'CONFIG_BT_PER_ADV_SYNC_MAX' undeclared here (not in a function)

[Majoris]

Hi,

I met some problems when I tried the sample 'direction_finding_connectionless_rx' in ncs v1.7.1 on nRF5340dk. I copied files to hci_rpmsg/boards as https://developer.nordicsemi.com/nRF_Connect_SDK/doc/latest/zephyr/samples/bluetooth/direction_finding_connectionless_rx/README.html said, here is my nrf5340dk_nrf5340_cpunet.conf:

CONFIG_BT_CTLR=y
CONFIG_BT_LL_SW_SPLIT=y

CONFIG_BT_EXT_ADV=y

CONFIG_BT_CTLR_ADV_EXT=y
CONFIG_BT_CTLR_SYNC_PERIODIC=y

# Enable Direction Finding Feature including AoA and AoD
CONFIG_BT_CTLR_DF=y

# Disable Direction Fiding TX mode
CONFIG_BT_CTLR_DF_ANT_SWITCH_TX=n
CONFIG_BT_CTLR_DF_ADV_CTE_TX=n

direction_finding_connectionless_rx/prj.conf:

CONFIG_BT=y
CONFIG_BT_DEVICE_NAME="DF Connectionless Locator App"

CONFIG_BT_EXT_ADV=y
CONFIG_BT_PER_ADV_SYNC=y
CONFIG_BT_OBSERVER=y

# Enable Direction Finding Feature including AoA and AoD
CONFIG_BT_DF=y
CONFIG_BT_DF_CONNECTIONLESS_CTE_RX=y

 

I built by SES and failed: 

Using git-cmd:west build -b nrf5340dk_nrf5340_cpuapp -- -DOVERLAY_CONFIG=overlay-aod.conf:

I'm not sure how to solve it, I got the same error when I built hci_rpmsg to network core. Please help me.

Thanks in advance!

[Simonr]

Hi

As Nathan says in the ticket you commented in. You can print the samples by adding something like the following to the CTE_recv_cb callback. The locator application does not print the IQ data by default as it will look like a bunch of random data without converting the data into a vector.

static void cte_recv_cb(struct bt_le_per_adv_sync *sync,
			struct bt_df_per_adv_sync_iq_samples_report const *report)
{
	printk("CTE[%u]: samples count %d, cte type %s, slot durations: %u [us], "
	       "packet status %s, RSSI %i\n",
	       bt_le_per_adv_sync_get_index(sync), report->sample_count,
	       cte_type2str(report->cte_type), report->slot_durations,
	       packet_status2str(report->packet_status), report->rssi);

        printk("IQ sample content : \n");
        for(int i=0; i<report->sample_count; i++){
                printk("sample[%d] = I:%d Q:%d\n", i, report->sample[i].i, report->sample[i].q);
        }
}

Please note that raw IQ data won't tell you much about the position of the beacon device. You should always use this data to convert into a vector that can be used to determine positioning. I have added some formulas to calculate IQ signals from polar to rectangular form:

• Peak Amplitude A = (I²+Q²)½
• Phase Angle ϕ = tan⁻¹(Q/I)
• I = A⋅cos(ϕ)
• Q = A⋅sin(ϕ)
• Converting IQ Data to a plain signal: I is the original signal.
• Euler form: A⋅eiϕ = A⋅(cos(ϕ) + i⋅sin(ϕ)) = I + Qi

See this page for more information.

Regarding the antenna array, you will have to contact our sales department for more information on this, as it is not available for purchase publicly. If you don't know who this is or need help getting in touch with the regional sales manager of your area, let me know, and I'll help you get in touch.

Best regards,

Simon

[Majoris]

Hi！

Thanks for your explanation of IQ data, exactly I was confused about this output:

CTE[59]: samples count 168, cte type Unknown, slot durations: 0 [us], packet status CRC OK, RSSI 0

As I saw in Nathan's ticket: 

CTE[0]: samples count 45, cte type AOA, slot durations: 2 [us]

They are different, here's my complete output:

Fullscreen df_rx.log Download

*** Booting Zephyr OS build v2.6.99-ncs1-1  ***
Starting Connectionless Locator Demo
Bluetooth initialization...success
Scan callbacks register...success.
Periodic Advertising callbacks register...success.
Start scanning...success
Waiting for periodic advertising...[DEVICE]: C1:B4:34:42:86:E1 (public), AD evt type 0, Tx Pwr: 127, RSSI -79  C:1 S:1 D:0 SR:0 E:0 Prim: LE 1M, Secn: No packets, Interval: 0x0000 (0 ms), SID: 255
[DEVICE]: C1:B4:34:42:86:E1 (public), AD evt type 4, Tx Pwr: 127, RSSI -80 Mi Smart Band 5 C:1 S:1 D:0 SR:1 E:0 Prim: LE 1M, Secn: No packets, Interval: 0x0000 (0 ms), SID: 255
[DEVICE]: 64:09:B2:6A:68:88 (random), AD evt type 0, Tx Pwr: 127, RSSI -101  C:1 S:1 D:0 SR:0 E:0 Prim: LE 1M, Secn: No packets, Interval: 0x0000 (0 ms), SID: 255
[DEVICE]: 94:DB:56:84:CC:5A (public), AD evt type 0, Tx Pwr: 127, RSSI -92 LE_WH-1000XM3 C:1 S:1 D:0 SR:0 E:0 Prim: LE 1M, Secn: No packets, Interval: 0x0000 (0 ms), SID: 255
[DEVICE]: 30:A4:FC:78:CA:1B (random), AD evt type 3, Tx Pwr: 127, RSSI -68  C:0 S:0 D:0 SR:0 E:0 Prim: LE 1M, Secn: No packets, Interval: 0x0000 (0 ms), SID: 255
[DEVICE]: 73:AB:94:9E:FC:7A (random), AD evt type 0, Tx Pwr: 127, RSSI -93  C:1 S:1 D:0 SR:0 E:0 Prim: LE 1M, Secn: No packets, Interval: 0x0000 (0 ms), SID: 255
[DEVICE]: 17:7C:3F:25:C1:2F (random), AD evt type 3, Tx Pwr: 127, RSSI -65  C:0 S:0 D:0 SR:0 E:0 Prim: LE 1M, Secn: No packets, Interval: 0x0000 (0 ms), SID: 255
[DEVICE]: 39:E6:21:E9:F7:90 (random), AD evt type 3, Tx Pwr: 127, RSSI -95  C:0 S:0 D:0 SR:0 E:0 Prim: LE 1M, Secn: No packets, Interval: 0x0000 (0 ms), SID: 255
[DEVICE]: 6D:45:83:68:9D:40 (random), AD evt type 0, Tx Pwr: 127, RSSI -93  C:1 S:1 D:0 SR:0 E:0 Prim: LE 1M, Secn: No packets, Interval: 0x0000 (0 ms), SID: 255
[DEVICE]: 29:79:21:E1:39:3E (random), AD evt type 3, Tx Pwr: 127, RSSI -60  C:0 S:0 D:0 SR:0 E:0 Prim: LE 1M, Secn: No packets, Interval: 0x0000 (0 ms), SID: 255
[DEVICE]: CD:B8:EB:D1:69:7A (random), AD evt type 3, Tx Pwr: 127, RSSI -89  C:0 S:0 D:0 SR:0 E:0 Prim: LE 1M, Secn: No packets, Interval: 0x0000 (0 ms), SID: 255
[DEVICE]: 0C:A6:12:E3:13:BB (random), AD evt type 3, Tx Pwr: 127, RSSI -74  C:0 S:0 D:0 SR:0 E:0 Prim: LE 1M, Secn: No packets, Interval: 0x0000 (0 ms), SID: 255
[DEVICE]: 3D:DD:D3:D8:88:37 (random), AD evt type 3, Tx Pwr: 127, RSSI -88  C:0 S:0 D:0 SR:0 E:0 Prim: LE 1M, Secn: No packets, Interval: 0x0000 (0 ms), SID: 255
[DEVICE]: 06:A2:07:3E:26:C0 (random), AD evt type 5, Tx Pwr: 127, RSSI -28 DF Connectionless Beacon App C:0 S:0 D:0 SR:0 E:1 Prim: LE 1M, Secn: LE 2M, Interval: 0x0780 (2400 ms), SID: 0
[DEVICE]: 28:11:A5:4F:44:BD (public), AD evt type 0, Tx Pwr: 127, RSSI -75  C:1 S:1 D:0 SR:0 E:0 Prim: LE 1M, Secn: No packets, Interval: 0x0000 (0 ms), SID: 255
[DEVICE]: 45:F4:69:4E:35:D7 (random), AD evt type 0, Tx Pwr: 127, RSSI -83  C:1 S:1 D:0 SR:0 E:0 Prim: LE 1M, Secn: No packets, Interval: 0x0000 (0 ms), SID: 255
[DEVICE]: 45:F4:69:4E:35:D7 (random), AD evt type 4, Tx Pwr: 127, RSSI -83  C:1 S:1 D:0 SR:1 E:0 Prim: LE 1M, Secn: No packets, Interval: 0x0000 (0 ms), SID: 255
success. Found periodic advertising.
Creating Periodic Advertising Sync...success.
WaitinPER_ADV_SYNC[0]: [DEVICE]: 06:A2:07:3E:26:C0 (random) synced, Interval 0x0780 (2400 ms), PHY LE 2M
g for periodic sync...
success. Periodic sync established.
Enable receiving of CTE...
success. CTE receive enabled.
Scan disable...Success.
Waiting for periodic sync lost...
PER_ADV_SYNC[0]: [DEVICE]: 06:A2:07:3E:26:C0 (random), tx_power 127, RSSI -28, CTE AOA, data length 0, data: 
CTE[59]: samples count 168, cte type Unknown, slot durations: 0 [us], packet status CRC OK, RSSI 0
IQ sample content : 
sample[0] = I:0 Q:32
sample[1] = I:-23 Q:35
sample[2] = I:0 Q:0
sample[3] = I:-109 Q:-127
sample[4] = I:0 Q:0
sample[5] = I:73 Q:36
sample[6] = I:0 Q:0
sample[7] = I:73 Q:36
sample[8] = I:0 Q:0
sample[9] = I:73 Q:36
sample[10] = I:0 Q:0
sample[11] = I:73 Q:36
sample[12] = I:0 Q:0
sample[13] = I:73 Q:36
sample[14] = I:0 Q:0
sample[15] = I:0 Q:0
sample[16] = I:0 Q:0
sample[17] = I:0 Q:0
sample[18] = I:0 Q:0
sample[19] = I:0 Q:0
sample[20] = I:0 Q:0
sample[21] = I:69 Q:35
sample[22] = I:0 Q:0
sample[23] = I:73 Q:36
sample[24] = I:0 Q:0
sample[25] = I:0 Q:0
sample[26] = I:0 Q:0
sample[27] = I:-19 Q:34
sample[28] = I:0 Q:0
sample[29] = I:13 Q:125
sample[30] = I:0 Q:0
sample[31] = I:-87 Q:35
sample[32] = I:0 Q:0
sample[33] = I:-87 Q:35
sample[34] = I:0 Q:0
sample[35] = I:-87 Q:35
sample[36] = I:0 Q:0
sample[37] = I:-87 Q:35
sample[38] = I:0 Q:0
sample[39] = I:-87 Q:35
sample[40] = I:0 Q:0
sample[41] = I:-87 Q:35
sample[42] = I:0 Q:0
sample[43] = I:-87 Q:35
sample[44] = I:0 Q:0
sample[45] = I:-87 Q:35
sample[46] = I:0 Q:0
sample[47] = I:-87 Q:35
sample[48] = I:0 Q:0
sample[49] = I:-87 Q:35
sample[50] = I:0 Q:0
sample[51] = I:-87 Q:35
sample[52] = I:0 Q:0
sample[53] = I:-87 Q:35
sample[54] = I:0 Q:0
sample[55] = I:-87 Q:35
sample[56] = I:0 Q:0
sample[57] = I:-87 Q:35
sample[58] = I:0 Q:0
sample[59] = I:-87 Q:35
sample[60] = I:0 Q:0
sample[61] = I:-87 Q:35
sample[62] = I:0 Q:0
sample[63] = I:-87 Q:35
sample[64] = I:0 Q:0
sample[65] = I:-87 Q:35
sample[66] = I:0 Q:0
sample[67] = I:-87 Q:35
sample[68] = I:0 Q:0
sample[69] = I:-87 Q:35
sample[70] = I:0 Q:0
sample[71] = I:-87 Q:35
sample[72] = I:0 Q:0
sample[73] = I:-87 Q:35
sample[74] = I:0 Q:0
sample[75] = I:-87 Q:35
sample[76] = I:0 Q:0
sample[77] = I:-87 Q:35
sample[78] = I:0 Q:0
sample[79] = I:-87 Q:35
sample[80] = I:0 Q:0
sample[81] = I:-87 Q:35
sample[82] = I:0 Q:0
sample[83] = I:-87 Q:35
sample[84] = I:0 Q:0
sample[85] = I:-87 Q:35
sample[86] = I:0 Q:0
sample[87] = I:-87 Q:35
sample[88] = I:0 Q:0
sample[89] = I:-87 Q:35
sample[90] = I:0 Q:0
sample[91] = I:-87 Q:35
sample[92] = I:0 Q:0
sample[93] = I:-87 Q:35
sample[94] = I:0 Q:0
sample[95] = I:-87 Q:35
sample[96] = I:0 Q:0
sample[97] = I:-87 Q:35
sample[98] = I:0 Q:0
sample[99] = I:-87 Q:35
sample[100] = I:0 Q:0
sample[101] = I:-87 Q:35
sample[102] = I:0 Q:0
sample[103] = I:-87 Q:35
sample[104] = I:0 Q:0
sample[105] = I:-87 Q:35
sample[106] = I:0 Q:0
sample[107] = I:-87 Q:35
sample[108] = I:0 Q:0
sample[109] = I:-87 Q:35
sample[110] = I:0 Q:0
sample[111] = I:-87 Q:35
sample[112] = I:0 Q:0
sample[113] = I:-87 Q:35
sample[114] = I:0 Q:0
sample[115] = I:-87 Q:35
sample[116] = I:0 Q:0
sample[117] = I:-87 Q:35
sample[118] = I:0 Q:0
sample[119] = I:-87 Q:35
sample[120] = I:0 Q:0
sample[121] = I:-87 Q:35
sample[122] = I:0 Q:0
sample[123] = I:-87 Q:35
sample[124] = I:0 Q:0
sample[125] = I:-87 Q:35
sample[126] = I:0 Q:0
sample[127] = I:-87 Q:35
sample[128] = I:0 Q:0
sample[129] = I:-87 Q:35
sample[130] = I:0 Q:0
sample[131] = I:-87 Q:35
sample[132] = I:0 Q:0
sample[133] = I:-87 Q:35
sample[134] = I:0 Q:0
sample[135] = I:-87 Q:35
sample[136] = I:0 Q:0
sample[137] = I:-87 Q:35
sample[138] = I:0 Q:0
sample[139] = I:-87 Q:35
sample[140] = I:0 Q:0
sample[141] = I:-87 Q:35
sample[142] = I:0 Q:0
sample[143] = I:-87 Q:35
sample[144] = I:0 Q:0
sample[145] = I:-87 Q:35
sample[146] = I:0 Q:0
sample[147] = I:-87 Q:35
sample[148] = I:0 Q:0
sample[149] = I:-87 Q:35
sample[150] = I:0 Q:0
sample[151] = I:-87 Q:35
sample[152] = I:0 Q:0
sample[153] = I:-87 Q:35
sample[154] = I:0 Q:0
sample[155] = I:-87 Q:35
sample[156] = I:0 Q:0
sample[157] = I:-87 Q:35
sample[158] = I:0 Q:0
sample[159] = I:-87 Q:35
sample[160] = I:0 Q:0
sample[161] = I:-87 Q:35
sample[162] = I:0 Q:0
sample[163] = I:-87 Q:35
sample[164] = I:0 Q:0
sample[165] = I:-87 Q:35
sample[166] = I:0 Q:0
sample[167] = I:-87 Q:35
PER_ADV_SYNC[0]: [DEVICE]: 06:A2:07:3E:26:C0 (random), tx_power 127, RSSI -27, CTE AOA, data length 0, data: 
CTE[59]: samples count 168, cte type Unknown, slot durations: 0 [us], packet status CRC OK, RSSI 0
IQ sample content : 
sample[0] = I:0 Q:32
sample[1] = I:-23 Q:35
sample[2] = I:0 Q:0
sample[3] = I:-109 Q:-127
sample[4] = I:0 Q:0
sample[5] = I:73 Q:36
sample[6] = I:0 Q:0
sample[7] = I:73 Q:36
sample[8] = I:0 Q:0
sample[9] = I:73 Q:36
sample[10] = I:0 Q:0
sample[11] = I:73 Q:36
sample[12] = I:0 Q:0
sample[13] = I:73 Q:36
sample[14] = I:0 Q:0
sample[15] = I:0 Q:0
sample[16] = I:0 Q:0
sample[17] = I:0 Q:0
sample[18] = I:0 Q:0
sample[19] = I:0 Q:0
sample[20] = I:0 Q:0
sample[21] = I:69 Q:35
sample[22] = I:0 Q:0
sample[23] = I:73 Q:36
sample[24] = I:0 Q:0
sample[25] = I:0 Q:0
sample[26] = I:0 Q:0
sample[27] = I:-19 Q:34
sample[28] = I:0 Q:0
sample[29] = I:13 Q:125
sample[30] = I:0 Q:0
sample[31] = I:-87 Q:35
sample[32] = I:0 Q:0
sample[33] = I:-87 Q:35
sample[34] = I:0 Q:0
sample[35] = I:-87 Q:35
sample[36] = I:0 Q:0
sample[37] = I:-87 Q:35
sample[38] = I:0 Q:0
sample[39] = I:-87 Q:35
sample[40] = I:0 Q:0
sample[41] = I:-87 Q:35
sample[42] = I:0 Q:0
sample[43] = I:-87 Q:35
sample[44] = I:0 Q:0
sample[45] = I:-87 Q:35
sample[46] = I:0 Q:0
sample[47] = I:-87 Q:35
sample[48] = I:0 Q:0
sample[49] = I:-87 Q:35
sample[50] = I:0 Q:0
sample[51] = I:-87 Q:35
sample[52] = I:0 Q:0
sample[53] = I:-87 Q:35
sample[54] = I:0 Q:0
sample[55] = I:-87 Q:35
sample[56] = I:0 Q:0
sample[57] = I:-87 Q:35
sample[58] = I:0 Q:0
sample[59] = I:-87 Q:35
sample[60] = I:0 Q:0
sample[61] = I:-87 Q:35
sample[62] = I:0 Q:0
sample[63] = I:-87 Q:35
sample[64] = I:0 Q:0
sample[65] = I:-87 Q:35
sample[66] = I:0 Q:0
sample[67] = I:-87 Q:35
sample[68] = I:0 Q:0
sample[69] = I:-87 Q:35
sample[70] = I:0 Q:0
sample[71] = I:-87 Q:35
sample[72] = I:0 Q:0
sample[73] = I:-87 Q:35
sample[74] = I:0 Q:0
sample[75] = I:-87 Q:35
sample[76] = I:0 Q:0
sample[77] = I:-87 Q:35
sample[78] = I:0 Q:0
sample[79] = I:-87 Q:35
sample[80] = I:0 Q:0
sample[81] = I:-87 Q:35
sample[82] = I:0 Q:0
sample[83] = I:-87 Q:35
sample[84] = I:0 Q:0
sample[85] = I:-87 Q:35
sample[86] = I:0 Q:0
sample[87] = I:-87 Q:35
sample[88] = I:0 Q:0
sample[89] = I:-87 Q:35
sample[90] = I:0 Q:0
sample[91] = I:-87 Q:35
sample[92] = I:0 Q:0
sample[93] = I:-87 Q:35
sample[94] = I:0 Q:0
sample[95] = I:-87 Q:35
sample[96] = I:0 Q:0
sample[97] = I:-87 Q:35
sample[98] = I:0 Q:0
sample[99] = I:-87 Q:35
sample[100] = I:0 Q:0
sample[101] = I:-87 Q:35
sample[102] = I:0 Q:0
sample[103] = I:-87 Q:35
sample[104] = I:0 Q:0
sample[105] = I:-87 Q:35
sample[106] = I:0 Q:0
sample[107] = I:-87 Q:35
sample[108] = I:0 Q:0
sample[109] = I:-87 Q:35
sample[110] = I:0 Q:0
sample[111] = I:-87 Q:35
sample[112] = I:0 Q:0
sample[113] = I:-87 Q:35
sample[114] = I:0 Q:0
sample[115] = I:-87 Q:35
sample[116] = I:0 Q:0
sample[117] = I:-87 Q:35
sample[118] = I:0 Q:0
sample[119] = I:-87 Q:35
sample[120] = I:0 Q:0
sample[121] = I:-87 Q:35
sample[122] = I:0 Q:0
sample[123] = I:-87 Q:35
sample[124] = I:0 Q:0
sample[125] = I:-87 Q:35
sample[126] = I:0 Q:0
sample[127] = I:-87 Q:35
sample[128] = I:0 Q:0
sample[129] = I:-87 Q:35
sample[130] = I:0 Q:0
sample[131] = I:-87 Q:35
sample[132] = I:0 Q:0
sample[133] = I:-87 Q:35
sample[134] = I:0 Q:0
sample[135] = I:-87 Q:35
sample[136] = I:0 Q:0
sample[137] = I:-87 Q:35
sample[138] = I:0 Q:0
sample[139] = I:-87 Q:35
sample[140] = I:0 Q:0
sample[141] = I:-87 Q:35
sample[142] = I:0 Q:0
sample[143] = I:-87 Q:35
sample[144] = I:0 Q:0
sample[145] = I:-87 Q:35
sample[146] = I:0 Q:0
sample[147] = I:-87 Q:35
sample[148] = I:0 Q:0
sample[149] = I:-87 Q:35
sample[150] = I:0 Q:0
sample[151] = I:-87 Q:35
sample[152] = I:0 Q:0
sample[153] = I:-87 Q:35
sample[154] = I:0 Q:0
sample[155] = I:-87 Q:35
sample[156] = I:0 Q:0
sample[157] = I:-87 Q:35
sample[158] = I:0 Q:0
sample[159] = I:-87 Q:35
sample[160] = I:0 Q:0
sample[161] = I:-87 Q:35
sample[162] = I:0 Q:0
sample[163] = I:-87 Q:35
sample[164] = I:0 Q:0
sample[165] = I:-87 Q:35
sample[166] = I:0 Q:0
sample[167] = I:-87 Q:35

I want to know Is it basically correct with only PCB antenna? Sorry to trouble you so much.

Finally, it helps a lot if you can tell me how to get in touch with RSM. I live in Hefei City, Anhui Province, China.

Best regards,

Majoris

[Simonr]

Hi again

Yes, the I and Q samples will all be similar when you only have one antenna, so this seems like a likely result. As for the CTE type being unknown, have you configured the beacon to include the overlay-aoa.conf as explained in the documentation?

I have notified our RSM in the Anhui province that you'd like to get in touch regarding the antenna array, so you should hear from them soon.

Best regards,

Simon