fix(esp_wifi): Enable FTM for ESP32C2, fix other FTM issues

Enable FTM for ESP32C2 and update wifi libs with below fixes -

1. Bugfixes in Initiator and Responder mode
2. Fix wrong RTT value in first FTM procedure without connection
3. Update FTM calibration values for ESP32S2, S3, C3 and C2
4. Update distance estimation logic
5. Add some useful command parameters in FTM example
6. Fix bug when number of FTM measurement frames received is more
   than (number_of_brusts * FTMs per brust).

Co-authored-by: Sarvesh Bodakhe <sarvesh.bodakhe@espressif.com>

components/soc/esp32c2/include/soc/Kconfig.soc_caps.in

@@ -635,6 +635,10 @@ config SOC_WIFI_HW_TSF
     bool
     default y
 
+config SOC_WIFI_FTM_SUPPORT
+    bool
+    default y
+
 config SOC_WIFI_SUPPORT_VARIABLE_BEACON_WINDOW
     bool
     default y

components/soc/esp32c2/include/soc/soc_caps.h

@@ -299,6 +299,7 @@
 
 /*------------------------------------ WI-FI CAPS ------------------------------------*/
 #define SOC_WIFI_HW_TSF                           (1)    /*!< Support hardware TSF */
+#define SOC_WIFI_FTM_SUPPORT                      (1)    /*!< Support FTM */
 #define SOC_WIFI_SUPPORT_VARIABLE_BEACON_WINDOW   (1)    /*!< Support delta early time for rf phy on/off */
 
 /*---------------------------------- Bluetooth CAPS ----------------------------------*/

components/soc/esp32c6/include/soc/Kconfig.soc_caps.in

@@ -1213,7 +1213,7 @@ config SOC_WIFI_HW_TSF
 
 config SOC_WIFI_FTM_SUPPORT
     bool
-    default y
+    default n
 
 config SOC_WIFI_GCMP_SUPPORT
     bool

components/soc/esp32c6/include/soc/soc_caps.h

@@ -501,7 +501,7 @@
 
 /*------------------------------------ WI-FI CAPS ------------------------------------*/
 #define SOC_WIFI_HW_TSF                     (1)    /*!< Support hardware TSF */
-#define SOC_WIFI_FTM_SUPPORT                (1)    /*!< Support FTM */
+#define SOC_WIFI_FTM_SUPPORT                (0)    /*!< Support FTM */
 #define SOC_WIFI_GCMP_SUPPORT               (1)    /*!< Support GCMP(GCMP128 and GCMP256) */
 #define SOC_WIFI_WAPI_SUPPORT               (1)    /*!< Support WAPI */
 #define SOC_WIFI_CSI_SUPPORT                (1)    /*!< Support CSI */

examples/wifi/.build-test-rules.yml

@@ -5,10 +5,9 @@ examples/wifi:
     - if: SOC_WIFI_SUPPORTED != 1
 
 examples/wifi/ftm:
-  enable:
+  disable:
-    - if: IDF_TARGET in ["esp32c3", "esp32s2", "esp32s3"]
+    - if: SOC_WIFI_FTM_SUPPORT != 1
-      temporary: true
+      reason: requires hardware support
-      reason: the other targets are not tested yet
 
 examples/wifi/getting_started:
   disable:

examples/wifi/ftm/README.md

@@ -1,5 +1,5 @@
-| Supported Targets | ESP32-C3 | ESP32-S2 | ESP32-S3 |
+| Supported Targets | ESP32-C2 | ESP32-C3 | ESP32-S2 | ESP32-S3 |
-| ----------------- | -------- | -------- | -------- |
+| ----------------- | -------- | -------- | -------- | -------- |
 
 # FTM Example
 
@@ -43,6 +43,7 @@ ftm>
 ```
 
 Use `help` to get a list of available commands and options. Use `scan` command to scan for AP's that support FTM Responder mode. Before initiating FTM with an external AP, make sure that `FTM Responder` tag is visible in the respective scan result entry. Alternatively, start SoftAP on another device using `ap` command, it supports FTM Responder by default. If external FTM Initiators get a large error in distance readings with the SoftAP, note down the reading at zero distance in centimeters, say `cm0`. This distance can be offset using command `ftm -R -o <cm0>` to give accurate readings with the Initiator.
+It is recommended to keep SoftAP bandwidth at 20MHz as it gives more accurate results.
 
 ```bash
 ftm> scan

examples/wifi/ftm/main/ftm_main.c

@@ -26,8 +26,17 @@
 typedef struct {
     struct arg_str *ssid;
     struct arg_str *password;
+    struct arg_lit *disconnect;
     struct arg_end *end;
-} wifi_args_t;
+} wifi_sta_args_t;
+
+typedef struct {
+    struct arg_str *ssid;
+    struct arg_str *password;
+    struct arg_int *channel;
+    struct arg_int *bandwidth;
+    struct arg_end *end;
+} wifi_ap_args_t;
 
 typedef struct {
     struct arg_str *ssid;
@@ -48,8 +57,8 @@ typedef struct {
     struct arg_end *end;
 } wifi_ftm_args_t;
 
-static wifi_args_t sta_args;
+static wifi_sta_args_t sta_args;
-static wifi_args_t ap_args;
+static wifi_ap_args_t ap_args;
 static wifi_scan_arg_t scan_args;
 static wifi_ftm_args_t ftm_args;
 
@@ -61,6 +70,8 @@ wifi_config_t g_ap_config = {
 
 #define ETH_ALEN 6
 #define MAX_CONNECT_RETRY_ATTEMPTS  5
+#define DEFAULT_AP_CHANNEL      1
+#define DEFAULT_AP_BANDWIDTH    20
 
 static bool s_reconnect = true;
 static int s_retry_num = 0;
@@ -124,11 +135,11 @@ static void event_handler(void *arg, esp_event_base_t event_base,
     } else if (event_id == WIFI_EVENT_FTM_REPORT) {
         wifi_event_ftm_report_t *event = (wifi_event_ftm_report_t *) event_data;
 
-        if (event->status == FTM_STATUS_SUCCESS) {
         s_rtt_est = event->rtt_est;
         s_dist_est = event->dist_est;
         s_ftm_report = event->ftm_report_data;
         s_ftm_report_num_entries = event->ftm_report_num_entries;
+        if (event->status == FTM_STATUS_SUCCESS) {
             xEventGroupSetBits(s_ftm_event_group, FTM_REPORT_BIT);
         } else {
             ESP_LOGI(TAG_STA, "FTM procedure with Peer("MACSTR") failed! (Status - %d)",
@@ -147,6 +158,9 @@ static void ftm_process_report(void)
     int i;
     char *log = NULL;
 
+    if (s_ftm_report_num_entries == 0)
+        return;
+
     if (!g_report_lvl)
         return;
 
@@ -170,7 +184,10 @@ static void ftm_process_report(void)
             log_ptr += sprintf(log_ptr, "%6d|", s_ftm_report[i].dlog_token);
         }
         if (g_report_lvl & BIT1) {
-            log_ptr += sprintf(log_ptr, "%7" PRIu32 "  |", s_ftm_report[i].rtt);
+            if (s_ftm_report[i].rtt != UINT32_MAX)
+                log_ptr += sprintf(log_ptr, "%7" PRIi32 "  |", s_ftm_report[i].rtt);
+            else
+                log_ptr += sprintf(log_ptr, " INVALID |");
         }
         if (g_report_lvl & BIT2) {
             log_ptr += sprintf(log_ptr, "%14llu  |%14llu  |%14llu  |%14llu  |", s_ftm_report[i].t1,
@@ -250,6 +267,13 @@ static int wifi_cmd_sta(int argc, char **argv)
         arg_print_errors(stderr, sta_args.end, argv[0]);
         return 1;
     }
+    if (sta_args.disconnect->count) {
+        s_reconnect = false;
+        xEventGroupClearBits(s_wifi_event_group, CONNECTED_BIT);
+        esp_wifi_disconnect();
+        xEventGroupWaitBits(s_wifi_event_group, DISCONNECTED_BIT, 0, 1, portTICK_PERIOD_MS);
+        return 0;
+    }
 
     ESP_LOGI(TAG_STA, "sta connecting to '%s'", sta_args.ssid->sval[0]);
     wifi_cmd_sta_join(sta_args.ssid->sval[0], sta_args.password->sval[0]);
@@ -315,7 +339,7 @@ static int wifi_cmd_scan(int argc, char **argv)
     return 0;
 }
 
-static bool wifi_cmd_ap_set(const char* ssid, const char* pass)
+static bool wifi_cmd_ap_set(const char* ssid, const char* pass, uint8_t channel, uint8_t bw)
 {
     s_reconnect = false;
     strlcpy((char*) g_ap_config.ap.ssid, ssid, MAX_SSID_LEN);
@@ -327,13 +351,29 @@ static bool wifi_cmd_ap_set(const char* ssid, const char* pass)
         }
         strlcpy((char*) g_ap_config.ap.password, pass, MAX_PASSPHRASE_LEN);
     }
+    if (!(channel >=1 && channel <= 14)) {
+        ESP_LOGE(TAG_AP, "Channel cannot be %d!", channel);
+        return false;
+    }
+    if (bw != 20 && bw != 40) {
+        ESP_LOGE(TAG_AP, "Cannot set %d MHz bandwidth!", bw);
+        return false;
+    }
 
     if (strlen(pass) == 0) {
         g_ap_config.ap.authmode = WIFI_AUTH_OPEN;
     }
-
+    g_ap_config.ap.channel = channel;
     ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_AP));
     ESP_ERROR_CHECK(esp_wifi_set_config(ESP_IF_WIFI_AP, &g_ap_config));
+    if (bw == 40) {
+        esp_wifi_set_bandwidth(ESP_IF_WIFI_AP, WIFI_BW_HT40);
+    } else {
+        esp_wifi_set_bandwidth(ESP_IF_WIFI_AP, WIFI_BW_HT20);
+    }
+    ESP_LOGI(TAG_AP, "Starting SoftAP with FTM Responder support, SSID - %s, Password - %s, Primary Channel - %d, Bandwidth - %dMHz",
+                        ap_args.ssid->sval[0], ap_args.password->sval[0], channel, bw);
+
     return true;
 }
 
@@ -346,10 +386,12 @@ static int wifi_cmd_ap(int argc, char** argv)
         return 1;
     }
 
-    if (true == wifi_cmd_ap_set(ap_args.ssid->sval[0], ap_args.password->sval[0]))
+    if (!wifi_cmd_ap_set(ap_args.ssid->sval[0], ap_args.password->sval[0],
-        ESP_LOGI(TAG_AP, "Starting SoftAP with FTM Responder support, SSID - %s, Password - %s", ap_args.ssid->sval[0], ap_args.password->sval[0]);
+                                ap_args.channel->count != 0 ? ap_args.channel->ival[0] : DEFAULT_AP_CHANNEL,
-    else
+                                ap_args.bandwidth->count != 0 ? ap_args.bandwidth->ival[0] : DEFAULT_AP_BANDWIDTH)) {
         ESP_LOGE(TAG_AP, "Failed to start SoftAP!");
+        return 1;
+    }
 
     return 0;
 }
@@ -486,11 +528,11 @@ static int wifi_cmd_ftm(int argc, char **argv)
     bits = xEventGroupWaitBits(s_ftm_event_group, FTM_REPORT_BIT | FTM_FAILURE_BIT,
                                            pdTRUE, pdFALSE, portMAX_DELAY);
     /* Processing data from FTM session */
-    if (bits & FTM_REPORT_BIT) {
     ftm_process_report();
     free(s_ftm_report);
     s_ftm_report = NULL;
     s_ftm_report_num_entries = 0;
+    if (bits & FTM_REPORT_BIT) {
         ESP_LOGI(TAG_STA, "Estimated RTT - %" PRId32 " nSec, Estimated Distance - %" PRId32 ".%02" PRId32 " meters",
                           s_rtt_est, s_dist_est / 100, s_dist_est % 100);
     } else {
@@ -533,8 +575,9 @@ ftm_responder:
 
 void register_wifi(void)
 {
-    sta_args.ssid = arg_str1(NULL, NULL, "<ssid>", "SSID of AP");
+    sta_args.ssid = arg_str0(NULL, NULL, "<ssid>", "SSID of AP");
     sta_args.password = arg_str0(NULL, NULL, "<pass>", "password of AP");
+    sta_args.disconnect = arg_lit0("d", "disconnect", "Disconnect from the connected AP");
     sta_args.end = arg_end(2);
 
     const esp_console_cmd_t sta_cmd = {
@@ -547,8 +590,10 @@ void register_wifi(void)
 
     ESP_ERROR_CHECK( esp_console_cmd_register(&sta_cmd) );
 
-    ap_args.ssid = arg_str1(NULL, NULL, "<ssid>", "SSID of AP");
+    ap_args.ssid = arg_str0(NULL, NULL, "<ssid>", "SSID of AP");
     ap_args.password = arg_str0(NULL, NULL, "<pass>", "password of AP");
+    ap_args.channel = arg_int0("c", "channel", "<1-11>", "Primary channel of AP");
+    ap_args.bandwidth = arg_int0("b", "bandwidth", "<20/40>", "Channel bandwidth");
     ap_args.end = arg_end(2);
 
     const esp_console_cmd_t ap_cmd = {
@@ -640,16 +685,20 @@ void app_main(void)
     register_system();
     register_wifi();
 
-    printf("\n ==========================================================\n");
+    printf("\n ===============================================================\n");
-    printf(" |                      Steps to test FTM                 |\n");
+    printf(" |                  Steps to test FTM Initiator                 |\n");
     printf(" |                                                              |\n");
-    printf(" |  1. Use 'help' for detailed information on parameters  |\n");
+    printf(" |  1. Use 'scan' command to scan AP's. In results, check AP's  |\n");
-    printf(" |  2. Start SoftAP with command 'ap <SSID> <password>'   |\n");
+    printf(" |     with tag '[FTM Responder]' for supported AP's            |\n");
-    printf(" |                          OR                            |\n");
+    printf(" |  2. Optionally connect to the AP with 'sta <SSID> <password>'|\n");
-    printf(" |  2. Use 'scan' command to search for external AP's     |\n");
+    printf(" |  3. Initiate FTM with 'ftm -I -s <SSID>'                     |\n");
-    printf(" |  3. On second device initiate FTM with an AP using     |\n");
+    printf(" |______________________________________________________________|\n");
-    printf(" |     command 'ftm -I -s <SSID>'                         |\n");
+    printf(" |                  Steps to test FTM Responder                 |\n");
-    printf(" ==========================================================\n\n");
+    printf(" |                                                              |\n");
+    printf(" |  1. Start SoftAP with command 'ap <SSID> <password>'         |\n");
+    printf(" |  2. Optionally add '-c <ch>' to set channel, '-b 40' for 40M |\n");
+    printf(" |  3. Use 'help' for detailed information for all parameters   |\n");
+    printf(" ================================================================\n\n");
 
     // start console REPL
     ESP_ERROR_CHECK(esp_console_start_repl(repl));