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fix(firmware): phantom LD2410 detection + ENOMEM backoff (#1135) (#1159)

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Bug #2 (root cause): LD2410 probe-detection matched only the 4-byte head
0xF4F3F2F1, so a floating UART at 256000 baud could phantom-detect a sensor
and spawn a UART task. Now requires a full validated report frame (head +
sane length + tail 0xF8F7F6F5), extracted to mmwave_detect.h and shared with
a host unit test (test_mmwave_detect.c, 8 vectors) so firmware and test can't
diverge. Matches the validate-before-trust approach used for MR60 in #1107.

Bug #1: sendto ENOMEM used a fixed 100 ms backoff too short to drain sustained
lwIP/WiFi buffer pressure, so a node could stay stuck. Now exponential
(100->200->...->2000 ms per consecutive ENOMEM, reset on first successful
send). Removing the phantom LD2410 task (bug #2) also removes the extra load
that tipped the reporter's tier-2 node into the stuck state.

Validated on ESP32-S3 QFN56 rev v0.2 (the reporter's silicon): tier-2 streams
~100 frames/s with no stuck ENOMEM and correctly reports no mmWave (no
phantom). LD2410 predicate truth table proven (head-without-tail REJECTED).
Could not reproduce the reporter's environment-specific floating-pin noise, so
the deterministic proof is the host unit test.
This commit is contained in:
rUv
2026-06-22 12:31:21 -04:00
committed by GitHub
parent 4bf88e1283
commit 7831f29436
5 changed files with 159 additions and 13 deletions
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firmware/esp32-csi-node/main/stream_sender.c
+20 -5
View File
@@ -26,9 +26,16 @@ static struct sockaddr_in s_dest_addr;
* rapid-fire CSI callbacks can exhaust the pbuf pool and crash the device.
*/
static int64_t s_backoff_until_us = 0; /* esp_timer timestamp to resume */
#define ENOMEM_COOLDOWN_MS 100 /* suppress sends for 100 ms */
#define ENOMEM_COOLDOWN_MS 100 /* base backoff; doubles per streak */
#define ENOMEM_COOLDOWN_MAX_MS 2000 /* cap on the exponential backoff */
#define ENOMEM_LOG_INTERVAL 50 /* log every Nth suppressed send */
static uint32_t s_enomem_suppressed = 0;
/* Consecutive ENOMEM episodes without an intervening successful send. A fixed
* 100 ms backoff is too short to drain sustained lwIP/WiFi buffer pressure
* (#1135 bug #1: tier-2 + concurrent TX keeps the node stuck), so the backoff
* grows 100→200→400→…→2000 ms per streak and resets on the first send that
* succeeds. */
static uint32_t s_enomem_streak = 0;
static int sender_init_internal(const char *ip, uint16_t port)
{
@@ -93,16 +100,24 @@ int stream_sender_send(const uint8_t *data, size_t len)
(struct sockaddr *)&s_dest_addr, sizeof(s_dest_addr));
if (sent < 0) {
if (errno == ENOMEM) {
/* Start backoff to let lwIP reclaim buffers */
s_backoff_until_us = esp_timer_get_time() +
(int64_t)ENOMEM_COOLDOWN_MS * 1000;
ESP_LOGW(TAG, "sendto ENOMEM — backing off for %d ms", ENOMEM_COOLDOWN_MS);
/* Exponential backoff: double the cooldown each consecutive ENOMEM
* (capped) so sustained buffer pressure actually drains instead of
* the node re-failing every 100 ms forever (#1135 bug #1). */
uint32_t shift = s_enomem_streak < 5 ? s_enomem_streak : 5;
uint32_t cooldown = ENOMEM_COOLDOWN_MS << shift;
if (cooldown > ENOMEM_COOLDOWN_MAX_MS) cooldown = ENOMEM_COOLDOWN_MAX_MS;
s_enomem_streak++;
s_backoff_until_us = esp_timer_get_time() + (int64_t)cooldown * 1000;
ESP_LOGW(TAG, "sendto ENOMEM — backing off for %lu ms (streak %lu)",
(unsigned long)cooldown, (unsigned long)s_enomem_streak);
} else {
ESP_LOGW(TAG, "sendto failed: errno %d", errno);
}
return -1;
}
/* A send got through — buffer pressure cleared; reset the backoff streak. */
s_enomem_streak = 0;
return sent;
}