Open source driver implementation for the Decawave DW1000 UWB radio chip
This driver is mainly a port of the Arduino DW1000 driver. As such is is licensed under the same license, Apache2.
All functions of the lib takes a dwDevice_t * as first argument. The struct
contains the state of the driver, and the purpose is to enable the driver could be used
to control more than one dw1000 radio in the same system.
Example of libdw initialization:
dwDevice_t dwm_device;
dwDevice_t *dwm = &dwm_device;
// (...)
printf("TEST\t: Initialize DWM1000 ... ");
dwInit(dwm, &dwOps); // Init libdw
dwOpsInit(dwm);
result = dwConfigure(dwm); // Configure the dw1000 chip
if (result == 0) {
printf("[OK]\r\n");
dwEnableAllLeds(dwm);
} else {
printf("[ERROR]: %s\r\n", dwStrError(result));
selftestPasses = false;
}
// (...)
dwTime_t delay = {.full = ANTENNA_DELAY/2};
dwSetAntenaDelay(dwm, delay);
dwAttachSentHandler(dwm, txcallback);
dwAttachReceivedHandler(dwm, rxcallback);
dwNewConfiguration(dwm);
dwSetDefaults(dwm);
dwEnableMode(dwm, MODE_SHORTDATA_FAST_ACCURACY);
dwSetChannel(dwm, CHANNEL_2);
dwSetPreambleCode(dwm, PREAMBLE_CODE_64MHZ_9);
dwCommitConfiguration(dwm);The txcallback and rxcallback function are defined that way:
void txcallback(dwDevice_t *dev);
void rxcallback(dwDevice_t *dev);They are called when a packet has been received or sent.
The driver is platform independent and so you need to provide platform-specific function. This is done by instanciating a dwOps_t structure:
/**
* DW operation type. Constains function pointer to all hardware-dependent
* operation required to access the DW1000 device.
*/
typedef struct dwOps_s {
/**
* Function that activates the chip-select, sends header, read data and
* disable the chip-select.
*/
void (*spiRead)(dwDevice_t* dev, const void *header, size_t headerLength,
void* data, size_t dataLength);
/**
* Function that activates the chip-select, sends header, sends data and
* disable the chip-select.
*/
void (*spiWrite)(dwDevice_t* dev, const void *header, size_t headerLength,
const void* data, size_t dataLength);
/**
* Sets the SPI bus speed. Take as argument:
* - dwSpiSpeedLow: <= 4MHz
* - dwSpiSpeedHigh: <= 20MHz
*/
void (*spiSetSpeed)(dwDevice_t* dev, dwSpiSpeed_t speed);
/**
* Waits at least 'delay' miliseconds.
*/
void (*delayms)(dwDevice_t* dev, unsigned int delay);
/**
* Resets the DW1000 by pulling the reset pin low and then releasing it.
* This function is optional, if not set softreset via SPI will be used.
*/
void (*reset)(dwDevice_t *dev);
} dwOps_t;To send a packet:
dwNewTransmit(dev);
dwSetDefaults(dev);
dwSetData(dev, (uint8_t*)&txPacket, MAC802154_HEADER_LENGTH+2);
dwStartTransmit(dev);To receive a packet:
dwNewReceive(dev);
dwSetDefaults(dev);
dwStartReceive(dev);To put the radio in IDLE mode (cancel current send/receive)
dwIdle(dev);Frameworks for unit testing are pulled in as git submodules. To get them when cloning
git clone --recursive https://github.com/bitcraze/lps-node-firmware.gitor if you already have a cloned repo and want the submodules
git submodule init
git submodule update The testing framework uses ruby and rake to generate and run code.
To minimize the need for installations and configuration, use the docker builder image (bitcraze/builder) that contains all tools needed. All scripts in the tools/build directory are intended to be run in the image. You may use the utility script tools/do to start the docker container. For instance
tools/do build
With the environment set up locally
rake
with the docker builder image
tools/do test
Go to the contribute page on our website to learn more.
Run the automated build locally to test your code
./tools/build/build