DW1000 & BBB App
Please download DW1000 API from http://www.decawave.com/support/software. Copy api files (decadriver) to src. Make and enjoy!
cd overlay
./build_overlay
cd ..
src/setup_dw1000.sh
make clean
make <app_name>
The SPIDEV module we use requires a custom device tree overlay to be built and loaded. The device tree compile script is overlay/build_overlay.sh. This generates the overlay and copies it to /lib/firmware.
Load the device tree overlay from /lib/firmware. This is required by the SPIDEV module
echo DW1000-SPI0 > /sys/devices/platform/bone_capemgr/slots
src/setup_dw1000.sh is a script to automate this. Run this once at device startup.
make <application_name>
The following applications are currently implemented:
-
dw1000_tx: simple periodic transmitter. Takes no parameters. -
dw1000_rx: simple receiver that continuously listens for packets. Takes no parameters. -
dw1000_rx_cir: like simple receiver but also outputs the CIR (channel impulse respone) for each reception to the console. Takes no parameters. -
dw1000_twr_resp: adapted ranging application using one polling and one response message. Also outputs the entire CIR in a file. Takes 2 parameters: -
INITorRESP: Choose which device is the INITIATOR or RESPONDER<exp_number>: An unsigned integer used for naming the output.
Output files have the naming scheme
exp<exp_number>_msg<msg_number>_I/R.csv. The<msg_number>is modulo 256.
- The Beaglebone make system does not like long file names (>16 characters). Make fails to behave properly with long file names.
- The beaglebone SPIDEV based SPI device can only transfer a limited number of bytes per transaction. This number is somewhere close to 128 (not exactly sure). In cases where more successive bytes have to be read, try to split the transfer operation into multiple chunks.
The Decawave Software API is provided by Decawave Ltd. Please refer to Decawave_Disclaimer.txt for further details