Add FTM support and examples (#5272)

Rework of #5266 by @pedrominatel

libraries/WiFi/examples/FTM/FTM_Initiator/FTM_Initiator.ino

@@ -0,0 +1,90 @@
+/* Wi-Fi FTM Initiator Arduino Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
+#include "WiFi.h"
+
+/*
+   THIS FEATURE IS SUPPORTED ONLY BY ESP32-S2 AND ESP32-C3
+*/
+
+// Change the SSID and PASSWORD here if needed
+const char * WIFI_FTM_SSID = "WiFi_FTM_Responder"; // SSID of AP that has FTM Enabled
+const char * WIFI_FTM_PASS = "ftm_responder"; // STA Password
+
+// FTM settings
+// Number of FTM frames requested in terms of 4 or 8 bursts (allowed values - 0 (No pref), 16, 24, 32, 64)
+const uint8_t FTM_FRAME_COUNT = 16;
+// Requested time period between consecutive FTM bursts in 100’s of milliseconds (allowed values - 0 (No pref) or 2-255)
+const uint16_t FTM_BURST_PERIOD = 2;
+
+// Semaphore to signal when FTM Report has been received
+xSemaphoreHandle ftmSemaphore;
+// Status of the received FTM Report
+bool ftmSuccess = true;
+
+// FTM report handler with the calculated data from the round trip
+void onFtmReport(arduino_event_t *event) {
+  const char * status_str[5] = {"SUCCESS", "UNSUPPORTED", "CONF_REJECTED", "NO_RESPONSE", "FAIL"};
+  wifi_event_ftm_report_t * report = &event->event_info.wifi_ftm_report;
+  // Set the global report status
+  ftmSuccess = report->status == FTM_STATUS_SUCCESS;
+  if (ftmSuccess) {
+    // The estimated distance in meters may vary depending on some factors (see README file)
+    Serial.printf("FTM Estimate: Distance: %.2f m, Return Time: %u ns\n", (float)report->dist_est / 100.0, report->rtt_est);
+    // Pointer to FTM Report with multiple entries, should be freed after use
+    free(report->ftm_report_data);
+  } else {
+    Serial.print("FTM Error: ");
+    Serial.println(status_str[report->status]);
+  }
+  // Signal that report is received
+  xSemaphoreGive(ftmSemaphore);
+}
+
+// Initiate FTM Session and wait for FTM Report
+bool getFtmReport(){
+  if(!WiFi.initiateFTM(FTM_FRAME_COUNT, FTM_BURST_PERIOD)){
+    Serial.println("FTM Error: Initiate Session Failed");
+    return false;
+  }
+  // Wait for signal that report is received and return true if status was success
+  return xSemaphoreTake(ftmSemaphore, portMAX_DELAY) == pdPASS && ftmSuccess;
+}
+
+void setup() {
+  Serial.begin(115200);
+
+  // Create binary semaphore (initialized taken and can be taken/given from any thread/ISR)
+  ftmSemaphore = xSemaphoreCreateBinary();
+  
+  // Listen for FTM Report events
+  WiFi.onEvent(onFtmReport, ARDUINO_EVENT_WIFI_FTM_REPORT);
+  
+  // Connect to AP that has FTM Enabled
+  Serial.println("Connecting to FTM Responder");
+  WiFi.begin(WIFI_FTM_SSID, WIFI_FTM_PASS);
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(500);
+    Serial.print(".");
+  }
+  Serial.println("");
+  Serial.println("WiFi Connected");
+
+  Serial.print("Initiating FTM session with Frame Count ");
+  Serial.print(FTM_FRAME_COUNT);
+  Serial.print(" and Burst Period ");
+  Serial.print(FTM_BURST_PERIOD * 100);
+  Serial.println(" ms");
+
+  // Request FTM reports until one fails
+  while(getFtmReport());
+}
+
+void loop() {
+  delay(1000);
+}

libraries/WiFi/examples/FTM/FTM_Initiator/README.md

@@ -0,0 +1,110 @@
+# Wi-Fi FTM Initiator Arduino Example
+
+This example demonstrates how to use the Fine Timing Measurement (FTM) to calculate the distace from the Access Point and the device. This is calculated by the Wi-Fi Round Trip Time (Wi-Fi RTT) introduced on the [IEEE Std 802.11-2016](https://en.wikipedia.org/wiki/IEEE_802.11mc) standard.
+
+This example was based on the [ESP-IDF FTM](https://github.com/espressif/esp-idf/tree/master/examples/wifi/ftm). See the README file for more details about on how to use this feature.
+
+Some usages for this feature includes:
+
+* Indoor positioning systems.
+* Navigation.
+* Device Location.
+* Smart Devices.
+* Alarms.
+
+# Supported Targets
+
+Currently, this example supports the following targets:
+
+| Supported Targets | ESP32-S2 | ESP32-C3 |
+| ----------------- | -------- | -------- |
+
+## How to Use Example
+
+In order to use the FTM, you will need a Responder or Wi-Fi router with FTM capabilities. If you don't own one, you can use a second ESP32-S2 or ESP32-C3 to simulate one.
+See the **Responder** example to prepare the environment.
+
+* How to install the Arduino IDE: [Install Arduino IDE](https://github.com/espressif/arduino-esp32/tree/master/docs/arduino-ide).
+
+### Configure the Project
+
+To configure this project, you can change the following configuration related to FTM feature:
+
+```c
+// Change the SSID and PASSWORD here if needed
+const char * WIFI_FTM_SSID = "WiFi_FTM_Responder"; // SSID of AP that has FTM Enabled
+const char * WIFI_FTM_PASS = "ftm_responder"; // STA Password
+
+// FTM settings
+// Number of FTM frames requested in terms of 4 or 8 bursts (allowed values - 0 (No pref), 16, 24, 32, 64)
+const uint8_t FTM_FRAME_COUNT = 16;
+// Requested time period between consecutive FTM bursts in 100’s of milliseconds (allowed values - 0 (No pref) or 2-255)
+const uint16_t FTM_BURST_PERIOD = 2;
+```
+
+* Change the Wi-Fi `SSID` and `PASSWORD` as the same as the Responder/Router.
+* Change `FTM_FRAME_COUNT` with the number of frames requested to the Responder.
+* Change `FTM_BURST_PERIOD` with the time between each FTM burst.
+
+To see more details about FTM, please see the [ESP-IDF docs](https://docs.espressif.com/projects/esp-idf/en/latest/esp32s2/api-reference/network/esp_wifi.html).
+
+#### Using Arduino IDE
+
+To get more information about the Espressif boards see [Espressif Development Kits](https://www.espressif.com/en/products/devkits).
+
+* Before Compile/Verify, select the correct board: `Tools -> Board`.
+* Select the COM port: `Tools -> Port: xxx` where the `xxx` is the detected COM port.
+
+#### Using Platform IO
+
+* Select the COM port: `Devices` or setting the `upload_port` option on the `platformio.ini` file.
+
+## Log Output
+
+Expected log output:
+
+```
+ESP-ROM:esp32s2-rc4-20191025
+Build:Oct 25 2019
+rst:0x1 (POWERON),boot:0x8 (SPI_FAST_FLASH_BOOT)
+SPIWP:0xee
+mode:DIO, clock div:1
+load:0x3ffe6100,len:0x4b0
+load:0x4004c000,len:0xa6c
+load:0x40050000,len:0x25c4
+entry 0x4004c198
+Connecting to FTM Responder
+.....
+WiFi Connected
+Initiating FTM session with Frame Count 16 and Burst Period 200 ms
+FTM Estimate: Distance: 0.13 m, Return Time: 0 ns
+FTM Estimate: Distance: 0.13 m, Return Time: 0 ns
+FTM Estimate: Distance: 0.13 m, Return Time: 0 ns
+FTM Estimate: Distance: 0.00 m, Return Time: 0 ns
+...
+```
+
+## Troubleshooting
+
+***Important: Make sure you are using a good quality USB cable and that you have a reliable power source.***
+
+* **Programming Fail:** If the programming/flash procedure fails, try reducing the serial connection speed.
+* **COM port not detected:** Check the USB cable and the USB to Serial driver installation.
+
+If the error persist, you can ask for help at the official [ESP32 forum](https://esp32.com) or see [Contribute](#contribute).
+
+## Contribute
+
+To know how to contribute to this project, see [How to contribute.](https://github.com/espressif/arduino-esp32/blob/master/CONTRIBUTING.rst)
+
+If you have any **feedback** or **issue** to report on this example/library, please open an issue or fix it by creating a new PR. Contributions are more than welcome!
+
+Before creating a new issue, be sure to try the Troubleshooting and to check if the same issue was already created by someone else.
+
+## Resources
+
+* Official ESP32 Forum: [Link](https://esp32.com)
+* Arduino-ESP32 Official Repository: [espressif/arduino-esp32](https://github.com/espressif/arduino-esp32)
+* ESP32-S2 Datasheet: [Link to datasheet](https://www.espressif.com/sites/default/files/documentation/esp32-s2_datasheet_en.pdf)
+* ESP32-C3 Datasheet: [Link to datasheet](https://www.espressif.com/sites/default/files/documentation/esp32-c3_datasheet_en.pdf)
+* Official ESP-IDF documentation: [ESP-IDF](https://idf.espressif.com)

libraries/WiFi/examples/FTM/FTM_Responder/FTM_Responder.ino

@@ -0,0 +1,23 @@
+/* Wi-Fi FTM Responder Arduino Example
+
+  This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+  Unless required by applicable law or agreed to in writing, this
+  software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+  CONDITIONS OF ANY KIND, either express or implied.
+*/
+#include "WiFi.h"
+// Change the SSID and PASSWORD here if needed
+const char * WIFI_FTM_SSID = "WiFi_FTM_Responder";
+const char * WIFI_FTM_PASS = "ftm_responder";
+
+void setup() {
+  Serial.begin(115200);
+  Serial.println("Starting SoftAP with FTM Responder support");
+  // Enable AP with FTM support (last argument is 'true')
+  WiFi.softAP(WIFI_FTM_SSID, WIFI_FTM_PASS, 1, 0, 4, true);
+}
+
+void loop() {
+  delay(1000);
+}

libraries/WiFi/examples/FTM/FTM_Responder/README.md

@@ -0,0 +1,94 @@
+# Wi-Fi FTM Responder Arduino Example
+
+This example demonstrates how to use the Fine Timing Measurement (FTM) to calculate the distace from the Access Point and the device. This is calculated by the Wi-Fi Round Trip Time (Wi-Fi RTT) introduced on the [IEEE Std 802.11-2016](https://en.wikipedia.org/wiki/IEEE_802.11mc) standard.
+
+This example will simulate the Router with FTM capability.
+
+This example was based on the [ESP-IDF FTM](https://github.com/espressif/esp-idf/tree/master/examples/wifi/ftm). See the README file for more details about on how to use this feature.
+
+Some usages for this feature includes:
+
+* Indoor positioning systems.
+* Navigation.
+* Device Location.
+* Smart Devices.
+* Alarms.
+
+# Supported Targets
+
+Currently, this example supports the following targets:
+
+| Supported Targets | ESP32-S2 | ESP32-C3 |
+| ----------------- | -------- | -------- |
+
+## How to Use Example
+
+See the **Initiator** example to prepare the environment.
+
+* How to install the Arduino IDE: [Install Arduino IDE](https://github.com/espressif/arduino-esp32/tree/master/docs/arduino-ide).
+
+### Configure the Project
+
+To configure this project, you can change the following configuration related to STA:
+
+```c
+// Change the SSID and PASSWORD here if needed
+const char * WIFI_FTM_SSID = "WiFi_FTM_Responder";
+const char * WIFI_FTM_PASS = "ftm_responder";
+```
+
+* Change the Wi-Fi `SSID` and `PASSWORD` as the same as the Initiator.
+
+To see more details about FTM, please see the [ESP-IDF docs](https://docs.espressif.com/projects/esp-idf/en/latest/esp32s2/api-reference/network/esp_wifi.html).
+
+#### Using Arduino IDE
+
+To get more information about the Espressif boards see [Espressif Development Kits](https://www.espressif.com/en/products/devkits).
+
+* Before Compile/Verify, select the correct board: `Tools -> Board`.
+* Select the COM port: `Tools -> Port: xxx` where the `xxx` is the detected COM port.
+
+#### Using Platform IO
+
+* Select the COM port: `Devices` or setting the `upload_port` option on the `platformio.ini` file.
+
+## Log Output
+
+Expected log output:
+
+```
+Build:Oct 25 2019
+rst:0x1 (POWERON),boot:0x8 (SPI_FAST_FLASH_BOOT)
+SPIWP:0xee
+mode:DIO, clock div:1
+load:0x3ffe6100,len:0x4b0
+load:0x4004c000,len:0xa6c
+load:0x40050000,len:0x25c4
+entry 0x4004c198
+Starting SoftAP with FTM Responder support
+```
+
+## Troubleshooting
+
+***Important: Make sure you are using a good quality USB cable and that you have a reliable power source.***
+
+* **Programming Fail:** If the programming/flash procedure fails, try reducing the serial connection speed.
+* **COM port not detected:** Check the USB cable and the USB to Serial driver installation.
+
+If the error persist, you can ask for help at the official [ESP32 forum](https://esp32.com) or see [Contribute](#contribute).
+
+## Contribute
+
+To know how to contribute to this project, see [How to contribute.](https://github.com/espressif/arduino-esp32/blob/master/CONTRIBUTING.rst)
+
+If you have any **feedback** or **issue** to report on this example/library, please open an issue or fix it by creating a new PR. Contributions are more than welcome!
+
+Before creating a new issue, be sure to try the Troubleshooting and to check if the same issue was already created by someone else.
+
+## Resources
+
+* Official ESP32 Forum: [Link](https://esp32.com)
+* Arduino-ESP32 Official Repository: [espressif/arduino-esp32](https://github.com/espressif/arduino-esp32)
+* ESP32-S2 Datasheet: [Link to datasheet](https://www.espressif.com/sites/default/files/documentation/esp32-s2_datasheet_en.pdf)
+* ESP32-C3 Datasheet: [Link to datasheet](https://www.espressif.com/sites/default/files/documentation/esp32-c3_datasheet_en.pdf)
+* Official ESP-IDF documentation: [ESP-IDF](https://idf.espressif.com)

libraries/WiFi/src/WiFiAP.cpp

@@ -81,10 +81,13 @@ static bool softap_config_equal(const wifi_config_t& lhs, const wifi_config_t& r
     if(lhs.ap.pairwise_cipher != rhs.ap.pairwise_cipher) {
         return false;
     }
+    if(lhs.ap.ftm_responder != rhs.ap.ftm_responder) {
+        return false;
+    }
     return true;
 }
 
-void wifi_softap_config(wifi_config_t *wifi_config, const char * ssid=NULL, const char * password=NULL, uint8_t channel=6, wifi_auth_mode_t authmode=WIFI_AUTH_WPA2_PSK, uint8_t ssid_hidden=0, uint8_t max_connections=4, uint16_t beacon_interval=100){
+void wifi_softap_config(wifi_config_t *wifi_config, const char * ssid=NULL, const char * password=NULL, uint8_t channel=6, wifi_auth_mode_t authmode=WIFI_AUTH_WPA2_PSK, uint8_t ssid_hidden=0, uint8_t max_connections=4, bool ftm_responder=false, uint16_t beacon_interval=100){
     wifi_config->ap.channel = channel;
 	wifi_config->ap.max_connection = max_connections;
 	wifi_config->ap.beacon_interval = beacon_interval;
@@ -93,6 +96,7 @@ void wifi_softap_config(wifi_config_t *wifi_config, const char * ssid=NULL, cons
 	wifi_config->ap.ssid_len = 0;
     wifi_config->ap.ssid[0] = 0;
     wifi_config->ap.password[0] = 0;
+    wifi_config->ap.ftm_responder = ftm_responder;
     if(ssid != NULL && ssid[0] != 0){
     	snprintf((char*)wifi_config->ap.ssid, 32, ssid);
     	wifi_config->ap.ssid_len = strlen(ssid);
@@ -117,7 +121,7 @@ void wifi_softap_config(wifi_config_t *wifi_config, const char * ssid=NULL, cons
  * @param ssid_hidden       Network cloaking (0 = broadcast SSID, 1 = hide SSID)
  * @param max_connection    Max simultaneous connected clients, 1 - 4.
 */
-bool WiFiAPClass::softAP(const char* ssid, const char* passphrase, int channel, int ssid_hidden, int max_connection)
+bool WiFiAPClass::softAP(const char* ssid, const char* passphrase, int channel, int ssid_hidden, int max_connection, bool ftm_responder)
 {
 
     if(!WiFi.enableAP(true)) {
@@ -140,7 +144,7 @@ bool WiFiAPClass::softAP(const char* ssid, const char* passphrase, int channel,
 
     wifi_config_t conf;
     wifi_config_t conf_current;
-    wifi_softap_config(&conf, ssid, passphrase, channel, WIFI_AUTH_WPA2_PSK, ssid_hidden, max_connection);
+    wifi_softap_config(&conf, ssid, passphrase, channel, WIFI_AUTH_WPA2_PSK, ssid_hidden, max_connection, ftm_responder);
     esp_err_t err = esp_wifi_get_config((wifi_interface_t)WIFI_IF_AP, &conf_current);
     if(err){
     	log_e("get AP config failed");

libraries/WiFi/src/WiFiAP.h

@@ -37,7 +37,7 @@ class WiFiAPClass
 
 public:
 
-    bool softAP(const char* ssid, const char* passphrase = NULL, int channel = 1, int ssid_hidden = 0, int max_connection = 4);
+    bool softAP(const char* ssid, const char* passphrase = NULL, int channel = 1, int ssid_hidden = 0, int max_connection = 4, bool ftm_responder = false);
     bool softAPConfig(IPAddress local_ip, IPAddress gateway, IPAddress subnet);
     bool softAPdisconnect(bool wifioff = false);
 

libraries/WiFi/src/WiFiGeneric.cpp

@@ -395,6 +395,14 @@ static void _arduino_event_cb(void* arg, esp_event_base_t event_base, int32_t ev
     } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_WPS_ER_PBC_OVERLAP) {
     	arduino_event.event_id = ARDUINO_EVENT_WPS_ER_PBC_OVERLAP;
 
+	/*
+	 * FTM
+	 * */
+    } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_FTM_REPORT) {
+    	wifi_event_ftm_report_t * event = (wifi_event_ftm_report_t*)event_data;
+    	arduino_event.event_id = ARDUINO_EVENT_WIFI_FTM_REPORT;
+    	memcpy(&arduino_event.event_info.wifi_ftm_report, event_data, sizeof(wifi_event_ftm_report_t));
+
 
 	/*
 	 * SMART CONFIG
@@ -779,6 +787,7 @@ const char * arduino_event_names[] = {
 		"SCAN_DONE",
 		"STA_START", "STA_STOP", "STA_CONNECTED", "STA_DISCONNECTED", "STA_AUTHMODE_CHANGE", "STA_GOT_IP", "STA_GOT_IP6", "STA_LOST_IP",
 		"AP_START", "AP_STOP", "AP_STACONNECTED", "AP_STADISCONNECTED", "AP_STAIPASSIGNED", "AP_PROBEREQRECVED", "AP_GOT_IP6", 
+		"FTM_REPORT",
 		"ETH_START", "ETH_STOP", "ETH_CONNECTED", "ETH_DISCONNECTED", "ETH_GOT_IP", "ETH_GOT_IP6",
 		"WPS_ER_SUCCESS", "WPS_ER_FAILED", "WPS_ER_TIMEOUT", "WPS_ER_PIN", "WPS_ER_PBC_OVERLAP",
 		"SC_SCAN_DONE", "SC_FOUND_CHANNEL", "SC_GOT_SSID_PSWD", "SC_SEND_ACK_DONE",
@@ -1125,6 +1134,32 @@ wifi_power_t WiFiGenericClass::getTxPower(){
     return (wifi_power_t)power;
 }
 
+/**
+ * Initiate FTM Session.
+ * @param frm_count Number of FTM frames requested in terms of 4 or 8 bursts (allowed values - 0(No pref), 16, 24, 32, 64)
+ * @param burst_period Requested time period between consecutive FTM bursts in 100's of milliseconds (allowed values - 0(No pref), 2 - 255)
+ * @param channel Primary channel of the FTM Responder
+ * @param mac MAC address of the FTM Responder
+ * @return true on success
+ */
+bool WiFiGenericClass::initiateFTM(uint8_t frm_count, uint16_t burst_period, uint8_t channel, const uint8_t * mac) {
+  wifi_ftm_initiator_cfg_t ftmi_cfg = {
+    .resp_mac = {0,0,0,0,0,0},
+    .channel = channel,
+    .frm_count = frm_count,
+    .burst_period = burst_period,
+  };
+  if(mac != NULL){
+    memcpy(ftmi_cfg.resp_mac, mac, 6);
+  }
+  // Request FTM session with the Responder
+  if (ESP_OK != esp_wifi_ftm_initiate_session(&ftmi_cfg)) {
+    log_e("Failed to initiate FTM session");
+    return false;
+  }
+  return true;
+}
+
 // -----------------------------------------------------------------------------------------------------------------------
 // ------------------------------------------------ Generic Network function ---------------------------------------------
 // -----------------------------------------------------------------------------------------------------------------------

libraries/WiFi/src/WiFiGeneric.h

@@ -51,6 +51,7 @@ typedef enum {
 	ARDUINO_EVENT_WIFI_AP_STAIPASSIGNED,
 	ARDUINO_EVENT_WIFI_AP_PROBEREQRECVED,
 	ARDUINO_EVENT_WIFI_AP_GOT_IP6,
+	ARDUINO_EVENT_WIFI_FTM_REPORT,
 	ARDUINO_EVENT_ETH_START,
 	ARDUINO_EVENT_ETH_STOP,
 	ARDUINO_EVENT_ETH_CONNECTED,
@@ -86,6 +87,7 @@ typedef union {
 	wifi_event_ap_probe_req_rx_t wifi_ap_probereqrecved;
 	wifi_event_ap_staconnected_t wifi_ap_staconnected;
 	wifi_event_ap_stadisconnected_t wifi_ap_stadisconnected;
+	wifi_event_ftm_report_t wifi_ftm_report;
 	ip_event_ap_staipassigned_t wifi_ap_staipassigned;
 	ip_event_got_ip_t got_ip;
 	ip_event_got_ip6_t got_ip6;
@@ -170,6 +172,8 @@ class WiFiGenericClass
     bool setTxPower(wifi_power_t power);
     wifi_power_t getTxPower();
 
+    bool initiateFTM(uint8_t frm_count=16, uint16_t burst_period=2, uint8_t channel=0, const uint8_t * mac=NULL);
+
     static const char * getHostname();
     static bool setHostname(const char * hostname);
     static bool hostname(const String& aHostname) { return setHostname(aHostname.c_str()); }