Decawave DWM1001-DEV board firmware for building ad-hoc distance measurement network
Uses BLE to discover and UWB to measure distance between nodes
Beluga makes it more convenient for users to create an ad-hoc distance measurement network. Users can enter different types of AT commands through serial monitor to configure the properties of the DWM1001-DEV board. For example, change the channel of the UWB signal and polling frequency. These features enable users to customize their own network setup and meet the requirements. Beluga can be applied in the area of localization, robotics, and infrastructure sensing.
The above figures shows the DWM1001-DEV board used in the experiment and its application
Beluga/
├── Beluga/
│ ├── Application // Source codes and Segger project files
│ ├── boards // DWM1001-DEV board definitions
│ ├── config // nRF52-sdk configuration file
│ ├── deca_driver // Decawave UWB API package
│ └── nRF52-sdk // nRF52 software development kit
├── SLAM_app/ // Folder contains Beluga phone SLAM app
├── RPi_interface/ // Folder contains Beluga RPi interface program
├── images
└── README.md
1. SEGGER Embedded Studio (Tested on Windows with v4.22, Ubuntu with v4.52b, and Mac with v4.52c)
2. Serial Monitor w/ write capability (Tested with Arduino Serial Monitor 1.8.9 & 1.8.12)
For downloading the SES and Arduino, please visit SEGGER and Arduino
Run the Following CD command once inside cloned repo:
cd Beluga/Application
1.) Go to Project Directory mentioned above
2.) Open the segger embedded studio project file (the one labeled EMPROJECT File)
1.) Plug in Decawave Module
2.) Open up segger project
3.) Go to toolbar -> build -> first option (F7) (build beluga)
4.) Go to toolbar -> target -> download beluga... (ctrl+T, L)
1.) Open up serial monitor that allows you to send data (Tested on Arduino IDE 1.8.12)
2.) AT+ID <number> (use id greater than 0)
3.) AT+STARTBLE
This start BLE broadcasting/recieving scheme, now the node is visible and can see other nodes with ble on as well
Neighbor List Will Start Printing and Start to be populated with nearby nodes
4.) AT+STARTUWB
This starts UWB initiating/responding, now the node can be ranged with, and range to other nodes
Neighbor List will now populate range fields
NOTE: This must be done every time a new decawave module is plugged in. A device has already configured this can ignore this procedures.
Run the above commands in this order, other orders may lead to undefined behavior
The following AT commands can help users to access and modify DWM1001-DEV firmware to meet specific need. There are total 13 commands and command 1, 6, 7, 8, 9, 10, 11, 12 can be stored in flash memory to setup user configuration after system reboot.
AT+ID <number> Determines the ID number of the node
NOTE: <number> should be greater than 0, and each node should have unique ID.
AT+STARTBLE
This command starts BLE broadcasting/recieving scheme.
AT+STOPBLE
This command stops BLE broadcasting/recieving scheme.
AT+STARTUWB
This command starts UWB initiating/responding scheme.
AT+STOPUWB
This command stops UWB initiating/responding scheme.
AT+BOOTMODE <mode> Determines how the node should behave when reset/powered on
<mode> = 0 - Do nothing on startup, by default BLE and UWB off.
<mode> = 1 - Start BLE broadcasting/recieving on startup
<mode> = 2 - Start BOTH BLE and UWB on startup, full functionality.
Defualt setting: 0
NOTE: For BOOTMODEs 1 and 2, The AT+ID command must have been previously run, the last set ID will be used on startup.
AT+RATE <freq> Determines the frequency that the node send poll message
<freq> = 0-500 (units: ms)
Defualt setting: 100
NOTE: When frequency is 0, the node is in listening mode. (It only receives message passively)
AT+CHANNEL <channel> Determines the UWB signal's channel
Available <channel> options: 1, 2, 3, 4, 5, 7
Defualt setting: 5
NOTE: The corresponding centre frequency and bandwidth of each channel please reference DW1000 User Manual
AT+TXPOWER <mode> Determines the UWB transmitter power setting
<mode> = 0 - Default power supply
<mode> = 1 - Maximum power supply
Defualt setting: 0
NOTE: Increasing transmitter power supply can help UWB to maximum range, but the maximum power supply exceed restricted transmit power level regulation.
AT+TIMEOUT <number> Determines the timeout parameter to evict nearby nodes
Default setting: 5000 (units: ms)
NOTE: This parameter indicates that if a nearby node does not update in <number> ms, the node will be evicted from another node's neighbor list.
AT+STREAMMODE <mode> Determines the UART display mode
<mode> = 0 - Whole neighbor list mode
This mode displays whole neighbor list information
<mode> = 1 - Update ranges mode
This mode only displays when nodes updated the ranges
Default setting: 0
AT+TWRMODE <mode> Determines the UWB Two-Way Ranging (TWR) scheme
<mode> = 0 - Single-sided TWR (SS-TWR)
<mode> = 1 - Double-sided TWR (DS-TWR)
Default setting: 1
NOTE: DS-TWR is more accurate and can reduce clock drift effect. SS-TWR can be used for a network that needs faster transmission.
AT+LEDMODE <mode> Determines the LED display mode
<mode> = 0 - LEDs support mode (turn on all LEDs)
<mode> = 1 - No LEDs support mode (turn off all LEDs)
Default setting: 0
NOTE: LEDs support mode can be used for debugging, and another mode can be used for saving power.
AT+RESET Clear flash memory configuration
This command will reset all user configuration including node's ID, BOOTMODE, RATE, CHANNEL, TXPOWER
NOTE: The node should be re-configure follow the above *Running the Code* instructions to avoid undefinded behavior.
Beluga developer documentation
