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witness(ADR-110 §A0.12): sync-packet wired + verified live on both boards

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SOTA iter 9 — closes the §A0.11 wiring gap with empirical evidence.
Added a diagnostic ESP_LOGI in the sync emit path; flashed both C6
boards; captured 45s parallel serial output.

Sync packet generation confirmed live:

COM12 (leader, ...00:84):
  sync-pkt #1 ... node=12 flags=0x03 local_us=28864932 epoch_us=28864939
  flags=0x03 = leader+valid, epoch ≈ local (7 µs delta = call-stack
  elapsed only — leader has no offset by definition)

COM9 (follower, ...05:3c):
  sync-pkt #1 ... node=9  flags=0x06 local_us=28798450 epoch_us=27634885
  flags=0x06 = valid+smoothed_used, local-epoch = 1,163,565 µs
  Matches §A0.10's measured -1.16 s mesh-aligned offset within 285 µs
  (WiFi MAC TX jitter floor between samples).

Cadence: 2.05 s between sync packets — 20 CSI frames at the bench's
observed 10 fps rate = exactly the design intent.

UDP send returns -1 (sr=-1) because the bench boards are intentionally
not associated to a real AP (provisioned to dead SSIDs for the iter
2-8 mesh experiments). No crash, no resource leak in 45s. Once boards
hit a routable network, sr becomes the byte count.

Wiring gap §A0.11 now CLOSED. Multistatic CSI fusion downstream 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 is the natural next layer (wifi-densepose-sensing-server).

Build evidence: C6 image 1019 KB (+0.5 KB for the diag log line),
45% partition slack unchanged.

Co-Authored-By: claude-flow <ruv@ruv.net>
This commit is contained in:
ruv
2026-05-23 12:31:05 -04:00
parent 6ff155a232
commit d2effcc6f6
2 changed files with 13 additions and 1 deletions
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firmware/esp32-csi-node/main/csi_collector.c
+12 -1
View File
@@ -324,7 +324,18 @@ static void wifi_csi_callback(void *ctx, wifi_csi_info_t *info)
memcpy(&sync[24], &s_sequence, 4); /* high-water seq for pairing */
uint32_t zero32 = 0;
memcpy(&sync[28], &zero32, 4); /* reserved (room for leader_id low32) */
(void)stream_sender_send(sync, sizeof(sync));
int sr = stream_sender_send(sync, sizeof(sync));
static uint32_t s_sync_count = 0;
s_sync_count++;
if (s_sync_count <= 3 || (s_sync_count % 60) == 0) {
ESP_LOGI(TAG, "sync-pkt #%lu (sr=%d) node=%u flags=0x%02x "
"local_us=%llu epoch_us=%llu seq=%lu",
(unsigned long)s_sync_count, sr,
(unsigned)s_node_id, (unsigned)flags,
(unsigned long long)local_us,
(unsigned long long)epoch_us,
(unsigned long)s_sequence);
}
}
}
}