uwb_cirdiag.c

Overview

CIA RX-diagnostics latch + [ALAB] emitter (channel-impulse Stage 0/1). Split the work across the two contexts the ALAB contract demands: the RX callback only latches registers into a snapshot (uwb_cirdiag_capture, plain stores + one SPI read), and a task-side uwb_cirdiag_flush formats/prints the line. On the nRF the flush runs on the sysworkq (uwb_rxdiag.c submits it); on the ESP32 the pinned ISR-service task calls it after its IRQ drain loop, so capture and flush are sequential there. A seqlock covers the one real race (nRF: a new capture preempting a flush mid-copy): torn snapshots are dropped, the next reception re-latches. Stage 1 adds an independently-armed windowed-CIR dump: when armed, capture also reads a fixed window of Ipatov complex taps centred on the first-path index into the snapshot. The taps are NOT printed on the RX/flush path — a full window is ~64 serial lines per reception, enough blocking UART to overrun the ranging slot and stall a live walk-up. Instead flush appends each window to a small RAM ring (the last CIRDIAG_RING_RECS receptions), and the taps are drained to ev=uwb.cir lines only when the dump is disarmed (uwb_cirdiag_dump_set_enabled (false)) — that runs in console/task context after the walk-up, so the unlock is unaffected while capturing. Deferring the printing was necessary but not sufficient: the window READ is itself too long to sit inside a live ranging block, where the responder still owes a POLL or Final reception. The shims pass that down as deadline_pending and the window is taken only on the Final. Nor was that sufficient: the accumulator cannot be read at all while the receiver is up, and the shim re-arms an SP0 listen the moment the Final is serviced, so the read has to happen BEFORE that (the shims gate it on ccc_shim_rx_awaiting_final). Doing it on every block then cost every range, so uwb_cirdiag_window_due decimates it to one Final in CIRDIAG_CIR_EVERY.

depends on woz_log.h woz_port.h uwb_cirdiag.h