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Author	SHA1	Message	Date
ruv	a036d6c27d	fix(fuzz): stub c6_sync_espnow_is_valid for the fuzz-harness link path Iter 38 — CI guard fix. The Firmware QEMU Tests (ADR-061) Fuzz Testing Layer 6 job was failing on PR #764 with: /usr/bin/ld: csi_collector.c:229: undefined reference to `c6_sync_espnow_is_valid' clang: error: linker command failed with exit code 1 Iter 11's csi_collector.c byte 19 bit 4 wire-fix added the OR'd call to c6_sync_espnow_is_valid(), but the fuzz target only links csi_collector.c against test/stubs/esp_stubs.c — not the real c6_sync_espnow.c implementation. The fuzz harness needed a stub. Fix: append a 1-line stub to esp_stubs.c that returns false. This matches the c6_timesync.h inline-fallback pattern: under non-ESP-NOW fuzz inputs the bit-4 sync-valid flag stays 0, which is the natural fuzz semantic. GHCI run that surfaced the bug: 26338405979 — Fuzz Testing (ADR-061 Layer 6) step. Next push will exercise the fix. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 15:19:45 -04:00
rUv	66e2fa0835	feat: ADR-063/064 mmWave sensor fusion + multimodal ambient intelligence (#269 ) * docs: ADR-063 mmWave sensor fusion with WiFi CSI 60 GHz mmWave radar (Seeed MR60BHA2, HLK-LD2410/LD2450) fusion with WiFi CSI for dual-confirm fall detection, clinical-grade vitals, and self-calibrating CSI pipeline. Covers auto-detection, 6 supported sensors, Kalman fusion, extended 48-byte vitals packet, RuVector/RuvSense integration points, and 6-phase implementation plan. Based on live hardware capture from ESP32-C6 + MR60BHA2 on COM4. Co-Authored-By: claude-flow <ruv@ruv.net> * feat(firmware): ADR-063 mmWave sensor fusion — full implementation Phase 1-2 of ADR-063: mmwave_sensor.c/h: - MR60BHA2 UART parser (60 GHz: HR, BR, presence, distance) - LD2410 UART parser (24 GHz: presence, distance) - Auto-detection: probes UART for known frame headers at boot - Mock generator for QEMU testing (synthetic HR 72±2, BR 16±1) - Capability flag registration per sensor type edge_processing.c/h: - 48-byte fused vitals packet (magic 0xC5110004) - Kalman-style fusion: mmWave 80% + CSI 20% when both available - Automatic fallback to CSI-only 32-byte packet when no mmWave - Dual presence flag (Bit3 = mmwave_present) main.c: - mmwave_sensor_init() called at boot with auto-detect - Status logged in startup banner Fuzz stubs updated for mmwave_sensor API. Build verified: QEMU mock build passes. Co-Authored-By: claude-flow <ruv@ruv.net> * fix(firmware): correct MR60BHA2 + LD2410 UART protocols (ADR-063) MR60BHA2: SOF=0x01 (not 0x5359), XOR+NOT checksums on header and data, frame types 0x0A14 (BR), 0x0A15 (HR), 0x0A16 (distance), 0x0F09 (presence). Based on Seeed Arduino library research. LD2410: 256000 baud (not 115200), 0xAA report head marker, target state byte at offset 2 (after data_type + head_marker). Auto-detect: probes MR60 at 115200 first, then LD2410 at 256000. Sets final baud rate after detection. Co-Authored-By: claude-flow <ruv@ruv.net> * feat: ADR-063 Phase 6 server-side mmWave + CSI fusion bridge Python script reads both serial ports simultaneously: - COM4 (ESP32-C6 + MR60BHA2): parses ESPHome debug output for HR, BR, presence, distance - COM7 (ESP32-S3): reads CSI edge processing frames Kalman-style fusion: mmWave 80% + CSI 20% for vitals, OR gate for presence. Verified on real hardware: mmWave HR=75bpm, BR=25/min at 52cm range, CSI frames flowing concurrently. Both sensors live for 30 seconds. Co-Authored-By: claude-flow <ruv@ruv.net> * docs: ADR-064 multimodal ambient intelligence roadmap 25+ applications across 4 tiers from practical to exotic: - Tier 1 (build now): zero-FP fall detection, sleep monitoring, occupancy HVAC, baby breathing, bathroom safety - Tier 2 (research): gait analysis, stress detection, gesture control, respiratory screening, multi-room activity - Tier 3 (frontier): cardiac arrhythmia, RF tomography, sign language, cognitive load, swarm sensing - Tier 4 (exotic): emotion contagion, lucid dreaming, plant monitoring, pet behavior Priority matrix with effort estimates. All P0-P1 items work with existing hardware (ESP32-S3 + MR60BHA2 + BH1750). Co-Authored-By: claude-flow <ruv@ruv.net> * fix(ci): add ESP_ERR_NOT_FOUND to fuzz stubs mmwave_sensor stub returns ESP_ERR_NOT_FOUND which wasn't defined in the minimal esp_stubs.h for host-based fuzz testing. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-03-15 16:10:10 -04:00
rUv	523be943b0	feat: QEMU ESP32-S3 testing platform + swarm configurator (ADR-061/062) (#260 ) 9-layer QEMU testing platform (ADR-061) and YAML-driven swarm configurator (ADR-062) for ESP32-S3 firmware testing without hardware. 12 commits, 56 files, +9,500 lines. Tested on Windows with Espressif QEMU 9.0.0 — firmware boots, mock CSI generates frames, 14/16 validation checks pass. 39 bugs found and fixed across 2 deep code reviews. Closes #259 Co-Authored-By: claude-flow <ruv@ruv.net>	2026-03-14 13:39:51 -04:00

Author

SHA1

Message

Date

ruv

a036d6c27d

fix(fuzz): stub c6_sync_espnow_is_valid for the fuzz-harness link path

Iter 38 — CI guard fix. The Firmware QEMU Tests (ADR-061) Fuzz Testing
Layer 6 job was failing on PR #764 with:

  /usr/bin/ld: csi_collector.c:229: undefined reference to
    `c6_sync_espnow_is_valid'
  clang: error: linker command failed with exit code 1

Iter 11's csi_collector.c byte 19 bit 4 wire-fix added the OR'd call to
c6_sync_espnow_is_valid(), but the fuzz target only links csi_collector.c
against test/stubs/esp_stubs.c — not the real c6_sync_espnow.c
implementation. The fuzz harness needed a stub.

Fix: append a 1-line stub to esp_stubs.c that returns false. This
matches the c6_timesync.h inline-fallback pattern: under non-ESP-NOW
fuzz inputs the bit-4 sync-valid flag stays 0, which is the natural
fuzz semantic.

GHCI run that surfaced the bug: 26338405979 — Fuzz Testing (ADR-061
Layer 6) step. Next push will exercise the fix.

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

2026-05-23 15:19:45 -04:00

rUv

66e2fa0835

feat: ADR-063/064 mmWave sensor fusion + multimodal ambient intelligence (#269 )

* docs: ADR-063 mmWave sensor fusion with WiFi CSI

60 GHz mmWave radar (Seeed MR60BHA2, HLK-LD2410/LD2450) fusion
with WiFi CSI for dual-confirm fall detection, clinical-grade
vitals, and self-calibrating CSI pipeline.

Covers auto-detection, 6 supported sensors, Kalman fusion,
extended 48-byte vitals packet, RuVector/RuvSense integration
points, and 6-phase implementation plan.

Based on live hardware capture from ESP32-C6 + MR60BHA2 on COM4.

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

* feat(firmware): ADR-063 mmWave sensor fusion — full implementation

Phase 1-2 of ADR-063:

mmwave_sensor.c/h:
- MR60BHA2 UART parser (60 GHz: HR, BR, presence, distance)
- LD2410 UART parser (24 GHz: presence, distance)
- Auto-detection: probes UART for known frame headers at boot
- Mock generator for QEMU testing (synthetic HR 72±2, BR 16±1)
- Capability flag registration per sensor type

edge_processing.c/h:
- 48-byte fused vitals packet (magic 0xC5110004)
- Kalman-style fusion: mmWave 80% + CSI 20% when both available
- Automatic fallback to CSI-only 32-byte packet when no mmWave
- Dual presence flag (Bit3 = mmwave_present)

main.c:
- mmwave_sensor_init() called at boot with auto-detect
- Status logged in startup banner

Fuzz stubs updated for mmwave_sensor API.
Build verified: QEMU mock build passes.

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

* fix(firmware): correct MR60BHA2 + LD2410 UART protocols (ADR-063)

MR60BHA2: SOF=0x01 (not 0x5359), XOR+NOT checksums on header and
data, frame types 0x0A14 (BR), 0x0A15 (HR), 0x0A16 (distance),
0x0F09 (presence). Based on Seeed Arduino library research.

LD2410: 256000 baud (not 115200), 0xAA report head marker,
target state byte at offset 2 (after data_type + head_marker).

Auto-detect: probes MR60 at 115200 first, then LD2410 at 256000.
Sets final baud rate after detection.

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

* feat: ADR-063 Phase 6 server-side mmWave + CSI fusion bridge

Python script reads both serial ports simultaneously:
- COM4 (ESP32-C6 + MR60BHA2): parses ESPHome debug output for HR, BR, presence, distance
- COM7 (ESP32-S3): reads CSI edge processing frames

Kalman-style fusion: mmWave 80% + CSI 20% for vitals, OR gate for presence.

Verified on real hardware: mmWave HR=75bpm, BR=25/min at 52cm range,
CSI frames flowing concurrently. Both sensors live for 30 seconds.

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

* docs: ADR-064 multimodal ambient intelligence roadmap

25+ applications across 4 tiers from practical to exotic:
- Tier 1 (build now): zero-FP fall detection, sleep monitoring,
  occupancy HVAC, baby breathing, bathroom safety
- Tier 2 (research): gait analysis, stress detection, gesture
  control, respiratory screening, multi-room activity
- Tier 3 (frontier): cardiac arrhythmia, RF tomography, sign
  language, cognitive load, swarm sensing
- Tier 4 (exotic): emotion contagion, lucid dreaming, plant
  monitoring, pet behavior

Priority matrix with effort estimates. All P0-P1 items work with
existing hardware (ESP32-S3 + MR60BHA2 + BH1750).

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

* fix(ci): add ESP_ERR_NOT_FOUND to fuzz stubs

mmwave_sensor stub returns ESP_ERR_NOT_FOUND which wasn't
defined in the minimal esp_stubs.h for host-based fuzz testing.

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

2026-03-15 16:10:10 -04:00

rUv

523be943b0

feat: QEMU ESP32-S3 testing platform + swarm configurator (ADR-061/062) (#260 )

9-layer QEMU testing platform (ADR-061) and YAML-driven swarm
configurator (ADR-062) for ESP32-S3 firmware testing without hardware.

12 commits, 56 files, +9,500 lines. Tested on Windows with
Espressif QEMU 9.0.0 — firmware boots, mock CSI generates frames,
14/16 validation checks pass. 39 bugs found and fixed across
2 deep code reviews.

Closes #259

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

2026-03-14 13:39:51 -04:00

3 Commits