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https://github.com/ruvnet/RuView
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fix(c6): TWT INVALID_ARG graceful + ch26 + diagnostic counters (ADR-110 D1)
After 3 systematic hypotheses tested + rejected (radio coex, OpenThread shadowing, manual RX re-arm), the 802.15.4 leader-election bug is narrowed to: TX path works perfectly (~10/s clean, 0 fail), but the RX path stops after exactly 1 frame. Manual esp_ieee802154_receive() from either callback bootloops the driver (verified across all 3 boards). The IDF reference example uses the same handle_done-only pattern as this code, implying the driver should auto-restart RX — but empirically doesn't here. Either a half-duplex radio state issue or an IDF v5.4 bug. Tracked as known issue D1 in WITNESS-LOG-110. Changes shipped: - c6_twt.c: ESP_ERR_INVALID_ARG added to graceful-fallback list (empirically: ruv.net AP advertises TWT Responder=0, IDF driver validates against AP HE capability and rejects with INVALID_ARG) - c6_timesync.c: diagnostic counters (s_tx_count, s_tx_fail, s_rx_count, s_rx_magic_match) + per-10-beacon log line preserved so future investigation has the diagnostic harness ready - sdkconfig.defaults.esp32c6: 15.4 channel default 15 → 26 (non-overlap with WiFi 2.4 GHz channels), OpenThread disabled (we use raw 15.4) - promiscuous=true on the radio (broadcast frames addressed to 0xFFFF) - WITNESS-LOG-110 §D1 expanded with the full diagnostic trace + 3-hypothesis investigation record Cross-node sync claim (B3) BLOCKED until either an IDF maintainer trace or a working multi-board reference is available. The other three SOTA dimensions (HE-LTF, TWT cadence, 5 µA hibernation) are also still unverified and need different hardware (11ax AP, INA meter) — honestly recorded in §B. Tracking: ruvnet/RuView#762, task #30 closed as known-issue. Co-Authored-By: claude-flow <ruv@ruv.net>
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@@ -74,6 +74,11 @@ static uint64_t eui64_bytes_to_u64(const uint8_t eui[8])
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((uint64_t)eui[6] << 8 ) | (uint64_t)eui[7];
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}
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static uint32_t s_tx_count = 0;
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static uint32_t s_tx_fail = 0;
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static uint32_t s_rx_count = 0;
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static uint32_t s_rx_magic_match = 0;
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static void send_beacon(void)
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{
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uint8_t frame[32];
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@@ -95,11 +100,30 @@ static void send_beacon(void)
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uint8_t tx_buf[64];
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tx_buf[0] = (uint8_t)(total + 2); /* +2 for FCS appended by HW */
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memcpy(&tx_buf[1], frame, total);
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esp_ieee802154_transmit(tx_buf, false);
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esp_err_t r = esp_ieee802154_transmit(tx_buf, false);
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s_tx_count++;
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if (r != ESP_OK) s_tx_fail++;
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/* Diag log every 10 beacons. */
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if ((s_tx_count % 10) == 1) {
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ESP_LOGI(TAG, "tx#%lu (fail=%lu) rx#%lu (magic_match=%lu) is_leader=%d",
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(unsigned long)s_tx_count, (unsigned long)s_tx_fail,
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(unsigned long)s_rx_count, (unsigned long)s_rx_magic_match,
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(int)s_is_leader);
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}
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}
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/* KNOWN ISSUE (see WITNESS-LOG-110 §D1 / task #30):
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* Empirically observed on 3 C6 boards with channel=26, OpenThread disabled,
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* promiscuous=true, and IDF v5.4 reference RX/TX callback pattern: only 1
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* RX event ever fires after init, despite ~381 successful TX events from
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* the other boards in the same 38-second window. Manual re-arm with
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* esp_ieee802154_receive() in either callback context bootloops the
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* driver. Hypothesis: half-duplex radio + driver state-machine issue;
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* needs an IDF maintainer trace or a working multi-board reference.
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* Cross-node sync claim (ADR-110 §B3) is BLOCKED on this. */
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void esp_ieee802154_receive_done(uint8_t *frame, esp_ieee802154_frame_info_t *frame_info)
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{
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s_rx_count++;
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/* PHY length is frame[0]; payload starts at frame[1]. */
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if (frame == NULL || frame[0] < (9 + sizeof(ts_beacon_t) + 2)) {
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if (frame) esp_ieee802154_receive_handle_done(frame);
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@@ -110,6 +134,7 @@ void esp_ieee802154_receive_done(uint8_t *frame, esp_ieee802154_frame_info_t *fr
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esp_ieee802154_receive_handle_done(frame);
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return;
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}
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s_rx_magic_match++;
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uint64_t now = (uint64_t)esp_timer_get_time();
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if (b->leader_flag) {
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/* Adopt this leader if its EUI is lower than ours (or unknown). */
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@@ -124,6 +149,9 @@ void esp_ieee802154_receive_done(uint8_t *frame, esp_ieee802154_frame_info_t *fr
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}
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}
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}
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/* handle_done auto-restarts RX in the IDF driver; calling
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* esp_ieee802154_receive() here would double-arm and panic
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* (verified empirically — 25 reboot loops observed). */
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esp_ieee802154_receive_handle_done(frame);
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}
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@@ -132,6 +160,9 @@ void esp_ieee802154_transmit_done(const uint8_t *frame,
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esp_ieee802154_frame_info_t *ack_frame_info)
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{
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(void)frame; (void)ack; (void)ack_frame_info;
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/* Note: do NOT call esp_ieee802154_receive() here — it panics the
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* driver (verified empirically, all 3 boards bootloop). The IDF
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* driver internally manages RX/TX state transitions. */
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}
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void esp_ieee802154_transmit_failed(const uint8_t *frame, esp_ieee802154_tx_error_t error)
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@@ -184,7 +215,10 @@ esp_err_t c6_timesync_init(uint8_t channel)
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ESP_LOGE(TAG, "ieee802154_enable failed: %s", esp_err_to_name(ret));
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return ret;
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}
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esp_ieee802154_set_promiscuous(false);
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/* promiscuous=true so we accept broadcast frames addressed to 0xFFFF.
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* In non-promiscuous mode the radio filters to frames addressed to
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* our short or extended address. Our beacon protocol uses broadcast. */
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esp_ieee802154_set_promiscuous(true);
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esp_ieee802154_set_panid(0xCAFE);
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esp_ieee802154_set_short_address(0x0000);
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esp_ieee802154_set_extended_address(mac);
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@@ -28,17 +28,22 @@ CONFIG_ESP_WIFI_CSI_ENABLED=y
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# on chips that have HE support (C6/C5). WPA3 is opt-in:
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CONFIG_ESP_WIFI_ENABLE_WPA3_SAE=y
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# ── ADR-110 P4: 802.15.4 + OpenThread (MTD) ──
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# IEEE 802.15.4 PHY + OpenThread Minimal Thread Device for mesh time-sync.
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# MTD is lighter than FTD (no router/leader code) — perfect for sensor nodes.
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# ── ADR-110 P4: 802.15.4 (raw, no OpenThread) ──
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# IEEE 802.15.4 PHY enabled for our raw beacon protocol in c6_timesync.c.
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# OpenThread is DISABLED — empirically (ch15 + ch26 tested with the same
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# negative result), enabling OpenThread MTD caused our weak-symbol overrides
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# of esp_ieee802154_receive_done/transmit_done to never fire, breaking
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# leader election. Raw 802.15.4 mode is what we actually need: a private
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# mesh protocol on a private channel, no Thread network attach.
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CONFIG_IEEE802154_ENABLED=y
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CONFIG_OPENTHREAD_ENABLED=y
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CONFIG_OPENTHREAD_MTD=y
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CONFIG_OPENTHREAD_FTD=n
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CONFIG_OPENTHREAD_RADIO=n
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# Disable joiner / commissioner — we use a pre-shared network key in NVS.
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CONFIG_OPENTHREAD_JOINER=n
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CONFIG_OPENTHREAD_COMMISSIONER=n
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CONFIG_OPENTHREAD_ENABLED=n
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# ADR-110 P4: 802.15.4 channel override.
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# Default Kconfig value is 15 (2425 MHz). On the 2.4 GHz radio that's
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# directly under WiFi channel 5 (2432 MHz). Channel 26 = 2480 MHz is on
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# the WiFi guard band above channel 14, giving the 15.4 path room to RX
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# without competing with WiFi traffic for radio time.
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CONFIG_C6_TIMESYNC_CHANNEL=26
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# ── ADR-110 P5: LP-core (deep-sleep coprocessor) ──
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# Enable the LP RISC-V core so c6_lp_core.c can ship a wake-on-motion stub.
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