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