dw1000_arduino module

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_arduino">
  <configure name="DW1000_ARDUINO_UART" value="UARTX" />
  <configure name="DW1000_ARDUINO_BAUD" value="B115200" />
</module>

Module configuration options

Configure Options

• name: DW1000_ARDUINO_UART value: UARTX
  Description: UART on which arduino and its DW1000 module is connected
• name: DW1000_ARDUINO_BAUD value: B115200
  Description: UART Baudrate, default to 115200

Airframe file section

• section name: DW1000 prefix: DW1000_
  • name ANCHORS_IDS value: 1, 2, 3
    Description: Comma separated list of anchors ID
  • name ANCHORS_POS_X value: 0., 0., 5.
    Description: Comma separated list of anchors ID over X axis
  • name ANCHORS_POS_Y value: 0., 5., 0.
    Description: Comma separated list of anchors ID over Y axis
  • name ANCHORS_POS_Z value: 0., 0., 0.
    Description: Comma separated list of anchors ID over Z axis
  • name OFFSET value: 0., 0., 0.
    Description: Position offset other X, Y and Z axis
  • name SCALE value: 1., 1., 1.
    Description: Position scale factor other X, Y and Z axis
  • name INITIAL_HEADING value: 0.
    Description: Initial heading correction between anchors frame and global frame
  • name NB_ANCHORS value: 3
    Description: Set number of anchors, only 3 are required/supported at the moment

Module functions

Init Functions

These initialization functions are called once on startup.

• dw1000_arduino_init()

Event Functions

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

• dw1000_arduino_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• dw1000_arduino_periodic()
  • Frequency in Hz: 10
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.
• dw1000_arduino_report()
  • Frequency in Hz: 10
  • Autorun: FALSE
    Periodic function is started by user command.
• dw1000_reset_heading_ref()
  • Frequency in Hz: 1
  • Autorun: FALSE
    Periodic function is started by user command.

Files

Header Files

The following headers are automatically included in modules.h

• dw1000_arduino.h

Source Files

• modules/decawave/dw1000_arduino.c
• modules/decawave/trilateration.c

Raw dw1000_arduino.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="dw1000_arduino" dir="decawave">
  <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_ARDUINO_UART" value="UARTX" description="UART on which arduino and its DW1000 module is connected"/>
    <configure name="DW1000_ARDUINO_BAUD" value="B115200" description="UART Baudrate, default to 115200"/>
    <section name="DW1000" prefix="DW1000_">
      <define name="ANCHORS_IDS" value="1, 2, 3" type="int[]" description="Comma separated list of anchors ID"/>
      <define name="ANCHORS_POS_X" value="0., 0., 5." type="float[]" description="Comma separated list of anchors ID over X axis"/>
      <define name="ANCHORS_POS_Y" value="0., 5., 0." type="float[]" description="Comma separated list of anchors ID over Y axis"/>
      <define name="ANCHORS_POS_Z" value="0., 0., 0." type="float[]" description="Comma separated list of anchors ID over Z axis"/>
      <define name="OFFSET" value="0., 0., 0." type="float[]" description="Position offset other X, Y and Z axis"/>
      <define name="SCALE" value="1., 1., 1." type="float[]" description="Position scale factor other X, Y and Z axis"/>
      <define name="INITIAL_HEADING" value="0." description="Initial heading correction between anchors frame and global frame"/>
      <define name="NB_ANCHORS" value="3" description="Set number of anchors, only 3 are required/supported at the moment"/>
    </section>
  </doc>
  <header>
    <file name="dw1000_arduino.h"/>
  </header>
  <init fun="dw1000_arduino_init()"/>
  <periodic fun="dw1000_arduino_periodic()" freq="10"/>
  <periodic fun="dw1000_arduino_report()" freq="10" autorun="FALSE"/>
  <periodic fun="dw1000_reset_heading_ref()" freq="1" autorun="FALSE"/>
  <event fun="dw1000_arduino_event()"/>
  <makefile>
    <configure name="DW1000_ARDUINO_UART" case="upper|lower"/>
    <configure name="DW1000_ARDUINO_BAUD" default="B115200"/>
    <file name="dw1000_arduino.c"/>
    <file name="trilateration.c"/>
    <define name="USE_$(DW1000_ARDUINO_UART_UPPER)"/>
    <define name="DW1000_ARDUINO_DEV" value="$(DW1000_ARDUINO_UART_LOWER)"/>
    <define name="$(DW1000_ARDUINO_UART_UPPER)_BAUD" value="$(DW1000_ARDUINO_BAUD)"/>
  </makefile>
</module>