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This pull request implements Downlink Time Difference of Arrival (DL-TDoA) ranging support. It introduces new configuration structures, parsing logic, and helper methods for managing DL-TDoA anchors and sessions, alongside the core measurement synthesis and notification encoding logic. The test suite is also updated to validate these changes. The feedback suggests removing an unused import of pdl_runtime::Packet in src/app_config.rs.
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This PR lays the groundwork for Dl-TDoA support in Pica by accepting and validating configs. #144 does the actual implementation.
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#143 added Downlink TDoA packet definitions, session configuration, and round update commands, but Pica does not yet simulate DL-TDoA ranging rounds or send measurement notifications during active sessions. This CL: - Advertises Downlink TDoA support in device capability TLVs. - Validates active tag and anchor ranging rounds before session start. - Simulates Poll, Response, and Final DTM exchanges across anchors. - Emits DL-TDoA session info notifications to tags.
This was referenced Oct 28, 2026
This was referenced Oct 28, 2026
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Although PR #144 introduced DL-TDoA roles, ranging methods, and active-round limits on top of UCI 2.0, Pica still reported MAC and PHY version 1.3, and DEFAULT_CAPS_INFO retained untyped FiRa 1.1 byte slices. Consequently, capability tag IDs were shifted relative to FiRa 2.0, mandatory FiRa 2.0 tags were missing, and scheduling bitmasks were incorrect. Bump MAC_VERSION and PHY_VERSION to 2.0, update CapTlvType in PDL and uci.py to FiRa 2.0 tag IDs, and replace DEFAULT_CAPS_INFO with a typed Capabilities struct covering all mandatory FiRa 2.0 and optional DL-TDoA, CCC, and Aliro capabilities. Closes #146
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Although PR #144 introduced DL-TDoA roles, ranging methods, and active-round limits on top of UCI 2.0, Pica still reported MAC and PHY version 1.3, and DEFAULT_CAPS_INFO retained untyped FiRa 1.1 byte slices. Consequently, capability tag IDs were shifted relative to FiRa 2.0, mandatory FiRa 2.0 tags were missing, and scheduling bitmasks were incorrect. Bump MAC_VERSION and PHY_VERSION to 2.0, update CapTlvType in PDL and uci.py to FiRa 2.0 tag IDs, and replace DEFAULT_CAPS_INFO with a typed Capabilities struct covering all mandatory FiRa 2.0 and optional DL-TDoA, CCC, and Aliro capabilities. Closes #146
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While PR #144 added start-time DL-TDoA active-rounds validation, separate SessionSetAppConfigCmd calls can leave AppConfig internally inconsistent across MAC address mode, controlee count, and ranging duration, while SessionStatusNtf.reason_code remained an untyped u8. Type SessionStatusNtf.reason_code as ReasonCode in PDL and uci.py with 0x40 and 0x41 promoted out of RFU_REASON_CODE_RANGE_2, and extend Session::invalid_start_reason to validate MAC address widths, controlee counts, unicast mode, and FiRa slot budget at session_start. Closes #125
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While PR #144 added DL-TDoA measurement generation alongside Two-Way Ranging, Pica populated local azimuth and elevation AoA fields across TWR and DL-TDoA measurements even when disabled by AOA_RESULT_REQ. Pica also evaluated AoA notification bounds on disabled axes and ignored FiRa Note 2 notification filtering rules under disabled AoA. Zero disabled local AoA angles and figures of merit while preserving aoa_destination_* fields. Normalize SESSION_INFO_NTF_CONFIG via effective_session_info_ntf_config() according to FiRa Table 28 / Table 38 Note 2, and restrict AOA_BOUND_CONFIG filtering to enabled AoA axes. Closes #147
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Building on the DL-TDoA groundwork in PR #144, Pica still ignored the RSSI_REPORTING (0x13) session configuration and hardcoded 0xFF in ranging reports. Android decodes 0xFF as -127 dBm rather than RSSI_UNKNOWN, distorting client signal metrics. Advertise vendor capability SUPPORTED_RSSI_REPORTING (0xE6), emit 0x00 when disabled, and emit -50 dBm (100 in unsigned Q7.1 format) across Two-Way Ranging and DL-TDoA measurements when enabled. Closes #148
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Oct 28, 2026
Although PR #144 introduced DL-TDoA roles, ranging methods, and active-round limits on top of UCI 2.0, Pica still reported MAC and PHY version 1.3, and DEFAULT_CAPS_INFO retained untyped FiRa 1.1 byte slices. Consequently, capability tag IDs were shifted relative to FiRa 2.0, mandatory FiRa 2.0 tags were missing, and scheduling bitmasks were incorrect. Bump MAC_VERSION and PHY_VERSION to 2.0, update CapTlvType in PDL and uci.py to FiRa 2.0 tag IDs, and replace DEFAULT_CAPS_INFO with a typed Capabilities struct covering all mandatory FiRa 2.0 and optional DL-TDoA, CCC, and Aliro capabilities. Closes #146
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Oct 28, 2026
While PR #144 added start-time DL-TDoA active-rounds validation, separate SessionSetAppConfigCmd calls can leave AppConfig internally inconsistent across MAC address mode, controlee count, and ranging duration, while SessionStatusNtf.reason_code remained an untyped u8. Type SessionStatusNtf.reason_code as ReasonCode in PDL and uci.py with 0x40 and 0x41 promoted out of RFU_REASON_CODE_RANGE_2, and extend Session::invalid_start_reason to validate MAC address widths, controlee counts, unicast mode, and FiRa slot budget at session_start. Closes #125
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Oct 28, 2026
Although PR #144 introduced DL-TDoA roles, ranging methods, and active-round limits on top of UCI 2.0, Pica still reported MAC and PHY version 1.3, and DEFAULT_CAPS_INFO retained untyped FiRa 1.1 byte slices. Consequently, capability tag IDs were shifted relative to FiRa 2.0, mandatory FiRa 2.0 tags were missing, and scheduling bitmasks were incorrect. Bump MAC_VERSION and PHY_VERSION to 2.0, update CapTlvType in PDL and uci.py to FiRa 2.0 tag IDs, and replace DEFAULT_CAPS_INFO with a typed Capabilities struct covering all mandatory FiRa 2.0 and optional DL-TDoA, CCC, and Aliro capabilities. Closes #146
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Oct 28, 2026
While PR #144 added start-time DL-TDoA active-rounds validation, separate SessionSetAppConfigCmd calls can leave AppConfig internally inconsistent across MAC address mode, controlee count, and ranging duration, while SessionStatusNtf.reason_code remained an untyped u8. Type SessionStatusNtf.reason_code as ReasonCode in PDL and uci.py with 0x40 and 0x41 promoted out of RFU_REASON_CODE_RANGE_2, and extend Session::invalid_start_reason to validate MAC address widths, controlee counts, unicast mode, and FiRa slot budget at session_start. Closes #125
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While PR #144 added start-time DL-TDoA active-rounds validation, separate SessionSetAppConfigCmd calls can leave AppConfig internally inconsistent across MAC address mode, controlee count, and ranging duration, while SessionStatusNtf.reason_code remained an untyped u8. Type SessionStatusNtf.reason_code as ReasonCode in PDL and uci.py with 0x40 and 0x41 promoted out of RFU_REASON_CODE_RANGE_2, and extend Session::invalid_start_reason to validate MAC address widths, controlee counts, unicast mode, and FiRa slot budget at session_start. Closes #125
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While PR #144 introduced block stride handling and notification intervals for DL-TDoA, Two-Way Ranging ignored BLOCK_STRIDE_LENGTH (0x2D) and still hardcoded current_ranging_interval to 0 in TWR SessionInfoNtf. Unify AppConfig::block_stride across DL-TDoA tags and TWR Controllers, reschedule next_ranging_at on active Session::set_app_config updates, and populate current_ranging_interval in TWR notifications. Closes #149
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Oct 29, 2026
While PR #144 added start-time DL-TDoA active-rounds validation, separate SessionSetAppConfigCmd calls can leave AppConfig internally inconsistent across MAC address mode, controlee count, and ranging duration, while SessionStatusNtf.reason_code remained an untyped u8. Type SessionStatusNtf.reason_code as ReasonCode in PDL and uci.py with 0x40 and 0x41 promoted out of RFU_REASON_CODE_RANGE_2, and extend Session::invalid_start_reason to validate MAC address widths, controlee counts, unicast mode, and FiRa slot budget at session_start. Closes #125
sameer
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Oct 29, 2026
While PR #144 added DL-TDoA measurement generation alongside Two-Way Ranging, Pica populated local azimuth and elevation AoA fields across TWR and DL-TDoA measurements even when disabled by AOA_RESULT_REQ. Pica also evaluated AoA notification bounds on disabled axes and ignored FiRa Note 2 notification filtering rules under disabled AoA. Zero disabled local AoA angles and figures of merit while preserving aoa_destination_* fields. Normalize SESSION_INFO_NTF_CONFIG via effective_session_info_ntf_config() according to FiRa Table 28 / Table 38 Note 2, and restrict AOA_BOUND_CONFIG filtering to enabled AoA axes. Closes #147
sameer
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Oct 29, 2026
While PR #144 added start-time DL-TDoA active-rounds validation, separate SessionSetAppConfigCmd calls can leave AppConfig internally inconsistent across MAC address mode, controlee count, and ranging duration, while SessionStatusNtf.reason_code remained an untyped u8. Type SessionStatusNtf.reason_code as ReasonCode in PDL and uci.py with 0x40 and 0x41 promoted out of RFU_REASON_CODE_RANGE_2, and extend Session::invalid_start_reason to validate MAC address widths, controlee counts, unicast mode, and FiRa slot budget at session_start. Closes #125
sameer
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Oct 29, 2026
Building on the DL-TDoA groundwork in PR #144, Pica still ignored the RSSI_REPORTING (0x13) session configuration and hardcoded 0xFF in ranging reports. Android decodes 0xFF as -127 dBm rather than RSSI_UNKNOWN, distorting client signal metrics. Advertise vendor capability SUPPORTED_RSSI_REPORTING (0xE6), emit 0x00 when disabled, and emit -50 dBm (100 in unsigned Q7.1 format) across Two-Way Ranging and DL-TDoA measurements when enabled. Closes #148
sameer
added a commit
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Oct 29, 2026
While PR #144 added start-time DL-TDoA active-rounds validation, separate SessionSetAppConfigCmd calls can leave AppConfig internally inconsistent across MAC address mode, controlee count, and ranging duration, while SessionStatusNtf.reason_code remained an untyped u8. Type SessionStatusNtf.reason_code as ReasonCode in PDL and uci.py with 0x40 and 0x41 promoted out of RFU_REASON_CODE_RANGE_2, and extend Session::invalid_start_reason to validate MAC address widths, controlee counts, unicast mode, and FiRa slot budget at session_start. Closes #125
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After #143, Pica supports DL-TDoA session setup. This PR adds support for DL-TDoA measurements and notifications during active sessions.