svhoy / uwb_zephyr_dwm3001cdk

UWB Indoor Sport Tracking Project

A Zephyr based Project for uwb module DWM3001cdk based on nRF52832 and DW3110 Transceiver.

I like to implement an localization system for sport useage (espcially Badminton). This work is for my Master Thieses at FH Dortmund.

This Project works with different distance measurment types, SS-TWR and ADS-TWR. Maybe more will be added in future. The main Project folder is Sports Indoor Tracking. Besides this I try to provide simple examples to work with differnt stages of the project.

The main goal is to implent an system, where the devices connect to a gateway via BLE. The gateway will send setup informations, settings and start/stop the measurement process via GATT with a json msg. The DWM3001cdk than send all information from measurement back to the gateway via BLE notify. At the moment there will be send a struct with all data (WIP: this should be json sometime).

If you have any question, things to improve or you like to add feel free to open an new issue.

Main topic of this part is to provide the distance measurement process. Localization and calibration algorithmen can be found in the other modules of the whole project.

usage

west init -m https://github.com/svhoy/uwb_zephyr_dwm3001cdk --mr main

TODO

• Readme.md
• Update old Samples to New Zephyr Version
• Test PIN Descriptions in Board Description
• Update Project to newer Zepyhr Version

Project Overview

In this Project all parts for my Project can be found: Sports Indoor Tracking Project

You will find the Gateway and the magic for localization and calibration in the Backend.

Old Projects Takover from DWM1001-DEV

https://github.com/nRFMesh/sdk-uwb-zephyr driver zephyr port from https://github.com/foldedtoad/dwm1001.git

• uwb\drivers\dw1000\decadriver
• uwb\drivers\dw1000\platform

Also thank you for your help by porting from DWM1001-DEV to DWM3001CDK https://github.com/br101/zephyr-dw3000-decadriver

uwb_zephyr_dwm3001cdk's Issues

Four Metere Error after Antenna Delay Calibration

Find Issue

I2C Port Definiton seems to be wrong

I updated the version from zephyr from 3.0.0 to 3.2.99 with that I had to change the pin configuration from Qrovo DWM3001cdk.

&i2c0 {
	compatible = "nordic,nrf-twim";
	status = "okay";
	clock-frequency = <I2C_BITRATE_FAST>;
	sda-pin = <24>;
	scl-pin = <36>;
	/* embedded LIS2DH accelerometer  */
	lis2dh12: lis2dh12@19 {
		compatible = "st,lis2dh12", "st,lis2dh";
		label = "LIS2DH12-ACCEL";
		reg = <0x19>;
		irq-gpios = <&gpio0 16 GPIO_ACTIVE_HIGH>;
	};
};

to this

&i2c0 {
	compatible = "nordic,nrf-twim";
	status = "okay";
	clock-frequency = <I2C_BITRATE_FAST>;
	pinctrl-0=<&i2c0_default>;
	pinctrl-names = "default";
	/* embedded LIS2DH accelerometer  */
	lis2dh12: lis2dh12@19 {
		compatible = "st,lis2dh12", "st,lis2dh";
		status = "okay";
		reg = <0x19>;
		irq-gpios = <&gpio0 16 GPIO_ACTIVE_HIGH>;
	};
};

and that in the dtsi

i2c0_default: i2c0_default {
	group1 {
		psels = <NRF_PSEL(TWIM_SDA, 0, 24)>,
			    <NRF_PSEL(TWIM_SCL, 1, 4)>;
	};
};

when I am start a device I got the error here now:

[00:00:00.781,829] <err> i2c_nrfx_twim: i2c_nrfx_twim_transfer: Error on I2C line occurred for message 0
[00:00:00.781,890] <err> lis2dh: lis2dh_init: Failed to read chip id.

Implement DS-TWR

Implement Double Sided Two Way Ranging with 3 messages to measure the Distance between two Devices.

Update Zephyr to >3.6.0

Before updateing to zephyr >3.6.0 requires new board definition.

See Zepyhr Migration Notes

Otherwise there will be a dependcy loop for beetle soc

Add new measurement types

Write detailed documantation

Add all information needed to install, run and work with this project to the readme.

Make a documation for all functions and usage.

work with number on device

Update to Zephyr Version latest

Update is necessary for JSON message, because old version can't handle floats

get settings as json and save it on device

End Measurement after a while

The Measurement stops after a few minutes of measurement.

There is no errror msg or somethingelse what telling me what happens. so first is to figure out what happen at this moment in Responder and Initiator.

Send Timestamp and all Diacnostic Infos via BLE

Implement DS-TWR one for all

Implement a version where the one communicate with 3 or more one the same init message. The first version which will be implemented needs a new init message for each node to communicate / mesaure with. So with this version it should be speed up the system.

Test after implementing this the accuracy betweeen version one and two

distance test update

• 1. Add a json output message for all informations for a simple distance test. (rssi, distance, device)
• 2. Add json input message for start and stop tests

Antenna Calibration

DWM3001CDK for sports tracking

HI zephr, my team and I came across your project while trying to figure out how to use the DWM3001C Chip. How would we go about getting started with programming the chip? We have already flashed each of them (we have 5), but don't know the next step.

Thank you,

Oceanus