dw1000_range_arduino.c File Reference

Copyright (C) 2026 Fabien-B fabie.nosp@m.n-b@.nosp@m.githu.nosp@m.b.co.nosp@m.m This file is part of paparazzi. More...

#include "modules/decawave/dw1000_range_arduino.h"
#include "std.h"
#include "mcu_periph/uart.h"
#include "modules/core/abi.h"
#include "modules/core/abi_sender_ids.h"
#include "modules/decawave/trilateration.h"
#include "generated/airframe.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>

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Data Structures
struct	DW1000RangeArduino
	DW1000 Arduino range parser state. More...

Macros
#define	DW_STX   0xFE
	frame sync byte
#define	DW_WAIT_STX   0
	Parsing states.
#define	DW_GET_DATA   1
#define	DW_GET_CK   2
#define	DW_NB_DATA   6

Functions
static float	float_from_buf (uint8_t *b)
	Utility function to get float from buffer.
static uint16_t	uint16_from_buf (uint8_t *b)
	Utility function to get uint16_t from buffer.
static void	send_anchor_data (struct DW1000RangeArduino *dw)
	Send range data decoded from the serial frame.
static void	dw1000_range_arduino_parse (struct DW1000RangeArduino *dw, uint8_t c)
	Data parsing function.
void	dw1000_range_arduino_init (void)
void	dw1000_range_arduino_event (void)

Variables
struct DW1000RangeArduino	dw1000_range_arduino

Detailed Description

Copyright (C) 2026 Fabien-B fabie.nosp@m.n-b@.nosp@m.githu.nosp@m.b.co.nosp@m.m This file is part of paparazzi.

See LICENCE file.

Author

Fabien-B fabie.nosp@m.n-b@.nosp@m.githu.nosp@m.b.co.nosp@m.m

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.

Definition in file dw1000_range_arduino.c.

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Data Structure Documentation

DW1000RangeArduino

struct DW1000RangeArduino

DW1000 Arduino range parser state.

Definition at line 38 of file dw1000_range_arduino.c.

Collaboration diagram for DW1000RangeArduino:

Data Fields
uint8_t	buf[DW_NB_DATA]	incoming data buffer
uint8_t	ck	checksum
struct uart_periph *	dev
uint8_t	idx	buffer index
uint8_t	state	parser state

Macro Definition Documentation

DW_GET_CK

#define DW_GET_CK   2

Definition at line 34 of file dw1000_range_arduino.c.

DW_GET_DATA

#define DW_GET_DATA   1

Definition at line 33 of file dw1000_range_arduino.c.

DW_NB_DATA

#define DW_NB_DATA   6

Definition at line 35 of file dw1000_range_arduino.c.

DW_STX

#define DW_STX   0xFE

frame sync byte

Definition at line 29 of file dw1000_range_arduino.c.

DW_WAIT_STX

#define DW_WAIT_STX   0

Parsing states.

Definition at line 32 of file dw1000_range_arduino.c.

Function Documentation

dw1000_range_arduino_event()

void dw1000_range_arduino_event

(

void

)

Definition at line 114 of file dw1000_range_arduino.c.

References DW1000RangeArduino::dev, dw1000_range_arduino, dw1000_range_arduino_parse(), foo, uart_char_available(), and uart_getch().

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dw1000_range_arduino_init()

void dw1000_range_arduino_init

(

void

)

Definition at line 109 of file dw1000_range_arduino.c.

References DW1000RangeArduino::dev, dw1000_range_arduino, and foo.

dw1000_range_arduino_parse()

static void dw1000_range_arduino_parse ( struct DW1000RangeArduino *  dw, uint8_t  c  )

static

Data parsing function.

Definition at line 74 of file dw1000_range_arduino.c.

References DW_GET_CK, DW_GET_DATA, DW_NB_DATA, DW_STX, DW_WAIT_STX, foo, and send_anchor_data().

Referenced by dw1000_range_arduino_event().

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float_from_buf()

static float float_from_buf ( uint8_t *  b )

inlinestatic

Utility function to get float from buffer.

Definition at line 50 of file dw1000_range_arduino.c.

References b, f, and foo.

Referenced by send_anchor_data().

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send_anchor_data()

static void send_anchor_data ( struct DW1000RangeArduino *  dw )

static

Send range data decoded from the serial frame.

Definition at line 64 of file dw1000_range_arduino.c.

References float_from_buf(), foo, get_sys_time_usec(), uint16_from_buf(), UWB_DW1000_ARDUINO_ID, and UWB_POSITIONING_TAG_ID.

Referenced by dw1000_range_arduino_parse().

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uint16_from_buf()

static uint16_t uint16_from_buf ( uint8_t *  b )

inlinestatic

Utility function to get uint16_t from buffer.

Definition at line 57 of file dw1000_range_arduino.c.

References b, and foo.

Referenced by send_anchor_data().

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Variable Documentation

dw1000_range_arduino

struct DW1000RangeArduino dw1000_range_arduino

Definition at line 46 of file dw1000_range_arduino.c.

Referenced by dw1000_range_arduino_event(), and dw1000_range_arduino_init().