CC2640R2F: simplelink_cc2640r2_sdk_2_30_00_28 and its Localization Toolbox Information(AoA and ToF)

1. The TX output power was not initialized in the aoa project, which cause poor range performance when it comes to AoA.

The fix is to add the following line inside AoA.c :: static RF_RadioSetup aoaSetup =

  .common.txPower                  = 0x9330,

2. There is issue regarding angle calculation in the AoA receiver project. When the I/Q signal is weak, the shift down >>10 inside AoA.c :: AngleComplexProductComp will cause the calculation to be off.

The fix is to replace content within these three functions inside AoA.c :: static inline int16_t iat2, int16_t iatan2sc, int16_t AngleComplexProductComp

static inline int16_t iat2(int32_t y, int32_t x) {
  return ((y*32+(x/2))/x)*2;  // 3.39 mxdiff
}
int16_t iatan2sc(int32_t y, int32_t x) {
  // determine octant
  if (y >= 0) {   // oct 0,1,2,3
    if (x >= 0) { // oct 0,1
      if (x > y) {
        return iat2(-y, -x)/2 + 0*32;
      } else {
        if (y == 0) return 0; // (x=0,y=0)
        return -iat2(-x, -y)/2 + 2*32;
      }
    } else { // oct 2,3
      // if (-x <= y) {
      if (x >= -y) {
        return iat2(x, -y)/2 + 2*32;
      } else {
        return -iat2(-y, x)/2 + 4*32;
      }
    }
  } else { // oct 4,5,6,7
    if (x < 0) { // oct 4,5
      // if (-x > -y) {
      if (x < y) {
        return iat2(y, x)/2 + -4*32;
      } else {
        return -iat2(x, y)/2 + -2*32;
      }
    } else { // oct 6,7
      // if (x <= -y) {
      if (-x >= y) {
        return iat2(-x, y)/2 + -2*32;
      } else {
        return -iat2(y, -x)/2 + -0*32;
      }
    }
  }
}
// Example code for processing IQ data
int16_t AngleComplexProductComp(int16_t Xre, int16_t Xim, int16_t Yre, int16_t Yim)
{
    int32_t Zre, Zim;
    int16_t angle;

    // X*conj(Y)
    Zre = Xre*Yre + Xim*Yim;
    Zim = Xim*Yre - Xre*Yim;

    // Angle. The angle is returned in 256/2*pi format [-128,127] values
    angle = iatan2sc(Zim, Zre);

    return (angle * angleconst);
}

3. Modifying the DEFAULT_ADVERTISING_INTERVAL when sending ADV_NONCONN_IND packets does not have any effect. To fix this, please make the following three changes inside AoA.c :: void AOA_run(AoA_Handle handle, uint8_t channel, AoA_AntennaConfig *config, uint8_t pktId)

Change:

RF_cmdBleAdvNc.startTrigger.pastTrig = 1;

RF_cmdNopTx.startTrigger.pastTrig = 1;


if (channel == 37)
{
   RF_cmdNopTx.startTime = RF_getCurrentTime() + RF_convertUsToRatTicks(5000);
}

to:

RF_cmdBleAdvNc.startTrigger.pastTrig = 0;

RF_cmdNopTx.startTrigger.pastTrig = 0;


if (channel == 37)
{
   RF_cmdNopTx.startTime = handle->startTime + RF_getCurrentTime() + RF_convertUsToRatTicks(5000);
}
else
{
   RF_cmdNopTx.startTime = RF_getCurrentTime() + RF_convertUsToRatTicks(500);
}

Additional information ::

For users who download the SDK after Oct 18th from the link below you can ignore the next statement;

http://www.ti.com/tool/SIMPLELINK-CC2640R2-SDK 

The simplelink_cc2640r2_sdk_2_30_00_28 from dev.ti.com/tirex is missing XDC tools. 

For users that want to use simplelink_cc2640r2_sdk_2_30_00_28, you can find the needed XDC tools version 3.50.08.24 here:

http://downloads.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/rtsc/