mirror of
https://github.com/ruvnet/RuView
synced 2026-07-23 17:33:20 +00:00
ruv
f23e34ee5c
`firmware/esp32-csi-node` now builds for both `esp32s3` (existing
production) and `esp32c6` (new research / battery-seed target) from
the same source tree. ESP-IDF auto-applies `sdkconfig.defaults.esp32c6`
when the target is set to esp32c6; every C6 module is gated on
CONFIG_IDF_TARGET_ESP32C6 (or the SOC_WIFI_HE_SUPPORT capability) so
the S3 build path is byte-identical to today.
New modules (all #ifdef-gated, no-op stubs on S3):
- c6_twt.{h,c} — iTWT wrapper, graceful AP-NACK fallback
- c6_timesync.{h,c} — 802.15.4 beacon-based mesh time-sync, EUI-64
leader election, c6_timesync_get_epoch_us()
- c6_lp_core.{h,c} — wake-on-motion deep-sleep helper (ext1 path
this cut; real LP-core polling deferred)
ADR-018 frame extension:
- byte 18: PPDU type (0=HT/legacy, 1=HE-SU, 2=HE-MU, 3=HE-TB)
- byte 19: bandwidth + STBC + 802.15.4-sync-valid flags
- Magic 0xC5110001 unchanged — backwards compatible
- Dual-branch encoding handles both struct variants of
wifi_pkt_rx_ctrl_t (legacy S3 / HE C6) per CONFIG_SOC_WIFI_HE_SUPPORT
Critical bug fixed during live witness collection (verified across 3
boards on COM6/COM9/COM12):
- c6_timesync.c read MAC into a 6-byte buffer and ran MAC-48->EUI-64
conversion. But esp_read_mac(ESP_MAC_IEEE802154) returns 8 bytes
already in EUI-64 form on C6 — code was double-inserting FFFE.
Boot log was 206ef1fffefffe17, fix yields 206ef1fffe17278c which
matches esptool's eFuse reading exactly.
Tooling:
- CI workflow (firmware-ci.yml) extended with c6-4mb matrix row +
ADR-110 host-unit-test step
- Host unit tests for pure functions (mac48_to_eui64,
eui64_bytes_to_u64, PPDU encoding both branches) — runs on Ubuntu CI
- Multi-board live-capture harness (test/capture-3board-experiment.py)
- Witness bundle script records SHA-256s for s3-adr110, c6-adr110, and
s3-fair-adr110 (apples-to-apples) binary archives
Honest empirical findings (full report in docs/WITNESS-LOG-110.md):
- Verified live on 3 C6 boards: boot, 802.15.4 init w/ correct EUIs,
WiFi STA reaching assoc->run on ruv.net, TWT setup attempted +
gracefully NACKed (AP is 11n-only, TWT Responder:0), HE-MAC firmware
loaded
- NOT verified (need 11ax AP / second-channel exp / INA meter):
HE-LTF subcarrier expansion, TWT cadence determinism, ±100 µs sync
alignment, 5 µA hibernation
- Bug found: leader election doesn't step down under live WiFi load —
likely 2.4 GHz radio coex preemption (WiFi ch 5 vs 15.4 ch 15);
follow-up task #30
- Apples-to-apples size: S3-no-display = 886 KB, C6 = 1003 KB
(C6 is 13% LARGER for equivalent CSI features; the extra is the
802.15.4 + OpenThread stack that S3 lacks)
Tracking: ruvnet/RuView#762
Co-Authored-By: claude-flow <ruv@ruv.net>
78 lines
2.3 KiB
C
78 lines
2.3 KiB
C
/**
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* @file c6_timesync.h
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* @brief 802.15.4 mesh time-sync — ADR-110 Phase 4.
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*
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* Provides cross-node clock alignment over a separate 802.15.4 radio so
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* the WiFi airtime stays clean for CSI sensing. Solves the multistatic
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* synchronization problem (ADR-029/030) without burning the sensing
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* channel on coordination traffic.
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*
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* Protocol (skeleton — full Thread join deferred to a follow-up phase):
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* - One node is elected time-leader (lowest 64-bit EUI on the mesh).
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* - Leader broadcasts a TS_BEACON every 100 ms on 802.15.4 channel 15.
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* - Followers compute offset = leader_us - local_us, apply lazily.
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* - Each CSI frame is stamped with c6_timesync_get_epoch_us().
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*
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* Only built when CONFIG_IDF_TARGET_ESP32C6 + CONFIG_IEEE802154_ENABLED.
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*/
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "esp_err.h"
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#include <stdint.h>
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#include <stdbool.h>
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#if defined(CONFIG_IDF_TARGET_ESP32C6) && defined(CONFIG_IEEE802154_ENABLED)
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/**
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* Initialize the 802.15.4 radio and time-sync state machine.
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* Picks leader or follower role based on EUI comparison.
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*
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* @param channel 802.15.4 channel (11-26, default 15).
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* @return ESP_OK on success.
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*/
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esp_err_t c6_timesync_init(uint8_t channel);
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/**
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* Returns the synced wall-clock estimate in microseconds.
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* If no leader heard within the timeout, returns the local
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* esp_timer_get_time() value unchanged (offset = 0).
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*/
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uint64_t c6_timesync_get_epoch_us(void);
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/**
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* Returns true if this node is currently the time-leader.
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*/
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bool c6_timesync_is_leader(void);
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/**
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* Returns true if the local clock is synced (heard a beacon within timeout).
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*/
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bool c6_timesync_is_valid(void);
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/**
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* Returns the most-recently-measured offset from the leader (microseconds).
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* 0 if this node is the leader; sign indicates direction.
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*/
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int64_t c6_timesync_get_offset_us(void);
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#else /* not C6 with 802.15.4 — provide stubs so call sites compile */
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#include "esp_timer.h"
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static inline esp_err_t c6_timesync_init(uint8_t c) { (void)c; return ESP_OK; }
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static inline uint64_t c6_timesync_get_epoch_us(void) { return (uint64_t)esp_timer_get_time(); }
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static inline bool c6_timesync_is_leader(void) { return false; }
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static inline bool c6_timesync_is_valid(void) { return false; }
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static inline int64_t c6_timesync_get_offset_us(void) { return 0; }
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#endif
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#ifdef __cplusplus
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}
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#endif
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