Driver to get ranging data from Decawave DW1000 modules connected to Arduino

Decawave DW1000 modules (http://www.decawave.com/products/dwm1000-module) are Ultra-Wide-Band devices that can be used for communication and ranging. Especially, using 3 modules as anchors can provide data for a localization system based on trilateration. The DW1000 is using a SPI connection, but an arduino-compatible board can be used with the library https://github.com/thotro/arduino-dw1000 to hyde the low level drivers and provide direct ranging informations.

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="dw1000_range_arduino">
  b'<configure name="DW1000_RANGE_ARDUINO_UART" value="UARTX" />\n    '
  b'<configure name="DW1000_RANGE_ARDUINO_BAUD" value="B115200" />\n  '
</module>

Module configuration options

Configure Options

name: DW1000_RANGE_ARDUINO_UART value: UARTX
Description: UART on which arduino and its DW1000 module is connected
name: DW1000_RANGE_ARDUINO_BAUD value: B115200
Description: UART Baudrate, default to 115200

Module functions

Init Functions

These initialization functions are called once on startup.

dw1000_range_arduino_init()

Event Functions

These event functions are called in each cycle of the module event loop.

dw1000_range_arduino_event()

Files

Header Files

The following headers are automatically included in modules.h

dw1000_range_arduino.h

Source Files

modules/decawave/dw1000_range_arduino.c

Raw dw1000_range_arduino.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="dw1000_range_arduino" dir="decawave" task="sensors">
  <doc>
    <description>Driver to get ranging data from Decawave DW1000 modules connected to Arduino
 
      Decawave DW1000 modules (http://www.decawave.com/products/dwm1000-module) are Ultra-Wide-Band devices that can be used for communication and ranging.
      Especially, using 3 modules as anchors can provide data for a localization system based on trilateration.
      The DW1000 is using a SPI connection, but an arduino-compatible board can be used with the library https://github.com/thotro/arduino-dw1000 to hyde the low level drivers and provide direct ranging informations.
    </description>
    <configure name="DW1000_RANGE_ARDUINO_UART" value="UARTX" description="UART on which arduino and its DW1000 module is connected"/>
    <configure name="DW1000_RANGE_ARDUINO_BAUD" value="B115200" description="UART Baudrate, default to 115200"/>
  </doc>
  <dep>
    <depends>uart</depends>
    <provides>ranging</provides>
    <suggests>uwb_positioning</suggests>
  </dep>
  <header>
    <file name="dw1000_range_arduino.h"/>
  </header>
  <init fun="dw1000_range_arduino_init()"/>
  <event fun="dw1000_range_arduino_event()"/>
  <makefile target="ap">
    <configure name="DW1000_RANGE_ARDUINO_UART" case="upper|lower"/>
    <configure name="DW1000_RANGE_ARDUINO_BAUD" default="B115200"/>
    <define name="USE_$(DW1000_RANGE_ARDUINO_UART_UPPER)"/>
    <define name="DW1000_RANGE_ARDUINO_DEV" value="$(DW1000_RANGE_ARDUINO_UART_LOWER)"/>
    <define name="$(DW1000_RANGE_ARDUINO_UART_UPPER)_BAUD" value="$(DW1000_RANGE_ARDUINO_BAUD)"/>
    <define name="UWB_POSITIONING_TAG_ID" value="0" />
    <file name="dw1000_range_arduino.c"/>
    <test>
      <define name="DW1000_RANGE_ARDUINO_DEV" value="uart3"/>
      <define name="USE_UART3"/>
      <define name="UWB_POSITIONING_TAG_ID" value="0" />
    </test>
  </makefile>
</module>