W: conn failed to establish. RF noise?

[NickDeLeenheer]

Hi,

when i try making a new connection with a new device using my for loop (reconnecting using the adresses that i stored in an array), i sometimes can get a warning which will end my MULTICONNECTION CS process...

Can someone help me with HOW to solve this issue and where i should solve this in my code? I think i should try to solve it in main(), since no other Zephyr Callback functions are available for this failed connection setup. I also think it is weird that i don't get the error from the bt_conn_le_create in my loggs...

kind regards,

Nick De Leenheer

[Susheel Nuguru]

Hi Nick, 

Can you please tell us more on your test setup and also show us the console output where you see the warning you mentioned? It sounds like a configuration issue with the software but I can try to assist you more after you provide more information that I requested.

[NickDeLeenheer]

I am working on a Bluetooth Low Energy (BLE) application using Zephyr, where you attempt to reconnect to previously detected devices in a for loop using bt_conn_le_create() and using an array with STATIC addresses stored in an array. However, I'm encountering an intermittent issue where the connection to a device fails to establish. When this happens, I see a warning in the console as shown in the screenshot above:

W: conn ... failed to establish. RF noise?

This warning suggests that the connection attempt was unsuccessful, possibly due to interference (RF noise) or the remote device not being available. The key issue is that this failure occurs asynchronously—after the call to bt_conn_le_create() returns. As a result, the error isn't caught by the return value of bt_conn_le_create(), and my code proceeds to wait indefinitely on a semaphore as shown in the screenshot:

k_sem_take(&sem_connected, K_FOREVER);

To fix this, should I replace the infinite semaphore wait with a timed wait?

such as:

if (k_sem_take(&sem_connected, K_SECONDS(3)) != 0) {
    // Connection timeout: clean up and try next device
    bt_conn_disconnect(connections[i], BT_HCI_ERR_REMOTE_USER_TERM_CONN);
    bt_conn_unref(connections[i]);
    connections[i] = NULL;
    continue;
}

I can share you my entire code asswell if you want to...

Kind regards,

Nick De Leenheer

[Susheel Nuguru]

Isn't this the same issue as mentioned here ?

Yes, the infinite loop seems wrong like you already suspected and it is better to have a timeout and move on. I suggest the below for the cleanup code

if (k_sem_take(&sem_connected, K_SECONDS(4)) != 0) {
    printk("W: Connection to device %d timed out. Skipping...\n", i);
    if (connections[i]) {
        bt_conn_disconnect(connections[i], BT_HCI_ERR_REMOTE_USER_TERM_CONN);
        bt_conn_unref(connections[i]);
        connections[i] = NULL;
    }
    continue; // Move on to the next device
}

[Susheel Nuguru]

Also please do not open multiple threads on the same issue and please close on of these two threads.

[NickDeLeenheer]

Hi,

Yes i am sorry, I will not do this in the future anymore.

I thought this would solve my problem aswell, but it does not:

And this is a random amount of time that this happens after this:


Where you can see the initial scanning and i used static addresses for the reflectors. I also had a problem before with not being able to filter my scan on the device name (full/short). Some other engineer from Nordic asked me about my versions of Zephyr and stuff but he never responded afterwards because I accidentally closed that ticket.

So this code did not help.

This is a problem that i want to resolve when doing indore real life measurements when it needs to work without stopping randomly...

Should i share you my code?

int main(void){
	int err;

	dk_leds_init();

	err = bt_enable(NULL);
	if (err) {
		return 0;
	}

	/* Start Scanning for Multiple Devices */
	err = scan_init();
	if (err) {
		return 0;
	}

	err = bt_scan_start(BT_SCAN_TYPE_SCAN_PASSIVE);
	if (err) {
		return 0;
	}

	for (int i = 0; i < MAX_DEVICES; i++) {
		k_sem_take(&sem_disconnected, K_FOREVER);
	}	

	LOG_INF("All devices detected => stop scanning");

	/* Reconnect one by one with previously detected devices */
	while (true){
		for (int i = 0; i < MAX_DEVICES; i++) {

			const bt_addr_le_t *peer_addr = &addresses[i];
			char addr_str[BT_ADDR_LE_STR_LEN];
			bt_addr_le_to_str(peer_addr, addr_str, sizeof(addr_str));

			const char *reflector_name = reflector_names[i];
			int device_nr = i+1;

			const struct bt_conn_le_create_param *create_param = BT_CONN_LE_CREATE_PARAM(BT_CONN_LE_OPT_NONE, 0x0060, 0x0030);
			const struct bt_le_conn_param *conn_param = BT_LE_CONN_PARAM_DEFAULT;

			if (connections[i]) {
				// LOG_INF("unref conne/ction");
				bt_conn_disconnect(connections[i], BT_HCI_ERR_REMOTE_USER_TERM_CONN);
				bt_conn_unref(connections[i]);
				connections[i] = NULL;
			}

			// LOG_INF("start connection");
			err = bt_conn_le_create(peer_addr, create_param, conn_param, &connections[i]);
			if (err) {
				LOG_ERR("Kon niet verbinden met %s (%s), foutcode: %d", reflector_name, addr_str, err);
				return 0;
			}

			if (k_sem_take(&sem_connected, K_SECONDS(4)) != 0) {
				LOG_INF("W: Connection to device %d timed out. Skipping...", i);
				if (connections[i]) {
					bt_conn_disconnect(connections[i], BT_HCI_ERR_REMOTE_USER_TERM_CONN);
					bt_conn_unref(connections[i]);
					connections[i] = NULL;
				}
				continue; // Move on to the next device
			}

			/* Add a small delay to allow the connection to stabilize */
			k_sleep(K_MSEC(200));

			
			// Security
			err = bt_conn_set_security(connections[i], BT_SECURITY_L2);
			if (err) {
				LOG_ERR("Security failed for %s", reflector_name);
				return 0;
			}
			k_sem_take(&sem_security, K_FOREVER);

			// MTU Exchange
			static struct bt_gatt_exchange_params mtu_exchange_params = { .func = mtu_exchange_cb };
			err = bt_gatt_exchange_mtu(connections[i], &mtu_exchange_params);
			if (err) {
				LOG_ERR("MTU exchange failed for %s", reflector_name);
				return 0;
			}
			k_sem_take(&sem_mtu_exchange_done, K_FOREVER);

			// GATT Discovery
			err = bt_gatt_dm_start(connections[i], BT_UUID_RANGING_SERVICE, &discovery_cb, NULL);
			if (err) {
				LOG_ERR("GATT discovery failed for %s", reflector_name);
				return 0;
			}
			k_sem_take(&sem_discovery_done, K_FOREVER);

			// Default settings
			const struct bt_le_cs_set_default_settings_param default_settings = {
				.enable_initiator_role = true,
				.enable_reflector_role = false,
				.cs_sync_antenna_selection = BT_LE_CS_ANTENNA_SELECTION_OPT_REPETITIVE,
				.max_tx_power = BT_HCI_OP_LE_CS_MAX_MAX_TX_POWER,
			};
			err = bt_le_cs_set_default_settings(connections[i], &default_settings);
			if (err) {
				LOG_ERR("Default settings failed for %s", reflector_name);
				return 0;
			}

			// Subscriptions
			err  = bt_ras_rreq_rd_overwritten_subscribe(connections[i], ranging_data_overwritten_cb);
			err |= bt_ras_rreq_rd_ready_subscribe(connections[i], ranging_data_ready_cb);
			err |= bt_ras_rreq_on_demand_rd_subscribe(connections[i]);
			err |= bt_ras_rreq_cp_subscribe(connections[i]);
			if (err) {
				LOG_ERR("Subscriptions failed for %s", reflector_name);
				return 0;
			}

			// Capabilities
			err = bt_le_cs_read_remote_supported_capabilities(connections[i]);
			if (err) {
				LOG_ERR("Capabilities read failed for %s", reflector_name);
				return 0;
			}
			k_sem_take(&sem_remote_capabilities_obtained, K_FOREVER);

			// CS Config
			struct bt_le_cs_create_config_params config_params = {
				.id = CS_CONFIG_ID,
				.main_mode_type = BT_CONN_LE_CS_MAIN_MODE_2,
				.sub_mode_type = BT_CONN_LE_CS_SUB_MODE_UNUSED,
				.min_main_mode_steps = 2,
				.max_main_mode_steps = 5,
				.main_mode_repetition = 0,
				.mode_0_steps = NUM_MODE_0_STEPS,
				.role = BT_CONN_LE_CS_ROLE_INITIATOR,
				.rtt_type = BT_CONN_LE_CS_RTT_TYPE_AA_ONLY,
				.cs_sync_phy = BT_CONN_LE_CS_SYNC_1M_PHY,
				.channel_map_repetition = 1,
				.channel_selection_type = BT_CONN_LE_CS_CHSEL_TYPE_3B,
				.ch3c_shape = BT_CONN_LE_CS_CH3C_SHAPE_HAT,
				.ch3c_jump = 2,
			};

			// 15 Uniform verdeelde kanalen
			uint8_t small_channel_map[10] = {0}; // Alles eerst uitzetten

			BT_LE_CS_CHANNEL_BIT_SET_VAL(small_channel_map, 2, 1);
			BT_LE_CS_CHANNEL_BIT_SET_VAL(small_channel_map, 5, 1);
			BT_LE_CS_CHANNEL_BIT_SET_VAL(small_channel_map, 9, 1);
			BT_LE_CS_CHANNEL_BIT_SET_VAL(small_channel_map, 11, 1);
			BT_LE_CS_CHANNEL_BIT_SET_VAL(small_channel_map, 13, 1);
			BT_LE_CS_CHANNEL_BIT_SET_VAL(small_channel_map, 17, 1);
			BT_LE_CS_CHANNEL_BIT_SET_VAL(small_channel_map, 21, 1);
			BT_LE_CS_CHANNEL_BIT_SET_VAL(small_channel_map, 30, 1);
			BT_LE_CS_CHANNEL_BIT_SET_VAL(small_channel_map, 35, 1);
			BT_LE_CS_CHANNEL_BIT_SET_VAL(small_channel_map, 40, 1);
			BT_LE_CS_CHANNEL_BIT_SET_VAL(small_channel_map, 45, 1);
			BT_LE_CS_CHANNEL_BIT_SET_VAL(small_channel_map, 51, 1);
			BT_LE_CS_CHANNEL_BIT_SET_VAL(small_channel_map, 57, 1);
			BT_LE_CS_CHANNEL_BIT_SET_VAL(small_channel_map, 63, 1);
			BT_LE_CS_CHANNEL_BIT_SET_VAL(small_channel_map, 69, 1);
			BT_LE_CS_CHANNEL_BIT_SET_VAL(small_channel_map, 75, 1);

			memcpy(config_params.channel_map, small_channel_map, sizeof(small_channel_map));

			// bt_le_cs_set_valid_chmap_bits(config_params.channel_map);

			err = bt_le_cs_create_config(connections[i], &config_params, BT_LE_CS_CREATE_CONFIG_CONTEXT_LOCAL_AND_REMOTE);
			if (err) {
				LOG_ERR("Config creation failed for %s", reflector_name);
				return 0;
			}
			k_sem_take(&sem_config_created, K_FOREVER);

			// Enable CS security
			err = bt_le_cs_security_enable(connections[i]);
			if (err) {
				LOG_ERR("CS security enable failed for %s", reflector_name);
				return 0;
			}
			k_sem_take(&sem_cs_security_enabled, K_FOREVER);

			// Procedure params
			const struct bt_le_cs_set_procedure_parameters_param procedure_params = {
				.config_id = CS_CONFIG_ID,
				.max_procedure_len = 1000,
				.min_procedure_interval = 10,
				.max_procedure_interval = 10,
				.max_procedure_count = 0,
				.min_subevent_len = 60000,
				.max_subevent_len = 60000,
				.tone_antenna_config_selection = BT_LE_CS_TONE_ANTENNA_CONFIGURATION_INDEX_ONE,
				.phy = BT_LE_CS_PROCEDURE_PHY_1M,
				.tx_power_delta = 0x80,
				.preferred_peer_antenna = BT_LE_CS_PROCEDURE_PREFERRED_PEER_ANTENNA_1,
				.snr_control_initiator = BT_LE_CS_INITIATOR_SNR_CONTROL_NOT_USED,
				.snr_control_reflector = BT_LE_CS_REFLECTOR_SNR_CONTROL_NOT_USED,
			};
			err = bt_le_cs_set_procedure_parameters(connections[i], &procedure_params);
			if (err) {
				LOG_ERR("Procedure params failed for %s", reflector_name);
				return 0;
			}

			// Enable procedure
			struct bt_le_cs_procedure_enable_param enable_params = {
				.config_id = CS_CONFIG_ID,
				.enable = 1,
			};
			err = bt_le_cs_procedure_enable(connections[i], &enable_params);
			if (err) {
				LOG_ERR("Procedure enable failed for %s", reflector_name);
				return 0;
			}


			// Ranging process
			LOG_INF("Device %d: %s", device_nr, reflector_name);
			minimal_distance = 1000.0;

			for (int round = 0; round < RANGING_ROUNDS; round++) {

				k_sem_take(&sem_procedure_done, K_FOREVER);
				distance_estimation_in_progress = true;

				err = k_sem_take(&sem_rd_ready, K_SECONDS(1));
				if (err) {
					LOG_WRN("Timeout waiting for rd_ready from %s", reflector_name);
					continue;
				}

				if (most_recent_peer_ranging_counter != most_recent_local_ranging_counter) {
					LOG_WRN("Mismatched counters on %s", reflector_name);
					continue;
				}

				err = bt_ras_rreq_cp_get_ranging_data(connections[i], &latest_peer_steps,
					most_recent_peer_ranging_counter, ranging_data_get_complete_cb);
				if (err) {
					LOG_ERR("Failed to get ranging data from %s (err %d)", reflector_name, err);
					continue;
				}

				err = k_sem_take(&sem_rd_complete, K_SECONDS(5));
				if (err) {
					LOG_ERR("Timeout waiting for rd_complete from %s", reflector_name);
					continue;
				}

				distance = estimate_distance(&latest_local_steps, &latest_peer_steps, n_ap,
											BT_CONN_LE_CS_ROLE_INITIATOR, reflector_name);

				// Find the SMALLEST PBR value to mitigate reflections and filter unstable measurements
				if (distance < minimal_distance) {
					minimal_distance = distance;
				}
				
				net_buf_simple_reset(&latest_local_steps);
				net_buf_simple_reset(&latest_peer_steps);
				distance_estimation_in_progress = false;
			}		

			LOG_INF("PBR (LoS) = %f", minimal_distance);

			bt_conn_disconnect(connections[i], BT_HCI_ERR_REMOTE_USER_TERM_CONN);
			connections[i] = NULL; 
		}	
	}
}

this is my main function... I figure that the scanning function are not really needed to share, since they work flawlessly.

Kind regards,

Nick De Leenheer

[Susheel Nuguru]

Yes, Please share you whole project zipped. I need to see what your code is doing in other callbacks like connected(). I also need to see how you are giving the semaphore sem_connected.