esp-idf: ESP32-S3 FTM fails with external station when c > 8 (IDFGH-7396)

Environment

Development Kit: [ESP32-S3-USG-OTG]
Module or chip used: [ESP32-S3]
IDF version (run git describe --tags to find it): // v4.4.1
Build System: [idf.py]
Compiler version (run xtensa-esp32-elf-gcc --version to find it): // xtensa-esp32s3-elf-gcc (crosstool-NG esp-2021r2-patch3) 8.4.0
Operating System: [macOS]
(Windows only) environment type: [MSYS2 mingw32|ESP Command Prompt|Plain Command Prompt|PowerShell].
Using an IDE?: VSCode
Power Supply: [USB]

Problem Description

ESP32-S3 cannot measure distance to external Google Nest Router (router works with WifiRttScan).

Expected Behavior

It should work

Actual Behavior

ftm> ftm -I -s testap -c 16 -p 100
I (415570) ftm_station: Requesting FTM session with Frm Count - 16, Burst Period - 10000mSec (0: No Preference)
W (415580) wifi:Starting FTM session with xx:xx:xx:xx:xx in 0.200 Sec
W (415580) wifi:Mode: non-ASAP, Bursts: 2, FTM's per burst: 8, Burst Period: 9900mSec, Burst Duration: 32000uSec
E (415780) wifi:No valid FTM Measurements found!
I (415780) ftm_station: FTM procedure with Peer(xx:xx:xx:xx:xx) failed! (Status - 4)

Steps to reproduce

use latest ftm demo from esp-idf
patch the console to use USB-JTAG console
compile flash and monitor
type above command
fail

// If possible, attach a picture of your setup/wiring here.

Code to reproduce this issue

need to patch the console according to https://github.com/espressif/esp-idf/commit/3390d2a2d18c289b0b1e1cf121bf6670099641db

Debug Logs

ftm> ftm -I -s testHotspotname
I (76377) ftm_station: Requesting FTM session with Frm Count - 32, Burst Period - 200mSec (0: No Preference)
V (76377) esp_adapter: thread sem get: sem=0x3fcecc4c
W (76387) wifi:Starting FTM session with xxxxxxxx in 0.200 Sec
W (76387) wifi:Mode: non-ASAP, Bursts: 8, FTM's per burst: 4, Burst Period: 900mSec, Burst Duration: 32000uSec
E (76587) wifi:No valid FTM Measurements found!
D (76587) event: running post WIFI_EVENT:17 with handler 0x420063f0 and context 0x3fcea76c on loop 0x3fce1fc0

Other items if possible

sdkconfig file (attach the sdkconfig file from your project folder) sdkconfig.gz
elf file in the build folder (note this may contain all the code details and symbols of your project.) ftm.elf.gz
coredump (This provides stacks of tasks.)

About this issue

Original URL
State: closed
Created 2 years ago
Reactions: 2
Comments: 18 (2 by maintainers)

Most upvoted comments

Some RTT observation:

in my tests, using ftm example, there is about +52m offset
when initiator connects to responder, then offset is +40m
when initiator disconnect from responder, then offset is around 64.5m until AP is reinitiated on responder, then offset get back to previous values (worth to see whats going on when responder lose connection)

board: esp32 S3 - wroom -1U devkit (Chip is ESP32-S3 (revision v0.1)) esp-idf: d29e53dc0c59d1b1b01c5e2c3ca1b22113828587

When responder is esp32S2 then offset is much lower (few cm away):

I (250995) ftm_station: Estimated RTT - 236 nSec, Estimated Distance - 35.40 meters - disconnected mode
ftm> sta esp
I (288199) ftm_station: Estimated RTT - 149 nSec, Estimated Distance - 22.40 meters - connected to responder mode

When initiator and responder, both are esp32 S2 then i see no distance offset.

@igrr @suda-morris

Thanks

chegewara on Feb 6, 2023

I have the same issue.

rgrunbla on Feb 21, 2023

Hi, i believe this is still a problem. “wifi->ftm” example on 2x esp32 S3 most the time is returning status == 4 (FAIL)

ftm> ftm -I
I (379281) ftm_station: Requesting FTM session with Frm Count - 32, Burst Period - 200mSec (0: No Preference)
I (379781) ftm_station: FTM procedure with Peer(1e:cf:24:b2:82:e0) failed! (Status - 2)
ftm> ftm -I -s espTest
I (392991) ftm_station: Requesting FTM session with Frm Count - 32, Burst Period - 200mSec (0: No Preference)
W (392991) wifi:Starting FTM session with 7c:df:a1:e8:05:ed in 0.084 Sec
W (393011) wifi:Mode: non-ASAP, Bursts: 8, FTM's per burst: 4, Burst Period: 200mSec, Burst Duration: 32000uSec
E (394521) wifi:No valid FTM Measurements found!
I (394521) ftm_station: FTM procedure with Peer(7c:df:a1:e8:05:ed) failed! (Status - 4)
ftm> ftm -I -s espTest
I (425721) ftm_station: Requesting FTM session with Frm Count - 32, Burst Period - 200mSec (0: No Preference)
W (425721) wifi:Starting FTM session with 7c:df:a1:e8:05:ed in 0.020 Sec
W (425731) wifi:Mode: non-ASAP, Bursts: 8, FTM's per burst: 4, Burst Period: 200mSec, Burst Duration: 32000uSec
W (427181) wifi:FTM session ends with 1 valid readings out of 31, Avg raw RTT: 481.250 nSec, Avg RSSI: -21
I (427181) ftm_station: FTM Report:
I (427181) ftm_station: | Diag |   RTT   |       T1       |       T2       |       T3       |       T4       |  RSSI  |
I (427191) ftm_station: |    26| 481250  | 5280411673437  | 3957497960937  | 3957615545312  | 5280529739062  |   -21  |
I (427201) ftm_station: Estimated RTT - 348 nSec, Estimated Distance - 52.30 meters
ftm> ftm -I -s espTest
I (450861) ftm_station: Requesting FTM session with Frm Count - 32, Burst Period - 200mSec (0: No Preference)
W (450871) wifi:Starting FTM session with 7c:df:a1:e8:05:ed in 0.069 Sec
W (450881) wifi:Mode: non-ASAP, Bursts: 8, FTM's per burst: 4, Burst Period: 200mSec, Burst Duration: 32000uSec
E (452371) wifi:No valid FTM Measurements found!
I (452371) ftm_station: FTM procedure with Peer(7c:df:a1:e8:05:ed) failed! (Status - 4)
ftm> ftm -I -s espTest
I (461831) ftm_station: Requesting FTM session with Frm Count - 32, Burst Period - 200mSec (0: No Preference)
W (461831) wifi:Starting FTM session with 7c:df:a1:e8:05:ed in 0.058 Sec
W (461851) wifi:Mode: non-ASAP, Bursts: 8, FTM's per burst: 4, Burst Period: 200mSec, Burst Duration: 32000uSec
E (463331) wifi:No valid FTM Measurements found!
I (463331) ftm_station: FTM procedure with Peer(7c:df:a1:e8:05:ed) failed! (Status - 4)

and with -c 8 it return success all the time.

I dont want to open new issue, yet, but the result is offset by around 50+ meters. Devices about 10-20cm from each other:

ftm_station: Estimated RTT - 348 nSec, Estimated Distance - 52.30 meters

the same test with +/-14 meters away (multiple tests, the same distance):

ftm_station: Estimated RTT - 506 nSec, Estimated Distance - 75.90 meters
...
ftm_station: Estimated RTT - 402 nSec, Estimated Distance - 60.40 meters

I tested with this commit, but i can try to update if needed: commit a634aa520908e93fdf0397cbf9e394aa6cca6f0b

Thanks

chegewara on Feb 4, 2023