decawave_anchorless_communication module

Decawave DWM1000 module serial communication for use in anchorless network where the UWB modules are attached to MAVs

and need to communicate on - board values with each - other(for purposes such as relative localization, co - ordination, or collision avoidance). This module must be used together with the Decawave DWM1000 running the appropriate Serial Communication code, which can be flashed on the Arduino board. The arduino library can be found at : https://github.com/StevenH2812/arduino-dw1000/tree/UWB_localization_v1.0 The example file to flash the Arduino Micro can be found in examples/UWB_localization_v1_0/UWB_localization_v1_0.ino

Example for airframe file

Add to your firmware section:

<module name="decawave_anchorless_communication"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• decawave_anchorless_communication_init()

Event Functions

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

• decawave_anchorless_communication_event()

Periodic Functions

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

• decawave_anchorless_communication_periodic()
  • Frequency in Hz: 30
  • Autorun: TRUE
    Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

• decawave_anchorless_communication.h

Source Files

• modules/decawave/decawave_anchorless_communication.c

Raw decawave_anchorless_communication.xml file:

<!DOCTYPE module SYSTEM "module.dtd" >

<module name = "decawave_anchorless_communication" dir = "decawave" >
  <doc>
    <description>
      Decawave DWM1000 module serial communication for use in anchorless network where the UWB modules are attached to MAVs
      and need to communicate on - board values with each - other(for purposes such as relative localization, co - ordination,
      or collision avoidance).
      This module must be used together with the Decawave DWM1000 running the appropriate Serial Communication code,
      which can be flashed on the Arduino board.
      The arduino library can be found at :
        https://github.com/StevenH2812/arduino-dw1000/tree/UWB_localization_v1.0
      The example file to flash the Arduino Micro can be found in
        examples/UWB_localization_v1_0/UWB_localization_v1_0.ino
    </description >
  </doc>
  <header>
    <file name = "decawave_anchorless_communication.h" />
  </header>
  <init fun = "decawave_anchorless_communication_init()" />
  <periodic fun = "decawave_anchorless_communication_periodic()" freq = "30" autorun = "TRUE" />
  <event fun = "decawave_anchorless_communication_event()" />
  <makefile target = "ap" >
    <file name = "decawave_anchorless_communication.c" />
    <configure name = "SERIAL_UART" default = "uart2" case="upper|lower" />
    <configure name = "SERIAL_BAUD" default = "B9600" />
    <configure name = "SERIAL_LED" default = "3" />
    <define name = "USE_$(SERIAL_UART_UPPER)" />
    <define name = "SERIAL_UART" value = "$(SERIAL_UART_LOWER)" />
    <define name = "$(SERIAL_UART_UPPER)_BAUD" value = "$(SERIAL_BAUD)" />
  </makefile>
</module>