Comments (7)
avinashGonsalves
commented on August 15, 2024
1
Hi Paul,
I'm seeing states->skew values becoming large, what could be the issue?
I've followed the example code from wcs.c, heres my sample output:
[DBG][dwm1000_tdoa.c:368] Sequence : 24
[DBG][dwm1000_tdoa.c:369] Carrier Integrator : 3157
[DBG][dwm1000_tdoa.c:372] ClockOffsetRatio_1 : -0.0000003675232
[DBG][dwm1000.h:327] Tx-Timestamp: 0x6EA6C60034
[DBG][dwm1000.h:327] Rx-Timestamp: 0x3F4E797D28
[DBG][dwm1000_tdoa.c:468] Autotune xtalt_sos->clk: 16 / 17
[DBG][dwm1000_tdoa.c:514] ClockOffsetRatio_Skew : 0.9999996324768
[DBG][dwm1000_tdoa.c:516] Timescal status: 1, States Skew: 67009910863.9358444213867
[DBG][dwm1000_tdoa.c:530] Timescal status: 0
[DBG][dwm1000_tdoa.c:368] Sequence : 25
[DBG][dwm1000_tdoa.c:369] Carrier Integrator : 690
[DBG][dwm1000_tdoa.c:372] ClockOffsetRatio_1 : -0.0000000803266
[DBG][dwm1000.h:327] Tx-Timestamp: 0x73830E4034
[DBG][dwm1000.h:327] Rx-Timestamp: 0x442AC1D36A
[DBG][dwm1000_tdoa.c:468] Autotune xtalt_sos->clk: 17 / 17
[DBG][dwm1000_tdoa.c:475] Autotune: 18 1
[DBG][dwm1000_tdoa.c:514] ClockOffsetRatio_Skew : 0.9999999196734
[DBG][dwm1000_tdoa.c:516] Timescal status: 1, States Skew: 67076299880.1574935913086
[DBG][dwm1000_tdoa.c:530] Timescal status: 0
[DBG][dwm1000_tdoa.c:368] Sequence : 26
[DBG][dwm1000_tdoa.c:369] Carrier Integrator : 316199
[DBG][dwm1000_tdoa.c:372] ClockOffsetRatio_1 : -0.0000368104083
[DBG][dwm1000.h:327] Tx-Timestamp: 0x785F568034
[DBG][dwm1000.h:327] Rx-Timestamp: 0x4971041B9
[DBG][dwm1000_tdoa.c:468] Autotune xtalt_sos->clk: 18 / 17
[DBG][dwm1000_tdoa.c:514] ClockOffsetRatio_Skew : 0.9999631895880
[DBG][dwm1000_tdoa.c:516] Timescal status: 1, States Skew: 67143803231.9908065795898
[DBG][dwm1000_tdoa.c:530] Timescal status: 0
[ERR][dwm1000_tdoa.c:275] INITATOR: SYNC TX Error!
Code Snippet:
`
#include <timescale/timescale.h>
// 'Model Variance'
#define TIMESCALE_QVAR (double)(128e65123e-20)
// 'Observation Variance'
#define TIMESCALE_RVAR (double)(128e65126e-20)
struct _timescale_instance_t *timescale;
double timescale_skew;
#endif // TIMESCALE_PROCESSING_ENABLED
void dwm1000_tdoa_init()
{
#ifdef FS_XTALT_AUTOTUNE_ENABLED
xtalt_sos = sosfilt_init(NULL, sizeof(g_fs_xtalt_b)/sizeof(float)/BIQUAD_N);
#endif
#ifdef TIMESCALE_PROCESSING_ENABLED
double x0[TIMESCALE_N] = {0};
double q[] = {(TIMESCALE_QVAR) * 1.0, (TIMESCALE_QVAR) * 0.1, (TIMESCALE_QVAR) * 0.01};
// peroid in sec
double T = 1e-6l * SYNC_PERIOD;
timescale = timescale_init(NULL, x0, q, T);
// Ignore X0 values, until we get first event
timescale->status.initialized = 0;
timescale_skew = 1.0f;
#endif
}
void dwm1000_tdoa_sync_rx(TdoaContext *tdoaContext)
{
#ifdef TIMESCALE_PROCESSING_ENABLED
int16_t nT = (int16_t)(tdoaContext->curr_seq_number - tdoaContext->prev_seq_number);
nT = (nT < 0) ? 0x100+nT : nT;
timescale_states_t *states = (timescale_states_t *)(timescale->eke->x);
if(timescale->status.initialized == 0)
{
double skew = (double )dwm1000_calc_clock_offset_ratio(&config, tdoaContext->carrierIntegrator);
states->time = (double)tdoaContext->curr_sync_rx_ts;
states->skew = (1.0l - skew) * ((uint64_t)1 << 16)/1e-6l;
timescale->status.initialized = 1;
sprintf(buffer, "%5.13f", skew);
DEBUG(DWM1000_MODULE, "ClockOffsetRatio_Skew : %s", buffer);
}
else
{
double skew = 1.0l + (double ) dwm1000_calc_clock_offset_ratio(&config, tdoaContext->carrierIntegrator);
double T = 1e-6l * SYNC_PERIOD * nT; // peroid in seconds referenced to master
double q[] = {(TIMESCALE_QVAR) * 1.0, (TIMESCALE_QVAR) * 0.1, (TIMESCALE_QVAR) * 0.01};
double r[] = {(TIMESCALE_RVAR), (TIMESCALE_RVAR) * 1e10};
double z[] = {(double)tdoaContext->curr_sync_rx_ts, skew};
timescale->status.valid = timescale_main(timescale, z, q, r, T).valid;
char buffer[10];
sprintf(buffer, "%5.13f", skew);
DEBUG(DWM1000_MODULE, "ClockOffsetRatio_Skew : %s", buffer);
sprintf(buffer, "%5.13f", states->skew);
DEBUG(DWM1000_MODULE, "Timescal status: %d, States Skew: %s", timescale->status.valid, buffer);
}
timescale->status.valid &= fabs(1.0l - states->skew * (1e-6l/((uint64_t)1 << 16))) < 1e-5;
if (timescale->status.valid)
{
timescale_skew = 1.0l - states->skew * (1e-6l/((uint64_t)1 << 16));
char buffer[10];
sprintf(buffer, "%5.13f", timescale_skew);
DEBUG(DWM1000_MODULE, "Timescal status: %d, skew: %s",timescale->status.valid, buffer);
}
else
{
timescale_skew = 0.0l;
DEBUG(DWM1000_MODULE, "Timescal status: %d",timescale->status.valid);
}
timescale_skew = states->skew * (1e-6l/((uint64_t)1 << 16));
}`
from mynewt-timescale-lib.
pkettle
commented on August 15, 2024
Hi Avinash,
You have two x0 variables in your code. The global x0 is of size TIMESCALE_N while the local is of size 1. Change to;
double x0[TIMESCALE_N] = {0};
It appears you are still using the original API.
timescale_main arg2 is an array[2] of type timescale_observations_t.
typedef struct _timescale_observations_t{
double time; /**< ccp timestamp */
#ifdef TIMESCALE_SKEW_OBSERVATION
double skew; /**< Skew parameter */
#endif
}timescale_observations_t;
....
timescale_status_t timescale_main(timescale_instance_t * inst, double z[], double q[], double r[], double T);
Have a look at the lib/wcs.c for a working example.
from mynewt-timescale-lib.
avinashGonsalves
commented on August 15, 2024
Thanks will check this. From just a unit test point of view was looking for a sample app, just to verify on my platform it works the same.
from mynewt-timescale-lib.
pkettle
commented on August 15, 2024
Hi Avinash,
Can you log the z[] and T that you are passing into the filter? When I reverse engineer your RX timestamp, it does not appear to be periodic. What is your CCP period?
If you have MDEK hardware available you can use the listener example to study what packets are actually transmitted.
from mynewt-timescale-lib.
avinashGonsalves
commented on August 15, 2024
Hi Paul,
My CCP Period is 250ms. But the difference between CCP is about 318ms, i'll debug this:
#define SYNC_PERIOD 250 * 1000 * UUS_TO_DWT_TIME
Here's the logs with T and Z
[DBG][dwm1000_tdoa.c:369] Sequence : 2
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : 16593
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : -0.0000019316794
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 1 / 17
[DBG][dwm1000_tdoa.c:503] ClockOffsetRatio_Skew : -0.0000019316797
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 3
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : 16417
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : -0.0000019111903
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 2 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20875632645.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 36434632030.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 0.999998
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 65612469316.554764
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 4
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : 17010
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : -0.0000019802246
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 3 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20875632855.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 57310264885.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 0.999998
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 65659207170.247154
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 5
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : 16948
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : -0.0000019730069
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 4 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20875633213.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 78185898098.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 0.999998
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 65738466264.917809
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 6
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : 17335
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : -0.0000020180596
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 5 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20875634221.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 99061532319.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 0.999998
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 65799736951.264885
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 7
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : 17224
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : -0.0000020051375
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 6 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20875633802.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 119937166121.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 0.999998
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 65869377314.507225
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 8
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : 17705
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : -0.0000020611333
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 7 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20875634100.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 140812800221.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 0.999998
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 65935393736.349098
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 9
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : 15940
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : -0.0000018556602
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 8 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 25170610386.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 384.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 165983410607.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 0.999998
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 66003426068.628326
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 10
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : 17460
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : -0.0000020326115
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 9 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20875634096.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 186859044703.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 0.999998
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 66069603184.129776
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 11
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : 17428
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : -0.0000020288862
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 10 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20875634120.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 207734678823.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 0.999998
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 66137197934.328621
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 12
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : 17523
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : -0.0000020399457
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 11 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20875634355.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 228610313178.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 0.999998
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 66204093921.033127
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 13
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : 17511
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : -0.0000020385487
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 12 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20875634547.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 249485947725.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 0.999998
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 66271294587.191925
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 14
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : 17456
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : -0.0000020321459
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 13 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20875634686.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 270361582411.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 0.999998
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 66338363901.564163
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 15
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : 17584
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : -0.0000020470470
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 14 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 25170611063.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 384.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 295532193474.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 0.999998
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 66405942649.753387
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 16
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : 17584
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : -0.0000020470470
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 15 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20875634707.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 316407828181.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 0.999998
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 66472315100.653305
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 17
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : 17773
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : -0.0000020690495
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 16 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20875634682.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 337283462863.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 0.999998
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 66539825738.441383
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 18
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : -301037
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : 0.0000350453192
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 17 / 17
[DBG][dwm1000_tdoa.c:476] Autotune: 18 -3
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20875394741.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 358158857604.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 1.000035
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 66606757917.408173
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 20
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : -377652
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : 0.0000439644791
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 18 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 41749360750.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 637.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 32768.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 399908218354.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 1.000044
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 66741039692.150856
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 21
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : -377296
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : 0.0000439230353
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 19 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20874675165.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 420782893519.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 1.000044
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 66808125844.038078
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 22
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : -377163
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : 0.0000439075520
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 20 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20874675500.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 441657569019.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 1.000044
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 66875249352.803909
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 23
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : -377166
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : 0.0000439079013
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 21 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 25169454602.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 384.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 466827023621.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 1.000044
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 66942805217.096390
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[ERR][dwm1000_tdoa.c:276] INITATOR: SYNC TX Error!
[DBG][dwm1000_tdoa.c:369] Sequence : 25
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : -376790
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : 0.0000438641291
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 22 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 41749352351.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 637.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 32768.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 508576375972.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 1.000044
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 67076188158.482002
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 26
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : -376923
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : 0.0000438796123
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 23 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20874676138.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 529451052110.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 1.000044
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 67143793338.320099
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 27
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : -376867
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : 0.0000438730931
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 24 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20874676119.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 550325728229.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 1.000044
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 67210748119.129051
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 28
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : -376953
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : 0.0000438831048
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 25 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 25169455078.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 384.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 575495183307.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 1.000044
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 67278368529.210068
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 29
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : -376633
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : 0.0000438458519
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 26 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20874675930.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 596369859237.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 1.000044
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 67344726185.639336
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 30
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : -376497
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : 0.0000438300194
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 27 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 20874675990.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(100065536) ms : 318.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 617244535227.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 1.000044
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 67412242345.774178
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
[DBG][dwm1000_tdoa.c:369] Sequence : 31
[DBG][dwm1000_tdoa.c:370] Carrier Integrator : -376643
[DBG][dwm1000_tdoa.c:373] ClockOffsetRatio_1 : 0.0000438470161
[DBG][dwm1000_tdoa.c:469] Autotune xtalt_sos->clk: 28 / 17
[DBG][dwm1000_tdoa.c:515] TDIFF RX TS (Curr-Prev) : 25169455476.000000
[DBG][dwm1000_tdoa.c:517] TDIFF RX TS (Curr-Prev)/(1000*65536) ms : 384.000000
[DBG][dwm1000_tdoa.c:519] T or CCP_PERIOD : 16384.000000
[DBG][dwm1000_tdoa.c:521] z[0] or rx_ts : 642413990703.000000
[DBG][dwm1000_tdoa.c:523] z[1] or skew : 1.000044
[DBG][dwm1000_tdoa.c:525] Timescal status: 1, States Skew: 67479625150.183701
[DBG][dwm1000_tdoa.c:539] Timescal status: 0
from mynewt-timescale-lib.
avinashGonsalves
commented on August 15, 2024
Hello Paul, were you able to take a look at my logs and decipher anything? Anything else you would like me to collect, do let me know. Thanks
from mynewt-timescale-lib.
pkettle
commented on August 15, 2024
Thread has moved to email. It is now beyond the scope of this Mynewt repo.
from mynewt-timescale-lib.
Related Issues (7)
- libtimescale_core.a will this be opensourced in the future? HOT 6
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- libtimescale_core.a for ESP32 HOT 2
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from mynewt-timescale-lib.