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Marten Junga
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[feature] DW1000 Driver, 802.15.4 Frame & Ranging
Added driver for DW1000 with generic and STM32F4_disco examples Added MAC Frame for IEEE 802.15.4 with unitttests Added Ranging algorithms for UWB modules with unittests
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Lines changed: 8789 additions & 6 deletions

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examples/stm32f4_discovery/radio/nrf24-data/rx/SConstruct renamed to examples/generic/dw1000/double-sided_two-way_ranging/initiator/SConstruct

File renamed without changes.

‎examples/generic/dw1000/double-sided_two-way_ranging/initiator/main.cpp‎

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/* This is an Example application for one STM32 in combination with a Decawave DM1000 Chip
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*
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* Connections are the following:
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*
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* USART: STM32F4&F103 Pin
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* TXD -> PA2
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* RXD -> PA3 (not used in this example)
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*
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* DM1000 -> SPI-Master-2
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* SPI: STM32F4 Pin STM32F107
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* Miso -> PC02 PB14
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* Mosi -> PB15 PB15
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* Clock -> PB10 PB13
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*
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* RES -> PA08 PA00 (not used in this example)
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* Chipselect -> PE08 PB12
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* IRQ -> PD10 PB08(not used in this example)
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*
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*
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* What this program does is:
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* 1) Sends out a DSTW-Ranging Frame on Broadcast
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* 2) Waits for an Answer and Computes the Range between the both
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*
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* For 1 Ranging there will be 4 messages but this technique is more precise than SSTW
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*
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*
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* Init -> Resp |Payload{init DSTWR}
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* Resp -> Init |Payload{receive and transmittime of Resp}
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* Init -> Resp |Payload{receive and transmittime of Init}
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* Resp -> Init |Payload{Time of flight of second ranging round}
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*/
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#include <xpcc/architecture/platform.hpp> // include for platform
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#include <xpcc/debug/logger.hpp> // include for DW1000 Error/Debug Messaging
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#include <xpcc/driver/radio/dw1000/dw1000.hpp> // DW1000 Driver
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#include <xpcc/communication/Frame802154/Frame802154.hpp> // MAC Frame for IEEE 802.15.4
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#include <xpcc/positioning/ranging.hpp> // ranging operations
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#include <xpcc/processing/timer.hpp> // Timer and Timeouts
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//-------------------------Namespaces and renaming----------------------------------
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// change things up for each individual board
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using namespace Board;
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using SPI = SpiMaster2;
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using SPISCK = GpioOutputB10;
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using SPIMISO = GpioInputC2;
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using SPIMOSI = GpioOutputB15;
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using RES = GpioOutputA8;
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using CS = GpioOutputE8;
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using IRQ = GpioInputD10;
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using dwm = xpcc::Dw1000 < SPI, CS, RES, IRQ >;
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using ranging = xpcc::Ranging < dwm >;
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//------------------------------LOGGER----------------------------------------------
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#undef XPCC_LOG_LEVEL
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#define XPCC_LOG_LEVEL xpcc::log::INFO
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xpcc::IODeviceWrapper< Usart2, xpcc::IOBuffer::BlockIfFull > loggerDevice;
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// Set all four logger streams to use the UART
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xpcc::log::Logger xpcc::log::debug(loggerDevice);
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xpcc::log::Logger xpcc::log::info(loggerDevice);
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xpcc::log::Logger xpcc::log::warning(loggerDevice);
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xpcc::log::Logger xpcc::log::error(loggerDevice);
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//------------------------------DWM Config------------------------------------------------
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static xpcc::dw1000::config_t config =
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{
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2, /* Channel number. */
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xpcc::dw1000::PRF_64M, /* Pulse repetition frequency. */
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xpcc::dw1000::PLEN_128, /* Preamble length. Used in TX only. */
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xpcc::dw1000::PAC8, /* Preamble acquisition chunk size. Used in RX only. */
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9, /* TX preamble code. Used in TX only. */
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9, /* RX preamble code. Used in RX only. */
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0, /* 0 to use standard SFD, 1 to use non-standard SFD. */
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xpcc::dw1000::BR_6M8, /* Data rate. */
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xpcc::dw1000::PHRMODE_STD, /* PHY header mode. */
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(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
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};
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static constexpr uint16_t hostaddress= 0xBBBB;
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xpcc::Frame802154 receiveframe;
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xpcc::ShortTimeout timeout;
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bool isrx = false;
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double distance;
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uint8_t buffer[1024];
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//-------------------------------MAIN-----------------------------------------------------
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int
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main()
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{
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//setup USART
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GpioOutputA2::connect(Usart2::Tx);
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GpioInputA3::connect(Usart2::Rx, Gpio::InputType::PullUp);
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Usart2::initialize<Board::systemClock, 115200>(12);
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//initialize the board
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Board::initialize();
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XPCC_LOG_INFO << "GENERIC DSTW INIT v1.1"<< xpcc::endl;
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//activate the CS on the DW1000
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CS::setOutput(xpcc::Gpio::High);
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//setup SPI
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SPIMOSI::connect(SPI::Mosi);
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SPIMISO::connect(SPI::Miso);
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SPISCK::connect(SPI::Sck);
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SPI::initialize<Board::systemClock,2500000,xpcc::Tolerance::DontCare>();
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SPI::setDataMode(SPI::DataMode::Mode0);
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//Init with the config
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while (!(dwm::init(config)))
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{
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Board::Leds::toggle();
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xpcc::delayMilliseconds(100);
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}
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/* Apply antenna delay value.*/
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dwm::setRXAntennaDelay(dwm::standardAntennaDelay);
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dwm::setTXAntennaDelay(dwm::standardAntennaDelay);
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dwm::hostaddress = hostaddress;
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while (true)
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{
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Board::Leds::toggle();
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//--------------------------------------- Start sending init ---------------------------------------------------------------
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XPCC_LOG_DEBUG << "Send init"<< xpcc::endl;
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ranging::sendDSTWRinit();
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timeout.restart(5);
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while(not(dwm::isFrameSent()||timeout.isExpired()))
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{}
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Board::Leds::toggle();
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//------------------------------------------------------------ Receive Message--------------------------------------------------------------------
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timeout.restart(200);
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dwm::rxEnable();
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while(not(dwm::checkForRXError() || (isrx = dwm::checkForRX()) || timeout.isExpired()))
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{}
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if (isrx)
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{
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Board::Leds::toggle();
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dwm::readrx(dwm::rxlength(),buffer);
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receiveframe.loadFrame(dwm::rxlength(),buffer);
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if (receiveframe.getDestinationAddress16() == hostaddress)
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{
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if (ranging::IsRangingFrame(receiveframe))
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{
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//--------------------------------------- Start get distance and send return ---------------------------------------------------------------
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distance = ranging::computeSsTwrDistance(receiveframe);
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dwm::rxdisable();
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ranging::sendAnswer(receiveframe);
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//---------------------------------------Wait for TOF from other device---------------------------------------------------------------------
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timeout.restart(5);
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while(not(dwm::isFrameSent()||timeout.isExpired())){}
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dwm::rxreset();
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dwm::rxEnable();
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isrx = false;
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timeout.restart(150);
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while(not(dwm::checkForRXError() || (isrx = dwm::checkForRX()) || timeout.isExpired())){}
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if (isrx)
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{
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dwm::readrx(dwm::rxlength(),buffer);
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receiveframe.loadFrame(dwm::rxlength(),buffer);
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if (receiveframe.getDestinationAddress16() == hostaddress)
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{
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if (ranging::IsRangingFrame(receiveframe))
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{
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distance = ranging::computeDsTwrDistance(distance,receiveframe);
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XPCC_LOG_INFO.printf("DISTANCE TO %0x IS %5.3fm \n",receiveframe.getSourceAddress16(),distance);
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}
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}
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}
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}
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Board::Leds::toggle();
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}
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else
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{
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dwm::frame_seq_nb = receiveframe.getSequenceNumber() + 1 ;
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XPCC_LOG_DEBUG << "Wrong Answer --- Address was wrong"<< xpcc::endl;
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}
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}
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else if (dwm::checkForRXError())
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{
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XPCC_LOG_ERROR<< "RX--ERROR!"<< xpcc::endl;
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}
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dwm::rxdisable();
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while(not(timeout.isExpired())){}
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}
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}

‎examples/generic/dw1000/double-sided_two-way_ranging/initiator/project.cfg‎

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[build]
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#board = al_avreb_can
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#board = arduino_uno
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#board = nucleo_f031k6
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#board = nucleo_f103rb
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#board = nucleo_f303k8
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#board = nucleo_f401re
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#board = nucleo_f411re
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#board = nucleo_f429zi
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#board = nucleo_l476rg
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#board = stm32f0_discovery
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#board = stm32f072_discovery
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#board = stm32f103c8t6_blue_pill
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#board = stm32f1_discovery
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#board = stm32f3_discovery
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#board = stm32f429_discovery
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#board = stm32f469_discovery
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board = stm32f4_discovery
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#board = stm32f746g_discovery
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#board = stm32f769i_discovery
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buildpath = ${xpccpath}/build/examples/generic/${name}

examples/stm32f4_discovery/radio/nrf24-data/tx/SConstruct renamed to examples/generic/dw1000/double-sided_two-way_ranging/responder/SConstruct

File renamed without changes.

‎examples/generic/dw1000/double-sided_two-way_ranging/responder/main.cpp‎

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/* This is an Example application for one STM32 in combination with a Decawave DM1000 Chip
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*
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* Connections are the following:
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*
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* USART: STM32F4&F103 Pin
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* TXD -> PA2
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* RXD -> PA3 (not used in this example)
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*
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* DM1000 -> SPI-Master-2
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* SPI: STM32F4 Pin STM32F107
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* Miso -> PC02 PB14
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* Mosi -> PB15 PB15
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* Clock -> PB10 PB13
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*
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* RES -> PA08 PA00 (not used in this example)
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* Chipselect -> PE08 PB12
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* IRQ -> PD10 PB08(not used in this example)
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*
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*
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* What this program does is:
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* 1) Sends out a DSTW-Ranging Frame on Broadcast
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* 2) Waits for an Answer and Computes the Range between the both
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*
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* For 1 Ranging there will be 4 messages but this technique is more precise than SSTW
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*
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*
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* Init -> Resp |Payload{init DSTWR}
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* Resp -> Init |Payload{receive and transmittime of Resp}
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* Init -> Resp |Payload{receive and transmittime of Init}
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* Resp -> Init |Payload{Time of flight of second ranging round}
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*/
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#include <xpcc/architecture/platform.hpp> // include for platform
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#include <xpcc/debug/logger.hpp> // include for DW1000 Error/Debug Messaging
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#include <xpcc/driver/radio/dw1000/dw1000.hpp> // DW1000 Driver
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#include <xpcc/communication/Frame802154/Frame802154.hpp> // MAC Frame for IEEE 802.15.4
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#include <xpcc/positioning/ranging.hpp> // ranging operations for DW1000
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#include <xpcc/processing/timer.hpp> // Timer and Timeouts
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//-------------------------Namespaces and renaming----------------------------------
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// change things up for each individual board
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using namespace Board;
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using SPI = SpiMaster2;
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using SPISCK = GpioOutputB10;
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using SPIMISO = GpioInputC2;
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using SPIMOSI = GpioOutputB15;
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using RES = GpioOutputA8;
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using CS = GpioOutputE8;
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using IRQ = GpioInputD10;
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using dwm = xpcc::Dw1000 < SPI, CS, RES, IRQ >;
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using ranging = xpcc::Ranging < dwm >;
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//------------------------------LOGGER----------------------------------------------
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#undef XPCC_LOG_LEVEL
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#define XPCC_LOG_LEVEL xpcc::log::DISABLED
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xpcc::IODeviceWrapper< Usart2, xpcc::IOBuffer::BlockIfFull > loggerDevice;
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// Set all four logger streams to use the UART
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xpcc::log::Logger xpcc::log::debug(loggerDevice);
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xpcc::log::Logger xpcc::log::info(loggerDevice);
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xpcc::log::Logger xpcc::log::warning(loggerDevice);
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xpcc::log::Logger xpcc::log::error(loggerDevice);
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//------------------------------DWM Config------------------------------------------------
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static xpcc::dw1000::config_t config =
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{
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2, /* Channel number. */
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xpcc::dw1000::PRF_64M, /* Pulse repetition frequency. */
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xpcc::dw1000::PLEN_128, /* Preamble length. Used in TX only. */
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xpcc::dw1000::PAC8, /* Preamble acquisition chunk size. Used in RX only. */
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9, /* TX preamble code. Used in TX only. */
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9, /* RX preamble code. Used in RX only. */
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0, /* 0 to use standard SFD, 1 to use non-standard SFD. */
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xpcc::dw1000::BR_6M8, /* Data rate. */
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xpcc::dw1000::PHRMODE_STD, /* PHY header mode. */
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(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
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};
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static constexpr uint16_t hostaddress= 0xAAAA;
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xpcc::Frame802154 receiveframe;
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xpcc::ShortTimeout timeout;
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uint8_t buffer[256];
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bool isrx = false;
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uint32_t length;
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//-------------------------------MAIN-----------------------------------------------------
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int
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main()
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{
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//setup USART
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GpioOutputA2::connect(Usart2::Tx);
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GpioInputA3::connect(Usart2::Rx, Gpio::InputType::PullUp);
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Usart2::initialize<Board::systemClock, 115200>(12);
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//initialize the board
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Board::initialize();
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XPCC_LOG_INFO << "GENERIC DSTW RESP v1.1"<< xpcc::endl;
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//activate the CS on the DW1000
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CS::setOutput(xpcc::Gpio::High);
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//setup SPI
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SPIMOSI::connect(SPI::Mosi);
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SPIMISO::connect(SPI::Miso);
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SPISCK::connect(SPI::Sck);
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SPI::initialize<Board::systemClock,2500000,xpcc::Tolerance::DontCare>();
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SPI::setDataMode(SPI::DataMode::Mode0);
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//Init with the config
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while (!(dwm::init(config)))
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{
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Board::Leds::toggle();
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xpcc::delayMilliseconds(100);
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}
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/* Apply antenna delay value.*/
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dwm::setRXAntennaDelay(dwm::standardAntennaDelay);
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dwm::setTXAntennaDelay(dwm::standardAntennaDelay);
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dwm::hostaddress = hostaddress;
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while (true)
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{
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isrx = false;
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dwm::rxEnable();
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Leds::toggle();
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while(not((isrx = dwm::checkForRX()) || dwm::checkForRXError()))
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{}
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Leds::toggle();
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if (isrx)
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{
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length = dwm::rxlength();
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dwm::readrx(length, buffer);
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receiveframe.loadFrame(length, buffer);
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if (receiveframe.getDestinationAddress16() == dwm::hostaddress || receiveframe.getDestinationAddress16() == 0xFFFF)
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{
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Leds::toggle();
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if(ranging::IsRangingFrame(receiveframe))
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{
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ranging::sendAnswer(receiveframe);
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timeout.restart(5);
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while(not(dwm::isFrameSent() || timeout.isExpired()))
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{}
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}
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Leds::toggle();
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}
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else
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{
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Leds::toggle();
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xpcc::delayMilliseconds(100);
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Leds::toggle();
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}
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}
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else
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{
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Leds::toggle();
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xpcc::delayMilliseconds(50);
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Leds::toggle();
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xpcc::delayMilliseconds(50);
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Leds::toggle();
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xpcc::delayMilliseconds(50);
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Leds::toggle();
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}
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dwm::trxdisable();
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dwm::rxreset();
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}
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}

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