alro65
45642fda0e
- heading_ekf.py: 2-state Kalman filter fusing PGN 127250 heading and 127251 ROT with shortest-arc innovation and symmetric covariance update - adaptive_tuner.py: gradient-descent outer-loop Kp/Ki adjuster bounded to ±adaptive_max_deviation_pct; oscillation vs steady-state detection - hwid.py: HMAC-SHA256 activation token (verify side); hwid_from_mac_words converts three Modbus uint16 MAC words to 12-char hex HWID - audit.py: SHA-256 hash-chain -- each JSONL line carries prev_hash and line_hash; verify_chain() detects tampering, deletion, insertion - firmware/system/hwid.h+cpp: esp_efuse_mac_get_default wrapper + FNV-32 hash + "AA:BB:CC:DD:EE:FF" formatter - modbus_registers.yaml + generated .h/.py: HWID_MAC_01/23/45 at input addrs 9/10/11 (three 16-bit words = 6-byte MAC) - modbus_slave.cpp: INPUT_HWID_MAC_01/23/45 cases read eFuse MAC - main.cpp: logs HWID string + FNV-32 hash at boot (activation traceability) - tests: 72 new tests (audit signing, EKF, adaptive tuner, HWID) -- 398 total Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
34 lines
1.3 KiB
C++
34 lines
1.3 KiB
C++
// =============================================================================
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// system/hwid.h -- Hardware ID from ESP32 eFuse (Sprint 8)
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// =============================================================================
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//
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// The ESP32 has a 6-byte unique MAC burned into eFuse by the manufacturer.
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// We use it as a hardware binding token for the activation license.
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//
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// The HWID is exposed via two Modbus input registers so the Studio can
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// read it and generate the activation token offline.
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//
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// NOTE: The Modbus register map must be extended in Sprint 8+ to include
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// INPUT_HWID_HI (addr 9, upper 16 bits) and INPUT_HWID_LO (addr 10,
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// lower 16 bits of the middle 2 bytes). Full 6-byte MAC is exposed as
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// three uint16 registers: [0..1], [2..3], [4..5].
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// =============================================================================
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#pragma once
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#include <cstdint>
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namespace arautopilot::system {
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/// Read the ESP32 eFuse MAC into ``out[6]``.
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/// Returns true on success; false if the eFuse read fails.
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bool hwid_get_mac(uint8_t out[6]);
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/// Return a 32-bit summary hash of the 6-byte MAC (for quick comparisons).
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uint32_t hwid_hash();
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/// Format the MAC as "AA:BB:CC:DD:EE:FF" into ``buf[18]``.
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void hwid_format(uint8_t mac[6], char buf[18]);
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} // namespace arautopilot::system
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