[feature] DW1000 Driver, 802.15.4 Frame & Ranging

examples/stm32f4_discovery/radio/dw1000/double-sided_two-way_ranging_dw1000/initiator/SConstruct

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+# path to the xpcc root directory
+xpccpath = '../../../../../..'
+# execute the common SConstruct file
+exec(compile(open(xpccpath + '/scons/SConstruct', "rb").read(), xpccpath + '/scons/SConstruct', 'exec'))

examples/stm32f4_discovery/radio/dw1000/double-sided_two-way_ranging_dw1000/initiator/main.cpp

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+/* This is an Example application for one STM32F4 in combination with a Decawave DM1000 Chip
+ * Connections are the following:
+ *
+ * USART:       STM32 Pin
+ * TXD          -> PA2
+ * RXD          -> PA3 (not used in this example)
+ *
+ * DM1000:
+ * SPI:         STM32 Pin
+ * Miso         -> PB15
+ * Mosi         -> PC2
+ * Clock        -> PB10
+ *
+ * RES          -> PA8
+ * Chipselect   -> PE8
+ * IRQ          -> PD10 (not used in this example)
+ *
+ * What this program does is:
+ * 1) Sends out a DSTW-Ranging Frame on Broadcast
+ * 2) Waits for an Answer and Computes the Range between the both
+ *
+ * For 1 Ranging there will be 4 messages but this technique is more precise than SSTW
+ *
+ *
+ * Init -> Resp |Payload{init DSTWR}
+ * Resp -> Init |Payload{receive and transmittime of Resp}
+ * Init -> Resp |Payload{receive and transmittime of Init}
+ * Resp -> Init |Payload{Time of flight of second ranging round}
+*/
+
+
+#include <xpcc/architecture/platform.hpp>					// include for platform
+#include <xpcc/debug/logger.hpp>							// include for DW1000 Error/Debug Messaging
+#include <xpcc/driver/radio/dw1000/dw1000.hpp>				// DW1000 Driver
+#include <xpcc/communication/Frame802154/Frame802154.hpp>	// MAC Frame for IEEE 802.15.4
+#include <xpcc/positioning/ranging.hpp>						// ranging operations for DW1000
+#include <xpcc/processing/timer.hpp>						// Timer and Timeouts
+
+
+// ------------------------------XPCC----------------------------------------------
+xpcc::IODeviceWrapper< Usart2, xpcc::IOBuffer::BlockIfFull > loggerDevice;
+
+// // Set all four logger streams to use the UART
+xpcc::log::Logger xpcc::log::debug(loggerDevice);
+xpcc::log::Logger xpcc::log::info(loggerDevice);
+xpcc::log::Logger xpcc::log::warning(loggerDevice);
+xpcc::log::Logger xpcc::log::error(loggerDevice);
+
+//Namespaces and renaming
+using namespace Board;
+using SPI				= SpiMaster2;
+using RES				= GpioOutputA8;
+using CS				= GpioOutputE8;
+using IRQ				= GpioInputD10;
+
+using dwm				= xpcc::Dw1000 < SPI, CS, RES, IRQ >;
+using ranging			= xpcc::Ranging < dwm >;
+
+
+//------------------------------DWM Config------------------------------------------------
+
+static xpcc::dw1000::config_t config =
+{
+	2,							/* Channel number. */
+	xpcc::dw1000::PRF_64M,		/* Pulse repetition frequency. */
+	xpcc::dw1000::PLEN_128,		/* Preamble length. Used in TX only. */
+	xpcc::dw1000::PAC8,			/* Preamble acquisition chunk size. Used in RX only. */
+	9,							/* TX preamble code. Used in TX only. */
+	9,							/* RX preamble code. Used in RX only. */
+	0,							/* 0 to use standard SFD, 1 to use non-standard SFD. */
+	xpcc::dw1000::BR_6M8,		/* Data rate. */
+	xpcc::dw1000::PHRMODE_STD,	/* PHY header mode. */
+	(129 + 8 - 8)				/* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+};
+
+/* Default antenna delay values for 64 MHz PRF*/
+static constexpr int TX_ANT_DLY = 16436;
+static constexpr int RX_ANT_DLY = 16436;
+static constexpr uint16_t hostaddress= 0xBBBB;
+
+
+xpcc::Frame802154 receiveframe;
+xpcc::ShortTimeout timeout;
+bool isrx = false;
+uint32_t responserx, responsetx;
+uint64_t owntx,ownrx;
+double distance;
+uint8_t buffer[1024];
+
+
+//-------------------------------MAIN-----------------------------------------------------
+int
+main()
+{
+	//setup USART
+	GpioOutputA2::connect(Usart2::Tx);
+	GpioInputA3::connect(Usart2::Rx, Gpio::InputType::PullUp);
+	Usart2::initialize<Board::systemClock, 115200>(12);
+	//initialize the board
+	Board::initialize();
+	//activate the CS on the DW1000
+	CS::setOutput(xpcc::Gpio::High);
+	//setup SPI
+	GpioOutputB15::connect(SPI::Mosi);
+	GpioInputC2::connect(SPI::Miso);
+	GpioOutputB10::connect(SPI::Sck);
+	SPI::initialize<Board::systemClock, 1312500ul>();
+	SPI::setDataMode(SPI::DataMode::Mode0);
+	//Init with the config
+	while (!(dwm::init(config)))
+	{LedRed::set();}
+	LedRed::reset();
+	/* Apply antenna delay value.*/
+	dwm::setRXAntennaDelay(RX_ANT_DLY);
+	dwm::setTXAntennaDelay(TX_ANT_DLY);
+
+	dwm::hostaddress = hostaddress;
+
+	while (true)
+	{
+		LedBlue::set();
+
+		//--------------------------------------- Start sending init ---------------------------------------------------------------
+		XPCC_LOG_DEBUG << "Send init"<< xpcc::endl;
+		ranging::sendDSTWRinit();
+		timeout.restart(5);
+		while(not(dwm::isFrameSent()||timeout.isExpired())){}
+		LedBlue::reset();
+
+		//------------------------------------------------------------ Receive Message--------------------------------------------------------------------
+		timeout.restart(5);
+		dwm::rxEnable();
+		LedOrange::set();
+		while(not(dwm::checkForRXError() || (isrx = dwm::checkForRX())  || timeout.isExpired())){}
+		LedOrange::reset();
+		if (isrx)
+		{
+			dwm::readrx(dwm::rxlength(),buffer);
+			receiveframe.loadFrame(dwm::rxlength(),buffer);
+			if (receiveframe.getDestinationAddress16() == hostaddress)
+			{
+				if (ranging::IsRangingFrame(receiveframe))
+				{
+					//--------------------------------------- Start get distance and send return ---------------------------------------------------------------
+					distance = ranging::computeSsTwrDistance(receiveframe);
+					dwm::rxdisable();
+					ranging::sendAnswer(receiveframe);
+					//---------------------------------------Wait for TOF from other device---------------------------------------------------------------------
+					timeout.restart(5);
+					while(not(dwm::isFrameSent()||timeout.isExpired())){}
+					dwm::rxreset();
+					dwm::rxEnable();
+					isrx = false;
+					timeout.restart(150);
+					LedOrange::set();
+					while(not(dwm::checkForRXError() || (isrx = dwm::checkForRX())  || timeout.isExpired())){}
+					LedOrange::reset();
+					if (isrx)
+					{
+						LedGreen::toggle();
+						dwm::readrx(dwm::rxlength(),buffer);
+						receiveframe.loadFrame(dwm::rxlength(),buffer);
+						if (receiveframe.getDestinationAddress16() == hostaddress)
+						{
+							if (ranging::IsRangingFrame(receiveframe))
+							{
+								distance = ranging::computeDsTwrDistance(distance,receiveframe);
+								XPCC_LOG_INFO.printf("DISTANCE TO %0x IS %5.2fm \n",receiveframe.getSourceAddress16(),distance);
+								timeout.restart(5);
+							}
+
+						}
+					}
+				}
+			}
+			else
+			{
+				dwm::frame_seq_nb = receiveframe.getSequenceNumber() + 1 ;
+				XPCC_LOG_DEBUG << "Wrong Answer --- Address was wrong"<< xpcc::endl;
+			}
+		}
+
+		else if (dwm::checkForRXError())
+		{
+			XPCC_LOG_ERROR<< "RX--ERROR!"<< xpcc::endl;
+			timeout.restart(10);
+		}
+		dwm::rxdisable();
+		while(not(timeout.isExpired())){}
+
+	}
+}

examples/stm32f4_discovery/radio/dw1000/double-sided_two-way_ranging_dw1000/initiator/project.cfg

@@ -0,0 +1,6 @@
+[build]
+board = stm32f4_discovery
+buildpath = ${xpccpath}/build/stm32f4_discovery/radio/${name}
+
+[parameters]
+uart.stm32.2.tx_buffer = 1024

examples/stm32f4_discovery/radio/dw1000/double-sided_two-way_ranging_dw1000/responder/SConstruct

@@ -0,0 +1,4 @@
+# path to the xpcc root directory
+xpccpath = '../../../../../..'
+# execute the common SConstruct file
+exec(compile(open(xpccpath + '/scons/SConstruct', "rb").read(), xpccpath + '/scons/SConstruct', 'exec'))

examples/stm32f4_discovery/radio/dw1000/double-sided_two-way_ranging_dw1000/responder/main.cpp

@@ -0,0 +1,154 @@
+/* This is an Example application for one STM32F4 in combination with a Decawave DM1000 Chip
+ * Connections are the following:
+ *
+ * USART:       STM32 Pin
+ * TXD          -> PA2
+ * RXD          -> PA3 (not used in this example)
+ *
+ * DM1000:
+ * SPI:         STM32 Pin
+ * Miso         -> PB15
+ * Mosi         -> PC2
+ * Clock        -> PB10
+ *
+ * RES          -> PA8
+ * Chipselect   -> PE8
+ * IRQ          -> PD10 (not used in this example)
+ *
+ * What this program does is:
+ * 1) Waits for any ranging Frame on the channel and sends a corrosponding answer
+*/
+
+
+#include <xpcc/architecture/platform.hpp>					// include for platform
+#include <xpcc/debug/logger.hpp>							// include for DW1000 Error/Debug Messaging
+#include <xpcc/driver/radio/dw1000/dw1000.hpp>				// DW1000 Driver
+#include <xpcc/communication/Frame802154/Frame802154.hpp>	// MAC Frame for IEEE 802.15.4
+#include <xpcc/positioning/ranging.hpp>						// ranging operations for DW1000
+#include <xpcc/processing/timer.hpp>						// Timer and Timeouts
+
+
+// ------------------------------XPCC----------------------------------------------
+xpcc::IODeviceWrapper< Usart2, xpcc::IOBuffer::BlockIfFull > loggerDevice;
+
+// // Set all four logger streams to use the UART
+xpcc::log::Logger xpcc::log::debug(loggerDevice);
+xpcc::log::Logger xpcc::log::info(loggerDevice);
+xpcc::log::Logger xpcc::log::warning(loggerDevice);
+xpcc::log::Logger xpcc::log::error(loggerDevice);
+
+//Namespaces and renaming
+using namespace Board;
+using SPI				= SpiMaster2;
+using RES				= GpioOutputA8;
+using CS				= GpioOutputE8;
+using IRQ				= GpioInputD10;
+
+using dwm				= xpcc::Dw1000 < SPI, CS, RES, IRQ >;
+using ranging			= xpcc::Ranging < dwm >;
+
+
+//------------------------------DWM Config------------------------------------------------
+
+static xpcc::dw1000::config_t config =
+{
+	2,							/* Channel number. */
+	xpcc::dw1000::PRF_64M,		/* Pulse repetition frequency. */
+	xpcc::dw1000::PLEN_128,		/* Preamble length. Used in TX only. */
+	xpcc::dw1000::PAC8,			/* Preamble acquisition chunk size. Used in RX only. */
+	9,							/* TX preamble code. Used in TX only. */
+	9,							/* RX preamble code. Used in RX only. */
+	0,							/* 0 to use standard SFD, 1 to use non-standard SFD. */
+	xpcc::dw1000::BR_6M8,		/* Data rate. */
+	xpcc::dw1000::PHRMODE_STD,	/* PHY header mode. */
+	(129 + 8 - 8)				/* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+};
+
+
+/* Default antenna delay values for 64 MHz PRF*/
+static constexpr int TX_ANT_DLY = 16436;
+static constexpr int RX_ANT_DLY = 16436;
+static constexpr uint16_t hostaddress= 0xAAAA;
+
+
+xpcc::Frame802154 receiveframe;
+xpcc::ShortTimeout timeout;
+uint8_t buffer[256];
+bool isrx = false;
+uint32_t length;
+
+
+//-------------------------------MAIN-----------------------------------------------------
+int
+main()
+{
+	//setup USART
+	GpioOutputA2::connect(Usart2::Tx);
+	GpioInputA3::connect(Usart2::Rx, Gpio::InputType::PullUp);
+	Usart2::initialize<Board::systemClock, 115200>(12);
+	//initialize the board
+	Board::initialize();
+	//activate the CS on the DW1000
+	CS::setOutput(xpcc::Gpio::High);
+	//setup SPI
+	GpioOutputB15::connect(SPI::Mosi);
+	GpioInputC2::connect(SPI::Miso);
+	GpioOutputB10::connect(SPI::Sck);
+	SPI::initialize<Board::systemClock, 1312500ul>();
+	SPI::setDataMode(SPI::DataMode::Mode0);
+	//Init with the config
+	while (!dwm::init(config))
+	{LedRed::set();}
+	LedRed::reset();
+	/* Apply antenna delay value.*/
+	dwm::setRXAntennaDelay(RX_ANT_DLY);
+	dwm::setTXAntennaDelay(TX_ANT_DLY);
+
+	dwm::hostaddress = hostaddress;
+
+
+	while (true)
+	{
+		isrx = false;
+		dwm::rxEnable();
+		LedOrange::set();
+		while(not(isrx = dwm::checkForRX() || dwm::checkForRXError()))
+		{}
+		LedOrange::reset();
+		if (isrx)
+		{
+			length = dwm::rxlength();
+			dwm::readrx(length, buffer);
+			receiveframe.loadFrame(length, buffer);
+			if (receiveframe.getDestinationAddress16() == hostaddress || receiveframe.getDestinationAddress16() == 0xFFFF)
+			{
+				LedGreen::set();
+				if(ranging::IsRangingFrame(receiveframe))
+				{
+					ranging::sendAnswer(receiveframe);
+					timeout.restart(5);
+					while(not(dwm::isFrameSent() || timeout.isExpired()))
+					{}
+
+				}
+				LedGreen::reset();
+			}
+			else
+			{
+				LedBlue::set();
+				xpcc::delayMilliseconds(100);
+				LedBlue::reset();
+			}
+
+		}
+		else
+		{
+			LedRed::set();
+			xpcc::delayMilliseconds(100);
+			LedRed::reset();
+		}
+		dwm::trxdisable();
+		dwm::rxreset();
+
+	}
+}

examples/stm32f4_discovery/radio/dw1000/double-sided_two-way_ranging_dw1000/responder/project.cfg

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+[build]
+board = stm32f4_discovery
+buildpath = ${xpccpath}/build/stm32f4_discovery/radio/${name}
+
+[parameters]
+uart.stm32.2.tx_buffer = 1024

examples/stm32f4_discovery/radio/dw1000/rx_tx_dw1000/SConstruct

@@ -0,0 +1,4 @@
+# path to the xpcc root directory
+xpccpath = '../../../../..'
+# execute the common SConstruct file
+exec(compile(open(xpccpath + '/scons/SConstruct', "rb").read(), xpccpath + '/scons/SConstruct', 'exec'))