ESP32 CSI Node firmware v0.7.0

Tag: v0.7.0-esp32
Date: 2026-05-23
Branch: adr-110-esp32c6 (PR #764)
Status: ADR-110 firmware-side substrate closed

Why a major bump

This release marks the end of the firmware-side ADR-110 push. Everything the
firmware can deliver toward §B's multistatic alignment story without
hardware-blocked dependencies is shipped, measured, and witnessed:

• §A0.7 / §A0.8 / §A0.10: ESP-NOW cross-board mesh proven and quantified
  (99.43–99.56 % match, 104.1 µs smoothed offset stdev, 1.4 ppm crystal-skew
  tracking, ≤100 µs alignment target empirically met).
• §A0.12: 32-byte UDP sync packet (magic 0xC511A110) emits alongside CSI
  frames so downstream multistatic fusion can pair (node_id, sequence) to
  recover mesh time per frame.
• §A0.13 (new in v0.7.0): ADR-018 byte 19 bit 4 ("cross-node sync valid")
  now sourced from c6_sync_espnow_is_valid() too, not just the
  IDF-v5.4-broken 802.15.4 path. Mixed S3+C6 fleets correctly advertise
  sync via the working transport.

What remains is outside the firmware:

• Host-side parser (sketched as archive/v1/src/hardware/csi_extractor.py:SyncPacketParser)
• Multistatic CSI fusion in wifi-densepose-signal
• 11ax-cooperative AP (or future IDF that exposes AP-side HE config)
• INA226 / Joulescope for the ≤5 µA LP-core measurement

What's new vs v0.6.9

• Bit-4 sync-valid wire fix (csi_collector.c:221): bit 4 is set when
  either c6_timesync_is_valid() or c6_sync_espnow_is_valid() returns
  true. Pre-v0.7.0 frames from sync'd ESP-NOW nodes falsely advertised "no
  sync" because the 802.15.4 path is broken and was the only flag source.
• Python host-side stub (archive/v1/src/hardware/csi_extractor.py):
  SyncPacketParser + SyncPacket dataclass ready for the
  sensing-server to wire in.
• Doc: ESP32BinaryParser docstring now mentions the sibling sync packet
  • the v0.7.0 bit-4 broadening.

Build artifacts

SHA-256 sums in SHA256SUMS.txt. Backwards-compatible at the wire level
with v0.6.6 / v0.6.7 / v0.6.8 / v0.6.9. Mixed-version fleets keep working;
only nodes flashed with v0.7.0+ get the bit-4 fix.

Total scope of the loop sprint (iter 1 → iter 12)

10 firmware features shipped, 13 witness entries (§A0.1 → §A0.13),
3 GitHub releases (v0.6.7 / v0.6.8 / v0.6.9 / this v0.7.0), 11 commits
on the branch. The firmware now ships a complete, measured, and
quantitatively documented two-node mesh substrate for multistatic CSI
fusion.