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feat: ADR-029/031 TDM sensing protocol, channel hopping, and NVS config

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Implement the hardware and firmware portions of RuvSense (ADR-029) and
RuView (ADR-031) for multistatic WiFi sensing:

Rust (wifi-densepose-hardware):
- TdmSchedule: uniform slot assignments with configurable cycle period,
  guard intervals, and processing window (default 4-node 20 Hz)
- TdmCoordinator: manages sensing cycles, tracks per-slot completion,
  cumulative clock drift compensation (±10 ppm over 50 ms = 0.5 us)
- SyncBeacon: 16-byte wire format for cycle synchronization with
  drift correction offsets
- TdmSlotCompleted event for aggregator notification
- 18 unit tests + 4 doctests, all passing

Firmware (C, ESP32):
- Channel-hop table in csi_collector.c (s_hop_channels, configurable
  via csi_collector_set_hop_table)
- Timer-driven channel hopping via esp_timer at dwell intervals
- NDP frame injection stub via esp_wifi_80211_tx()
- Backward-compatible: hop_count=1 disables hopping entirely
- NVS config extension: hop_count, chan_list, dwell_ms, tdm_slot,
  tdm_node_count with bounds validation and Kconfig fallback defaults

Co-Authored-By: claude-flow <ruv@ruv.net>
This commit is contained in:
ruv
2026-03-01 21:33:48 -05:00
parent b4f1e55546
commit 303871275b
7 changed files with 1124 additions and 0 deletions
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75
firmware/esp32-csi-node/main/nvs_config.c
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@@ -18,6 +18,11 @@ static const char *TAG = "nvs_config";
void nvs_config_load(nvs_config_t *cfg)
{
if (cfg == NULL) {
ESP_LOGE(TAG, "nvs_config_load: cfg is NULL");
return;
}
/* Start with Kconfig compiled defaults */
strncpy(cfg->wifi_ssid, CONFIG_CSI_WIFI_SSID, NVS_CFG_SSID_MAX - 1);
cfg->wifi_ssid[NVS_CFG_SSID_MAX - 1] = '\0';
@@ -35,6 +40,17 @@ void nvs_config_load(nvs_config_t *cfg)
cfg->target_port = (uint16_t)CONFIG_CSI_TARGET_PORT;
cfg->node_id = (uint8_t)CONFIG_CSI_NODE_ID;
/* ADR-029: Defaults for channel hopping and TDM.
* hop_count=1 means single-channel (backward-compatible). */
cfg->channel_hop_count = 1;
cfg->channel_list[0] = (uint8_t)CONFIG_CSI_WIFI_CHANNEL;
for (uint8_t i = 1; i < NVS_CFG_HOP_MAX; i++) {
cfg->channel_list[i] = 0;
}
cfg->dwell_ms = 50;
cfg->tdm_slot_index = 0;
cfg->tdm_node_count = 1;
/* Try to override from NVS */
nvs_handle_t handle;
esp_err_t err = nvs_open("csi_cfg", NVS_READONLY, &handle);
@@ -84,5 +100,64 @@ void nvs_config_load(nvs_config_t *cfg)
ESP_LOGI(TAG, "NVS override: node_id=%u", cfg->node_id);
}
/* ADR-029: Channel hop count */
uint8_t hop_count_val;
if (nvs_get_u8(handle, "hop_count", &hop_count_val) == ESP_OK) {
if (hop_count_val >= 1 && hop_count_val <= NVS_CFG_HOP_MAX) {
cfg->channel_hop_count = hop_count_val;
ESP_LOGI(TAG, "NVS override: hop_count=%u", (unsigned)cfg->channel_hop_count);
} else {
ESP_LOGW(TAG, "NVS hop_count=%u out of range [1..%u], ignored",
(unsigned)hop_count_val, (unsigned)NVS_CFG_HOP_MAX);
}
}
/* ADR-029: Channel list (stored as a blob of up to NVS_CFG_HOP_MAX bytes) */
len = NVS_CFG_HOP_MAX;
uint8_t ch_blob[NVS_CFG_HOP_MAX];
if (nvs_get_blob(handle, "chan_list", ch_blob, &len) == ESP_OK && len > 0) {
uint8_t count = (len < cfg->channel_hop_count) ? (uint8_t)len : cfg->channel_hop_count;
for (uint8_t i = 0; i < count; i++) {
cfg->channel_list[i] = ch_blob[i];
}
ESP_LOGI(TAG, "NVS override: chan_list loaded (%u channels)", (unsigned)count);
}
/* ADR-029: Dwell time */
uint32_t dwell_val;
if (nvs_get_u32(handle, "dwell_ms", &dwell_val) == ESP_OK) {
if (dwell_val >= 10) {
cfg->dwell_ms = dwell_val;
ESP_LOGI(TAG, "NVS override: dwell_ms=%lu", (unsigned long)cfg->dwell_ms);
} else {
ESP_LOGW(TAG, "NVS dwell_ms=%lu too small, ignored", (unsigned long)dwell_val);
}
}
/* ADR-029/031: TDM slot index */
uint8_t slot_val;
if (nvs_get_u8(handle, "tdm_slot", &slot_val) == ESP_OK) {
cfg->tdm_slot_index = slot_val;
ESP_LOGI(TAG, "NVS override: tdm_slot_index=%u", (unsigned)cfg->tdm_slot_index);
}
/* ADR-029/031: TDM node count */
uint8_t tdm_nodes_val;
if (nvs_get_u8(handle, "tdm_nodes", &tdm_nodes_val) == ESP_OK) {
if (tdm_nodes_val >= 1) {
cfg->tdm_node_count = tdm_nodes_val;
ESP_LOGI(TAG, "NVS override: tdm_node_count=%u", (unsigned)cfg->tdm_node_count);
} else {
ESP_LOGW(TAG, "NVS tdm_nodes=%u invalid, ignored", (unsigned)tdm_nodes_val);
}
}
/* Validate tdm_slot_index < tdm_node_count */
if (cfg->tdm_slot_index >= cfg->tdm_node_count) {
ESP_LOGW(TAG, "tdm_slot_index=%u >= tdm_node_count=%u, clamping to 0",
(unsigned)cfg->tdm_slot_index, (unsigned)cfg->tdm_node_count);
cfg->tdm_slot_index = 0;
}
nvs_close(handle);
}