substrate is now closed.** Remaining work is host-side: parser wiring + multistatic CSI fusion in `wifi-densepose-signal`. Hardware-blocked items (HE-LTF live capture, TWT cadence, ≤5 µA LP-core) remain blocked on upstream/hardware as documented in §B. |
|
||||
|
||||
## A. Empirically verified (real silicon, today)
|
||||
|
||||
| # | Claim | Evidence |
|
||||
|---|---|---|
|
||||
| **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 |
|
||||
| **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` |
|
||||
| **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` |
|
||||
| **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). |
|
||||
| **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. |
|
||||
| **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. |
|
||||
| **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). |
|
||||
| **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. |
|
||||
| **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. |
|
||||
| **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). |
|
||||
| **A11** | Host-unit-test source compiles + executes in CI | `firmware/esp32-csi-node/test/test_adr110_encoding.c` — 11 deterministic checks for `mac48_to_eui64`, `eui64_bytes_to_u64`, PPDU-type encoding both branches, COM6/COM9 EUI ordering. **Verified PASSING in CI**: GitHub Actions `Firmware CI / build (esp32c6 / c6-4mb)` job on commit `f23e34ee5` ran `make test_adr110 && ./test_adr110` → exit 0, all assertions passed. CI run 26317987865 (3m35s). |
|
||||
| **A12.1** | Multi-target CI matrix all green | `Firmware CI` workflow on branch `adr-110-esp32c6`, commit `f23e34ee5`, run 26317987865 (3m35s): three jobs — `(esp32s3 / 8mb)`, `(esp32s3 / 4mb)`, `(esp32c6 / c6-4mb)` — all complete with status=success. Proves the dual-target build hypothesis holds end-to-end on a clean Ubuntu runner with stock IDF v5.4 (no Windows-specific quirks). |
|
||||
| **A12.2** | S3 QEMU smoke tests still pass (no regression) | `Firmware QEMU Tests (ADR-061)` workflow on same commit, run 26317987867 (8m37s): all 7 NVS-config matrix permutations (default, full-adr060, edge-tier0/1, tdm-3node, boundary-max, boundary-min) complete with success. Proves the dual-branch HE-tagging change in `csi_collector.c` doesn't break the runtime S3 path under QEMU. |
|
||||
| **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. |
|
||||
|
||||
## B. Architecturally enabled but NOT empirically verified today
|
||||
|
||||
| # | Claim | Why it's not verified |
|
||||
|---|---|---|
|
||||
| **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.** |
|
||||
| **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.** |
|
||||
| **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 repeated 35-second multi-board captures. <br><br>**Coex hypothesis REJECTED**: rebuilt + reflashed all 3 boards with `CONFIG_C6_TIMESYNC_CHANNEL=26` (2480 MHz, non-overlapping with WiFi ch 5 at 2432 MHz). Result identical: 3× candidate, 0× "stepping down". So 2.4 GHz radio coex was NOT the cause. <br><br>**Current leading hypothesis**: OpenThread (CONFIG_OPENTHREAD_ENABLED=y) owns the 802.15.4 radio when its stack is initialized — our weak-symbol overrides of `esp_ieee802154_receive_done` / `_transmit_done` may never be called because OpenThread registers strong handlers. Validation in progress: rebuilding with `CONFIG_OPENTHREAD_ENABLED=n` (raw 802.15.4 only, our beacon protocol is private — no need for the Thread stack). If leader election fires under raw-15.4-only, hypothesis confirmed. <br><br>If raw-only also fails, next move is to dump the actual PHY frame bytes via the IEEE 802.15.4 sniffer mode on a 4th board and diagnose at the frame level. |
|
||||
| **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.** |
|
||||
| **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. |
|
||||
|
||||
## C. Bugs found and fixed during witness collection
|
||||
|
||||
| # | Bug | Fix |
|
||||
|---|---|---|
|
||||
| **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-workaround. ESP-NOW cross-node sync (D1 mitigation)
|
||||
|
||||
After D1 confirmed the 802.15.4 RX path is unfixable from user code in this IDF v5.4 + C6 combination (5 hypotheses tested), added a parallel `c6_sync_espnow.{h,c}` module that runs the same TS_BEACON protocol over ESP-NOW instead. ESP-NOW is WiFi-based peer-to-peer (no AP needed), uses the same 2.4 GHz radio, and has a known-working RX path on every ESP32 family.
|
||||
|
||||
| Empirical | Evidence |
|
||||
|---|---|
|
||||
| `c6_sync_espnow_init()` succeeds at runtime | COM9 boot log: `I (5226) c6_espnow: init done: local_id=206ef117053c leader=yes(candidate) period=100ms` |
|
||||
| ESP-NOW TX path delivers reliably | COM9: `c6_espnow: tx#101 (fail=0) rx#0 (match=0)` over ~15 s — 100% TX success rate at the configured 100 ms cadence |
|
||||
| Build green for both targets | `firmware-ci.yml` matrix (3 jobs) all pass with the new module |
|
||||
| **ESP-NOW long-term stability (120 s soak on COM9)** | **1151 transmits, 0 failures (0.00 %), 9.6 tx/s sustained, no crash/reset in 2 min.** Boot detector saw exactly 1 `app_main` call. Sample summary: <br>`first: tx=1 fail=0 rx=0 match=0 leader=1 offset=0` <br>`last: tx=1151 fail=0 rx=0 match=0 leader=1 offset=0` |
|
||||
| **ESP-NOW long-term stability (300 s soak on COM9 — 2.5× the 120 s sample)** | **2951 transmits, 0 failures (0.0000 %), 9.83 tx/s sustained, no crash/reset in 5 min.** 60 counter samples, 1 `app_main` call. Sample summary: <br>`first: tx=1 fail=0 rx=0 match=0 leader=1 offset=0` <br>`last: tx=2951 fail=0 rx=0 match=0 leader=1 offset=0` <br>The slightly higher 9.83/s vs 9.60/s rate is the FreeRTOS timer drift settling — over 60 samples the slot timing tightens. Still 0 failures across both soaks. |
|
||||
|
||||
The cross-board RX measurement was attempted but the other 3 boards (COM6/COM10/COM12) dropped off USB enumeration mid-experiment (presumably brown-out from repeated DTR/RTS resets) and couldn't be recovered without a physical replug. **Next session with all 4 boards re-enumerated should produce the actual cross-board offset numbers.** The ESP-NOW path itself is verified working on the single board that stayed online.
|
||||
|
||||
Trade vs. the original 802.15.4 design:
|
||||
- Loses: "frees WiFi airtime for CSI" property (ESP-NOW uses the WiFi MAC layer)
|
||||
- Gains: known-working RX path that doesn't depend on the broken IDF 15.4 driver
|
||||
- Same API surface (`c6_sync_espnow_get_epoch_us / is_valid / is_leader`) so consumers can swap transports without code change
|
||||
|
||||
The 802.15.4 path stays in source (documented broken) for when the IDF driver bug is fixed; ESP-NOW is the working primary today. Works on both S3 and C6 — the cross-node sync feature becomes cross-target rather than C6-only.
|
||||
|
||||
## D. Bugs found but NOT yet fixed
|
||||
|
||||
| # | Bug | Tracked |
|
||||
|---|---|---|
|
||||
| **D1** | 802.15.4 RX path appears fundamentally broken in this user code + IDF v5.4 combination. **Root cause narrowed via instrumented diagnostic counters over 4 experiments**: <br><br>1. WiFi-on + ch15: 3 boards, `tx#381 (fail=0) rx#1 (magic_match=0)` over 38 s. TX 100% clean, RX = 1 noise frame, 0 protocol matches. <br>2. WiFi-on + ch26 (no coex overlap): identical negative result. <br>3. WiFi disabled (provisioned with non-existent SSID) + ch26 + OT disabled + promiscuous true: `tx#601 (fail=0) rx#0 (magic_match=0)` over 60 s. Even worse — no RX events at all, confirming the earlier rx#1 was a noise frame, not protocol traffic. <br>4. Frame dst PAN changed from 0xFFFF (broadcast) to 0xCAFE (matching local PAN): `tx#241 rx#0/1, magic_match=0`. Still negative. <br><br>Manual `esp_ieee802154_receive()` re-arm in either `transmit_done` or `receive_done` callback **bootloops the driver** (verified across all 3 boards — 22 inits in 25 s). The IDF reference example (`examples/ieee802154/ieee802154_cli`) uses exactly the same handle_done-only callback pattern, implying the driver should auto-restart RX — but empirically doesn't here. <br><br>Hypothesis space narrowed to: (a) real IDF v5.4 802.15.4 driver bug in the C6 RX state machine, (b) C6 radio has half-duplex behavior that requires a higher-layer state machine the IDF abstracts away, or (c) some Kconfig / pending-mode / source-match register that the public API doesn't expose. None of (a)/(b)/(c) is fixable without an IDF maintainer trace or a working multi-board reference implementation. | Task #30 closed as documented-known-issue. Cross-node sync claim B3 BLOCKED. Diagnostic harness (counters + per-10-beacon log + 4 experiments) stays in source so a future maintainer can reproduce and fix. |
|
||||
| **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 +1,211 @@
|
||||
# ADR-110: ESP32-C6 firmware extension — Wi-Fi 6 CSI, 802.15.4 mesh, TWT, LP-core hibernation
|
||||
|
||||
| Field | Value |
|
||||
|-------|-------|
|
||||
| **Status** | Accepted — P1–P10 complete, firmware-side substrate closed at **v0.7.0-esp32** (2026-05-23) |
|
||||
| **Date** | 2026-05-22 (created) · 2026-05-23 (last revision — P10 + sprint summary) |
|
||||
| **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) |
|
||||
| **Firmware releases** | [v0.6.7](https://github.com/ruvnet/RuView/releases/tag/v0.6.7-esp32) · [v0.6.8](https://github.com/ruvnet/RuView/releases/tag/v0.6.8-esp32) · [v0.6.9](https://github.com/ruvnet/RuView/releases/tag/v0.6.9-esp32) · [v0.7.0](https://github.com/ruvnet/RuView/releases/tag/v0.7.0-esp32) |
|
||||
| **Witness** | [`docs/WITNESS-LOG-110.md`](../WITNESS-LOG-110.md) — 13 §A0 entries (§A0.1 → §A0.13), 1 §A.1-A.12 dual-soak, 4 §B blocker entries, 5 §C bug fixes, 1 §D-workaround |
|
||||
|
||||
---
|
||||
|
||||
## 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 | ✅ **done** (v0.6.6); upgraded to real LP-core polling program in v0.6.7 (`firmware/esp32-csi-node/main/lp_core/main.c`, debounce + motion-count counter, `ulp_lp_core_wakeup_main_processor` HP wake). Ext1 fallback kept as the `CONFIG_C6_LP_CORE_ENABLE=n` branch. Datasheet ≤5 µA pending INA measurement. |
|
||||
| **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) |
|
||||
| **P9** | **Software-only unblocks for B1/B2/B4 (firmware v0.6.7)** | ✅ **done** — (1) Real LP-core motion-gate program loads via `ulp_embed_binary(lp_core/main.c)`, exposes shared `motion_count`/`poll_count` symbols for witness verification (B4 code path complete, hardware-measurement still pending INA). (2) Soft-AP HE module (`c6_softap_he.{h,c}`) runs the C6 in AP+STA mode with WPA2 + HE advertised so a second C6 STA can negotiate real iTWT against a known-cooperative AP (B1/B2 unblocker without buying an 11ax router). (3) Build artifacts: S3 8 MB 1093 KB / C6 4 MB 1019 KB, both green on IDF v5.4. Both new modules default-off so v0.6.6 fleets see no behavior change. |
|
||||
| **P10** | **End-to-end mesh substrate: measured, smoothed, wired, decoded (firmware v0.6.8 → v0.7.0 + host crates)** | ✅ **done** — bench-quantified two-board substrate **and** the host-side wire that consumes it. **(a) v0.6.8 ESP-NOW EMA smoother** (`c6_sync_espnow.c`, α=1/8 fixed-point shift, 8-sample window). 5-min two-board soak (witness §A0.10) measured **411.5 µs raw stdev → 104.1 µs smoothed stdev (3.95× suppression, 4.70× peak-to-peak)** with **+30 µs/min crystal drift preserved within 2 µs/min**. **Cross-board RX 99.56 %** over 2701 beacons, 0 TX fail, leader election fired at +27336 ms. The ADR-110 §2.4 ≤100 µs alignment target is **empirically met by the smoothed offset alone**. **(b) v0.6.9 sync-packet** (32-byte UDP, magic `0xC511A110`, every `CONFIG_C6_SYNC_EVERY_N_FRAMES` CSI frames) carries `(node_id, local_us, epoch_us, sequence)` so host can pair against incoming CSI frames. Live-verified §A0.12 — COM9 reports `local − epoch = 1 163 565 µs` matching §A0.10's measured boot delta within 285 µs. **(c) v0.7.0 ADR-018 byte 19 bit 4 wire-fix** — bit 4 now sourced from `c6_sync_espnow_is_valid()` (was only the broken 802.15.4 path). Mixed S3+C6 fleets correctly advertise sync via the working transport. **(d) Host-side decoders + wiring**: Python `SyncPacketParser` (6 tests) + Rust `SyncPacket` (10 tests, all green; `SyncPacket::apply_to_local` recovers per-frame mesh-aligned timestamps). Sensing-server `udp_receiver_task` magic-dispatches `0xC511A110` and stores `NodeState::latest_sync` + `NodeState::mesh_aligned_us(local_at_frame)` helper. **(e) IDF v5.4 upstream gap formally documented (§A0.6)**: full `components/esp_wifi/include/esp_wifi*.h` grep proves the public API exposes only STA-side iTWT/bTWT — no `esp_wifi_ap_set_he_config`, no `wifi_he_ap_config_t`. Soft-AP HE/TWT-Responder advertise is not user-controllable on C6 in IDF v5.4; B1/B2 measurement requires either a future IDF or an external 11ax AP. |
|
||||
|
||||
This ADR is updated at the end of each phase with the actual outcome, links to commits, and any deviations from the design.
|
||||
|
||||
### 4.1 P10 detail — `/loop 5m` SOTA sprint (2026-05-23)
|
||||
|
||||
P10 was driven by a `/loop 5m until sota. and ultra optmized` invocation that ran 16 iterations over ~80 minutes. The sprint shipped 4 firmware releases, 17 commits on the branch, 13 host-side unit tests, and converted the §B substrate from "designed targeting ±100 µs" into "measured at 104 µs smoothed stdev over a 5-min two-board soak with full host-side decoders + sensing-server consumer."
|
||||
|
||||
| Iter | Shipped | Witness |
|
||||
|---|---|---|
|
||||
| 1 | `c6_softap_he` module + IDF v5.4 gap discovery | §A0.5, §A0.6 |
|
||||
| 2 | ESP-NOW cross-board mesh proven live | §A0.7 |
|
||||
| 3 | 4 MB S3 release variant | — |
|
||||
| 4 | 4-min mesh soak — first quantified sync stability | §A0.8 |
|
||||
| 5 | EMA smoother in firmware (α=1/8) | §A0.9 |
|
||||
| 6 | 5-min EMA soak: **3.95× suppression measured** | §A0.10 |
|
||||
| 7 | v0.6.8-esp32 release + §A0.11 timestamp-wiring gap recorded | §A0.11 |
|
||||
| 8 | Sync packet emission (option 2 chosen) | — |
|
||||
| 9 | Sync packet live-verified on both boards | §A0.12 |
|
||||
| 10 | v0.6.9-esp32 release + `CONFIG_C6_SYNC_EVERY_N_FRAMES` Kconfig knob | — |
|
||||
| 11 | ADR-018 byte 19 bit 4 wire-fix from ESP-NOW path | — |
|
||||
| 12 | v0.7.0-esp32 release + Python `SyncPacketParser` stub | §A0.13 |
|
||||
| 13 | 6 Python unit tests + README/user-guide doc updates | — |
|
||||
| 14 | Rust `SyncPacket` decoder + 7 unit tests in `wifi-densepose-hardware` | — |
|
||||
| 15 | Sensing-server `udp_receiver_task` magic-dispatch + `NodeState::latest_sync` | — |
|
||||
| 16 | `SyncPacket::apply_to_local()` + `NodeState::mesh_aligned_us()` (+ 3 more tests, 10 total) | — |
|
||||
|
||||
### 4.2 P10 measured numbers (substrate now quantified, not just designed)
|
||||
|
||||
Every number below comes from a real bench capture against COM9 + COM12 ESP32-C6 boards, raw logs preserved under `dist/firmware-v0.6.7/iter{2,4,5,6,9}-*.log` and `dist/firmware-v0.6.8/iter9-*.log`.
|
||||
|
||||
| Metric | Measured | Target |
|
||||
|---|---|---|
|
||||
| Cross-board ESP-NOW RX rate (5-min soak) | **99.56 %** (2689 / 2701 beacons) | — |
|
||||
| Cross-board TX failures (5-min soak) | **0** on either board | — |
|
||||
| Beacon rate | **10.00 /s** exactly (FreeRTOS solid) | 10 Hz nominal |
|
||||
| Raw offset stdev | 411.5 µs | — |
|
||||
| **EMA-smoothed offset stdev** | **104.1 µs** | **≤100 µs (§2.4)** |
|
||||
| Range reduction (smoothed vs raw) | **4.70×** peak-to-peak | — |
|
||||
| Measured C6 crystal skew between bench boards | **1.4 ppm** | ESP32 spec ±10 ppm |
|
||||
| Drift preservation (smoothed tracking raw) | within **2 µs/min** | — |
|
||||
| Leader election | ✅ COM9 stepped down at +27 336 ms on `lower-id` rule | — |
|
||||
| Sync packet round-trip (firmware → Python decoder) | identical bytes, offset recovered to within **285 µs** of §A0.10 | — |
|
||||
| Raw 802.15.4 RX | 0 frames over 60 s + 240 s + 300 s soaks | (D1 broken in IDF v5.4) |
|
||||
| C6 v0.7.0 image size / slack | 1019 KB / **45 %** on 4 MB single-OTA | — |
|
||||
| S3 v0.7.0 image size / slack | 1094 KB / **47 %** on 8 MB dual-OTA | — |
|
||||
|
||||
### 4.3 P10 host-side surface (production code shipped)
|
||||
|
||||
| Crate / File | New API |
|
||||
|---|---|
|
||||
| `v2/crates/wifi-densepose-hardware/src/sync_packet.rs` | `SyncPacket`, `SyncPacketFlags`, `SYNC_PACKET_MAGIC = 0xC511A110`, `SYNC_PACKET_SIZE = 32`, `SyncPacket::from_bytes`, `SyncPacket::to_bytes`, `SyncPacket::local_minus_epoch_us`, `SyncPacket::apply_to_local(local_us)` — 10 unit tests, all green |
|
||||
| `v2/crates/wifi-densepose-sensing-server/src/main.rs` | `NodeState::latest_sync: Option<SyncPacket>`, `NodeState::latest_sync_at: Option<Instant>`, `NodeState::mesh_aligned_us(local_at_frame_us) -> Option<u64>`, `udp_receiver_task` magic-dispatch on `SYNC_PACKET_MAGIC` |
|
||||
| `archive/v1/src/hardware/csi_extractor.py` | `SyncPacket` dataclass, `SyncPacketParser.parse`, `SyncPacketParser.MAGIC` — 6 Python unit tests, all green |
|
||||
|
||||
## 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? **Resolved (P10): Kconfig-configurable via `CONFIG_C6_TIMESYNC_CHANNEL`, default 26 since v0.6.6 (not 15 — empirically channel 26 sits on the WiFi guard band above ch 14 and gives the 15.4 path room without competing for radio time; tested in §D1 hypothesis 1 of the witness).**
|
||||
- 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.**
|
||||
|
||||
## 6. What's outside this ADR (P10 closure)
|
||||
|
||||
The firmware-side substrate for ADR-110 is now closed. Three categories remain, all explicitly **not** in this ADR's scope:
|
||||
|
||||
1. **Multistatic CSI fusion math** — ADR-029/030 territory. The substrate (mesh-aligned timestamps + per-node `latest_sync` state) is in place; the actual joint-CSI fusion that consumes it lives in `wifi-densepose-signal/src/ruvsense/multistatic.rs`.
|
||||
2. **Hardware-gated measurements** that the substrate already supports but the bench can't validate without buying:
|
||||
- 11ax HE-LTF live subcarrier capture — needs an 11ax AP that advertises HE (IDF v5.4 doesn't expose an AP-side HE config API, §A0.6).
|
||||
- ≤5 µA LP-core hibernation — needs an INA226 / Joulescope in series with the 3V3 rail.
|
||||
3. **IDF upstream fixes**:
|
||||
- 802.15.4 RX path on C6 + IDF v5.4 — `c6_timesync` ships and initialises but never RXes a frame (D1, 5 hypotheses tested + rejected). ESP-NOW workaround (`c6_sync_espnow`) is the working primary mesh transport. The 802.15.4 source stays in for the day IDF fixes the driver.
|
||||
- Soft-AP HE/TWT-Responder advertise API — `c6_softap_he` ships as the in-place hook for when IDF v5.5+ exposes it.
|
||||
@@ -0,0 +1,670 @@
|
||||
# ADR-115: Home Assistant integration via MQTT auto-discovery + Matter bridge
|
||||
|
||||
| Field | Value |
|
||||
|-------|-------|
|
||||
| **Status** | Proposed |
|
||||
| **Date** | 2026-05-23 |
|
||||
| **Deciders** | ruv |
|
||||
| **Codename** | **HA-DISCO** (MQTT) + **HA-FABRIC** (Matter) |
|
||||
| **Relates to** | ADR-018 (CSI binary frame format), ADR-021 (ESP32 vitals), ADR-031 (RuView sensing-first), ADR-039 (edge vitals packet 0xC511_0002), ADR-079 (camera ground-truth), ADR-103 (cog-person-count), ADR-110 (ESP32-C6 firmware), ADR-114 (cog-quantum-vitals) |
|
||||
| **Tracking issue** | TBD — file under RuView issue tracker, link in §10 |
|
||||
| **Related issues** | [#574](https://github.com/ruvnet/RuView/issues/574) (mDNS for seed_url), [#760](https://github.com/ruvnet/RuView/issues/760) (sensing UI), [#761](https://github.com/ruvnet/RuView/issues/761) (HA competitor scan) |
|
||||
|
||||
---
|
||||
|
||||
## 1. Context
|
||||
|
||||
RuView and the underlying WiFi-DensePose stack already expose rich human-sensing telemetry — presence, person count, 17-keypoint pose, breathing rate (BR), heart rate (HR), motion level, fall detection, RSSI, and zone occupancy — over a Rust `wifi-densepose-sensing-server` (`v2/crates/wifi-densepose-sensing-server`). The server emits three structured message types over its WebSocket at `/ws/sensing`:
|
||||
|
||||
| Server message `type` | Source (`main.rs`) | Payload (selected fields) |
|
||||
|---|---|---|
|
||||
| `pose_data` | line 2340 | 17 keypoints per detection, `confidence`, `track_id` |
|
||||
| `edge_vitals` | line 3971 | `node_id`, `presence`, `fall_detected`, `motion`, `breathing_rate_bpm`, `heartrate_bpm`, `n_persons`, `motion_energy`, `presence_score`, `rssi` |
|
||||
| `sensing_update` | lines 1903 / 2047 / 4098 / 4350 / 4481 | aggregated detections + zone hits |
|
||||
|
||||
Customers running a **Cognitum Seed** appliance (`cognitum-v0` at `:9000`) or a standalone **ESP32-S3** / **ESP32-C6** node (per ADR-110) want this telemetry inside **Home Assistant (HA)** — the most widely deployed open-source home-automation hub (>500 k installs, OSS, MQTT-native) — so they can build automations around presence, vitals, falls, and motion without writing code against our REST/WebSocket API.
|
||||
|
||||
### 1.1 Why this matters now
|
||||
|
||||
Two recent customer-facing issues show the same plug-and-play gap:
|
||||
|
||||
- **#574 (mDNS for seed_url)** — users don't want to manually paste a `seed://` URL into the dashboard; they expect the hub to discover the node.
|
||||
- **#760 (sensing UI)** — users asked for an HA-style "single dashboard with all my sensors" experience; we currently force them through our own UI.
|
||||
|
||||
Both reduce to the same underlying complaint: *RuView is a black box that needs glue code to fit into the rest of a smart home.* HA solves that problem industry-wide. We should meet users where they already are.
|
||||
|
||||
### 1.2 Comparison: who else does this
|
||||
|
||||
| Product | HA approach | Notes |
|
||||
|---|---|---|
|
||||
| **espectre.dev** | Custom HA integration (HACS), Python | Pose-only; no vitals; closed-source server |
|
||||
| **tommysense.com** | MQTT auto-discovery + cloud bridge | Vitals only; cloud-mandatory |
|
||||
| **Aqara FP2** | Native ZigBee + HA | Presence + zones only; commercial mmWave |
|
||||
| **mmWave HLK-LD2410** | ESPHome firmware → HA | Presence + distance, no pose, no vitals |
|
||||
| **Matter devices (any)** | Native Matter clusters, multi-controller | Apple/Google/Alexa/HA all consume; presence in `OccupancySensing` since Matter 1.3; no vitals/pose clusters yet |
|
||||
| **RuView (today)** | None | Customer must build their own bridge |
|
||||
|
||||
The competitive bar is set by Aqara FP2 (HA-native, multi-zone presence) and ESPHome-flashed LD2410 nodes (cheap, plug-and-play). To match or exceed them we need first-class HA integration that exposes our **differentiated** capabilities: pose, HR/BR, fall, multi-room.
|
||||
|
||||
### 1.3 What this ADR is *not*
|
||||
|
||||
- Not a HACS Python integration today (that's a follow-on; see §6).
|
||||
- Not a webhook-only push (one-way, no entity discovery).
|
||||
- Not a change to the ADR-018 CSI frame format or ADR-039 edge vitals packet — purely an additive consumer of the existing WS broadcast.
|
||||
- Not a change to firmware. Both ESP32-S3 (ADR-028) and ESP32-C6 (ADR-110) paths stay byte-identical.
|
||||
|
||||
---
|
||||
|
||||
## 2. Decision
|
||||
|
||||
Adopt a **dual-protocol** integration strategy:
|
||||
|
||||
1. **Primary — MQTT + Home Assistant auto-discovery (HA-DISCO).** Add an MQTT publisher to `wifi-densepose-sensing-server` that connects to a user-supplied MQTT broker (default: `mqtt://localhost:1883`), publishes one HA-discovery message per capability per RuView node on startup and on periodic refresh (default 600 s), translates each WebSocket broadcast (`edge_vitals`, `pose_data`, `sensing_update`) into per-entity MQTT state messages, and honors a `--privacy-mode` flag that strips biometrics (HR / BR / pose keypoints) before publish.
|
||||
|
||||
2. **Secondary — Matter Bridge (HA-FABRIC).** Expose RuView nodes as Matter Bridged Devices over WiFi so the **subset of capabilities Matter standardises today** — presence (`OccupancySensing`), motion (`BooleanState`), fall events (`SwitchCluster`-as-event), person count (numeric attribute on the bridge) — are consumable by **any Matter controller**: Apple Home, Google Home, Amazon Alexa, Samsung SmartThings, and Home Assistant itself. Biometrics (HR/BR) and pose stay on MQTT until the Matter spec adds device types that can represent them.
|
||||
|
||||
The two paths are **complementary, not alternative**: MQTT carries the full telemetry surface for power users; Matter carries the standardised subset for cross-ecosystem reach. A user running HA gets both — MQTT entities populate alongside Matter Bridged Devices and HA dedupes via `unique_id`. A user running Apple Home gets only Matter, but they get the presence/fall/count signals that matter most for automations.
|
||||
|
||||
A **Home Assistant HACS Python integration** is sketched as a follow-on (§6.A) for users who don't run MQTT and want richer features than Matter exposes. A **REST webhook** path is rejected (§6.B).
|
||||
|
||||
### 2.1 Why this split (MQTT primary, Matter secondary)
|
||||
|
||||
| Criterion | A. MQTT auto-discovery | **D. Matter Bridge** | B. HACS Python integration | C. REST webhook |
|
||||
|---|---|---|---|---|
|
||||
| **Zero-code UX for end user** | yes (HA picks up entities automatically) | yes (pair via QR code, any controller) | yes (after install) | no (user wires automations by hand) |
|
||||
| **Cross-ecosystem reach** | HA + any MQTT consumer | **Apple / Google / Alexa / SmartThings / HA** | HA-only | HA-only |
|
||||
| **Distribution + maintenance** | one Rust feature in our existing crate | one Rust feature + Matter SDK linkage | new Python repo, HACS approval | trivial |
|
||||
| **Discovery (auto entity creation)** | yes (HA's `homeassistant/` topic namespace) | yes (Matter commissioning + bridge endpoints) | yes (config flow) | no |
|
||||
| **Bidirectional control** | yes (subscribe to command topic) | yes (Matter commands) | yes | one-way only |
|
||||
| **Carries vitals (HR/BR) / pose** | **yes** | **no — no Matter clusters exist** | yes (custom) | yes (custom) |
|
||||
| **Carries presence / count / fall** | yes | **yes (Matter 1.3+)** | yes | yes |
|
||||
| **Works without HA running** | any MQTT consumer | any Matter controller | HA-only | HA-only |
|
||||
| **Existing infra in target homes** | most HA users already run a broker | one Matter controller per home (Apple HomePod / Nest Hub / HA-Matter add-on) | none | none |
|
||||
| **Effort to MVP** | ~2 weeks | ~4–6 weeks (Matter SDK + commissioning) | ~4–6 weeks | ~2 days |
|
||||
| **Privacy controls** | per-topic + retain policy | Matter fabric isolation + spec-level limits on what's exposable | application-layer | weak |
|
||||
| **Certification cost** | none | "Works with HA" free; **CSA Matter certification optional** (~$3 k/year membership for the badge) | HACS review (free) | none |
|
||||
| **Test surface in CI** | dockerised mosquitto + schema lint | matter-rs test harness + chip-tool sims | full HA test harness | curl |
|
||||
|
||||
**MQTT is primary** because it carries 100% of RuView's differentiated telemetry (pose, HR, BR) which no other path can. **Matter is secondary** because it covers the ~30% subset (presence/count/fall) that matters across the *other 70% of smart-home buyers* who don't run HA. Together they cover the whole market. Webhook (C) gives up too much (no entity discovery, no control plane) and is rejected. HACS (B) is strictly more polished than MQTT but strictly more expensive; revisit after MQTT adoption data is in.
|
||||
|
||||
---
|
||||
|
||||
## 3. Detailed Design
|
||||
|
||||
### 3.1 Entity mapping
|
||||
|
||||
Each RuView node becomes one HA **device**. Each capability becomes an **entity** on that device. ESP32 nodes behind a Cognitum Seed appliance are linked via HA's `via_device` field so the topology shows up in the HA UI.
|
||||
|
||||
| Capability | HA component | `device_class` | `state_class` | Unit | Icon | Source field (server WS) |
|
||||
|---|---|---|---|---|---|---|
|
||||
| Presence | `binary_sensor` | `occupancy` | — | — | `mdi:motion-sensor` | `edge_vitals.presence` |
|
||||
| Person count | `sensor` | — | `measurement` | persons | `mdi:account-group` | `edge_vitals.n_persons` |
|
||||
| Breathing rate | `sensor` | — | `measurement` | bpm | `mdi:lungs` | `edge_vitals.breathing_rate_bpm` |
|
||||
| Heart rate | `sensor` | — | `measurement` | bpm | `mdi:heart-pulse` | `edge_vitals.heartrate_bpm` |
|
||||
| Motion level | `sensor` | — | `measurement` | % | `mdi:run` | `edge_vitals.motion` (0–1 → ×100) |
|
||||
| Motion energy | `sensor` | — | `measurement` | (unitless) | `mdi:waveform` | `edge_vitals.motion_energy` |
|
||||
| Fall detected | `event` | — | — | — | `mdi:human-fall` | `edge_vitals.fall_detected` |
|
||||
| Presence score | `sensor` | — | `measurement` | % | `mdi:gauge` | `edge_vitals.presence_score` (×100) |
|
||||
| RSSI | `sensor` | `signal_strength` | `measurement` | dBm | `mdi:wifi` | `edge_vitals.rssi` |
|
||||
| Zone occupancy (per zone) | `binary_sensor` | `occupancy` | — | — | `mdi:map-marker` | `sensing_update.zones[*]` |
|
||||
| Pose keypoints | `sensor` (JSON attr) | — | — | — | `mdi:human` | `pose_data.keypoints` (opt-in) |
|
||||
| Tracked persons (per ID) | `binary_sensor` (dynamic) | `occupancy` | — | — | `mdi:account` | `pose_data.track_id` |
|
||||
|
||||
Pose keypoints are intentionally not a first-class HA entity (HA has no 17-keypoint primitive); instead they're exposed as an attribute payload on a `wifi_densepose_<node>_pose` sensor, so power users can template against them but the default HA UI stays clean.
|
||||
|
||||
### 3.2 MQTT topic structure
|
||||
|
||||
We follow HA's documented `homeassistant/<component>/<object_id>/<entity>/config` discovery convention. Object ID is `wifi_densepose_<node_id>` to namespace cleanly against other devices.
|
||||
|
||||
```
|
||||
homeassistant/binary_sensor/wifi_densepose_<node_id>/presence/config (retained, QoS 1)
|
||||
homeassistant/binary_sensor/wifi_densepose_<node_id>/presence/state (not retained, QoS 0)
|
||||
homeassistant/binary_sensor/wifi_densepose_<node_id>/presence/availability (retained, QoS 1)
|
||||
|
||||
homeassistant/sensor/wifi_densepose_<node_id>/heart_rate/config (retained, QoS 1)
|
||||
homeassistant/sensor/wifi_densepose_<node_id>/heart_rate/state (not retained, QoS 0)
|
||||
|
||||
homeassistant/sensor/wifi_densepose_<node_id>/breathing_rate/config
|
||||
homeassistant/sensor/wifi_densepose_<node_id>/breathing_rate/state
|
||||
|
||||
homeassistant/event/wifi_densepose_<node_id>/fall/config (retained, QoS 1)
|
||||
homeassistant/event/wifi_densepose_<node_id>/fall/state (not retained, QoS 1)
|
||||
|
||||
ruview/<node_id>/raw/pose (opt-in, not retained, QoS 0)
|
||||
ruview/<node_id>/raw/sensing_update (opt-in, not retained, QoS 0)
|
||||
```
|
||||
|
||||
The `ruview/<node_id>/raw/*` namespace is **outside** the `homeassistant/` discovery prefix on purpose: it carries the original WebSocket JSON for users who want to consume it directly (Node-RED, Grafana, custom scripts), without HA trying to interpret it as an entity.
|
||||
|
||||
### 3.3 Example discovery payloads
|
||||
|
||||
**Presence (binary_sensor):**
|
||||
|
||||
```json
|
||||
{
|
||||
"name": "Presence",
|
||||
"unique_id": "wifi_densepose_aabbccddeeff_presence",
|
||||
"object_id": "wifi_densepose_aabbccddeeff_presence",
|
||||
"state_topic": "homeassistant/binary_sensor/wifi_densepose_aabbccddeeff/presence/state",
|
||||
"availability_topic": "homeassistant/binary_sensor/wifi_densepose_aabbccddeeff/presence/availability",
|
||||
"payload_on": "ON",
|
||||
"payload_off": "OFF",
|
||||
"payload_available": "online",
|
||||
"payload_not_available": "offline",
|
||||
"device_class": "occupancy",
|
||||
"qos": 1,
|
||||
"device": {
|
||||
"identifiers": ["wifi_densepose_aabbccddeeff"],
|
||||
"name": "RuView node aabbccddeeff",
|
||||
"manufacturer": "ruvnet",
|
||||
"model": "ESP32-S3 CSI node",
|
||||
"sw_version": "v0.6.7",
|
||||
"via_device": "cognitum_seed_1"
|
||||
},
|
||||
"origin": {
|
||||
"name": "wifi-densepose-sensing-server",
|
||||
"sw_version": "0.7.0",
|
||||
"support_url": "https://github.com/ruvnet/RuView"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
**Heart rate (sensor):**
|
||||
|
||||
```json
|
||||
{
|
||||
"name": "Heart rate",
|
||||
"unique_id": "wifi_densepose_aabbccddeeff_heart_rate",
|
||||
"state_topic": "homeassistant/sensor/wifi_densepose_aabbccddeeff/heart_rate/state",
|
||||
"availability_topic": "homeassistant/sensor/wifi_densepose_aabbccddeeff/heart_rate/availability",
|
||||
"unit_of_measurement": "bpm",
|
||||
"state_class": "measurement",
|
||||
"icon": "mdi:heart-pulse",
|
||||
"value_template": "{{ value_json.bpm }}",
|
||||
"json_attributes_topic": "homeassistant/sensor/wifi_densepose_aabbccddeeff/heart_rate/state",
|
||||
"qos": 0,
|
||||
"device": { "identifiers": ["wifi_densepose_aabbccddeeff"] }
|
||||
}
|
||||
```
|
||||
|
||||
State payload published to `.../heart_rate/state`:
|
||||
|
||||
```json
|
||||
{ "bpm": 68.2, "confidence": 0.91, "ts": "2026-05-23T14:00:00Z" }
|
||||
```
|
||||
|
||||
**Fall (event):**
|
||||
|
||||
```json
|
||||
{
|
||||
"name": "Fall detected",
|
||||
"unique_id": "wifi_densepose_aabbccddeeff_fall",
|
||||
"state_topic": "homeassistant/event/wifi_densepose_aabbccddeeff/fall/state",
|
||||
"event_types": ["fall_detected"],
|
||||
"icon": "mdi:human-fall",
|
||||
"qos": 1,
|
||||
"device": { "identifiers": ["wifi_densepose_aabbccddeeff"] }
|
||||
}
|
||||
```
|
||||
|
||||
State payload (fired once per fall, **not retained**):
|
||||
|
||||
```json
|
||||
{ "event_type": "fall_detected", "ts": "2026-05-23T14:00:00.123Z", "confidence": 0.87 }
|
||||
```
|
||||
|
||||
### 3.4 Device-level grouping
|
||||
|
||||
- One HA `device` per RuView **node** (ESP32-S3 / S3-Mini / C6, or the host running sensing-server in mock mode).
|
||||
- `device.identifiers` = `["wifi_densepose_<node_id>"]` where `node_id` is the MAC-derived ID already in `edge_vitals.node_id`.
|
||||
- For nodes behind a **Cognitum Seed**, set `device.via_device = "cognitum_seed_<seed_id>"` so HA renders the topology as a tree (Seed → child nodes).
|
||||
- The Cognitum Seed itself appears as a parent device with its own diagnostic entities (uptime, agent health) — published by the seed appliance directly, not by sensing-server.
|
||||
|
||||
### 3.5 QoS, retention, and refresh
|
||||
|
||||
| Topic | QoS | Retain | Refresh cadence | Rationale |
|
||||
|---|---|---|---|---|
|
||||
| `*/config` | 1 | **yes** | on startup + every 600 s | HA expects retained discovery; re-publishing periodically self-heals if HA restarts before our state messages arrive |
|
||||
| `*/state` (sensor) | 0 | no | rate-limited per §3.7 | Best-effort; HA can tolerate occasional drops |
|
||||
| `*/state` (binary_sensor) | 1 | **yes** | on change only | Last value matters; new HA subscribers should see current state |
|
||||
| `*/state` (event) | 1 | no | on event | Falls must not be missed; never retained or HA replays old events |
|
||||
| `*/availability` | 1 | **yes** | LWT + 30 s heartbeat | Offline detection |
|
||||
| `ruview/*/raw/*` | 0 | no | as-emitted | Raw firehose; consumers opt in |
|
||||
|
||||
### 3.6 Availability + Last Will and Testament (LWT)
|
||||
|
||||
On connect, sensing-server sets an MQTT LWT on each entity's `availability` topic to `offline` (retained). On successful connect it publishes `online` (retained). A 30-second heartbeat re-publishes `online` so HA can detect zombie sessions.
|
||||
|
||||
```
|
||||
LWT topic: homeassistant/binary_sensor/wifi_densepose_<node_id>/presence/availability
|
||||
LWT payload: offline
|
||||
LWT QoS: 1
|
||||
LWT retain: true
|
||||
```
|
||||
|
||||
### 3.7 Bandwidth control + rate limiting
|
||||
|
||||
Pose keypoints at 10 fps × 17 keypoints × 3 floats ≈ 4–8 kbit/s per person — fine over LAN, but pathological if a user accidentally routes it to a metered cellular MQTT bridge. Defaults:
|
||||
|
||||
| Entity type | Default rate | Configurable | Override flag |
|
||||
|---|---|---|---|
|
||||
| Presence (binary) | on change | yes | — |
|
||||
| Person count | 1 Hz | yes | `--mqtt-rate-count=1` |
|
||||
| BR / HR | 0.2 Hz (every 5 s) | yes | `--mqtt-rate-vitals=0.2` |
|
||||
| Motion level | 1 Hz | yes | `--mqtt-rate-motion=1` |
|
||||
| Fall events | on event | no (always immediate) | — |
|
||||
| RSSI | 0.1 Hz | yes | `--mqtt-rate-rssi=0.1` |
|
||||
| Pose keypoints | **off by default**, 1 Hz when on | yes | `--mqtt-publish-pose --mqtt-rate-pose=1` |
|
||||
| Zones | on change | yes | — |
|
||||
|
||||
### 3.8 Configuration UX — CLI + env
|
||||
|
||||
New CLI flags on `wifi-densepose-sensing-server` (gated behind `--mqtt`):
|
||||
|
||||
```
|
||||
--mqtt Enable MQTT publisher (default off)
|
||||
--mqtt-host <HOST> MQTT broker host (default: localhost)
|
||||
--mqtt-port <PORT> MQTT broker port (default: 1883, 8883 if --mqtt-tls)
|
||||
--mqtt-username <USER> MQTT username
|
||||
--mqtt-password-env <ENVVAR> Read password from env var (default: MQTT_PASSWORD)
|
||||
--mqtt-client-id <ID> Client ID (default: wifi-densepose-<hostname>)
|
||||
--mqtt-prefix <PREFIX> Discovery prefix (default: homeassistant)
|
||||
--mqtt-tls Enable TLS (default off)
|
||||
--mqtt-ca-file <PATH> CA bundle (default: system trust)
|
||||
--mqtt-client-cert <PATH> Client cert for mTLS
|
||||
--mqtt-client-key <PATH> Client key for mTLS
|
||||
--mqtt-refresh-secs <N> Discovery refresh interval (default: 600)
|
||||
--mqtt-rate-vitals <HZ> Vitals publish rate (default: 0.2)
|
||||
--mqtt-rate-motion <HZ> Motion publish rate (default: 1.0)
|
||||
--mqtt-rate-count <HZ> Person count publish rate (default: 1.0)
|
||||
--mqtt-rate-rssi <HZ> RSSI publish rate (default: 0.1)
|
||||
--mqtt-publish-pose Publish pose keypoints (default off)
|
||||
--mqtt-rate-pose <HZ> Pose publish rate when enabled (default: 1.0)
|
||||
--privacy-mode Strip biometrics (HR/BR/pose) before publish
|
||||
```
|
||||
|
||||
Env var equivalents follow `RUVIEW_MQTT_HOST`, `RUVIEW_MQTT_USERNAME`, etc., so Docker / systemd users don't have to wire long arg lists. Configuration is loaded in the order: CLI > env > defaults.
|
||||
|
||||
### 3.9 TLS + auth
|
||||
|
||||
- **Recommended**: mTLS on a dedicated VLAN with the broker pinned to a CA we issue per Cognitum Seed appliance.
|
||||
- **Acceptable**: username + password over TLS to a public broker (e.g. user's existing Mosquitto add-on inside HA).
|
||||
- **Rejected**: plaintext on any network shared with non-trusted devices. Sensing-server logs a `WARN` if `--mqtt` is enabled without `--mqtt-tls` and the broker is not `localhost`.
|
||||
|
||||
### 3.10 Privacy mode
|
||||
|
||||
`--privacy-mode` strips biometric + biometric-derivable channels before any MQTT publish, regardless of subscriber. Discovery messages for those entities are **never published** in this mode (HA never sees them exist).
|
||||
|
||||
| Channel | Default | `--privacy-mode` |
|
||||
|---|---|---|
|
||||
| Presence | published | **published** |
|
||||
| Person count | published | **published** |
|
||||
| Motion level | published | **published** |
|
||||
| Zone occupancy | published | **published** |
|
||||
| RSSI | published | **published** |
|
||||
| Breathing rate | published | **stripped** |
|
||||
| Heart rate | published | **stripped** |
|
||||
| Fall events | published | **published** (safety > privacy) |
|
||||
| Pose keypoints | off by default | **stripped** (cannot be force-enabled) |
|
||||
|
||||
This implements the ADR-106 primitive-isolation contract at the integration boundary: HR / BR / pose are biometric-class signals and must not leak to an unconstrained MQTT broker without explicit operator opt-in.
|
||||
|
||||
### 3.11 Matter Bridge (HA-FABRIC)
|
||||
|
||||
The Matter path runs **in the same `wifi-densepose-sensing-server` process** behind a `--matter` feature flag, gated independently of `--mqtt`. The bridge presents itself to Matter controllers as a **Bridged Devices Aggregator** (per Matter Core Spec §9.13) with one Bridged Device endpoint per RuView node, exposing the standardised subset of capabilities. Biometrics and pose are **not exposed** over Matter — they have no spec-defined clusters and cannot be soundly represented (covering them in `Generic Sensor` would force every controller to render them as nameless numbers).
|
||||
|
||||
#### 3.11.1 Matter device-type mapping
|
||||
|
||||
| RuView capability | Matter cluster | Endpoint device type | Source field |
|
||||
|---|---|---|---|
|
||||
| Presence | `OccupancySensing` (0x0406) | `OccupancySensor` (0x0107) | `edge_vitals.presence` |
|
||||
| Motion (boolean above threshold) | `OccupancySensing` (0x0406) | (same endpoint) | `edge_vitals.motion > 0.1` |
|
||||
| Fall event | `Switch` (0x003B) `MultiPressComplete` event | `GenericSwitch` (0x000F) | `edge_vitals.fall_detected` (one momentary press = one fall) |
|
||||
| Person count | `OccupancySensing` extension attribute (vendor-specific 0xFFF1_0001) | (same endpoint) | `edge_vitals.n_persons` |
|
||||
| Zone occupancy | one `OccupancySensor` endpoint per zone | (multiple endpoints) | `sensing_update.zones[*]` |
|
||||
| RSSI / motion energy / presence score / breathing rate / heart rate / pose | **not exposed over Matter** | — | (MQTT only) |
|
||||
|
||||
The vendor-specific person-count attribute uses RuView's CSA-assigned vendor ID (open question §9.9). Controllers that don't understand the vendor extension still see the standard `OccupancySensing.Occupancy` boolean — graceful degradation.
|
||||
|
||||
#### 3.11.2 Commissioning + fabric model
|
||||
|
||||
- **Commissioning over WiFi**: the bridge prints a Matter setup code (11-digit short code + QR string) to logs and to `--matter-setup-file <PATH>` on first start. User scans with Apple Home / Google Home / HA Matter integration.
|
||||
- **No Thread radio required**: sensing-server runs on hosts (Pi 5, x86, Cognitum Seed) that have WiFi but no 802.15.4. Matter-over-WiFi is sufficient. Thread support is explicitly out of scope until ESP32-C6 firmware grows a Matter stack (separate ADR; see §7).
|
||||
- **Multi-admin / multi-fabric**: the bridge accepts multiple commissioning sessions so a single node can be paired into Apple Home **and** Home Assistant **and** Google Home concurrently — Matter's `OperationalCredentials` cluster handles fabric isolation.
|
||||
- **Resetting commissioning**: a `--matter-reset` CLI flag wipes stored fabric credentials so a node can be repaired against a new controller.
|
||||
|
||||
#### 3.11.3 SDK choice (open in §9, sketched here)
|
||||
|
||||
Three viable Rust paths:
|
||||
|
||||
| Option | Pros | Cons |
|
||||
|---|---|---|
|
||||
| **`matter-rs`** (project-chip/rs-matter) — pure-Rust SDK | No FFI, no C++ build chain, fits our Rust-only crate policy, MIT-licensed | Less mature than C++ chip-tool; certification path less proven |
|
||||
| **`project-chip/connectedhomeip`** via Rust FFI bindings | Reference implementation, every controller tested against it, certification-ready | Drags in CMake, C++ toolchain, ~50 MB of vendored code; clashes with our cargo-first build |
|
||||
| **External Matter bridge process** (separate ESPHome-like daemon) | Decouples Rust crate from Matter SDK churn | Operational complexity; two processes to deploy |
|
||||
|
||||
**Tentative**: `matter-rs` for v0.7.0 ship; fall back to chip-tool-FFI if cert blockers emerge. Final decision deferred to P7 spike.
|
||||
|
||||
#### 3.11.4 Limitations to document upfront
|
||||
|
||||
These are **deliberate**, not bugs — users must see them in `docs/integrations/matter.md` before pairing:
|
||||
|
||||
- **No HR, BR, pose, RSSI over Matter.** Matter has no clusters for these. Use MQTT for biometric / detailed telemetry.
|
||||
- **Fall events are one-shot.** A fall fires a momentary switch press; controllers must subscribe to the event (most do).
|
||||
- **Person count is vendor-extension.** Apple Home / Google Home will show occupancy on/off; only HA and SmartThings (with custom handlers) will surface the count.
|
||||
- **One fabric controller is "primary."** Automations split across fabrics can race; users should keep heavy automation logic in one controller (typically HA).
|
||||
- **No video / image data ever.** Matter spec forbids it on these device types and we wouldn't expose it anyway.
|
||||
|
||||
#### 3.11.5 Why this is "Works with HA" *and* "Works with everything else"
|
||||
|
||||
A node paired into HA shows up in **two** ways:
|
||||
- as a set of MQTT entities (HA-DISCO path) with full telemetry
|
||||
- as a Matter device under HA's Matter integration with the standard subset
|
||||
|
||||
HA dedupes by `unique_id` (we set both paths' IDs to `wifi_densepose_<node_id>_<entity>`), so users don't see ghost devices. The Matter device is the one Apple Home or Google Home will see if the user also pairs into those — same physical node, three controllers, no duplication. This is the architectural reason for adopting both protocols rather than picking one.
|
||||
|
||||
### 3.12 Semantic automation primitives (HA-MIND)
|
||||
|
||||
Raw signals are not the product. Customers don't want to *write a Node-RED flow that thresholds breathing rate at night to infer sleep*. They want a `binary_sensor.bedroom_someone_sleeping` they can wire directly into a "dim hallway light at 10 % if anyone's asleep" automation. Same for fall *risk*, distress, room activity, elderly inactivity, meeting-in-progress, bathroom occupancy. This is the inference layer that turns RuView from "RF sensing" into **ambient intelligence infrastructure** — and it has to ship as first-class HA entities and Matter events, not as a developer SDK.
|
||||
|
||||
#### 3.12.1 Catalog of inferred primitives (v1)
|
||||
|
||||
Each primitive is a fused state derived from one or more raw channels with a small finite-state machine. Inference runs inside `wifi-densepose-sensing-server` (same place MQTT publication runs), gated behind `--semantic` (default on; can be disabled). Each primitive has a confidence score and an explanation field so HA users can debug why it fired.
|
||||
|
||||
| Primitive | Inputs (raw) | Output kind | Default true-condition | Hysteresis / refractory |
|
||||
|---|---|---|---|---|
|
||||
| **Someone sleeping** | presence + low motion (<5 % for ≥300 s) + breathing rate 8–20 bpm + low HR variability | `binary_sensor` (occupancy) | all conditions hold simultaneously | enters after 5 min; exits when motion > 15 % for ≥30 s |
|
||||
| **Possible distress** | sustained elevated HR (>1.5× rolling baseline for ≥60 s) + agitated motion + no fall | `binary_sensor` (problem) + `event` | confidence ≥ 0.75 | latch for 5 min after exit |
|
||||
| **Room active** | presence + motion > 10 % for ≥30 s in any 5-min window | `binary_sensor` (occupancy) | window-rolling | exits on 10 min idle |
|
||||
| **Elderly inactivity anomaly** | no motion + presence stable for > N× rolling daily median idle (default 2×) | `binary_sensor` (problem) + `event` | model-personalised | per-resident baseline; alerts max 1×/day |
|
||||
| **Meeting in progress** | person count ≥ 2 + sustained low-amplitude motion (sitting) + speech-band micro-motion if `speech_band` cog installed | `binary_sensor` (occupancy) | ≥2 ppl + ≥10 min | exits when person count < 2 for 2 min |
|
||||
| **Bathroom occupied** | presence true in zone tagged `bathroom` | `binary_sensor` (occupancy) | zone+presence | privacy-mode keeps this enabled (it's not biometric) |
|
||||
| **Fall risk elevated** | recent near-fall (sharp acceleration without confirmed fall) OR gait instability score > threshold | `sensor` (0–100) + `event` on threshold cross | model-derived | 24-hour window |
|
||||
| **Bed exit (overnight)** | "someone sleeping" → presence transitions out of bed-tagged zone between 22:00–06:00 local | `event` | edge-triggered | one event per exit |
|
||||
| **No movement (safety check)** | presence true + motion < 1 % for ≥ N minutes (default 30) | `binary_sensor` (problem) + `event` | duration threshold | clears on motion |
|
||||
| **Multi-room transition** | track_id continuous across zones within 10 s | `event` (`who_went_from_to`) | edge-triggered | per-track event |
|
||||
|
||||
Catalog v2 (deferred): "child playing", "pet vs human", "agitation gradient", "circadian phase". Owned by an ADR-1xx follow-on after the v1 primitives have field data.
|
||||
|
||||
#### 3.12.2 Surface mapping across the three layers
|
||||
|
||||
| Layer | How a semantic primitive shows up |
|
||||
|---|---|
|
||||
| **MQTT (HA-DISCO)** | New topic namespace `homeassistant/binary_sensor/wifi_densepose_<node>/<primitive>/` and `homeassistant/event/wifi_densepose_<node>/<primitive>/` — full discovery payloads including the explanation field as `json_attributes` |
|
||||
| **Matter (HA-FABRIC)** | Standard cluster mappings: sleeping/active/meeting/bathroom → `OccupancySensing` (separate endpoints); distress/inactivity/no-movement/bed-exit/fall-risk-cross → `Switch.MultiPressComplete` events on dedicated `GenericSwitch` endpoints; fall-risk score → vendor-extension attribute on the bridge endpoint |
|
||||
| **Home Assistant automations** | Ship 8 starter blueprints in P5: "Notify on possible distress", "Wake-up routine on bed exit", "Dim hallway on someone sleeping", "Alert on elderly inactivity anomaly", "Lights on for meeting in progress", "Bathroom fan on while occupied", "Escalate on fall risk crossing 70", "Auto-arm security when room not active" |
|
||||
| **Apple Home scenes** | Each `OccupancySensor` endpoint and each `GenericSwitch` event triggers Apple Home scenes via Matter — user picks "When *bedroom someone sleeping* is on, run *night mode*" from the Apple Home UI directly. No HA required for this path |
|
||||
|
||||
#### 3.12.3 Why these specific primitives
|
||||
|
||||
These eight cover the **top automation requests from the smart-home market** without needing video or wearables:
|
||||
|
||||
- **Healthcare / aging-in-place** — "elderly inactivity anomaly", "fall risk elevated", "possible distress", "no movement (safety check)", "bed exit (overnight)" — directly map to AAL (Active and Assisted Living) device-class expectations
|
||||
- **Convenience automation** — "someone sleeping", "room active", "meeting in progress", "bathroom occupied" — the four highest-volume HA forum-requested binary states
|
||||
- **Privacy** — none of these require biometric *values* to be published, only the inferred *states*. A `--privacy-mode` deployment can keep semantic primitives ON and still strip HR/BR/pose, because the inference happens server-side and only the state crosses the wire
|
||||
|
||||
#### 3.12.4 Inference quality contract
|
||||
|
||||
Each primitive ships with:
|
||||
- A **published precision/recall** on a held-out test set built from ADR-079 paired captures + synthetic stress scenarios — committed to `docs/integrations/semantic-primitives-metrics.md`
|
||||
- An **explainability payload**: every state change carries `reason: ["motion<5%", "br=12bpm", "presence=true"]` style attributes so HA users can debug
|
||||
- A **confidence threshold**: per-primitive, user-tuneable via `--semantic-threshold-<primitive>=<float>` (default published in the metrics doc)
|
||||
- A **suppression contract**: primitives never fire during the first 60 s after sensing-server start (warmup), and never during `csi_calibration_in_progress` states (per ADR-014)
|
||||
|
||||
#### 3.12.5 Configuration
|
||||
|
||||
```
|
||||
--semantic Enable inference layer (default: on)
|
||||
--semantic-thresholds-file <PATH> Per-primitive thresholds (defaults shipped)
|
||||
--semantic-zones-file <PATH> Zone-tag map (e.g. {"bathroom": ["zone_3"]})
|
||||
--semantic-baseline-window-days <N> Days of history for personalised baselines (default: 14)
|
||||
--no-semantic-<primitive> Disable a specific primitive (repeatable)
|
||||
```
|
||||
|
||||
#### 3.12.6 What this changes architecturally
|
||||
|
||||
Inference lives in a new module `semantic_inference.rs` alongside `mqtt_publisher.rs` and `matter_bridge.rs`. It subscribes to the same `tokio::broadcast` channel everything else does, runs each primitive's FSM, and emits **two output streams**:
|
||||
|
||||
1. A `SemanticState` event on a new broadcast channel that MQTT and Matter publishers both subscribe to (so the same inference drives both surfaces without duplication)
|
||||
2. Append-only `semantic_events.jsonl` log under `--data-dir` for offline analysis + ADR-079 paired-capture supervision
|
||||
|
||||
This means: **adding a new primitive is one file change**. No MQTT schema rev, no Matter cluster rev — just add the FSM, register it, and discovery/state publish flow through both surfaces automatically.
|
||||
|
||||
---
|
||||
|
||||
## 4. Implementation phases
|
||||
|
||||
| Phase | Scope | Status |
|
||||
|---|---|---|
|
||||
| **P1** | Add `mqtt` feature flag to `wifi-densepose-sensing-server` Cargo.toml (depends on `rumqttc = "0.24"`). Wire CLI flags (§3.8) into `cli.rs`. No publishing yet, just config plumbing + unit tests on flag parsing. | pending |
|
||||
| **P2** | HA discovery message emitter. New module `mqtt_discovery.rs`. Emits all entity `config` topics on connect + every `--mqtt-refresh-secs`. Schema-validated against HA's published JSON schema. | pending |
|
||||
| **P3** | State publication. Subscribe to internal `tokio::broadcast` channel (the one `tx.send(json)` writes to on line 3983 of `main.rs`). Translate `edge_vitals` / `sensing_update` / `pose_data` messages into per-entity state payloads. Apply rate-limit + privacy-mode filters. | pending |
|
||||
| **P4** | Integration tests: dockerised mosquitto in CI (extend `.github/workflows/firmware-qemu.yml` pattern), schema-validate every emitted config against HA's `homeassistant/components/mqtt` JSON schemas (pin to a tested HA version). Add a smoke test that brings up sensing-server in `--source mock --mqtt`, subscribes with `paho-mqtt` test client, asserts on entity creation. | pending |
|
||||
| **P4.5** | **Semantic inference layer (HA-MIND).** New module `semantic_inference.rs` implementing the 10 v1 primitives from §3.12. Output broadcast channel consumed by both MQTT publisher (P3) and Matter bridge (P8). Per-primitive precision/recall baselines published to `docs/integrations/semantic-primitives-metrics.md`. Unit tests per FSM + integration tests via replay of ADR-079 paired captures. | pending |
|
||||
| **P5** | Docs: new `docs/integrations/home-assistant.md` with screenshots of the HA UI after auto-discovery completes, example HA dashboard YAML (Lovelace card configs), 8 starter blueprints from §3.12.2 (distress notify, wake routine, hallway dim, elderly anomaly alert, meeting lights, bathroom fan, fall-risk escalate, auto-arm security), and the raw-channel example automations: "turn on hall light when presence ON", "send notification on fall_detected event", "log HR/BR to InfluxDB". | pending |
|
||||
| **P6** | Ship `--mqtt` in the next sensing-server release (target: v0.7.0). Demo end-to-end on `cognitum-v0` against a Mosquitto add-on running on a Home Assistant OS install. Update README hardware-options table with "Works with Home Assistant" badge. | pending |
|
||||
| **P7** | Matter Bridge spike: build a throwaway prototype with `matter-rs` exposing one `OccupancySensor` endpoint + one `GenericSwitch` for fall. Pair against Apple Home, Google Home, and HA's Matter integration. Decision gate: if pairing works on all three, proceed to P8; if blocked, switch to chip-tool FFI and re-spike. | pending |
|
||||
| **P8** | Matter Bridge production. Implement `--matter`, `--matter-setup-file`, `--matter-reset`, `--matter-vendor-id`, `--matter-product-id` CLI flags. Aggregator + Bridged Devices for all RuView nodes; per-zone occupancy endpoints; fall as `MultiPressComplete` event; person count as vendor-extension attribute. Integration tests via chip-tool sim. | pending |
|
||||
| **P9** | Multi-controller validation. Pair one Cognitum Seed + 3 child ESP32 nodes simultaneously into HA, Apple Home, and Google Home. Verify presence flips on all three within 1 s of a real motion change. Document the multi-admin flow in `docs/integrations/matter.md`. | pending |
|
||||
| **P10** | CSA Matter certification path (optional, ADR-1xx follow-up). Decide cost vs marketing value of the official "Matter-certified" badge ($3 k/year CSA membership + per-product test fees). Sketch only — production decision deferred. | pending |
|
||||
|
||||
Each phase ends with a checkbox PR. The ADR is updated with actual artifacts (commit hashes, screenshots, witness bundle entries) as phases land. **P1–P6 (MQTT) and P7–P10 (Matter) run in parallel after P6 lands** — they share no code, so a Matter regression cannot break the MQTT path and vice versa.
|
||||
|
||||
---
|
||||
|
||||
## 5. Consequences
|
||||
|
||||
### 5.1 Wins
|
||||
|
||||
- Zero-code UX for HA users — discovery handles the entire onboarding.
|
||||
- **Cross-ecosystem reach via Matter** — Apple Home / Google Home / Alexa / SmartThings users can adopt RuView without ever running HA, expanding our addressable market by ~4×.
|
||||
- Decouples RuView from its own UI; users can build their own dashboards in HA / Grafana / Node-RED on the same MQTT firehose.
|
||||
- Adds a `--privacy-mode` flag that gives operators a single-knob biometric strip for compliance contexts.
|
||||
- Matter fabric isolation is a privacy win by construction — biometrics are out-of-spec for the exposed clusters, so a buggy controller can't accidentally exfiltrate them.
|
||||
- Webhook + future HACS path stay open (§6) — no lock-in.
|
||||
- Establishes our presence in the HA ecosystem AND the broader Matter ecosystem (community add-on lists, blueprints, forum recipes, App Store / Play Store visibility via Apple Home / Google Home device listings).
|
||||
|
||||
### 5.2 Costs
|
||||
|
||||
- New runtime dependency (`rumqttc`) in `wifi-densepose-sensing-server`. Mitigated by feature-flag (`mqtt`), default off; users who don't enable `--mqtt` pay zero binary or runtime cost.
|
||||
- **Matter SDK dependency** (`matter-rs` tentatively) gated behind `--matter` feature flag. Adds ~5 MB to release binary when enabled; zero cost when disabled. Tracking CSA spec churn is a real ongoing cost.
|
||||
- One more thing to maintain across HA breaking changes. HA commits to the `homeassistant/<component>/.../config` schema being stable (their published policy), but historically they have evolved fields like `availability_topic` → `availability` (list-of). We'll pin to a tested HA version per release and call out tested-against in `docs/integrations/home-assistant.md`.
|
||||
- **Matter spec churn** — Matter 1.0 → 1.3 added device types and changed cluster IDs. We pin to a tested Matter spec version per release. Annual re-validation overhead.
|
||||
- Requires CI infra: a mosquitto container in workflow, schema-validation against HA schemas, **and** a chip-tool simulator for Matter pairing tests (need to vendor or fetch).
|
||||
- CSA membership ($3 k/year) is required to obtain a permanent vendor ID; until then we use the development VID `0xFFF1`. Production deployment past P9 requires the membership decision (§9.9).
|
||||
|
||||
### 5.3 Verification
|
||||
|
||||
Acceptance criteria are §8. Beyond those, this ADR is "Accepted" once P6 ships and at least one external user has reported a working HA install via the public issue tracker.
|
||||
|
||||
---
|
||||
|
||||
## 6. Alternatives considered
|
||||
|
||||
### 6.A Custom HA integration (HACS) — *follow-on, not primary*
|
||||
|
||||
Rough sketch:
|
||||
|
||||
- Separate Python repo (proposed name: `ruvnet/hass-wifi-densepose`).
|
||||
- Talks to sensing-server's existing WebSocket at `/ws/sensing` and REST at `/api/*`.
|
||||
- Config-flow UI in HA: user enters server URL + bearer token; integration discovers entities.
|
||||
- Distribution via HACS (https://hacs.xyz), requires HACS review + acceptance.
|
||||
|
||||
**Effort estimate:** ~4–6 weeks (vs ~2 weeks for §2 MQTT path). Adds a Python codebase to maintain in a Rust-first org. Pays off in two scenarios:
|
||||
|
||||
1. Users who run HA but don't run an MQTT broker (rare but exists).
|
||||
2. Users who want sensing-server features that don't map cleanly to MQTT (e.g. live pose video preview).
|
||||
|
||||
**Plan:** revisit after P6 lands and we have real adoption data on the MQTT path. If MQTT covers 80%+ of installs, HACS becomes a nice-to-have. If not, it becomes ADR-1xx follow-up.
|
||||
|
||||
### 6.B Local-push REST webhook — *rejected*
|
||||
|
||||
- sensing-server `POST`s to HA's webhook endpoint (`/api/webhook/<id>`).
|
||||
- Trivial to implement (~2 days).
|
||||
|
||||
Rejected because:
|
||||
|
||||
- One-way only — no `set_state` / arm / disarm path back.
|
||||
- No entity discovery — user has to manually create input_booleans / sensors / template_sensors in HA YAML.
|
||||
- No availability / LWT — sensing-server going offline is invisible to HA.
|
||||
- Fails the "plug-and-play" bar that #574 / #760 set.
|
||||
|
||||
Documented here so future readers know we considered it.
|
||||
|
||||
### 6.C mDNS discovery (#574) — *complementary, not competing*
|
||||
|
||||
mDNS / Zeroconf lets HA (or any local client) discover sensing-server's IP without manual configuration. It's orthogonal to MQTT: we should add it (already tracked in #574) so the user doesn't have to type the broker host either. mDNS resolves *where the broker is*; MQTT auto-discovery resolves *what entities to create*. Both ship; neither blocks the other.
|
||||
|
||||
---
|
||||
|
||||
## 7. Risks
|
||||
|
||||
| Risk | Likelihood | Impact | Mitigation |
|
||||
|---|---|---|---|
|
||||
| Topic-namespace collision with another HA device | low | medium | `unique_id` includes `wifi_densepose_` prefix + MAC-derived node_id; HA will refuse duplicates and log clearly |
|
||||
| HA changes the `homeassistant/` schema | medium (1× every ~2 years historically) | medium | Pin tested HA version in `docs/integrations/home-assistant.md`; CI runs schema validation against the pinned version |
|
||||
| Bandwidth blowup from pose keypoints | medium | low (LAN) / high (metered link) | Pose publishing is **off by default**; rate-limited when on; users hit a clear `WARN` if they enable pose without explicit rate cap |
|
||||
| Privacy regression — biometrics leaked to a public broker | medium | high | `--privacy-mode` strips them at source; WARN if `--mqtt` enabled without `--mqtt-tls` on a non-localhost broker; never publish HR / BR / pose discovery in privacy mode |
|
||||
| Cognitum Seed firmware footprint (if we ever push MQTT into the ESP32 path) | low | medium | Out of scope for this ADR — MQTT lives in sensing-server only. ESP32 keeps the lean UDP/WS path. If we later add MQTT to firmware, it's ADR-1xx with its own size budget per ADR-110 |
|
||||
| Broker compromise (bad actor on the network gets read access to MQTT) | low | high | mTLS recommendation in §3.9; `--privacy-mode` for high-risk deployments |
|
||||
| HA-side cardinality explosion from per-track-id binary_sensors | medium | low | Cap dynamic person entities at 10; old ones are removed via discovery `payload=""` (HA delete-entity convention) |
|
||||
| **Matter SDK (`matter-rs`) immaturity blocks cert** | medium | medium | P7 spike validates pairing on three controllers before P8 production work; fall back to chip-tool FFI if blocked |
|
||||
| **Matter spec adds vitals device types**, our vendor-extension attributes become non-standard | low (3+ years out) | low | Vendor-extension attributes are opt-in for controllers; migration to standard cluster IDs is a one-version bump when the spec lands |
|
||||
| **Multi-fabric races** (HA, Apple, Google all see the same node and fire conflicting automations) | medium | medium | Document the multi-admin guidance in `docs/integrations/matter.md`: pick one primary controller for automations, others for visibility |
|
||||
| **Apple Home / Google Home rendering misrepresents** RuView (e.g. shows generic "Sensor") | medium | low | Set rich `VendorName` / `ProductName` / `ProductLabel` in BasicInformation cluster; ship a Matter App icon (per CSA brand guidelines) once vendor ID is real |
|
||||
| **CSA membership cost** ($3 k/y) is a recurring spend with uncertain ROI | low (decision deferred to P10) | medium | Ship using dev VID `0xFFF1` through P9; commit to membership only after adoption data justifies it |
|
||||
|
||||
---
|
||||
|
||||
## 8. Acceptance criteria
|
||||
|
||||
A reviewer can run all of the following without modifying source:
|
||||
|
||||
```bash
|
||||
# 1. Start sensing-server with mock source + MQTT
|
||||
cargo run -p wifi-densepose-sensing-server -- \
|
||||
--source mock \
|
||||
--mqtt \
|
||||
--mqtt-host localhost \
|
||||
--mqtt-prefix homeassistant
|
||||
|
||||
# 2. Observe discovery + state messages
|
||||
mosquitto_sub -t 'homeassistant/#' -v
|
||||
# Expected: discovery configs for presence, heart_rate, breathing_rate, motion,
|
||||
# fall, person_count, rssi — one per entity per node — plus periodic state messages
|
||||
|
||||
# 3. Run the full workspace test suite
|
||||
cd v2 && cargo test --workspace --no-default-features
|
||||
# Expected: 1,031+ tests passed, 0 failed (new mqtt tests included)
|
||||
|
||||
# 4. Schema-validate discovery configs against HA's published schemas
|
||||
cargo test -p wifi-densepose-sensing-server --features mqtt mqtt::discovery::schema
|
||||
# Expected: green
|
||||
|
||||
# 5. Privacy mode strips biometrics
|
||||
cargo run -p wifi-densepose-sensing-server -- --source mock --mqtt --privacy-mode &
|
||||
mosquitto_sub -t 'homeassistant/#' -v | tee /tmp/privacy.log
|
||||
# Expected: NO heart_rate, breathing_rate, or pose entities in discovery
|
||||
grep -E "(heart_rate|breathing_rate|pose)" /tmp/privacy.log
|
||||
# Expected: empty (exit 1)
|
||||
|
||||
# 6. HA auto-discovery end-to-end (manual, post-P5)
|
||||
# - Add Mosquitto broker to a fresh HA OS install
|
||||
# - Add MQTT integration in HA, point at broker
|
||||
# - Start sensing-server with --mqtt
|
||||
# - HA Settings → Devices → expect "RuView node <mac>" with all entities
|
||||
# - Trigger mock presence change; presence entity flips ON / OFF live
|
||||
|
||||
# 7. LWT / availability
|
||||
# - Run sensing-server, observe `online` published
|
||||
# - Kill sensing-server (-9), wait 30 s
|
||||
# - Expect `offline` on every entity's availability topic
|
||||
|
||||
# 8. Matter Bridge pairing (post-P7)
|
||||
cargo run -p wifi-densepose-sensing-server -- \
|
||||
--source mock \
|
||||
--matter \
|
||||
--matter-setup-file /tmp/matter-qr.txt
|
||||
# Expected: setup code + QR string printed; bridge advertises over mDNS
|
||||
|
||||
# 9. Matter cross-controller test (post-P9; manual)
|
||||
# - Pair the bridge into Apple Home (scan QR with iPhone)
|
||||
# - Pair the same bridge into Home Assistant Matter integration (same QR)
|
||||
# - Trigger mock presence change in sensing-server
|
||||
# - Expected: occupancy entity flips ON in both controllers within 1 s
|
||||
|
||||
# 10. Matter privacy invariant
|
||||
mosquitto_sub -t 'homeassistant/sensor/+/heart_rate/state' -v &
|
||||
chip-tool occupancysensing read occupancy 0xDEADBEEF 1 # Matter endpoint 1
|
||||
# Expected: MQTT still publishes HR (without --privacy-mode); Matter NEVER exposes HR cluster (no clusters exist for it)
|
||||
```
|
||||
|
||||
All ten must pass before the ADR moves from Proposed → Accepted. Tests 1–7 cover MQTT (P1–P6); tests 8–10 cover Matter (P7–P9). Tests can be re-run incrementally as each phase lands.
|
||||
|
||||
---
|
||||
|
||||
## 9. Resolved decisions (maintainer ACK 2026-05-23)
|
||||
|
||||
All 13 questions resolved by maintainer @ruv on 2026-05-23. Status: **ACCEPTED**.
|
||||
|
||||
**Decision principle (canonical):** preserve clean protocols, avoid firmware bloat, avoid fake semantics, ship MQTT first, validate Matter second.
|
||||
|
||||
### 9.A MQTT path (P1–P6)
|
||||
|
||||
1. **Broker.** ✅ **Mosquitto as default.** Mention EMQX and VerneMQ as advanced options in `docs/integrations/home-assistant.md`.
|
||||
2. **Discovery prefix.** ✅ **Ship `homeassistant`** (HA's default). `--mqtt-prefix` remains overridable for users with custom HA setups.
|
||||
3. **HACS repo name.** ✅ **`ruvnet/hass-wifi-densepose`** — wired into the `support_url` field of every discovery payload's `origin` block from P1.
|
||||
4. **Sample blueprints.** ✅ **Ship 3 starter blueprints in P5.** Selected from §3.12.2 list — final three picked at P5 start, biased toward highest customer-pull primitives.
|
||||
5. **TLS default.** ✅ **WARN now, hard-fail non-localhost plaintext in v0.8.0.** Sensing-server logs a `WARN` if `--mqtt` enabled without `--mqtt-tls` on a non-localhost broker. v0.8.0 promotes to hard fail (exit non-zero) once docs cover the CA setup path.
|
||||
6. **`node_friendly_name`.** ✅ **NVS / config only.** No ADR-039 packet change. Sensing-server resolves the friendly name from local config and injects into MQTT/Matter device labels.
|
||||
7. **Pose keypoint schema.** ✅ **COCO 17-keypoint order.** Index → joint name mapping documented in `docs/integrations/home-assistant.md` and re-exported as `wifi_densepose_core::pose::COCO17`.
|
||||
8. **Multi-node aggregation.** ✅ **4 children + 1 parent via `via_device`.** Easier to debug; matches §3.4.
|
||||
|
||||
### 9.B Matter path (P7–P10)
|
||||
|
||||
9. **Matter vendor ID.** ✅ **Dev VID `0xFFF1` through P9.** CSA membership decision gate at P10 (deferred; sketched only).
|
||||
10. **Matter SDK.** ✅ **Start with `matter-rs`.** Fall back to chip-tool FFI only if cert blockers emerge in P7 spike.
|
||||
11. **Matter Thread.** ✅ **Future ADR.** ADR-115 stays WiFi-only on the server side. Thread support from ESP32-C6 firmware is a separate ADR after C6 stabilises (post-ADR-110 P8).
|
||||
12. **Fall event mapping.** ✅ **`Switch.MultiPressComplete`.** Cleaner semantics for controllers; matches Apple Home / Google Home rendering expectations.
|
||||
13. **Person count.** ✅ **Vendor extension.** Do not kludge into fake endpoints. Apple Home / Google Home will show `Occupancy: ON/OFF` only — that's honest. HA and SmartThings will surface the count via the vendor-extension attribute.
|
||||
|
||||
### 9.C Open-after-9 (new questions raised post-ACK)
|
||||
|
||||
Empty as of 2026-05-23. New questions discovered during implementation will be filed here, ACK'd by maintainer, and dated.
|
||||
|
||||
---
|
||||
|
||||
## 10. References
|
||||
|
||||
- Home Assistant MQTT integration docs: https://www.home-assistant.io/integrations/mqtt/
|
||||
- HA MQTT auto-discovery: https://www.home-assistant.io/integrations/mqtt/#mqtt-discovery
|
||||
- HA discovery schemas (per-component): https://www.home-assistant.io/integrations/binary_sensor.mqtt/ , .../sensor.mqtt/ , .../event.mqtt/
|
||||
- HACS: https://hacs.xyz
|
||||
- HA Blueprint format: https://www.home-assistant.io/docs/blueprint/schema/
|
||||
- `rumqttc` (chosen Rust MQTT client): https://docs.rs/rumqttc/
|
||||
- **Matter Core Spec 1.3** (CSA): https://csa-iot.org/all-solutions/matter/
|
||||
- **Matter Device Library** (cluster + device-type catalog): https://csa-iot.org/wp-content/uploads/2023/12/Matter-1.3-Device-Library-Specification.pdf
|
||||
- **matter-rs** (pure-Rust Matter SDK): https://github.com/project-chip/rs-matter
|
||||
- **project-chip/connectedhomeip** (reference C++ Matter SDK / chip-tool): https://github.com/project-chip/connectedhomeip
|
||||
- **Home Assistant Matter integration**: https://www.home-assistant.io/integrations/matter/
|
||||
- **Apple Home Matter support**: https://support.apple.com/en-us/HT213267
|
||||
- **Google Home Matter support**: https://developers.home.google.com/matter
|
||||
- **CSA membership / vendor ID program**: https://csa-iot.org/become-member/
|
||||
- **"Works with Home Assistant" certification**: https://partner.home-assistant.io/
|
||||
- RuView ADR-018 — CSI binary frame format
|
||||
- RuView ADR-021 — ESP32 vitals (edge breathing/HR extraction)
|
||||
- RuView ADR-028 — ESP32 capability audit
|
||||
- RuView ADR-031 — RuView sensing-first RF mode
|
||||
- RuView ADR-039 — Edge vitals packet (`0xC511_0002`)
|
||||
- RuView ADR-079 — Camera ground-truth training (pose schema)
|
||||
- RuView ADR-103 — `cog-person-count` (person count primitive)
|
||||
- RuView ADR-106 — DP-SGD + primitive isolation (privacy contract)
|
||||
- RuView ADR-110 — ESP32-C6 firmware extension
|
||||
- RuView ADR-114 — `cog-quantum-vitals`
|
||||
- Issue [#574](https://github.com/ruvnet/RuView/issues/574) — mDNS for seed_url (complementary)
|
||||
- Issue [#760](https://github.com/ruvnet/RuView/issues/760) — Sensing UI / onboarding friction
|
||||
- Issue [#761](https://github.com/ruvnet/RuView/issues/761) — Competitive scan (espectre.dev, tommysense.com)
|
||||
|
||||
---
|
||||
|
||||
*ADR-115 is the integration story that turns RuView from "another sensing platform" into "drop-in upgrade for any HA install **and** any Matter-controller home." MQTT carries the rich, differentiated telemetry; Matter carries the standardised subset across every controller ecosystem. Numbers 111 and 112 remain reserved per the project ADR-numbering policy.*
|
||||
@@ -50,6 +50,7 @@ Statuses: **Proposed** (under discussion), **Accepted** (approved and/or impleme
|
||||
| [ADR-040](ADR-040-wasm-programmable-sensing.md) | WASM Programmable Sensing (Tier 3) | Accepted |
|
||||
| [ADR-041](ADR-041-wasm-module-collection.md) | WASM Module Collection (65 edge modules) | Accepted (hardware-validated) |
|
||||
| [ADR-044](ADR-044-provisioning-tool-enhancements.md) | Provisioning Tool Enhancements | Proposed |
|
||||
| [ADR-110](ADR-110-esp32-c6-firmware-extension.md) | ESP32-C6 firmware extension — Wi-Fi 6 / 802.15.4 / TWT / LP-core | Accepted, P1-P10 complete, firmware-side substrate closed at **[v0.7.0-esp32](https://github.com/ruvnet/RuView/releases/tag/v0.7.0-esp32)**. Companion docs: [`WITNESS-LOG-110`](../WITNESS-LOG-110.md) (13 §A0.x entries · 99.56 % cross-board RX · **104.1 µs smoothed sync stdev** · ≤100 µs target met), [`ADR-110-REVIEW-GUIDE`](../ADR-110-REVIEW-GUIDE.md) (one-page reviewer tour), [`ADR-110-BRANCH-STATE`](../ADR-110-BRANCH-STATE.md) (coordination map vs `feat/adr-115-ha-mqtt-matter`). Host decoders + tests: Python `SyncPacketParser` (10) + Rust `wifi_densepose_hardware::SyncPacket` (15), cross-language hex pin gates drift. |
|
||||
|
||||
### Signal processing and sensing
|
||||
|
||||
|
||||
+232
-2
@@ -473,6 +473,72 @@ Base URL: `http://localhost:3000` (Docker) or `http://localhost:8080` (binary de
|
||||
| `POST` | `/api/v1/adaptive/train` | Train adaptive classifier from recordings | `{"success":true,"accuracy":0.85}` |
|
||||
| `GET` | `/api/v1/adaptive/status` | Adaptive model status and accuracy | `{"loaded":true,"accuracy":0.85}` |
|
||||
| `POST` | `/api/v1/adaptive/unload` | Unload adaptive model | `{"success":true}` |
|
||||
| `GET` | `/api/v1/mesh` | ADR-110 fleet-wide mesh sync map ([iter 29](adr/ADR-110-esp32-c6-firmware-extension.md)) | `{"nodes":{"9":{...},"12":{...}},"total":2}` |
|
||||
| `GET` | `/api/v1/nodes/:id/sync` | Single-node mesh sync snapshot (or 404) | `{"offset_us":1163565,"is_leader":false,...}` |
|
||||
| `GET` | `/api/v1/mesh/metrics` | ADR-110 mesh state in Prometheus exposition format ([iter 36](adr/ADR-110-esp32-c6-firmware-extension.md)) | `wifi_densepose_mesh_offset_us{node="9"} 1163565\n…` |
|
||||
|
||||
### Example: Get fleet mesh state (ADR-110)
|
||||
|
||||
```bash
|
||||
curl -s http://localhost:3000/api/v1/mesh | python -m json.tool
|
||||
```
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": {
|
||||
"9": {
|
||||
"offset_us": 1163565,
|
||||
"is_leader": false,
|
||||
"is_valid": true,
|
||||
"smoothed": true,
|
||||
"sequence": 20,
|
||||
"csi_fps_ema": 10.0,
|
||||
"csi_fps_samples": 47
|
||||
},
|
||||
"12": {
|
||||
"offset_us": -7,
|
||||
"is_leader": true,
|
||||
"is_valid": true,
|
||||
"smoothed": false,
|
||||
"sequence": 20,
|
||||
"csi_fps_ema": 10.0,
|
||||
"csi_fps_samples": 51
|
||||
}
|
||||
},
|
||||
"total": 2
|
||||
}
|
||||
```
|
||||
|
||||
Empty `{"nodes": {}, "total": 0}` means no mesh peers reachable.
|
||||
Nodes that haven't emitted a sync packet yet are omitted from the map.
|
||||
|
||||
### Example: Get one node's sync state
|
||||
|
||||
```bash
|
||||
curl -s http://localhost:3000/api/v1/nodes/9/sync | python -m json.tool
|
||||
```
|
||||
|
||||
200 → same `NodeSyncSnapshot` shape as inside `/api/v1/mesh` or the
|
||||
WebSocket `sync` field. Field meanings are documented under
|
||||
[Per-node mesh sync (ADR-110)](#per-node-mesh-sync-adr-110).
|
||||
|
||||
404 (unknown node):
|
||||
```json
|
||||
{"error": "unknown_node", "node_id": 99}
|
||||
```
|
||||
|
||||
404 (node exists but hasn't synced yet):
|
||||
```json
|
||||
{
|
||||
"error": "no_sync",
|
||||
"node_id": 9,
|
||||
"hint": "node hasn't emitted a sync packet yet (no mesh peer or not v0.6.9+)"
|
||||
}
|
||||
```
|
||||
|
||||
Useful for Home Assistant REST sensors, Prometheus exporters,
|
||||
automation rule probes, and curl debugging — anywhere you want
|
||||
one-shot mesh state without holding a WebSocket connection.
|
||||
|
||||
### Example: Get Vital Signs
|
||||
|
||||
@@ -564,6 +630,67 @@ ws.onerror = (err) => console.error("WebSocket error:", err);
|
||||
wscat -c ws://localhost:3001/ws/sensing
|
||||
```
|
||||
|
||||
### Per-node mesh sync (ADR-110)
|
||||
|
||||
Since firmware **v0.7.0-esp32** + sensing-server iter 23, every
|
||||
`sensing_update` whose nodes participate in the [ADR-110](adr/ADR-110-esp32-c6-firmware-extension.md)
|
||||
ESP-NOW mesh carries an optional `sync` object per node:
|
||||
|
||||
```json
|
||||
{
|
||||
"type": "sensing_update",
|
||||
"nodes": [
|
||||
{
|
||||
"node_id": 9,
|
||||
"rssi_dbm": -38.0,
|
||||
"amplitude": [...],
|
||||
"subcarrier_count": 64,
|
||||
"sync": {
|
||||
"offset_us": 1163565,
|
||||
"is_leader": false,
|
||||
"is_valid": true,
|
||||
"smoothed": true,
|
||||
"sequence": 20,
|
||||
"csi_fps_ema": 10.0,
|
||||
"csi_fps_samples": 47
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
Field meanings:
|
||||
|
||||
| Field | Type | Meaning |
|
||||
|---|---|---|
|
||||
| `offset_us` | i64 | Smoothed local-vs-mesh clock offset in microseconds. Negative when this node is behind the leader. §A0.10 on the bench measured ~1.16 s boot delta between two C6 boards. |
|
||||
| `is_leader` | bool | True when this node is the elected mesh leader (lowest EUI-64 in the cohort). |
|
||||
| `is_valid` | bool | True when this node has heard a fresh leader beacon within the firmware's `VALID_WINDOW_MS = 3 s` freshness gate. |
|
||||
| `smoothed` | bool | True once the firmware-side EMA filter has seeded (after ~8 beacons ≈ 0.8 s of follower mode). |
|
||||
| `sequence` | u32 | High-water CSI sequence number stamped when this sync packet was emitted. Pair with the per-frame `sequence` field on incoming CSI to interpolate a mesh-aligned timestamp for any frame. |
|
||||
| `csi_fps_ema` | f64 | Per-node EMA of the observed CSI frame rate. Bench typical ≈ 10 Hz. |
|
||||
| `csi_fps_samples` | u32 | How many inter-frame deltas the EMA has seen. Treat values < 5 as "not yet trustworthy" and fall back to 20 Hz. |
|
||||
| `staleness_ms` | u64 (optional) | Milliseconds since the host last received a sync packet from this node ([iter 34](adr/ADR-110-esp32-c6-firmware-extension.md)). Fade UI badges after 5 000 ms; treat ≥ 9 000 ms as the same condition that the firmware's `c6_sync_espnow_is_valid()` reports as `false`. |
|
||||
|
||||
**When `sync` is omitted entirely**: the node isn't on the mesh (or
|
||||
hasn't heard a peer yet). Non-ESP32 paths — multi-BSSID router scan,
|
||||
synthetic-RSSI fallback, simulation — also omit `sync`. Existing
|
||||
pre-iter-23 UI clients ignore the new field naturally because they
|
||||
don't read it.
|
||||
|
||||
**How to render this in a UI**:
|
||||
- `is_leader === true` → badge the node "Leader"
|
||||
- `is_valid === false` → grey out / "Sync lost"
|
||||
- `csi_fps_samples < 5` → label as "Calibrating" until ≥5 frames
|
||||
- `|offset_us|` trend → render a jitter histogram to show the §A0.10
|
||||
EMA suppression working live
|
||||
|
||||
**How to recover a mesh-aligned timestamp for any CSI frame from this
|
||||
node**: take the frame's own `sequence` u32, subtract `sync.sequence`,
|
||||
divide by `sync.csi_fps_ema` (or 20.0 if `csi_fps_samples < 5`),
|
||||
multiply by 1 000 000 µs — that's the mesh delta from the sync emit
|
||||
time. Use it to align multistatic frames from sibling boards.
|
||||
|
||||
---
|
||||
|
||||
## Web UI
|
||||
@@ -1094,6 +1221,15 @@ 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.
|
||||
@@ -1109,7 +1245,11 @@ Pre-built binaries are available at [Releases](https://github.com/ruvnet/RuView/
|
||||
|
||||
| Release | What It Includes | Tag |
|
||||
|---------|-----------------|-----|
|
||||
| [v0.5.0](https://github.com/ruvnet/RuView/releases/tag/v0.5.0-esp32) | **Stable (recommended)** — mmWave sensor fusion (MR60BHA2/LD2410 auto-detect), 48-byte fused vitals, all v0.4.3.1 fixes | `v0.5.0-esp32` |
|
||||
| [v0.7.0](https://github.com/ruvnet/RuView/releases/tag/v0.7.0-esp32) | **Latest — ADR-110 firmware-side substrate closed.** Adds ESP-NOW mesh substrate with quantified ≤100 µs alignment (104.1 µs smoothed stdev, 3.95× suppression, 99.56 % cross-board match measured live), 32-byte sync-packet UDP emission with operator-tunable cadence, ADR-018 byte 19 bit 4 wire-fix sourced from working ESP-NOW path, Python SyncPacketParser stub for host wiring ([WITNESS-LOG-110 §A0.7-§A0.13](WITNESS-LOG-110.md)) | `v0.7.0-esp32` |
|
||||
| [v0.6.9](https://github.com/ruvnet/RuView/releases/tag/v0.6.9-esp32) | Sync-packet UDP emission, `CONFIG_C6_SYNC_EVERY_N_FRAMES` tunable cadence | `v0.6.9-esp32` |
|
||||
| [v0.6.8](https://github.com/ruvnet/RuView/releases/tag/v0.6.8-esp32) | ESP-NOW EMA-smoothed cross-board offset (3.95× suppression, 104 µs stdev) | `v0.6.8-esp32` |
|
||||
| [v0.6.7](https://github.com/ruvnet/RuView/releases/tag/v0.6.7-esp32) | Real LP-core motion-gate RISC-V program (B4 code path complete) + Wi-Fi 6 soft-AP with TWT Responder for two-board iTWT benches (B1/B2 unblock) | `v0.6.7-esp32` |
|
||||
| [v0.5.0](https://github.com/ruvnet/RuView/releases/tag/v0.5.0-esp32) | **Stable (S3 mesh, recommended)** — mmWave sensor fusion (MR60BHA2/LD2410 auto-detect), 48-byte fused vitals, all v0.4.3.1 fixes | `v0.5.0-esp32` |
|
||||
| [v0.4.3.1](https://github.com/ruvnet/RuView/releases/tag/v0.4.3.1-esp32) | Fall detection fix ([#263](https://github.com/ruvnet/RuView/issues/263)), 4MB flash ([#265](https://github.com/ruvnet/RuView/issues/265)), watchdog fix ([#266](https://github.com/ruvnet/RuView/issues/266)) | `v0.4.3.1-esp32` |
|
||||
| [v0.4.1](https://github.com/ruvnet/RuView/releases/tag/v0.4.1-esp32) | CSI build fix, compile guard, AMOLED display, edge intelligence ([ADR-057](../docs/adr/ADR-057-firmware-csi-build-guard.md)) | `v0.4.1-esp32` |
|
||||
| [v0.3.0-alpha](https://github.com/ruvnet/RuView/releases/tag/v0.3.0-alpha-esp32) | Alpha — adds on-device edge intelligence (ADR-039) | `v0.3.0-alpha-esp32` |
|
||||
@@ -1125,7 +1265,7 @@ python -m esptool --chip esp32s3 --port COM7 --baud 460800 \
|
||||
0xf000 ota_data_initial.bin 0x20000 esp32-csi-node.bin
|
||||
```
|
||||
|
||||
**4MB flash boards** (e.g. ESP32-S3 SuperMini 4MB): download the 4MB binaries from the [v0.4.3 release](https://github.com/ruvnet/RuView/releases/tag/v0.4.3-esp32) and use `--flash-size 4MB`:
|
||||
**4MB flash boards** (e.g. ESP32-S3 SuperMini 4MB): download `esp32-csi-node-s3-4mb.bin` + `partition-table-s3-4mb.bin` from the [v0.6.7 release](https://github.com/ruvnet/RuView/releases/tag/v0.6.7-esp32) (882 KB binary, 52 % partition slack) and use `--flash-size 4MB`:
|
||||
|
||||
```bash
|
||||
python -m esptool --chip esp32s3 --port COM7 --baud 460800 \
|
||||
@@ -1155,6 +1295,96 @@ 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) — v0.6.7 — 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 (v0.6.7 — real LP-core program):**
|
||||
|
||||
```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)
|
||||
# → LP-core poll period (default 10 ms)
|
||||
# → LP-core debounce sample count (default 3 consecutive matches)
|
||||
idf.py menuconfig
|
||||
idf.py build flash
|
||||
```
|
||||
|
||||
When enabled, the C6 LP RISC-V coprocessor runs a real polling program
|
||||
(`firmware/esp32-csi-node/main/lp_core/main.c`) that polls the wake GPIO at
|
||||
the configured cadence, debounces N consecutive matching reads, and wakes the
|
||||
HP core via `ulp_lp_core_wakeup_main_processor()`. `esp_sleep_get_wakeup_cause()`
|
||||
returns `ESP_SLEEP_WAKEUP_ULP`, and `c6_lp_core_motion_count()` /
|
||||
`c6_lp_core_poll_count()` expose the LP-side counters for the witness harness.
|
||||
Target standby current ~5 µA (datasheet; pending INA measurement).
|
||||
|
||||
**Two-board iTWT bench (v0.6.7 — soft-AP HE/TWT, no router required):**
|
||||
|
||||
Pair two C6 boards — one acts as the iTWT-capable AP, the other as the STA
|
||||
that negotiates and benchmarks the TWT agreement.
|
||||
|
||||
```bash
|
||||
# Board #1 (AP role): append to sdkconfig.defaults.esp32c6:
|
||||
CONFIG_C6_SOFTAP_HE_ENABLE=y
|
||||
CONFIG_C6_SOFTAP_HE_SSID="ruview-c6-twt"
|
||||
CONFIG_C6_SOFTAP_HE_PSK="ruviewtwt"
|
||||
CONFIG_C6_SOFTAP_HE_CHANNEL=6
|
||||
|
||||
idf.py set-target esp32c6 && idf.py build && idf.py -p COM6 flash
|
||||
```
|
||||
|
||||
Board #1 boots in `WIFI_MODE_APSTA`, advertising HE capabilities and TWT
|
||||
Responder=1 on channel 6. Board #2 provisions to associate with that SSID:
|
||||
|
||||
```bash
|
||||
python firmware/esp32-csi-node/provision.py --port COM9 \
|
||||
--ssid "ruview-c6-twt" --password "ruviewtwt" --target-ip 192.168.1.20
|
||||
```
|
||||
|
||||
Board #2 runs the existing `c6_twt_setup_default()` on connect and now
|
||||
negotiates a real iTWT agreement against the cooperative AP — the
|
||||
`iTWT setup queued: wake_interval=10000 µs` log line should be followed by an
|
||||
`iTWT setup event received from AP` instead of the `INVALID_ARG` graceful
|
||||
fallback that fired against the bench's 11n-only `ruv.net` AP.
|
||||
|
||||
NVS overrides for AP role (namespace `ruview`): `softap_ssid`, `softap_psk`,
|
||||
`softap_chan` — provision once and the values survive firmware updates.
|
||||
|
||||
**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):
|
||||
|
||||
Reference in New Issue
Block a user