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CCS/LAUNCHXL-CC26X2R1: How to measure AoA and ToF at the same time in rtls master without rtls passive device?

Inseob Kim
Intellectual 545 points
Part Number: LAUNCHXL-CC26X2R1
Other Parts Discussed in Thread: CC2640R2F

Tool/software: Code Composer Studio

Hi, I'm using the cc26x2r1 launchxl with rtls projects.

I know the master device can measure AoA angle and ToF distance seeing the master project codes of SDK version 3.30.

But, the AoA angle is too swing with 2 array. It almost cannot recognize where the slave is, because the result is too fluctuated some area (in read color)...
(the slave device is moved from the antenna end 2 to the antenna end 1 of the master device at a constant speed.)

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[10:11:2019 19:52:02:937252] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 99, "rssi": -52, "antenna": 2, "channel": 32}}

[10:11:2019 19:52:03:099727] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 107, "rssi": -54, "antenna": 2, "channel": 15}}

[10:11:2019 19:52:03:314086] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 113, "rssi": -52, "antenna": 2, "channel": 35}}

[10:11:2019 19:52:03:530967] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 121, "rssi": -54, "antenna": 2, "channel": 18}}

[10:11:2019 19:52:03:690810] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 127, "rssi": -52, "antenna": 2, "channel": 1}}

[10:11:2019 19:52:03:898712] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 131, "rssi": -55, "antenna": 2, "channel": 21}}

[10:11:2019 19:52:04:109996] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 130, "rssi": -51, "antenna": 2, "channel": 4}}

[10:11:2019 19:52:04:326577] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 127, "rssi": -57, "antenna": 2, "channel": 24}}

[10:11:2019 19:52:04:536093] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 127, "rssi": -52, "antenna": 2, "channel": 7}}

[10:11:2019 19:52:04:697037] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 128, "rssi": -55, "antenna": 2, "channel": 27}}

[10:11:2019 19:52:04:915478] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 128, "rssi": -52, "antenna": 2, "channel": 10}}

[10:11:2019 19:52:05:127334] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 130, "rssi": -53, "antenna": 2, "channel": 30}}

[10:11:2019 19:52:05:342622] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 130, "rssi": -52, "antenna": 2, "channel": 13}}

[10:11:2019 19:52:05:503654] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 130, "rssi": -52, "antenna": 2, "channel": 33}}

[10:11:2019 19:52:05:715549] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 131, "rssi": -51, "antenna": 2, "channel": 16}}

[10:11:2019 19:52:05:927819] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 130, "rssi": -52, "antenna": 2, "channel": 36}}

[10:11:2019 19:52:06:085959] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 131, "rssi": -51, "antenna": 2, "channel": 19}}

[10:11:2019 19:52:06:298123] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 121, "rssi": -49, "antenna": 2, "channel": 2}}

[10:11:2019 19:52:06:509108] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 124, "rssi": -51, "antenna": 2, "channel": 22}}

[10:11:2019 19:52:06:722285] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 127, "rssi": -49, "antenna": 2, "channel": 5}}

[10:11:2019 19:52:06:937100] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 113, "rssi": -51, "antenna": 2, "channel": 25}}

[10:11:2019 19:52:07:095593] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 110, "rssi": -48, "antenna": 2, "channel": 8}}

[10:11:2019 19:52:07:311765] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 78, "rssi": -50, "antenna": 2, "channel": 28}}

[10:11:2019 19:52:07:526825] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 71, "rssi": -47, "antenna": 2, "channel": 11}}

[10:11:2019 19:52:07:734339] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 30, "rssi": -51, "antenna": 2, "channel": 31}}

[10:11:2019 19:52:07:893244] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -2, "rssi": -50, "antenna": 2, "channel": 14}}

[10:11:2019 19:52:08:111185] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -38, "rssi": -51, "antenna": 2, "channel": 34}}

[10:11:2019 19:52:08:320949] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -83, "rssi": -51, "antenna": 2, "channel": 17}}

[10:11:2019 19:52:08:530697] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -98, "rssi": -49, "antenna": 2, "channel": 0}}

[10:11:2019 19:52:08:747467] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -131, "rssi": -51, "antenna": 2, "channel": 20}}

[10:11:2019 19:52:08:901140] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -144, "rssi": -51, "antenna": 2, "channel": 3}}

[10:11:2019 19:52:09:111677] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -162, "rssi": -49, "antenna": 2, "channel": 23}}

[10:11:2019 19:52:09:326380] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -162, "rssi": -50, "antenna": 2, "channel": 6}}

[10:11:2019 19:52:09:535800] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -165, "rssi": -49, "antenna": 2, "channel": 26}}

[10:11:2019 19:52:09:698369] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -167, "rssi": -50, "antenna": 2, "channel": 9}}

[10:11:2019 19:52:09:913900] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -164, "rssi": -51, "antenna": 2, "channel": 29}}

[10:11:2019 19:52:10:123758] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -160, "rssi": -51, "antenna": 2, "channel": 12}}

[10:11:2019 19:52:10:327940] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -158, "rssi": -51, "antenna": 2, "channel": 32}}

[10:11:2019 19:52:10:543255] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -153, "rssi": -52, "antenna": 2, "channel": 15}}

[10:11:2019 19:52:10:706575] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -151, "rssi": -52, "antenna": 2, "channel": 35}}

[10:11:2019 19:52:10:922425] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -148, "rssi": -51, "antenna": 2, "channel": 18}}

[10:11:2019 19:52:11:130253] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -160, "rssi": -54, "antenna": 2, "channel": 1}}

[10:11:2019 19:52:11:333637] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -160, "rssi": -52, "antenna": 2, "channel": 21}}

[10:11:2019 19:52:11:492751] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -156, "rssi": -54, "antenna": 2, "channel": 4}}

[10:11:2019 19:52:11:711195] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -159, "rssi": -53, "antenna": 2, "channel": 24}}

[10:11:2019 19:52:11:922326] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -156, "rssi": -55, "antenna": 2, "channel": 7}}

[10:11:2019 19:52:12:133742] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -153, "rssi": -55, "antenna": 2, "channel": 27}}

[10:11:2019 19:52:12:294390] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -80, "rssi": -52, "antenna": 1, "channel": 0}}

[10:11:2019 19:52:12:507291] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -11, "rssi": -53, "antenna": 1, "channel": 20}}

[10:11:2019 19:52:12:717894] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 53, "rssi": -49, "antenna": 1, "channel": 3}}

[10:11:2019 19:52:12:927513] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 106, "rssi": -52, "antenna": 1, "channel": 23}}

[10:11:2019 19:52:13:143424] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 163, "rssi": -50, "antenna": 1, "channel": 6}}

[10:11:2019 19:52:13:306960] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 214, "rssi": -53, "antenna": 1, "channel": 26}}

[10:11:2019 19:52:13:522453] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 213, "rssi": -51, "antenna": 1, "channel": 9}}

[10:11:2019 19:52:13:735601] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 195, "rssi": -54, "antenna": 1, "channel": 29}}

[10:11:2019 19:52:13:896236] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 178, "rssi": -50, "antenna": 1, "channel": 12}}

[10:11:2019 19:52:14:111088] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 182, "rssi": -52, "antenna": 1, "channel": 32}}

[10:11:2019 19:52:14:325602] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 182, "rssi": -49, "antenna": 1, "channel": 15}}

[10:11:2019 19:52:14:484537] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 185, "rssi": -49, "antenna": 1, "channel": 35}}

[10:11:2019 19:52:14:696556] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 188, "rssi": -47, "antenna": 1, "channel": 18}}

[10:11:2019 19:52:14:903555] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 192, "rssi": -47, "antenna": 1, "channel": 1}}

[10:11:2019 19:52:15:117679] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 170, "rssi": -48, "antenna": 1, "channel": 21}}

[10:11:2019 19:52:15:333522] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 151, "rssi": -51, "antenna": 1, "channel": 4}}

[10:11:2019 19:52:15:542209] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 124, "rssi": -52, "antenna": 1, "channel": 24}}

[10:11:2019 19:52:15:698876] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 109, "rssi": -47, "antenna": 1, "channel": 7}}

[10:11:2019 19:52:15:911291] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 109, "rssi": -47, "antenna": 1, "channel": 27}}

[10:11:2019 19:52:16:122507] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 89, "rssi": -45, "antenna": 1, "channel": 10}}

[10:11:2019 19:52:16:337941] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 82, "rssi": -46, "antenna": 1, "channel": 30}}

[10:11:2019 19:52:16:496134] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 57, "rssi": -47, "antenna": 1, "channel": 13}}

[10:11:2019 19:52:16:714056] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 29, "rssi": -47, "antenna": 1, "channel": 33}}

[10:11:2019 19:52:16:926769] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 0, "rssi": -48, "antenna": 1, "channel": 16}}

[10:11:2019 19:52:17:138287] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -26, "rssi": -47, "antenna": 1, "channel": 36}}

[10:11:2019 19:52:17:300759] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -25, "rssi": -49, "antenna": 1, "channel": 19}}

[10:11:2019 19:52:17:512689] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -46, "rssi": -41, "antenna": 2, "channel": 12}}

[10:11:2019 19:52:17:730055] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -29, "rssi": -43, "antenna": 2, "channel": 32}}

[10:11:2019 19:52:17:889744] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": -17, "rssi": -48, "antenna": 1, "channel": 5}}

[10:11:2019 19:52:18:106248] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 22, "rssi": -49, "antenna": 1, "channel": 25}}

[10:11:2019 19:52:18:322382] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 44, "rssi": -49, "antenna": 1, "channel": 8}}

 [10:11:2019 19:52:18:540447] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 60, "rssi": -47, "antenna": 1, "channel": 28}}

[10:11:2019 19:52:18:697788] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 98, "rssi": -50, "antenna": 1, "channel": 11}}

[10:11:2019 19:52:18:905895] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 92, "rssi": -57, "antenna": 1, "channel": 31}}

[10:11:2019 19:52:19:121200] : {"name": "CC26x2 Master", "type": "aoa", "identifier": "80:6F:B0:EE:B6:72", "payload": {"angle": 92, "rssi": -54, "antenna": 1, "channel": 14}}

----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

And ToF is frozen when the slave device is far from (5m) the master device.

Best regards,
Inseob

  • 0
    TI__Guru 57865 points

    Hi Inseob,

    Assigning the expert to the thread.

  • 0
    TI__Guru** 101460 points

    Hi Inseob,

    Before going further, can you confirm that you have put the AoA Boostxl on the master device? Can you also confirm that you have properly moved the capacitor C51 and connected the boosterpack's antenna to the launchpad's antenna? (for the details, you can consult the following page: dev.ti.com/BOOSTXL-AOA)

    Best regards,

  • 0 in reply to Clément
    Intellectual 545 points

    Hi, Clément.

    Of course, I changed the C51 connection and connect the AoA Boostxl.

    But I will try again to measure AoA calmly. By the way, I'm doubtful ToF...

    I'm modifying the example python code like "cci = false, aoa = false, tof = true."

    And I can see the distance result in the terminal without passive.

    However, if I move(~5m LOS: line of sight) the slave device, the ToF result is frozen even if the slave is closed to the master device.

    Can I get any guide for this circumstance?

    Best regards,
    Inseob

  • 0 in reply to Inseob Kim
    TI__Guru** 101460 points

    Hi Inseob,

    I will wait for your new results (no hurry, just to let you know).

    For the TOF result frozen, have you verify the RSSI of the received signal? Could be an explanation.

    Regards,

  • 0 in reply to Clément
    TI__Guru** 101460 points

    Hi Inseob,

    Anything new regarding this thread?

    Thanks and regards,

  • 0 in reply to Clément
    Intellectual 545 points

    Hi, Clément.

    Apparently, from one point, the example did not work, even though I tried to uninstall and install back the sdk 3.30, and I performed "package.sh -c -b -u -i".

    So, I can't examine the tof and aoa... the log is below.

    --------------------------------------------------------------------------------------------------------------------------------------------
    [2019-10-22 16:05:57,891] rtls_util.py ln 240 MainThread Level 51 - Setting nodes :
    [2019-10-22 16:05:57,891] rtls_util.py ln 248 MainThread Level 51 - Message receiver started
    [2019-10-22 16:05:57,892] rtls_util.py ln 251 MainThread Level 51 - RTLS Manager started
    [2019-10-22 16:05:59,894] rtls_util.py ln 283 MainThread Level 51 - Done setting node
    [2019-10-22 16:06:00,025] rtls_util.py ln 115 Thread-1 Level 60 - MASTER: 80:6F:B0:EE:B6:72 --> {"originator": "Nwp", "type": "AsyncReq", "subsystem": "RTLS", "command": "RTLS_CMD_RESET_DEVICE", "payload": {"raw_payload": ""}}
    [2019-10-22 16:06:00,185] rtls_util.py ln 115 Thread-1 Level 60 - MASTER: 80:6F:B0:EE:B6:72 --> {"originator": "Nwp", "type": "SyncRsp", "subsystem": "RTLS", "command": "RTLS_CMD_SCAN", "payload": {"status": "RTLS_SUCCESS"}}
    [2019-10-22 16:06:00,766] rtls_util.py ln 115 Thread-1 Level 60 - MASTER: 80:6F:B0:EE:B6:72 --> {"originator": "Nwp", "type": "AsyncReq", "subsystem": "RTLS", "command": "RTLS_CMD_SCAN", "payload": {"eventType": 19, "addrType": 0, "addr": "80:6F:B0:EE:B6:01", "rssi": -42, "dataLen": 14, "data": "0A:08:52:54:4C:53:53:6C:61:76:65:02:01:06"}}
    [2019-10-22 16:06:02,139] rtls_util.py ln 115 Thread-1 Level 60 - MASTER: 80:6F:B0:EE:B6:72 --> {"originator": "Nwp", "type": "AsyncReq", "subsystem": "RTLS", "command": "RTLS_CMD_SCAN_STOP", "payload": {"status": "RTLS_SUCCESS"}}
    [2019-10-22 16:06:02,247] rtls_util.py ln 115 Thread-1 Level 60 - MASTER: 80:6F:B0:EE:B6:72 --> {"originator": "Nwp", "type": "SyncRsp", "subsystem": "RTLS", "command": "RTLS_CMD_CONNECT", "payload": {"status": "RTLS_SUCCESS"}}
    [2019-10-22 16:06:02,356] rtls_util.py ln 115 Thread-1 Level 60 - MASTER: 80:6F:B0:EE:B6:72 --> {"originator": "Nwp", "type": "AsyncReq", "subsystem": "RTLS", "command": "RTLS_CMD_CONN_PARAMS", "payload": {"accessAddress": 3577004972, "connInterval": 160, "hopValue": 16, "mSCA": 0, "currChan": 16, "chanMap": [255, 255, 255, 255, 31], "crcInit": 1182006}}
    [2019-10-22 16:06:03,032] rtls_util.py ln 115 Thread-1 Level 60 - MASTER: 80:6F:B0:EE:B6:72 --> {"originator": "Nwp", "type": "AsyncReq", "subsystem": "RTLS", "command": "RTLS_CMD_CONNECT", "payload": {"status": "RTLS_LINK_ESTAB_FAIL"}}
    [2019-10-22 16:06:03,246] rtls_util.py ln 115 Thread-1 Level 60 - MASTER: 80:6F:B0:EE:B6:72 --> {"originator": "Nwp", "type": "AsyncReq", "subsystem": "RTLS", "command": "RTLS_CMD_CONNECT", "payload": {"status": "RTLS_LINK_TERMINATED"}}
    [2019-10-22 16:06:32,251] rtls_util.py ln 115 Thread-1 Level 60 - MASTER: 80:6F:B0:EE:B6:72 --> {"originator": "Nwp", "type": "SyncRsp", "subsystem": "RTLS", "command": "RTLS_CMD_IDENTIFY", "payload": {"capabilities": {"CM": false, "AOA_TX": false, "AOA_RX": true, "TOF_SLAVE": false, "TOF_PASSIVE": false, "TOF_MASTER": true, "RTLS_SLAVE": false, "RTLS_MASTER": true, "RTLS_PASSIVE": false}, "revNum": 1, "devId": "DeviceFamily_ID_CC26X2", "identifier": "80:6F:B0:EE:B6:72"}}
    [2019-10-22 16:06:32,273] rtls_util.py ln 657 MainThread Level 51 - TOF Stopped
    --------------------------------------------------------------------------------------------------------------------------------------------

    Best regards,
    Inseob

  • 0 in reply to Inseob Kim
    TI__Guru** 101460 points

    Hi Inseob,

    There must something wrong in your last setting. I mean, I don't recognize the "printing style" of the scripts of the SDK 3.30. So can you verify you are using the right version of the embedded code and the right python script.

    On the top of that, your first try (meaning your first message of the thread) showed better results than your last message, this enforces my suspicions of a bad setting this time.

    With that said, I have tested the example and it works as expected for me. Here is what my log looks like:

    C:\ti\simplelink_cc13x2_26x2_sdk_3_30_00_03\tools\ble5stack\rtls_agent\examples>python rtls_example_with_rtls_util.py
Master : <RTLSNode(CC26x2 Master, started 19904)>
Passives : []
All : [<RTLSNode(CC26x2 Master, started 19904)>]
Devices Reset
Start scan for 15 sec
Scan Results: [{'addr': '80:6F:B0:1E:33:F0', 'addrType': 0}]
Connection Success
CCI Callback Set
CCI Started
Going to sleep for 10 sec
[10:22:2019 09:49:32:727013] : {"name": "CC26x2 Master", "type": "conn_info", "identifier": "80:6F:B0:1E:3D:B4", "payload": {"rssi": -65, "channel": 34}}
[10:22:2019 09:49:32:828225] : {"name": "CC26x2 Master", "type": "conn_info", "identifier": "80:6F:B0:1E:3D:B4", "payload": {"rssi": -67, "channel": 3}}
[10:22:2019 09:49:32:930247] : {"name": "CC26x2 Master", "type": "conn_info", "identifier": "80:6F:B0:1E:3D:B4", "payload": {"rssi": -68, "channel": 9}}
[10:22:2019 09:49:33:031941] : {"name": "CC26x2 Master", "type": "conn_info", "identifier": "80:6F:B0:1E:3D:B4", "payload": {"rssi": -66, "channel": 15}}
[10:22:2019 09:49:33:133894] : {"name": "CC26x2 Master", "type": "conn_info", "identifier": "80:6F:B0:1E:3D:B4", "payload": {"rssi": -65, "channel": 21}}
[10:22:2019 09:49:33:235264] : {"name": "CC26x2 Master", "type": "conn_info", "identifier": "80:6F:B0:1E:3D:B4", "payload": {"rssi": -68, "channel": 27}}
[10:22:2019 09:49:33:337443] : {"name": "CC26x2 Master", "type": "conn_info", "identifier": "80:6F:B0:1E:3D:B4", "payload": {"rssi": -66, "channel": 33}}
[10:22:2019 09:49:33:439092] : {"name": "CC26x2 Master", "type": "conn_info", "identifier": "80:6F:B0:1E:3D:B4", "payload": {"rssi": -68, "channel": 2}}
[10:22:2019 09:49:33:541207] : {"name": "CC26x2 Master", "type": "conn_info", "identifier": "80:6F:B0:1E:3D:B4", "payload": {"rssi": -70, "channel": 8}}
[10:22:2019 09:49:33:642483] : {"name": "CC26x2 Master", "type": "conn_info", "identifier": "80:6F:B0:1E:3D:B4", "payload": {"rssi": -67, "channel": 14}}
[10:22:2019 09:49:33:744067] : {"name": "CC26x2 Master", "type": "conn_info", "identifier": "80:6F:B0:1E:3D:B4", "payload": {"rssi": -66, "channel": 20}}

....

[10:22:2019 09:49:42:032493] : {"name": "CC26x2 Master", "type": "conn_info", "identifier": "80:6F:B0:1E:3D:B4", "payload": {"rssi": -63, "channel": 0}}
[10:22:2019 09:49:42:134372] : {"name": "CC26x2 Master", "type": "conn_info", "identifier": "80:6F:B0:1E:3D:B4", "payload": {"rssi": -66, "channel": 6}}
[10:22:2019 09:49:42:236881] : {"name": "CC26x2 Master", "type": "conn_info", "identifier": "80:6F:B0:1E:3D:B4", "payload": {"rssi": -61, "channel": 12}}
[10:22:2019 09:49:42:337200] : {"name": "CC26x2 Master", "type": "conn_info", "identifier": "80:6F:B0:1E:3D:B4", "payload": {"rssi": -60, "channel": 18}}
[10:22:2019 09:49:42:439617] : {"name": "CC26x2 Master", "type": "conn_info", "identifier": "80:6F:B0:1E:3D:B4", "payload": {"rssi": -61, "channel": 24}}
[10:22:2019 09:49:42:541363] : {"name": "CC26x2 Master", "type": "conn_info", "identifier": "80:6F:B0:1E:3D:B4", "payload": {"rssi": -70, "channel": 30}}
[10:22:2019 09:49:42:643592] : {"name": "CC26x2 Master", "type": "conn_info", "identifier": "80:6F:B0:1E:3D:B4", "payload": {"rssi": -64, "channel": 36}}
Try to stop CCI result parsing thread
STOP Command Received
CCI Stopped
Master Disconnected
Done

    Regards,

  • 0 in reply to Clément
    Intellectual 545 points

    Hi, Clément.

    Thank you for your guide. I found LAUNCHXL-CC26X2R1 what I has has a problem, so I replaced the board to new one.

    I tested with tof, and the result as below.

    Master : <RTLSNode(CC26x2 Master, started 123145361973248)>
Passives : []
All : [<RTLSNode(CC26x2 Master, started 123145361973248)>]
Devices Reset
Start scan for 1 sec
Scan Results: [{'addr': '80:6F:B0:EE:B5:0B', 'addrType': 0}]
Connection Success
TOF Paramas + Seed Set
Calibration Done
TOF Callback Set
TOF Started
Going to sleep for 30 sec
[10:24:2019 17:56:01:146624] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 3.193932533264853, "rssi": -59}}
[10:24:2019 17:56:01:251837] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 3.2351455688482957, "rssi": -59}}
[10:24:2019 17:56:01:353793] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 2.826391220093626, "rssi": -59}}
[10:24:2019 17:56:01:458481] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 2.185379028320366, "rssi": -60}}
[10:24:2019 17:56:01:564847] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 2.4032316207889473, "rssi": -60}}
[10:24:2019 17:56:01:672849] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 1.5093479156498937, "rssi": -60}}
[10:24:2019 17:56:01:778846] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 1.4331159591681732, "rssi": -60}}
[10:24:2019 17:56:01:885697] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 2.640710830689329, "rssi": -59}}
[10:24:2019 17:56:01:991324] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 4.438506126404661, "rssi": -58}}
[10:24:2019 17:56:02:042508] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 4.984475135803756, "rssi": -58}}
[10:24:2019 17:56:02:202072] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 3.36546516418521, "rssi": -58}}
[10:24:2019 17:56:02:253222] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 3.1244812011717684, "rssi": -58}}
[10:24:2019 17:56:02:357995] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 3.661294937134162, "rssi": -59}}
[10:24:2019 17:56:02:463945] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 4.638863563537864, "rssi": -60}}
[10:24:2019 17:56:02:572694] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 3.721505165100524, "rssi": -61}}
[10:24:2019 17:56:02:683790] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 3.1429777145388407, "rssi": -63}}
[10:24:2019 17:56:03:059066] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 2.9018363952637785, "rssi": -66}}
[10:24:2019 17:56:03:167553] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 3.34357833862342, "rssi": -66}}
[10:24:2019 17:56:03:383037] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 5.069118499756286, "rssi": -71}}
[10:24:2019 17:56:04:178209] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 5.33725357055712, "rssi": -76}}
[10:24:2019 17:56:04:493476] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 5.472908973694167, "rssi": -78}}
[10:24:2019 17:56:04:546932] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 7.173343658447639, "rssi": -80}}
[10:24:2019 17:56:04:651836] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 2.829552650452193, "rssi": -80}}
[10:24:2019 17:56:04:864705] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 3.9599714279176403, "rssi": -78}}
[10:24:2019 17:56:05:189183] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 3.1719169616705614, "rssi": -74}}
[10:24:2019 17:56:05:767325] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 5.396977424621795, "rssi": -75}}
[10:24:2019 17:56:05:877746] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 5.6370029449465555, "rssi": -76}}
[10:24:2019 17:56:05:983616] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 5.8892593383789595, "rssi": -76}}
[10:24:2019 17:56:06:089272] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 6.544505119324583, "rssi": -75}}
[10:24:2019 17:56:06:791490] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 6.572872161865394, "rssi": -76}}
[10:24:2019 17:56:07:274060] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 6.468058586121405, "rssi": -73}}
[10:24:2019 17:56:07:488310] : {"name": "CC26x2 Master", "type": "tof", "identifier": "80:6F:B0:EE:B6:01", "payload": {"distance": 6.999464988709136, "rssi": -73}}
Try to stop TOF result parsing thread
STOP Command Received
TOF Stopped
Master Disconnected
Done

    When I was far away from master device, the device cannot measure the distance anymore.

    The test is performed with default project that is not modified tx power.

    I have a some questions.

    1. Why the measurable distance of CC2652R1 is too short than CC2640R2F with SDK 3.10?
    2. Why the AoA or ToF result is not stable than CC2640R2F with SDK 3.10?
    3. Is there a way to extend the measurable distance of AoA?
    4. How to modify rtls_agent_cli_macos for rtls_monitor?

    Best regards,
    Inseob

  • 0 in reply to Inseob Kim
    TI__Guru** 101460 points

    Hi Inseob,

    1- Probably because of different txPower

    2- Both SDK does not provide the same functionalities. As you can imagine, our R&D team is working hard to increase as much as possible the accuracy of the results

    3- Increase txPower, change the antenna, chose an environment less noisy

    4- I did not get what you are meaning, sorry

    I hope this will help,

    Regards,

  • 0 in reply to Clément
    Intellectual 545 points

    Hi Clément,

    I want to thank your R&D team for their hard work.

    Best regards,
    Inseob

  • 0 in reply to Inseob Kim
    TI__Guru** 101460 points

    Hi Inseob,

    I have transmitted your "thank you" to the R&D... and they had a good remark: with the last SDK (3.30), there's a known issue where if rssi drops below 60 then ToF will stop. It will be fixed next quarter.

    With that said, they are agree to (at least try) to provide you a workaround in a few days. Can you verify if your issue might be due to an RSSI lower than 60? If this is the case, then I will do the necessary to provide you the workaround.

    Best regards,