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feat: ADR-063/064 mmWave sensor fusion + multimodal ambient intelligence (#269)
frostbyte_neo 发布于
2026-03-15 20:10:10 +00:00 - docs: ADR-063 mmWave sensor fusion with WiFi CSI
60 GHz mmWave radar (Seeed MR60BHA2, HLK-LD2410/LD2450) fusion
with WiFi CSI for dual-confirm fall detection, clinical-grade
vitals, and self-calibrating CSI pipeline.Covers auto-detection, 6 supported sensors, Kalman fusion,
extended 48-byte vitals packet, RuVector/RuvSense integration
points, and 6-phase implementation plan.Based on live hardware capture from ESP32-C6 + MR60BHA2 on COM4.
Co-Authored-By: claude-flow ruv@ruv.net
- feat(firmware): ADR-063 mmWave sensor fusion — full implementation
Phase 1-2 of ADR-063:
mmwave_sensor.c/h:
- MR60BHA2 UART parser (60 GHz: HR, BR, presence, distance)
- LD2410 UART parser (24 GHz: presence, distance)
- Auto-detection: probes UART for known frame headers at boot
- Mock generator for QEMU testing (synthetic HR 72±2, BR 16±1)
- Capability flag registration per sensor type
edge_processing.c/h:
- 48-byte fused vitals packet (magic 0xC5110004)
- Kalman-style fusion: mmWave 80% + CSI 20% when both available
- Automatic fallback to CSI-only 32-byte packet when no mmWave
- Dual presence flag (Bit3 = mmwave_present)
main.c:
- mmwave_sensor_init() called at boot with auto-detect
- Status logged in startup banner
Fuzz stubs updated for mmwave_sensor API.
Build verified: QEMU mock build passes.Co-Authored-By: claude-flow ruv@ruv.net
- fix(firmware): correct MR60BHA2 + LD2410 UART protocols (ADR-063)
MR60BHA2: SOF=0x01 (not 0x5359), XOR+NOT checksums on header and
data, frame types 0x0A14 (BR), 0x0A15 (HR), 0x0A16 (distance),
0x0F09 (presence). Based on Seeed Arduino library research.LD2410: 256000 baud (not 115200), 0xAA report head marker,
target state byte at offset 2 (after data_type + head_marker).Auto-detect: probes MR60 at 115200 first, then LD2410 at 256000.
Sets final baud rate after detection.Co-Authored-By: claude-flow ruv@ruv.net
- feat: ADR-063 Phase 6 server-side mmWave + CSI fusion bridge
Python script reads both serial ports simultaneously:
- COM4 (ESP32-C6 + MR60BHA2): parses ESPHome debug output for HR, BR, presence, distance
- COM7 (ESP32-S3): reads CSI edge processing frames
Kalman-style fusion: mmWave 80% + CSI 20% for vitals, OR gate for presence.
Verified on real hardware: mmWave HR=75bpm, BR=25/min at 52cm range,
CSI frames flowing concurrently. Both sensors live for 30 seconds.Co-Authored-By: claude-flow ruv@ruv.net
- docs: ADR-064 multimodal ambient intelligence roadmap
25+ applications across 4 tiers from practical to exotic:
- Tier 1 (build now): zero-FP fall detection, sleep monitoring,
occupancy HVAC, baby breathing, bathroom safety - Tier 2 (research): gait analysis, stress detection, gesture
control, respiratory screening, multi-room activity - Tier 3 (frontier): cardiac arrhythmia, RF tomography, sign
language, cognitive load, swarm sensing - Tier 4 (exotic): emotion contagion, lucid dreaming, plant
monitoring, pet behavior
Priority matrix with effort estimates. All P0-P1 items work with
existing hardware (ESP32-S3 + MR60BHA2 + BH1750).Co-Authored-By: claude-flow ruv@ruv.net
- fix(ci): add ESP_ERR_NOT_FOUND to fuzz stubs
mmwave_sensor stub returns ESP_ERR_NOT_FOUND which wasn't
defined in the minimal esp_stubs.h for host-based fuzz testing.Co-Authored-By: claude-flow ruv@ruv.net
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