@kmatch98 Could you share the detail of fira_param？Tks so much.
controlee’s dest…addr is equal to controler’s short_addr,but it doesn’t work.
@ kmatch98, Do we need to change SRC_ADDR and DST_ADDR each other?
Thanks for your patience, I was away from this for a couple of days. Here is my latest code for the function construct_fira_param_from_config from main_uwb.c. I modified the main_uwb function to pass the parameter ACCESSORY_RANGING_ROLE from main.c. This way I can keep the same set of code for the tag and anchor by just changing the ACCESSORY_RANGING_ROLE.
Note: I initially tried setting the Initiator/Responder based on AppSetFiraRole and AppGetFiraRole, but it acted strange, so I just fell back to passing a parameter to the main_uwb function.
Let me know if you have any success or if you encounter other difficulties.
-kmatch
construct_fira_param_from_config(fira_param_t *fira_param, fira_device_configure_t *config, int controller)
{
char result[256];
snprintf(result, sizeof(result), "construct_fira_param_from_config ->\n");
port_tx_msg(result, strlen(result));
/*PHY config*/
fira_param->dwt_config. txPreambLength = DWT_PLEN_64;
fira_param->dwt_config. rxPAC = DWT_PAC8;
fira_param->dwt_config. dataRate = DWT_BR_6M8;
fira_param->dwt_config. phrMode = DWT_PHRMODE_STD;
fira_param->dwt_config. phrRate = DWT_PHRRATE_STD;
fira_param->dwt_config. sfdTO = 65;
fira_param->dwt_config. stsMode = DWT_STS_MODE_OFF;
fira_param->dwt_config. stsLength = DWT_STS_LEN_64;
fira_param->dwt_config. pdoaMode = DWT_PDOA_M0;
/* Configure specific fira app parameters */
fira_param->dwt_config. sfdType = (config->SP0_PHY_Set == BPRF_SET_2)?(DWT_SFD_IEEE_4Z):(DWT_SFD_IEEE_4A);
fira_param->dwt_config. chan = config->Channel_Number;
fira_param->dwt_config. txCode = config->Preamble_Code;
fira_param->dwt_config. rxCode = config->Preamble_Code;
/* MAC configure */
// fira_param->short_addr = AR2U16(config->SRC_ADDR); /* see below */
fira_param->session_id = config->Session_ID;
fira_param->session.initiation_time_ms = config->UWB_Init_Time_ms;
snprintf(result, sizeof(result), "construct - 0\n");
port_tx_msg(result, strlen(result));
snprintf(result, sizeof(result), "controller: %d\n", controller);
port_tx_msg(result, strlen(result));
AppSetFiRaRole(controller);
snprintf(result, sizeof(result), "AppGetFiRaRole: %d\n", AppGetFiRaRole());
port_tx_msg(result, strlen(result));
if (controller == 1) { /* Initiator: 1 */
fira_param->session.device_type = FIRA_DEVICE_TYPE_CONTROLLER;
fira_param->session.device_role = FIRA_DEVICE_ROLE_INITIATOR;
fira_param->short_addr = 98; /* override settings in <default_config.h> */
fira_param->session.destination_short_address = 9;
} else { /* Responder: 0 */
fira_param->session.device_type = FIRA_DEVICE_TYPE_CONTROLEE;
fira_param->session.device_role = FIRA_DEVICE_ROLE_RESPONDER;
fira_param->short_addr = 9;
fira_param->session.destination_short_address = 98;
}
snprintf(result, sizeof(result), "construct - 1\n");
port_tx_msg(result, strlen(result));
/* Only supporting Deferred DS-TWR */
fira_param->session.ranging_round_usage = config->Ranging_Round_Usage;
fira_param->session.rframe_config = config->Rframe_Config;
fira_param->session.sfd_id = (config->SP0_PHY_Set == BPRF_SET_2)?(FIRA_SFD_ID_2):(FIRA_SFD_ID_0);
fira_param->session.slot_duration_rstu = config->Slot_Duration_RSTU;
fira_param->session.block_duration_ms = config->Block_Duration_ms;
fira_param->session.round_duration_slots = config->Round_Duration_RSTU / config->Slot_Duration_RSTU;
fira_param->session.multi_node_mode = config->Multi_Node_Mode;
fira_param->session.round_hopping = config->Round_Hopping;
fira_param->session.report_tof = config->ToF_Report;
snprintf(result, sizeof(result), "----- short_addr: 0x%04x\n", fira_param->short_addr);
port_tx_msg(result, strlen(result));
snprintf(result, sizeof(result), "----- session_id: %d\n", fira_param->session_id);
port_tx_msg(result, strlen(result));
// fira_param->session.destination_short_address = AR2U16(config->DST_ADDR); /* see above */
snprintf(result, sizeof(result), "----- destination_short_addr: 0x%04x\n", fira_param->session.destination_short_address);
port_tx_msg(result, strlen(result));
fira_param->controlees_params.n_controlees = config->Number_of_Controlee;
fira_param->controlees_params.controlees[0].address = fira_param->session.destination_short_address;
fira_param->session.vupper64[7] = config->Vendor_ID[0];
fira_param->session.vupper64[6] = config->Vendor_ID[1];
fira_param->session.vupper64[5] = config->Static_STS_IV[0];
fira_param->session.vupper64[4] = config->Static_STS_IV[1];
fira_param->session.vupper64[3] = config->Static_STS_IV[2];
fira_param->session.vupper64[2] = config->Static_STS_IV[3];
fira_param->session.vupper64[1] = config->Static_STS_IV[4];
fira_param->session.vupper64[0] = config->Static_STS_IV[5];
/* Get parameters from global configuration. */
fira_param->session.channel_number = config->Channel_Number;
fira_param->session.preamble_code_index = config->Preamble_Code;
/* Do not change below parameters */
fira_param->session.rx_antenna_selection = 0;
fira_param->session.rx_antenna_pair_azimuth = 0xFF;
fira_param->session.rx_antenna_pair_elevation = 0xFF;
fira_param->session.tx_antenna_selection = 1;
fira_param->session.rx_antenna_switch = 0;
fira_param->session.aoa_result_req = 0;
fira_param->session.report_aoa_azimuth = 0;
fira_param->session.report_aoa_fom = 0;
snprintf(result, sizeof(result), "construct_fira_param_from_config <-\n");
port_tx_msg(result, strlen(result));
}
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@kmatch98 @carlos.silva Tks both very much, we finally got double-sided two way ranging working.
1 Like
@kmatch98 We face another problem when want to range with two responseres. We changed the ‘destination_short_address’ from 9 to 10, but the results are the same for 9. We do not know why it does not reset successfully.
if(evt.status == osEventTimeout)
{
display_threads_heap_usage();
snprintf(result, sizeof(result), "osEventTimeout ->\n");
port_tx_msg(result, strlen(result));
construct_fira_param_from_config(fira_param, (void*)&AppConfigGet()->s.fira_config, 1,10);
fira_helper_controller_1((void const *)fira_param);
continue;
}
void fira_helper_controller_1(void const *arg)
{
fira_param = (fira_param_t *)arg;
fira_helper_set_session_parameters(session_id,
&fira_param->session);
fira_helper_add_controlees(session_id,
&fira_param->controlees_params);
}
@kmatch98 Thank u so much.After changing addr, it works well. 
@carlos.silva Thank u for your patient guidance.At now i finally understand your words.
1 Like
sorry,i didn’t try that because i just have only two boards.
Thanks for all the good feedback. Glad y’all are getting it working. Please send an update if you ever get the multiple tags working.
-kmatch
Hi!
I’m trying to replicate your results, but I’m a little stuck.
For your final version, did you maintain your changes in the _defaultTask function or just used the original one and just changed the construct_fira_param_from_config one?
It would be great if you can upload the project to compare and check if I messed up, following the conversation…
I’ve been able to flash the DWM3001CDK boards and I get the message:
00> ACCESSORY_RANGING_ROLE: Initiator
00> _defaultTask →
(or Responder for the other one) but it gets stuck in that print and doesn’t seem to be doing any ranging yet…
Thanks!
Hey @barratia I solved the problem by setting up before the while the receptor / initiator.
I’m able to get the data and it’s working.
Here the code updated :
static void _defaultTask(const void *arg)
{
char str[256];
osEvent evt;
fira_param_t *fira_param = get_fira_config();
param_block_t* app_config = AppConfigGet();
char result[256];
snprintf(result, sizeof(result), "_defaultTask ->\n");
port_tx_msg(result, strlen(result));
int Signal = SIGNAL_START_INIT | SIGNAL_START_RESP | SIGNAL_STOP_ALL;
if (ranging_role == 1) {
construct_fira_param_from_config(fira_param, (void*)&AppConfigGet()->s.fira_config, 1);
fira_helper_controller((void const *)fira_param);
} else {
construct_fira_param_from_config(fira_param, (void*)&AppConfigGet()->s.fira_config, 0);
fira_helper_controlee((void const *)fira_param);
}
while(1)
{
osMutexRelease(defaultTask.MutexId);
evt = osSignalWait(Signal, 10000);
osMutexWait(defaultTask.MutexId, 0);
nrfx_wdt_feed();
if(evt.status == osEventTimeout)
{
display_threads_heap_usage();
continue;
}
fira_terminate();
disable_dw3000_irq();
/**/
snprintf(result, sizeof(result), "ResumeUWBTasks: evt.value_signals %d\n", evt.value.signals);
port_tx_msg(result, strlen(result));
snprintf(result, sizeof(result), "_defaultTask - AppGetFiraRole: %d\n", AppGetFiRaRole());
port_tx_msg(result, strlen(result));
if (ranging_role == 1) {
construct_fira_param_from_config(fira_param, (void*)&AppConfigGet()->s.fira_config, 1);
fira_helper_controller((void const *)fira_param);
} else {
construct_fira_param_from_config(fira_param, (void*)&AppConfigGet()->s.fira_config, 0);
fira_helper_controlee((void const *)fira_param);
}
}
snprintf(result, sizeof(result), "_defaultTask <-\n");
port_tx_msg(result, strlen(result));
}
1 Like
@kmatch98 @zyliu @Doney Any updates about multiple responseres at the same time? I will try to spend some times on it.
Which function should I change when I want to start ranging between two boards in the latest version of qorvo (Qorvo_Nearby_Interaction_3_1_0)?
I would be so appreciate if someone give some help.
Hello @Neuse !
For TWR between two boards, I recommend you use the Software Preview:
The DWM3001CDK Software Preview is available on the DWM3001CDK product page [Tab Documents]:
https://www.qorvo.com/products/p/DWM3001CDK#documents
Is named “DWM3001CDK DK Software, Sources, Tools and Developer Guide”, here is the direct link if preferred:
DWM3001CDK DK Software, Sources, Tools and Developer Guide
There you will find applications for FiRa TWR implementing UCI (UWB Command Interface) and a CLI (Command Line Interface) app.
I recommend you try the CLI first, you can flash two boards and explore the configuration commands, then use “respf” to start one board as a responder and “initf” to start the other board as an initiator, then they will start TWR immediately.
Kind regards!
Hi @carlos.silva !
I successfully obtained “DWM3001CDK DK Software, Sources, Tools and Developer Guide”.
I would like to develop using Murata Type2AB (nRF52840 +QM33120W), is it compatible?
Thank you!
I found the QM33120W software at
QM33 DK Software, Sources, Tools and Developer Guide
I’ll try working on this.
1 Like