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* 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
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|---|---|---|
| .. | ||
| swarm_presets | ||
| align-ground-truth.js | ||
| apnea-detector.js | ||
| benchmark-model.py | ||
| benchmark-rf-scan.js | ||
| benchmark-ruvllm.js | ||
| benchmark-wiflow.js | ||
| check_health.py | ||
| collect-ground-truth.py | ||
| collect-training-data.py | ||
| csi-graph-visualizer.js | ||
| csi-spectrogram.js | ||
| deep-scan.js | ||
| device-fingerprint.js | ||
| esp32_wasm_test.py | ||
| eval-wiflow.js | ||
| gait-analyzer.js | ||
| gcloud-train.sh | ||
| generate-witness-bundle.sh | ||
| generate_nvs_matrix.py | ||
| inject_fault.py | ||
| install-qemu.sh | ||
| mac-mini-train.sh | ||
| material-classifier.js | ||
| material-detector.js | ||
| mesh-graph-transformer.js | ||
| mincut-person-counter.js | ||
| mmwave_fusion_bridge.py | ||
| passive-radar.js | ||
| provision.py | ||
| publish-huggingface.py | ||
| publish-huggingface.sh | ||
| qemu-chaos-test.sh | ||
| qemu-cli.sh | ||
| qemu-esp32s3-test.sh | ||
| qemu-mesh-test.sh | ||
| qemu-snapshot-test.sh | ||
| qemu_swarm.py | ||
| record-csi-udp.py | ||
| release-v0.5.4.sh | ||
| rf-scan-multifreq.js | ||
| rf-scan.js | ||
| rf-tomography.js | ||
| room-fingerprint.js | ||
| seed_csi_bridge.py | ||
| sleep-monitor.js | ||
| snn-csi-processor.js | ||
| stress-monitor.js | ||
| swarm_health.py | ||
| through-wall-detector.js | ||
| train-camera-free.js | ||
| train-ruvllm.js | ||
| train-wiflow-supervised.js | ||
| train-wiflow.js | ||
| training-config-sweep.json | ||
| validate_mesh_test.py | ||
| validate_qemu_output.py | ||
| wiflow-model.js | ||