ANT+ acknowledgement packet send and receive between two nrf52 boards

RE: ANT+ acknowledgement packet send and receive between two nrf52 boards

Kenneth — Mon, 20 Mar 2023 12:56:06 GMT

The ACK and ACK with packet only works one to one (one ptx to one prx), if you need data from several prx, then you need to use different addresses and send data to each prx.

Kenneth

RE: ANT+ acknowledgement packet send and receive between two nrf52 boards

TitanDaniel — Fri, 17 Mar 2023 10:23:48 GMT

Hi,

I figured it out and I can receive ACK from 1 slave, but when I add 2nd slaves, only one ACK package is received, as you can see here:

Both devices successfully send ACK with different device ID (0x01 and 0x02), but only one ACK event raises on the master side.

I tried several way but I cannot understand why this happen. Would you please advice?

Thank you so much!

RE: ANT+ acknowledgement packet send and receive between two nrf52 boards

Kenneth — Wed, 08 Mar 2023 12:05:07 GMT

[quote user="TitanDaniel"]I tried to configure two channel, one for Time Sync broadcast and one for scaning ACK but I have "ERROR 16435 [Unknown error code] at ..\..\..\main.c:279" line[/quote]

Step into ant_channel_init(&bs_channel_config);//<ERROR HERE> to find more exact which api is returning an error.

Kenneth

RE: ANT+ acknowledgement packet send and receive between two nrf52 boards

TitanDaniel — Wed, 08 Mar 2023 09:43:33 GMT

Hello Kenneth,

Thank you for your reply. I have a question, I found in here ANT Continuous Scanning Controller the node receives and sends back acknowledgment by sd_ant_acknowledge_message_tx with another NETWORK_NUMBER

Your idea about one-to-one communicate, is it usable with ANT time sync protocol, since time sync packet is initialized as broadcast?

Besides, here is my configure for the ANT stack, is it correct?

I tried to configure two channel, one for Time Sync broadcast and one for scaning ACK but I have "ERROR 16435 [Unknown error code] at ..\..\..\main.c:279" line ant_channel_init(&bs_channel_config);

static void ant_channel_tx_broadcast_setup(void)
{
    uint32_t             err_code;
    ANT_TIME_SYNC_CONFIG syncConfig;

    // Configure ANT Time Synchronization using RTC1
    syncConfig.ucTimeBase           = ANT_TIME_BASE_ALT2; // RTC2
    syncConfig.bInvalidationEnabled = true;
    syncConfig.ucInvalidationByte   = INVALID_PAGE;       // Invalid page number set to 0xFF
    err_code                        = sd_ant_time_sync_config_set(&syncConfig);
    APP_ERROR_CHECK(err_code);

    // Configure ANT Channel
    ant_channel_config_t broadcast_channel_config =
    {
        .channel_number    = BROADCAST_CHANNEL_NUMBER,
        .channel_type      = CHANNEL_TYPE_MASTER,
        .ext_assign        = 0x00,
        .rf_freq           = RF_FREQ,
        .transmission_type = CHAN_ID_TRANS_TYPE,
        .device_type       = CHAN_ID_DEV_TYPE,
        .device_number     = CHAN_ID_DEV_NUM,
        .channel_period    = CHAN_PERIOD,
        .network_number    = ANT_NETWORK_NUM,
    };

    err_code = ant_channel_init(&broadcast_channel_config);
    APP_ERROR_CHECK(err_code);

    const ant_channel_config_t bs_channel_config =
    {
        .channel_number    = RECEIVE_CHANNEL_NUMBER,
        .channel_type      = CHANNEL_TYPE_SLAVE,
        .ext_assign        = EXT_PARAM_ALWAYS_SEARCH,
        .rf_freq           = RF_FREQ,
        .transmission_type = CHAN_ID_TRANS_TYPE,
        .device_type       = CHAN_ID_DEV_TYPE,
        .device_number     = 0x00,              // Wild card
        .channel_period    = 0x00,              // This is not taken into account.
        .network_number    = ANT_NETWORK_NUM,
    };

    const ant_search_config_t bs_search_config =
    {
        .channel_number        = RECEIVE_CHANNEL_NUMBER,
        .low_priority_timeout  = ANT_LOW_PRIORITY_TIMEOUT_DISABLE,
        .high_priority_timeout = ANT_HIGH_PRIORITY_SEARCH_DISABLE,
        .search_sharing_cycles = ANT_SEARCH_SHARING_CYCLES_DISABLE,
        .search_priority       = ANT_SEARCH_PRIORITY_DEFAULT,
        .waveform              = ANT_WAVEFORM_DEFAULT,
    };


    err_code = ant_channel_init(&bs_channel_config);//<ERROR HERE>
    APP_ERROR_CHECK(err_code);

    err_code = ant_search_init(&bs_search_config);
    APP_ERROR_CHECK(err_code);

    // Fill tx buffer for the first frame

    err_code = sd_ant_channel_open(RECEIVE_CHANNEL_NUMBER);
    APP_ERROR_CHECK(err_code);
    // Open channel.
    err_code = sd_ant_channel_open(BROADCAST_CHANNEL_NUMBER);
    APP_ERROR_CHECK(err_code);
}

I really appreciate your help and looking forward to your response.

Best Regards,

Daniel

RE: ANT+ acknowledgement packet send and receive between two nrf52 boards

Kenneth — Tue, 07 Mar 2023 11:08:59 GMT

Hello,

In ANT there are 3 types of communication:

- broadcast (data is sent from a master, but the master don't know if any slave received it), works one to many communication.

- acknowledged (data is sent from master, and the slave will send an ack in reverse direction to acknowledge the reception), only work one to one communication.

-broadcast (send data fast), only work one to one communication.

There will always be transmisson from master to slave, while slave to master is optional. The https://www.thisisant.com/resources/ant-message-protocol-and-usage is a very useful document to read to understand ANT.

There are several ANT example that show various types of communication in the nRF5 SDK:
https://infocenter.nordicsemi.com/topic/sdk_nrf5_v17.1.0/examples_ant.html

If you want to communicate with several slave devices, and rely on data to be received also from the slaves. Then I recommend to setup individual ANT channels between the master and the slave. A master can support several ANT channels.

Kenneth

RE: ANT+ acknowledgement packet send and receive between two nrf52 boards

Simonr — Mon, 06 Mar 2023 09:57:21 GMT

Hi Daniel

Our ANT+ expert is out of office today, but will be back in tomorrow. You can expect a reply tomorrow or Wednesday. Thank you for your patience.

Best regards,

Simon