Customising distance measurement using NDT

Today I'm working on distance measurement using NDT. I have the example code running (on two Thingy:91s). My next step will be to optimise the code so that rather than running identical code on both devices, I will have one (mobile) device where power consumption is important and a second (fixed) device where it's less of an issue. I would like the mobile device not to scan for advertisements; looking at this https://developer.nordicsemi.com/nRF_Connect_SDK/doc/2.3.0/nrf/samples/bluetooth/nrf_dm/README.html it seems that it should be possible, but if I just disable scanning on the mobile device then I don't get any distance measurements at all. I can't immediately see why that is.

Can you please confirm whether distance measurement is possible with only one device scanning, and if so how I should modify the example to do this.

Thanks,

Frog

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0 Frog over 1 year ago in reply to Amanda Hsieh

Thanks Amanda, that's much appreciated. I've been diverted to another task for a few days but will get back to this in due course.
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0 AlexVrubel 4 months ago in reply to Amanda Hsieh

Hello, I tried your code and this works.
But when I took much more devices (15 ps) in mode WithoutScanning and only one device WithScanning, I get most of ranging with error:

Timeslot allocation failed (err -16)

Here you can see full log (with some of my custom logs):

Fullscreen 2543.log.txt Download

m_first_element_index: 33, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=-0.38
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 48 e1 7a bf; timestamp: 91302; m_curr_index: 33
m_first_element_index: 34, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=-0.98
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 ea 26 d1 bf; timestamp: 91627; m_curr_index: 34
m_first_element_index: 35, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=-1.63
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 e6 98 9e 3f; timestamp: 94246; m_curr_index: 35
m_first_element_index: 36, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=1.24
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 1f 3a c6 be; timestamp: 96229; m_curr_index: 36
m_first_element_index: 37, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=-0.39

save result: 5e 30 a9 bb 7d d3 9e fe 08 be; timestamp: 96339; m_curr_index: 37
m_first_element_index: 38, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=-0.13
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 d8 a3 f0 be; timestamp: 99281; m_curr_index: 38
m_first_element_index: 39, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=-0.47
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 6f 12 03 3c; timestamp: 100013; m_curr_index: 39
m_first_element_index: 0, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=0.01

save result: 5e 30 a9 bb 7d d3 c9 76 3e 3f; timestamp: 100120; m_curr_index: 0
m_first_element_index: 1, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=0.74
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 96 43 0b 3e; timestamp: 100427; m_curr_index: 1
m_first_element_index: 2, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=0.14
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 15 ae c7 3e; timestamp: 101396; m_curr_index: 2
m_first_element_index: 3, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=0.39
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 9e ef 67 3f; timestamp: 101801; m_curr_index: 3
m_first_element_index: 4, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=0.91
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 9e ef 67 3f; timestamp: 104442; m_curr_index: 4
m_first_element_index: 5, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=0.91
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)

save result: 5e 30 a9 bb 7d d3 69 91 ed bd; timestamp: 105592; m_curr_index: 5
m_first_element_index: 6, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=-0.12

save result: 5e 30 a9 bb 7d d3 bc 74 b3 3f; timestamp: 105700; m_curr_index: 6
m_first_element_index: 7, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=1.40
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 58 39 b4 3c; timestamp: 109484; m_curr_index: 7
m_first_element_index: 8, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=0.02
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 df d7 04 3f; timestamp: 110323; m_curr_index: 8
m_first_element_index: 9, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=0.52
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 9d c4 60 3f; timestamp: 110743; m_curr_index: 9
m_first_element_index: 10, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=0.88
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 b7 5c 65 bf; timestamp: 111460; m_curr_index: 10
m_first_element_index: 11, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=-0.90
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 48 e1 fa be; timestamp: 112616; m_curr_index: 11
m_first_element_index: 12, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=-0.49
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 86 a0 ec be; timestamp: 113037; m_curr_index: 12
m_first_element_index: 13, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=-0.46
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 9c c4 80 3f; timestamp: 113139; m_curr_index: 13
m_first_element_index: 14, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=1.01
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 72 1e fa be; timestamp: 113866; m_curr_index: 14
m_first_element_index: 15, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=-0.49
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 0b d7 83 3f; timestamp: 114399; m_curr_index: 15
m_first_element_index: 16, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=1.03
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 02 2b 07 3e; timestamp: 115550; m_curr_index: 16
m_first_element_index: 17, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=0.13
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 13 83 00 bf; timestamp: 117528; m_curr_index: 17
m_first_element_index: 18, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=-0.50
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 0d 2f 8e 3e; timestamp: 122441; m_curr_index: 18
m_first_element_index: 19, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=0.28
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 0b d7 83 3f; timestamp: 124840; m_curr_index: 19
m_first_element_index: 20, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=1.03
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 c5 20 b0 bd; timestamp: 126823; m_curr_index: 20
m_first_element_index: 21, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=-0.09
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 67 66 66 bf; timestamp: 127240; m_curr_index: 21
m_first_element_index: 22, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=-0.90
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 46 b6 33 3f; timestamp: 136181; m_curr_index: 22
m_first_element_index: 23, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=0.70
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Ranging failed (nrf_dm status: 1)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 77 be 9f bf; timestamp: 136793; m_curr_index: 23
m_first_element_index: 24, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=-1.25
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

save result: 5e 30 a9 bb 7d d3 ae 1b 8c bf; timestamp: 136901; m_curr_index: 24
m_first_element_index: 25, m_dm_result_array_size: 40
Measurement result:
        Addr: D3:7D:BB:A9:30:5E (random)
        Quality: ok
        Distance estimates: rtt: rtt=-1.09
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)
D: Timeslot allocation failed (err -16)

I get:

- 33 Measurement result

- 22 Ranging failed (nrf_dm status: 1)

- 772 Timeslot allocation failed (err -16)

So, I find some configs, by default:

CONFIG_DM_INITIATOR_DELAY_US=1000
CONFIG_DM_MIN_TIME_BETWEEN_TIMESLOTS_US=8000
CONFIG_DM_TIMESLOT_QUEUE_LENGTH=40
CONFIG_DM_TIMESLOT_QUEUE_COUNT_SAME_PEER=10
CONFIG_DM_TIMESLOT_RESCHEDULE=n
CONFIG_DM_RANGING_OFFSET_US=1200000

My full config file:

7360.prj.conf

Add also, that devices works in DM_RANGING_MODE_RTT mode.

So, the question is what should I change to have better results?

0 Amanda Hsieh 4 months ago in reply to AlexVrubel

It's handled by this case NrfConnect SDK nrf_dm example with dedicated roles with several Reflectors and one Initiator degrades with time
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