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fix(firmware): C6 IDF v5.5 guard + HE-LTF host ingest + WITNESS-LOG-110 B1 resolution (#1005) (#1011)

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* fix(firmware): c6_sync_espnow IDF v5.5 send-callback guard + B1 HE-LTF resolution (#1005)

Espressif backported the esp_now_send_cb_t signature change to v5.5
(esp_now_send_info_t = wifi_tx_info_t there), so the #944 guard must be
ESP_IDF_VERSION >= VAL(5,5,0), not MAJOR >= 6.

Validated on this repo's hardware toolchain:
- WITHOUT fix, IDF v5.5.2 esp32c6 build fails with the reporter's exact
  incompatible-pointer error at c6_sync_espnow.c:199 (reproduced)
- WITH fix, clean build on IDF v5.5.2 (esp32c6) AND IDF v5.4 (regression)

Docs: WITNESS-LOG-110 §B1 marked RESOLVED WITH MEASUREMENT (external,
@stuinfla, issue #1005): IDF v5.4 driver downconverts HE->HT; v5.5.2
delivers true HE-LTF (532B / 256 bins / 242 tones, PPDU 0x01 HE-SU).
ADR-110 capability table updated accordingly.

Co-Authored-By: claude-flow <ruv@ruv.net>

* docs: WITNESS-LOG-110 §B1 — in-house HE-LTF replication on the original COM12 C6

84% of 1,525 frames at 532B/PPDU 0x01 (HE-SU) with IDF v5.5.2 + the #1005
guard fix, AP ruv.net 11ax 2.4GHz. Two independent rigs now confirm:
v5.4 downconverts, v5.5.2 delivers 242-tone HE20.

Co-Authored-By: claude-flow <ruv@ruv.net>

* fix(host): 256-bin HE-LTF ingest end-to-end + latent offset bugs (#1005)

Audit of every ADR-018 consumer against live C6 HE20 frames (532B/256-bin):
- sensing-server + CLI calibrate parsers read n_subcarriers from one byte
  (256 decoded as 0) with stale seq/rssi offsets (rssi always 0 — latent,
  pre-existing, confirmed vs firmware csi_collector.c). Fixed to the real
  ADR-018 layout; n_subcarriers u8->u16; byte 18 surfaced as typed PpduType.
- sensing-server probe buffer 256B -> 2048B (532B datagram errored on Windows)
- per-node grid gate: lock densest (n_subcarriers, ppdu_type) grid, re-warm
  on upgrade, skip sparser minority frames — HT-64 never mixes into an
  HE-256 baseline window
- hardware parser: HE-aware bandwidth classification (256-FFT HE20 = 20MHz,
  was Bw160); PpduType/Adr018Flags re-exported
- verbatim live frames (532B HE-SU, 148B HT) embedded as regression fixtures
- archive python parser: bandwidth heuristic mirror fix

Live-validated: calibrate --tier he20 consumed 600x 256-bin frames into an
ADR-135 He20 baseline (242 tones) skipping 94 HT frames; sensing-server
shows node 12 active with real RSSI (-40dBm). 765 tests green across the
three crates; workspace check clean; Python proof PASS.

Co-Authored-By: claude-flow <ruv@ruv.net>

* test(fuzz): esp_netif/ping_sock/ip_addr stubs — un-break ADR-061 fuzz build after #954

csi_collector.c gained esp_netif.h / ping/ping_sock.h / lwip/ip_addr.h
includes for the #954 gateway self-ping; the host-fuzz stub env lacked
them, breaking the fuzz build on main since 5789351b7. Stubs return
no-gateway so the self-ping path early-outs (compiles + links, never
exercised — matches the fuzz threat model which targets frame
serialization, not the network stack).

Co-Authored-By: claude-flow <ruv@ruv.net>
This commit is contained in:
rUv
2026-06-11 11:00:37 -04:00
committed by GitHub
parent 2a307138f2
commit d0e27e652e
15 changed files with 618 additions and 77 deletions
Download Patch File Download Diff File Expand all files Collapse all files
v2/crates/wifi-densepose-sensing-server/tests/multi_node_test.rs
+25 -22
View File
@@ -13,19 +13,19 @@ use std::time::Duration;
/// Build a minimal valid ESP32 CSI frame (magic 0xC511_0001).
///
/// Format (ADR-018):
/// [0..3] magic: 0xC511_0001 (LE)
/// [4] node_id
/// [5] n_antennas (1)
/// [6] n_subcarriers (e.g., 32)
/// [7] reserved
/// [8..9] freq_mhz (2437 = channel 6)
/// [10..13] sequence (LE u32)
/// [14] rssi (signed)
/// [15] noise_floor
/// [16..19] reserved
/// [20..] I/Q pairs (n_antennas * n_subcarriers * 2 bytes)
fn build_csi_frame(node_id: u8, seq: u32, rssi: i8, n_sub: u8) -> Vec<u8> {
/// Format (ADR-018, authoritative: firmware `csi_collector.c`):
/// [0..3] magic: 0xC511_0001 (LE)
/// [4] node_id
/// [5] n_antennas (1)
/// [6..7] n_subcarriers (LE u16 — 256 for ESP32-C6 HE-SU, issue #1005)
/// [8..11] freq_mhz (LE u32, 2437 = channel 6)
/// [12..15] sequence (LE u32)
/// [16] rssi (signed)
/// [17] noise_floor
/// [18] PPDU type (ADR-110: 0=HT/legacy, 1=HE-SU)
/// [19] flags (ADR-110)
/// [20..] I/Q pairs (n_antennas * n_subcarriers * 2 bytes)
fn build_csi_frame(node_id: u8, seq: u32, rssi: i8, n_sub: u16) -> Vec<u8> {
let n_pairs = n_sub as usize;
let mut buf = vec![0u8; 20 + n_pairs * 2];
@@ -35,18 +35,19 @@ fn build_csi_frame(node_id: u8, seq: u32, rssi: i8, n_sub: u8) -> Vec<u8> {
buf[4] = node_id;
buf[5] = 1; // n_antennas
buf[6] = n_sub;
buf[7] = 0;
buf[6..8].copy_from_slice(&n_sub.to_le_bytes());
// freq = 2437 MHz (channel 6)
let freq: u16 = 2437;
buf[8..10].copy_from_slice(&freq.to_le_bytes());
let freq: u32 = 2437;
buf[8..12].copy_from_slice(&freq.to_le_bytes());
// sequence
buf[10..14].copy_from_slice(&seq.to_le_bytes());
buf[12..16].copy_from_slice(&seq.to_le_bytes());
buf[14] = rssi as u8;
buf[15] = (-90i8) as u8; // noise floor
buf[16] = rssi as u8;
buf[17] = (-90i8) as u8; // noise floor
buf[18] = u8::from(n_sub >= 256); // ADR-110 PPDU type: HE-SU for 256-bin
buf[19] = 0; // ADR-110 flags
// Generate I/Q pairs with node-specific patterns.
// Different nodes produce different amplitude patterns so the server
@@ -136,7 +137,7 @@ fn test_multi_node_udp_send() {
sock.set_write_timeout(Some(Duration::from_millis(100)))
.ok();
let n_sub = 32u8;
let n_sub = 32u16;
let node_ids = [1u8, 2, 3, 5, 7];
for &nid in &node_ids {
@@ -161,11 +162,13 @@ fn test_multi_node_udp_send() {
/// size for various subcarrier counts (boundary testing).
#[test]
fn test_frame_sizes() {
for n_sub in [1u8, 16, 32, 52, 56, 64, 128] {
// 256 = ESP32-C6 HE-SU grid (issue #1005) → 532-byte frame as on the wire.
for n_sub in [1u16, 16, 32, 52, 56, 64, 128, 256] {
let frame = build_csi_frame(1, 0, -50, n_sub);
let expected = 20 + (n_sub as usize) * 2;
assert_eq!(frame.len(), expected, "wrong size for n_sub={n_sub}");
}
assert_eq!(build_csi_frame(1, 0, -50, 256).len(), 532);
}
/// Simulate a mesh of N nodes sending frames at different rates.