samples: Bluetooth: Add Direction Finding connectionless Rx sample
Add an application that uses Direction Finding API for reception and sampling of CTE in connectionless mode (periodic adverising PDUs). Signed-off-by: Piotr Pryga <piotr.pryga@nordicsemi.no>
This commit is contained in:
Piotr Pryga
Carles Cufí
parent
938f04ffaa
commit
6c76b70af6
9 changed files with 520 additions and 1 deletions
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#
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# Copyright (c) 2021 Nordic Semiconductor ASA
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#
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.13.1)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(direction_finding_connectionless_rx)
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target_sources(app PRIVATE
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src/main.c
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)
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.. bluetooth_direction_finding_connectionless_rx:
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Bluetooth: Direction Finding Periodic Advertising Locator
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#########################################################
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Overview
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********
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A simple application demonstrating the BLE Direction Finding CTE Locator
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functionality by receiving and sampling sending Constant Tone Extension with
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periodic advertising PDUs.
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Requirements
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************
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* nRF52833DK board with nRF52833 SOC
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* antenna matrix for AoA (optional)
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Building and Running
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********************
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This sample can be found under :zephyr_file:`samples/bluetooth/direction_finding_connectionless_rx`
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in the Zephyr tree.
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By default the application supports Angle of Arrival and Angle of Departure mode.
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To use Angle of Departure mode only, build this application as follows:
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.. zephyr-app-commands::
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:zephyr-app: samples/bluetooth/direction_finding_connectionless_rx
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:host-os: unix
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:board: nrf52833dk_nrf52833
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:gen-args: -DOVERLAY_CONFIG=overlay-aod.conf
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:goals: build flash
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:compact:
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See :ref:`bluetooth samples section <bluetooth-samples>` for common information
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about bluetooth samples.
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Antenna matrix configuration
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****************************
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To use this sample when Angle of Arrival mode is enabled, additional GPIOS configuration
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is required to control the antenna array. Example of such configuration
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is provided in devicetree overlay
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:zephyr_file:`samples/bluetooth/direction_finding_connectionless_rx/boards/nrf52833dk_nrf52833.overlay`.
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The overlay file provides the information about which GPIOs should be used by the Radio peripheral
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to switch between antenna patches during the CTE transmission in the AoD mode. At least two GPIOs
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must be provided to enable antenna switching.
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The GPIOs are used by the Radio peripheral in order given by the :code:`dfegpio#-gpios` properties.
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The order is important because it affects mapping of the antenna switching patterns to GPIOs
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(see `Antenna patterns`_).
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To successfully use the Direction Finding locator when the AoA mode is enabled, provide the
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following data related to antenna matrix design:
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* Provide the GPIO pins to :code:`dfegpio#-gpios` properties in
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:zephyr_file:`samples/bluetooth/direction_finding_connectionless_rx/boards/nrf52833dk_nrf52833.overlay`
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file
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* Provide the default antenna that will be used to transmit PDU :code:`dfe-pdu-antenna` property in
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:zephyr_file:`samples/bluetooth/direction_finding_connectionless_rx/boards/nrf52833dk_nrf52833.overlay`
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file
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* Update the antenna switching patterns in :cpp:var:`ant_patterns` array in
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:zephyr_file:`samples/bluetooth/direction_finding_connectionless_tx/src/main.c`..
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Antenna patterns
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****************
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The antenna switching pattern is a binary number where each bit is applied to a particular antenna
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GPIO pin. For example, the pattern 0x3 means that antenna GPIOs at index 0,1 will be set, while
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the following are left unset.
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This also means that, for example, when using four GPIOs, the pattern count cannot be greater
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than 16 and maximum allowed value is 15.
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If the number of switch-sample periods is greater than the number of stored switching patterns,
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then the radio loops back to the first pattern.
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CONFIG_BT_CTLR_ADV_EXT=y
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CONFIG_BT_CTLR_SYNC_PERIODIC=y
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# Enable Direction Finding Feature including AoA and AoD
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CONFIG_BT_CTLR_DF=y
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CONFIG_BT_CTLR_DF_ANT_SWITCH_TX=n
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/*
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* Copyright (c) 2021 Nordic Semiconductor ASA
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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&radio {
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status = "okay";
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/* This is an example number of antennas that may be available
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* on antenna matrix board.
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*/
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dfe-antenna-num = < 10 >;
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/* This is an example switch pattern that will be used to set an
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* antenna for Tx PDU (period before start of Tx CTE).
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*/
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dfe-pdu-antenna = <0x1>;
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/* These are example GPIO pin numbers that are provided to
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* Radio peripheral. The pins will be acquired by Radio to
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* drive antenna switching when AoD is enabled.
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*/
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dfegpio0-gpios = <&gpio0 1 0>;
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dfegpio1-gpios = <&gpio0 2 0>;
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dfegpio2-gpios = <&gpio0 3 0>;
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dfegpio3-gpios = <&gpio0 4 0>;
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};
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# Disable AoD Feature (antenna switching) in Tx mode
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CONFIG_BT_CTLR_DF_ANT_SWITCH_RX=n
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CONFIG_BT=y
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CONFIG_BT_CTLR=y
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CONFIG_BT_LL_SW_SPLIT=y
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CONFIG_BT_DEVICE_NAME="DF Connectionless Locator App"
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CONFIG_BT_EXT_ADV=y
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CONFIG_BT_PER_ADV_SYNC=y
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CONFIG_BT_OBSERVER=y
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# Enable Direction Finding Feature including AoA and AoD
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CONFIG_BT_DF=y
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CONFIG_BT_DF_CONNECTIONLESS_CTE_RX=y
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sample:
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name: Direction Finding Connectionless Locator
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tests:
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sample.bluetooth.direction_finding_connectionless_rx:
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harness: bluetooth
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platform_allow: nrf52833dk_nrf52833
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tags: bluetooth
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sample.bluetooth.direction_finding_connectionless_rx.aod:
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extra_args: OVERLAY_CONFIG="overlay-aod.conf"
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platform_allow: nrf52833dk_nrf52833
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371
samples/bluetooth/direction_finding_connectionless_rx/src/main.c
Normal file
371
samples/bluetooth/direction_finding_connectionless_rx/src/main.c
Normal file
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/*
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* Copyright (c) 2021 Nordic Semiconductor ASA
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <stddef.h>
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#include <errno.h>
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#include <zephyr.h>
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#include <sys/printk.h>
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#include <sys/byteorder.h>
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#include <sys/util.h>
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#include <bluetooth/bluetooth.h>
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#include <bluetooth/hci.h>
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#include <bluetooth/direction.h>
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#define DEVICE_NAME CONFIG_BT_DEVICE_NAME
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#define DEVICE_NAME_LEN (sizeof(DEVICE_NAME) - 1)
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#define NAME_LEN 30
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#define TIMEOUT_SYNC_CREATE K_SECONDS(10)
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static struct bt_le_per_adv_sync_param sync_create_param;
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static struct bt_le_per_adv_sync *sync;
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static bt_addr_le_t per_addr;
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static bool per_adv_found;
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static bool scan_enabled;
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static uint8_t per_sid;
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static K_SEM_DEFINE(sem_per_adv, 0, 1);
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static K_SEM_DEFINE(sem_per_sync, 0, 1);
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static K_SEM_DEFINE(sem_per_sync_lost, 0, 1);
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#if defined(CONFIG_BT_CTLR_DF_ANT_SWITCH_RX)
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const static uint8_t ant_patterns[] = { 0x1, 0x2, 0x3, 0x4, 0x5,
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0x6, 0x7, 0x8, 0x9, 0xA };
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#endif /* CONFIG_BT_CTLR_DF_ANT_SWITCH_RX */
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static bool data_cb(struct bt_data *data, void *user_data);
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static void create_sync(void);
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static void scan_recv(const struct bt_le_scan_recv_info *info,
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struct net_buf_simple *buf);
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static void sync_cb(struct bt_le_per_adv_sync *sync,
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struct bt_le_per_adv_sync_synced_info *info);
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static void term_cb(struct bt_le_per_adv_sync *sync,
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const struct bt_le_per_adv_sync_term_info *info);
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static void recv_cb(struct bt_le_per_adv_sync *sync,
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const struct bt_le_per_adv_sync_recv_info *info,
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struct net_buf_simple *buf);
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static void scan_recv(const struct bt_le_scan_recv_info *info,
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struct net_buf_simple *buf);
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static void scan_disable(void);
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static void cte_recv_cb(struct bt_le_per_adv_sync *sync,
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struct bt_df_per_adv_sync_iq_samples_report const *report);
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static struct bt_le_per_adv_sync_cb sync_callbacks = {
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.synced = sync_cb,
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.term = term_cb,
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.recv = recv_cb,
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.cte_report_cb = cte_recv_cb,
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};
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static struct bt_le_scan_cb scan_callbacks = {
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.recv = scan_recv,
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};
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static const char *phy2str(uint8_t phy)
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{
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switch (phy) {
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case 0: return "No packets";
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case BT_GAP_LE_PHY_1M: return "LE 1M";
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case BT_GAP_LE_PHY_2M: return "LE 2M";
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case BT_GAP_LE_PHY_CODED: return "LE Coded";
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default: return "Unknown";
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}
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}
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static const char *cte_type2str(uint8_t type)
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{
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switch (type) {
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case BT_DF_CTE_TYPE_AOA: return "AOA";
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case BT_DF_CTE_TYPE_AOD_1US: return "AOD 1 [us]";
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case BT_DF_CTE_TYPE_AOD_2US: return "AOD 2 [us]";
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case BT_DF_CTE_TYPE_NONE: return "";
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default: return "Unknown";
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}
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}
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static const char *pocket_status2str(uint8_t status)
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{
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switch (status) {
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case BT_DF_CTE_CRC_OK: return "CRC OK";
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case BT_DF_CTE_CRC_ERR_CTE_BASED_TIME: return "CRC not OK, CTE Info OK";
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case BT_DF_CTE_CRC_ERR_CTE_BASED_OTHER: return "CRC not OK, Sampled other way";
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case BT_DF_CTE_INSUFFICIENT_RESOURCES: return "No resources";
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default: return "Unknown";
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}
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}
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static bool data_cb(struct bt_data *data, void *user_data)
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{
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char *name = user_data;
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uint8_t len;
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switch (data->type) {
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case BT_DATA_NAME_SHORTENED:
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case BT_DATA_NAME_COMPLETE:
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len = MIN(data->data_len, NAME_LEN - 1);
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memcpy(name, data->data, len);
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name[len] = '\0';
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return false;
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default:
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return true;
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}
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}
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static void sync_cb(struct bt_le_per_adv_sync *sync,
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struct bt_le_per_adv_sync_synced_info *info)
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{
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char le_addr[BT_ADDR_LE_STR_LEN];
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bt_addr_le_to_str(info->addr, le_addr, sizeof(le_addr));
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printk("PER_ADV_SYNC[%u]: [DEVICE]: %s synced, "
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"Interval 0x%04x (%u ms), PHY %s\n",
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bt_le_per_adv_sync_get_index(sync), le_addr,
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info->interval, info->interval * 5 / 4, phy2str(info->phy));
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k_sem_give(&sem_per_sync);
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}
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static void term_cb(struct bt_le_per_adv_sync *sync,
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const struct bt_le_per_adv_sync_term_info *info)
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{
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char le_addr[BT_ADDR_LE_STR_LEN];
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bt_addr_le_to_str(info->addr, le_addr, sizeof(le_addr));
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printk("PER_ADV_SYNC[%u]: [DEVICE]: %s sync terminated\n",
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bt_le_per_adv_sync_get_index(sync), le_addr);
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k_sem_give(&sem_per_sync_lost);
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}
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static void recv_cb(struct bt_le_per_adv_sync *sync,
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const struct bt_le_per_adv_sync_recv_info *info,
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struct net_buf_simple *buf)
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{
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char le_addr[BT_ADDR_LE_STR_LEN];
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char data_str[129];
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bt_addr_le_to_str(info->addr, le_addr, sizeof(le_addr));
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bin2hex(buf->data, buf->len, data_str, sizeof(data_str));
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printk("PER_ADV_SYNC[%u]: [DEVICE]: %s, tx_power %i, "
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"RSSI %i, CTE %s, data length %u, data: %s\n",
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bt_le_per_adv_sync_get_index(sync), le_addr, info->tx_power,
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info->rssi, cte_type2str(info->cte_type), buf->len, data_str);
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}
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static void cte_recv_cb(struct bt_le_per_adv_sync *sync,
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struct bt_df_per_adv_sync_iq_samples_report const *report)
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{
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printk("CTE[%u]: samples count %d, cte type %s, slot durations: %u [us], "
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"packet status %s, RSSI %i\n",
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bt_le_per_adv_sync_get_index(sync), report->sample_count,
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cte_type2str(report->cte_type), report->slot_durations,
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pocket_status2str(report->packet_status), report->rssi);
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}
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static void scan_recv(const struct bt_le_scan_recv_info *info,
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struct net_buf_simple *buf)
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{
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char le_addr[BT_ADDR_LE_STR_LEN];
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char name[NAME_LEN];
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(void)memset(name, 0, sizeof(name));
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bt_data_parse(buf, data_cb, name);
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bt_addr_le_to_str(info->addr, le_addr, sizeof(le_addr));
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printk("[DEVICE]: %s, AD evt type %u, Tx Pwr: %i, RSSI %i %s C:%u S:%u "
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"D:%u SR:%u E:%u Prim: %s, Secn: %s, Interval: 0x%04x (%u ms), "
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"SID: %u\n",
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le_addr, info->adv_type, info->tx_power, info->rssi, name,
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(info->adv_props & BT_GAP_ADV_PROP_CONNECTABLE) != 0,
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(info->adv_props & BT_GAP_ADV_PROP_SCANNABLE) != 0,
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(info->adv_props & BT_GAP_ADV_PROP_DIRECTED) != 0,
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(info->adv_props & BT_GAP_ADV_PROP_SCAN_RESPONSE) != 0,
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(info->adv_props & BT_GAP_ADV_PROP_EXT_ADV) != 0,
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phy2str(info->primary_phy), phy2str(info->secondary_phy),
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info->interval, info->interval * 5 / 4, info->sid);
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if (!per_adv_found && info->interval != 0) {
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per_adv_found = true;
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per_sid = info->sid;
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bt_addr_le_copy(&per_addr, info->addr);
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k_sem_give(&sem_per_adv);
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}
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}
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static void create_sync(void)
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{
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int err;
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printk("Creating Periodic Advertising Sync...");
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bt_addr_le_copy(&sync_create_param.addr, &per_addr);
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sync_create_param.options = 0;
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sync_create_param.sid = per_sid;
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sync_create_param.skip = 0;
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sync_create_param.timeout = 0xa;
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err = bt_le_per_adv_sync_create(&sync_create_param, &sync);
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if (err != 0) {
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printk("failed (err %d)\n", err);
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return;
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}
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printk("success.\n");
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}
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static int delete_sync(void)
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{
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int err;
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printk("Deleting Periodic Advertising Sync...");
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err = bt_le_per_adv_sync_delete(sync);
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if (err != 0) {
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printk("failed (err %d)\n", err);
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return err;
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}
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printk("success\n");
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return 0;
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}
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static void enable_cte_rx(void)
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{
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int err;
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const struct bt_df_per_adv_sync_cte_rx_param cte_rx_params = {
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.max_cte_count = 5,
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#if defined(CONFIG_BT_CTLR_DF_ANT_SWITCH_RX)
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.cte_type = BT_DF_CTE_TYPE_ALL,
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.slot_durations = 0x2,
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.num_ant_ids = ARRAY_SIZE(ant_patterns),
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.ant_ids = ant_patterns,
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#else
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.cte_type = BT_DF_CTE_TYPE_AOD_1US | BT_DF_CTE_TYPE_AOD_2US,
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#endif /* CONFIG_BT_CTLR_DF_ANT_SWITCH_RX */
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};
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printk("Enable receiving of CTE...\n");
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err = bt_df_per_adv_sync_cte_rx_enable(sync, &cte_rx_params);
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if (err != 0) {
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printk("failed (err %d)\n", err);
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return;
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}
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printk("success. CTE receive enabled.\n");
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}
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static int scan_init(void)
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{
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printk("Scan callbacks register...");
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bt_le_scan_cb_register(&scan_callbacks);
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printk("success.\n");
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printk("Periodic Advertising callbacks register...");
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bt_le_per_adv_sync_cb_register(&sync_callbacks);
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printk("success.\n");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int scan_enable(void)
|
||||
{
|
||||
struct bt_le_scan_param param = {
|
||||
.type = BT_LE_SCAN_TYPE_ACTIVE,
|
||||
.options = BT_LE_SCAN_OPT_FILTER_DUPLICATE,
|
||||
.interval = BT_GAP_SCAN_FAST_INTERVAL,
|
||||
.window = BT_GAP_SCAN_FAST_WINDOW,
|
||||
.timeout = 0U, };
|
||||
int err;
|
||||
|
||||
if (!scan_enabled) {
|
||||
printk("Start scanning...");
|
||||
err = bt_le_scan_start(¶m, NULL);
|
||||
if (err != 0) {
|
||||
printk("failed (err %d)\n", err);
|
||||
return err;
|
||||
}
|
||||
printk("success\n");
|
||||
scan_enabled = true;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void scan_disable(void)
|
||||
{
|
||||
int err;
|
||||
|
||||
printk("Scan disable...");
|
||||
err = bt_le_scan_stop();
|
||||
if (err != 0) {
|
||||
printk("failed (err %d)\n", err);
|
||||
return;
|
||||
}
|
||||
printk("Success.\n");
|
||||
|
||||
scan_enabled = false;
|
||||
}
|
||||
|
||||
void main(void)
|
||||
{
|
||||
int err;
|
||||
|
||||
printk("Starting Connectionless Locator Demo\n");
|
||||
|
||||
printk("Bluetooth initialization...");
|
||||
err = bt_enable(NULL);
|
||||
if (err != 0) {
|
||||
printk("failed (err %d)\n", err);
|
||||
}
|
||||
printk("success\n");
|
||||
|
||||
scan_init();
|
||||
|
||||
scan_enabled = false;
|
||||
do {
|
||||
scan_enable();
|
||||
|
||||
printk("Waiting for periodic advertising...");
|
||||
per_adv_found = false;
|
||||
err = k_sem_take(&sem_per_adv, K_FOREVER);
|
||||
if (err != 0) {
|
||||
printk("failed (err %d)\n", err);
|
||||
return;
|
||||
}
|
||||
printk("success. Found periodic advertising.\n");
|
||||
|
||||
create_sync();
|
||||
|
||||
printk("Waiting for periodic sync...\n");
|
||||
err = k_sem_take(&sem_per_sync, TIMEOUT_SYNC_CREATE);
|
||||
if (err != 0) {
|
||||
printk("failed (err %d)\n", err);
|
||||
err = delete_sync();
|
||||
if (err != 0) {
|
||||
return;
|
||||
}
|
||||
continue;
|
||||
}
|
||||
printk("success. Periodic sync established.\n");
|
||||
|
||||
enable_cte_rx();
|
||||
|
||||
/* Disable scan to cleanup output */
|
||||
scan_disable();
|
||||
|
||||
printk("Waiting for periodic sync lost...\n");
|
||||
err = k_sem_take(&sem_per_sync_lost, K_FOREVER);
|
||||
if (err != 0) {
|
||||
printk("failed (err %d)\n", err);
|
||||
return;
|
||||
}
|
||||
printk("Periodic sync lost.\n");
|
||||
} while (true);
|
||||
}
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
#
|
||||
# Copyright (c) 2021 Nordic Semiconductor ASA
|
||||
#
|
||||
# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
|
||||
cmake_minimum_required(VERSION 3.13.1)
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue