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10 Commits

Author SHA1 Message Date
rUv 00a234eda8 ADR-110: ESP32-C6 firmware extension (#764) 
Closes the firmware-side ADR-110 design at v0.7.0-esp32 after a 38-iter /loop SOTA sprint.

Headline (bench, COM9+COM12 ESP32-C6):
- 99.56% cross-board RX, 104.1 µs smoothed offset stdev (≤100 µs §2.4 target met)
- 3.95× EMA suppression, 1.4 ppm crystal skew preserved

4 firmware releases: v0.6.7 / v0.6.8 / v0.6.9 / v0.7.0-esp32.
42 ADR-110 unit tests, 1761 v2 workspace tests, full Firmware CI + QEMU green.
 2026-05-23 15:34:48 -04:00
Chaitanya Tata cee414f3c0 firmware/esp32-csi-node: IDF 6 build, HE CSI config, unicore DSP, provision chip detect (#522) 
* firmware/esp32-csi-node: fix IDF 6 build (PSA SHA-256, explicit REQUIRES)

- rvf_parser: use psa_hash_* / psa_hash_compute; mbedTLS 4 has no public
  mbedtls/sha256.h on the IDF include path.
- main/CMakeLists: declare REQUIRES for WiFi, netif, HTTP, OTA, drivers, lwip,
  mbedtls per ESP-IDF v6 component dependency checks; optional wasm3 when
  CONFIG_WASM_ENABLE.

Signed-off-by: Chaitanya Tata <chaitanya@dotstarconsulting.com>
Co-authored-by: Cursor <cursoragent@cursor.com>

* firmware/esp32-csi-node: fix CSI config for Wi-Fi 6 (ESP32-C6)

When CONFIG_SOC_WIFI_HE_SUPPORT is set, wifi_csi_config_t is the
wifi_csi_acquire_config_t bitfield layout. The legacy bool fields
(lltf_en, htltf_en, ...) only apply to ESP32-S3-class targets.

Initialize acquire fields for HE targets; add MAC v3-only members when
CONFIG_SOC_WIFI_MAC_VERSION_NUM >= 3.

Verified: idf.py build for esp32c6 and esp32s3 (ESP-IDF v6.1).

Signed-off-by: Chaitanya Tata <chaitanya@dotstarconsulting.com>
Co-authored-by: Cursor <cursoragent@cursor.com>

* firmware/esp32-csi-node: pin edge DSP task for unicore (ESP32-C6)

edge_processing_init used xTaskCreatePinnedToCore(..., core 1). ESP32-C6
runs FreeRTOS unicore (portNUM_PROCESSORS == 1), so core 1 trips the
xTaskCreatePinnedToCore range assert right after CSI init.

Use core 1 only when SMP is available; otherwise pin to core 0.

Signed-off-by: Chaitanya Tata <chaitanya@dotstarconsulting.com>
Co-authored-by: Cursor <cursoragent@cursor.com>

* firmware/esp32-csi-node: provision NVS with chip auto-detect

provision.py always passed --chip esp32s3 to esptool, so flashing NVS on
ESP32-C6 failed. Default --chip to auto (esptool v5) and add an explicit
--chip override. Use write-flash instead of deprecated write_flash.

Signed-off-by: Chaitanya Tata <chaitanya@dotstarconsulting.com>
Co-authored-by: Cursor <cursoragent@cursor.com>

---------

Signed-off-by: Chaitanya Tata <chaitanya@dotstarconsulting.com>
Co-authored-by: Cursor <cursoragent@cursor.com>
 2026-05-17 18:00:40 -04:00
rUv 5a7f431b0e ADR-081: Implement 5-layer adaptive CSI mesh firmware kernel (#404) 
* ADR-081: adaptive CSI mesh firmware kernel + scaffolding

Introduces a 5-layer firmware kernel that reframes the existing ESP32
modules as components of a chipset-agnostic architecture and authorizes
adaptive control + a compact feature-state stream as the default upstream.

Layers:
  L1 Radio Abstraction Layer  — rv_radio_ops_t vtable + ESP32 binding
  L2 Adaptive Controller      — fast/medium/slow loops (200ms/1s/30s)
  L3 Mesh Sensing Plane       — anchor/observer/relay/coordinator (spec)
  L4 On-device Feature Extr.  — rv_feature_state_t (magic 0xC5110006)
  L5 Rust handoff             — feature_state default; debug raw gated

Files:
  docs/adr/ADR-081-adaptive-csi-mesh-firmware-kernel.md  (new)
  firmware/esp32-csi-node/main/rv_radio_ops.h            (new)
  firmware/esp32-csi-node/main/rv_radio_ops_esp32.c      (new)
  firmware/esp32-csi-node/main/rv_feature_state.{h,c}    (new)
  firmware/esp32-csi-node/main/adaptive_controller.{h,c} (new)
  firmware/esp32-csi-node/main/main.c                    (wire L1+L2)
  firmware/esp32-csi-node/main/CMakeLists.txt            (add 4 sources)
  firmware/esp32-csi-node/main/Kconfig.projbuild         (controller knobs)
  CHANGELOG.md                                           (Unreleased)

Default policy is conservative: enable_channel_switch and
enable_role_change are off, so behavior matches today's firmware
unless an operator opts in via menuconfig. The pure
adaptive_controller_decide() is exposed for offline unit tests.

Reuses (does not rewrite): csi_collector, edge_processing (ADR-039),
swarm_bridge (ADR-066), secure_tdm (ADR-032), wasm_runtime (ADR-040).

* ADR-081: implement Layers 1/2/4 end-to-end + host tests + QEMU hooks

Turns the ADR-081 scaffolding into a working adaptive CSI mesh kernel:
Layer 1 radio abstraction has an ESP32 binding and a mock binding; Layer 2
adaptive controller runs on FreeRTOS timers; Layer 4 feature-state packet
is emitted at 5 Hz by default, replacing raw ADR-018 CSI as the default
upstream.

New files:
  firmware/esp32-csi-node/main/adaptive_controller_decide.c  (pure policy)
  firmware/esp32-csi-node/main/rv_radio_ops_mock.c           (QEMU binding)
  firmware/esp32-csi-node/tests/host/Makefile                (host tests)
  firmware/esp32-csi-node/tests/host/test_adaptive_controller.c
  firmware/esp32-csi-node/tests/host/test_rv_feature_state.c
  firmware/esp32-csi-node/tests/host/esp_err.h               (shim)
  firmware/esp32-csi-node/tests/host/.gitignore

Modified:
  adaptive_controller.c         — includes pure decide.c; emit_feature_state()
                                  wired into fast loop (200 ms = 5 Hz)
  rv_radio_ops_esp32.c          — get_health() fills pkt_yield + send_fail
  csi_collector.{c,h}           — pkt_yield/send_fail accessors (ADR-081 L1)
  rv_feature_state.h            — packed size corrected to 60 bytes
                                  (was incorrectly 80 in initial commit)
  main.c                        — mock binding registered under mock CSI
  CMakeLists.txt                — rv_radio_ops_mock.c under CSI_MOCK_ENABLED
  scripts/validate_qemu_output.py — 3 new ADR-081 checks (17/18/19)
  docs/adr/ADR-081-*.md         — status → Accepted (partial);
                                  implementation-status matrix; measured
                                  benchmarks (decide 3.2 ns, CRC32 614 ns);
                                  bandwidth 300 B/s @ 5 Hz (99.7% vs raw);
                                  verification section
  CHANGELOG.md                  — artifact-level entries

Tests (host, gcc -O2 -std=c11):
  test_adaptive_controller:  18/18 pass, decide() = 3.2 ns/call
  test_rv_feature_state:     15/15 pass, CRC32(56 B) = 614 ns/pkt, 87 MB/s
                             sizeof(rv_feature_state_t) == 60 asserted
                             IEEE CRC32 known vectors verified

Deferred (tracked in ADR-081 roadmap Phase 3/4):
  Layer 3 mesh-plane message types, role-assignment FSM, Rust-side mirror
  trait in crates/wifi-densepose-hardware/src/radio_ops.rs.

* ADR-081: Layer 3 mesh plane + Rust mirror trait — all 5 layers landed

Fully implements the remaining deferred pieces of the adaptive CSI mesh
firmware kernel. All 5 layers (Radio Abstraction, Adaptive Controller,
Mesh Sensing Plane, On-device Feature Extraction, Rust handoff) are
now implemented and host-tested end-to-end.

Layer 3 — Mesh Sensing Plane (firmware/esp32-csi-node/main/rv_mesh.{h,c}):
  * 4 node roles: Unassigned / Anchor / Observer / FusionRelay / Coordinator
  * 7 message types: TIME_SYNC, ROLE_ASSIGN, CHANNEL_PLAN,
    CALIBRATION_START, FEATURE_DELTA, HEALTH, ANOMALY_ALERT
  * 3 auth classes: None / HMAC-SHA256-session / Ed25519-batch
  * Payload types: rv_node_status_t (28 B), rv_anomaly_alert_t (28 B),
    rv_time_sync_t (16 B), rv_role_assign_t (16 B),
    rv_channel_plan_t (24 B), rv_calibration_start_t (20 B)
  * 16-byte envelope + payload + IEEE CRC32 trailer
  * Pure rv_mesh_encode()/rv_mesh_decode() plus typed convenience encoders
  * rv_mesh_send_health() + rv_mesh_send_anomaly() helpers

Controller wiring (adaptive_controller.c):
  * Slow loop (30 s default) now emits HEALTH
  * apply_decision() emits ANOMALY_ALERT on transitions to ALERT /
    DEGRADED
  * Role + mesh epoch tracked in module state; epoch bumps on role
    change

Layer 5 — Rust mirror (crates/wifi-densepose-hardware/src/radio_ops.rs):
  * RadioOps trait mirrors rv_radio_ops_t vtable
  * MockRadio backend for offline tests
  * MeshHeader / NodeStatus / AnomalyAlert types mirror rv_mesh.h
  * Byte-identical IEEE CRC32 (poly 0xEDB88320) verified against
    firmware test vectors (0xCBF43926 for "123456789")
  * decode_mesh / decode_node_status / decode_anomaly_alert / encode_health
  * 8 unit tests, including mesh_constants_match_firmware which asserts
    MESH_MAGIC/VERSION/HEADER_SIZE/MAX_PAYLOAD match rv_mesh.h
    byte-for-byte
  * Exported from lib.rs
  * signal/ruvector/train/mat crates untouched — satisfies ADR-081
    portability acceptance test

Tests (all passing):
  test_adaptive_controller:   18/18   (C, decide() 3.2 ns/call)
  test_rv_feature_state:      15/15   (C, CRC32 87 MB/s)
  test_rv_mesh:               27/27   (C, roundtrip 1.0 µs)
  radio_ops::tests (Rust):     8/8
  --- total:                 68/68 assertions green ---

Docs:
  * ADR-081 status flipped to Accepted
  * Implementation-status matrix updated; L3 + Rust mirror both
    marked Implemented
  * Benchmarks table extended with rv_mesh encode+decode roundtrip
  * Verification section updated with cargo test invocation
  * CHANGELOG: two new entries for L3 mesh plane + Rust mirror

Remaining follow-ups (Phase 3.5 polish, not blocking):
  * Mesh RX path (UDP listener + dispatch) on the firmware
  * Ed25519 signing for CHANNEL_PLAN / CALIBRATION_START
  * Hardware validation on COM7

* Add test_rv_mesh to host-test .gitignore

Fixes an untracked-file warning from the repo stop-hook: the compiled
binary was built by make but the .gitignore update was missed in
8dfb031. No source changes.

* Fix implicit decl of emit_feature_state in adaptive_controller

fast_loop_cb calls emit_feature_state() at line 224, but the static
definition is at line 256. GCC treats the implicit declaration as
non-static, then the real static definition conflicts, and
-Werror=all promotes both to hard build errors.

Add a forward declaration above the first use. Unblocks ESP32-S3
firmware build and all QEMU matrix jobs.

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

---------

Co-authored-by: Claude <noreply@anthropic.com>
 2026-04-20 10:38:23 -04:00
rUv 2b8a7cc458 feat: happiness scoring pipeline + ESP32 swarm with Cognitum Seed (#285) 
* feat: happiness scoring pipeline with ESP32 swarm + Cognitum Seed coordinator

ADR-065: Hotel guest happiness scoring from WiFi CSI physiological proxies.
ADR-066: ESP32 swarm with Cognitum Seed as coordinator for multi-zone analytics.

Firmware:
- swarm_bridge.c/h: FreeRTOS task on Core 0, HTTP client with Bearer auth,
  registers with Seed, sends heartbeats (30s) and happiness vectors (5s)
- nvs_config: seed_url, seed_token, zone_name, swarm intervals
- provision.py: --seed-url, --seed-token, --zone CLI args
- esp32-hello-world: capability discovery firmware for 4MB ESP32-S3 variant

WASM edge modules:
- exo_happiness_score.rs: 8-dim happiness vector from gait speed, stride
  regularity, movement fluidity, breathing calm, posture, dwell time
  (events 690-694, 11 tests, ESP32-optimized buffers + event decimation)
- ghost_hunter.rs standalone binary: 5.7 KB WASM, feature-gated default pipeline

RuView Live:
- --mode happiness dashboard with bar visualization
- --seed flag for Cognitum Seed bridge (urllib, background POST)
- HappinessScorer + SeedBridge classes (stdlib only, no deps)

Examples:
- seed_query.py: CLI tool (status, search, witness, monitor, report)
- provision_swarm.sh: batch provisioning for multi-node deployment
- happiness_vector_schema.json: 8-dim vector format documentation

Verified live: ESP32 on COM5 (4MB flash) registered with Seed at 10.1.10.236,
vectors flowing, witness chain growing (epoch 455, chain 1108).

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

* ci: raise firmware binary size gate to 1100 KB for HTTP client stack

The swarm bridge (ADR-066) adds esp_http_client for Seed communication,
which pulls in the HTTP/TLS stack (~150 KB). Binary grew from ~978 KB to
~1077 KB. Raise the gate from 950 KB to 1100 KB. Still fits comfortably
in both 4MB (1856 KB OTA slot, 43% free) and 8MB flash variants.

Co-Authored-By: claude-flow <ruv@ruv.net>
 2026-03-20 18:46:34 -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
ruv 8b57a6f64c docs: update README with ADR-045–048, Observatory, adaptive classifier, AMOLED display 
- Update ADR count from 44 to 48
- Add adaptive classifier (ADR-048) to Intelligence features
- Add Observatory visualization (ADR-047) and AMOLED display (ADR-045) to Deployment features
- Update screenshot to v2-screen.png
- Add ADR-045 (AMOLED), ADR-046 (Android TV), ADR-047 (Observatory), DDD deployment model
- Add AMOLED display firmware (display_hal, display_task, display_ui, LVGL config)
- Add Observatory UI (13 Three.js modules, CSS, HTML entry point)
- Add trained adaptive model JSON
- Update .gitignore for managed_components, recordings, .swarm

Co-Authored-By: claude-flow <ruv@ruv.net>
 2026-03-05 10:20:48 -05:00
ruv 4b1005524e feat: complete vendor repos, add edge intelligence and WASM modules 
- Add 154 missing vendor files (gitignore was filtering them)
  - vendor/midstream: 564 files (was 561)
  - vendor/sublinear-time-solver: 1190 files (was 1039)
- Add ESP32 edge processing (ADR-039): presence, vitals, fall detection
- Add WASM programmable sensing (ADR-040/041) with wasm3 runtime
- Add firmware CI workflow (.github/workflows/firmware-ci.yml)
- Add wifi-densepose-wasm-edge crate for edge WASM modules
- Update sensing server, provision.py, UI components

Co-Authored-By: claude-flow <ruv@ruv.net>
 2026-03-02 23:53:25 -05:00
ruv 7872987ee6 fix(docker): Update Dockerfile paths from src/ to v1/src/ 
The source code was moved to v1/src/ but the Dockerfile still
referenced src/ directly, causing build failures. Updated all
COPY paths, uvicorn module paths, test paths, and bandit scan
paths. Also added missing v1/__init__.py for Python module
resolution.

Fixes #33

Co-Authored-By: claude-flow <ruv@ruv.net>
 2026-02-28 13:38:21 -05:00
rUv 92a5182dc3 feat(adr-018): ESP32-S3 firmware, Rust aggregator, and live CSI pipeline 
Complete end-to-end WiFi CSI capture pipeline verified on real hardware:

- ESP32-S3 firmware: WiFi STA + promiscuous mode CSI collection,
  ADR-018 binary serialization, UDP streaming at ~20 Hz
- Rust aggregator CLI binary (clap): receives UDP frames, parses with
  Esp32CsiParser, prints per-frame summary (node, seq, rssi, amp)
- UDP aggregator module with per-node sequence tracking and drop detection
- CsiFrame bridge to detection pipeline (amplitude/phase/SNR conversion)
- Python ESP32 binary parser with UDP reader
- Presence detection confirmed: motion score 10/10 from live CSI variance

Hardware verified: ESP32-S3-DevKitC-1 (CP2102, MAC 3C:0F:02:EC:C2:28),
Docker ESP-IDF v5.2 build, esptool 5.1.0 flash, 20 Rust + 6 Python tests pass.

Co-Authored-By: claude-flow <ruv@ruv.net>
 2026-02-28 13:22:04 -05:00