Mesh Position Framework

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Nodes Preparation

MP Nodes

west init -m https://github.com/nRFMesh/sdk-uwb-zephyr --mr main
cd uwb/samples/06_uwb_node_sm
west build -b decawave_dwm1001_dev -- -DCONF_FILE=prj.conf
west flash
west flash --snr 760130093
west flash --snr 760130128

Simpl Mesh CLI Node

west init -m https://github.com/HomeSmartMesh/sdk-hsm-sensortag -mr main
cd hsm/samples/simplemesh_cli
west build -b decawave_dwm1001_dev -- -DCONF_FILE=prj-dwm.conf
west flash
west flash --snr 260103215

Python Usage

• Two Way Ranging single operation

initiator = 0
responder = 1
range_measure = uwb_twr(initiator, responder)
print(f"mp> test ({initiator})->({responder}) range = {range_measure}")

• Two Way Ranging sequence of operations

initiator = 0
responders = [1, 2, 3, 4]
result_list = uwb_twr(initiator=initiator, responders=responders, step_ms=10)
for res in result_list:
    print(f"mp> ({res['initiator']})->({res['responder']}) range= {res['range']}")

• Ping diagnostic

pinger = 0
target = 1
diag = uwb_ping_diag(pinger, target)
print(f"test_uwb_ping> ({pinger})->({target}) stdNoise = {diag['stdNoise']}")

Text Console Usage

DWT Config

>sm/98501ED22B42EB41{"dwt_config":{"chan":5}}
>sm/98501ED22B42EB41{"chan":5,"dataRate":"DWT_BR_6M8","nsSFD":"NonStandard","phrMode":"DWT_PHRMODE_EXT","prf":"DWT_PRF_64M","rxCode":9,"rxPAC":"DWT_PAC8","sfdTO":129,"txCode":9,"txPreambLength":"DWT_PLEN_128"}

>sm{"dwt_config":{"chan":5}}
>sm/E8D81FEE52C283EB{"chan":5,"dataRate":"DWT_BR_6M8","nsSFD":"NonStandard","phrMode":"DWT_PHRMODE_EXT","prf":"DWT_PRF_64M","rxCode":9,"rxPAC":"DWT_PAC8","sfdTO":129,"txCode":9,"txPreambLength":"DWT_PLEN_128"}
sm/98501ED22B42EB41{"chan":5,"dataRate":"DWT_BR_6M8","nsSFD":"NonStandard","phrMode":"DWT_PHRMODE_EXT","prf":"DWT_PRF_64M","rxCode":9,"rxPAC":"DWT_PAC8","sfdTO":129,"txCode":9,"txPreambLength":"DWT_PLEN_128"}

TWR command

• simple Two Way Ranging the below command broadcasts a request to all nodes, and each node identified by its short id, will execute the corresponding twr transaction as initiator or as responder.

sm{"uwb_cmd":"twr","initiator":0,"responder":1,"at_ms":100}
sm/C24FD51212E905F0{"initiator":0,"range":"0.375","responder":1,"seq":0,"uwb_cmd":"twr"}

>node_id_get:98501ED22B42EB41
node_id_get:98501ED22B42EB41
node_id_get:98501ED22B42EB41
sm/98501ED22B42EB41{"shortid":0}
sm/98501ED22B42EB41{"simplemesh":"started"}
sm/98501ED22B42EB41{"chan":5,"dataRate":"DWT_BR_6M8","nsSFD":"NonStandard","phrMode":"DWT_PHRMODE_EXT","prf":"DWT_PRF_64M","rxCode":9,"rxPAC":"DWT_PAC8","sfdTO":129,"txCode":9,"txPreambLength":"DWT_PLEN_128"}
node_id_get:E8D81FEE52C283EB
node_id_set:E8D81FEE52C283EB:01
sm/E8D81FEE52C283EB{"simplemesh":"started"}
sm/E8D81FEE52C283EB{"shortid":1}
sm/E8D81FEE52C283EB{"chan":5,"dataRate":"DWT_BR_6M8","nsSFD":"NonStandard","phrMode":"DWT_PHRMODE_EXT","prf":"DWT_PRF_64M","rxCode":9,"rxPAC":"DWT_PAC8","sfdTO":129,"txCode":9,"txPreambLength":"DWT_PLEN_128"}

>sm{"twr_command":{"initiator":0,"responder":1,"at_ms":100}}
>sm/E8D81FEE52C283EB{"at_ms":100,"initiator":0,"responder":1,"result":{"range":"0.211"}}
sm{"twr_command":{"initiator":0,"responder":1,"at_ms":100}}
>sm/E8D81FEE52C283EB{"at_ms":100,"initiator":0,"responder":1,"result":{"range":"0.220"}}

• sequence Two Way Raning allows to provide a list for each of the initiators or responders

sm{"uwb_cmd":"twr","initiator":4,"responders":[0,1,2,3],"at_ms":100,"step_ms":10,"count":3,"count_ms":50}

sm/90A971A3D1A1B648{"initiator":4,"range":"0.305","responder":0,"seq":0,"uwb_cmd":"twr"}
sm/C24FD51212E905F0{"initiator":4,"range":"0.614","responder":1,"seq":1,"uwb_cmd":"twr"}
sm/98501ED22B42EB41{"initiator":4,"range":"0.005","responder":2,"seq":2,"uwb_cmd":"twr"}
sm/E8D81FEE52C283EB{"initiator":4,"range":"0.178","responder":3,"seq":3,"uwb_cmd":"twr"}
sm/90A971A3D1A1B648{"initiator":4,"range":"0.310","responder":0,"seq":4,"uwb_cmd":"twr"}
sm/C24FD51212E905F0{"initiator":4,"range":"0.591","responder":1,"seq":5,"uwb_cmd":"twr"}
sm/98501ED22B42EB41{"initiator":4,"range":"0.038","responder":2,"seq":6,"uwb_cmd":"twr"}
sm/E8D81FEE52C283EB{"initiator":4,"range":"0.183","responder":3,"seq":7,"uwb_cmd":"twr"}
sm/90A971A3D1A1B648{"initiator":4,"range":"0.319","responder":0,"seq":8,"uwb_cmd":"twr"}
sm/C24FD51212E905F0{"initiator":4,"range":"0.577","responder":1,"seq":9,"uwb_cmd":"twr"}
sm/98501ED22B42EB41{"initiator":4,"range":"0.019","responder":2,"seq":10,"uwb_cmd":"twr"}
sm/E8D81FEE52C283EB{"initiator":4,"range":"0.169","responder":3,"seq":11,"uwb_cmd":"twr"}

sm{"uwb_cmd":"twr","initiator":0,"responders":[1,1],"at_ms":100,"step_ms":10,"count":10,"count_ms":50}

RF Mesh Diagnosis

• ping command and response. The goal is to evaluate the link between the cli and one uid node :
  • rssi 51 => -51 bBm
  • time in os ticks where 1 ms = 32 ticks

>sm/1CF6567337562176{"rf_diag":"ping"}
>sm/1CF6567337562176{"rf_diag":"pong","rssi":51,"time":197086}

• ping_target command and responses. The goal is to evaluate the link between two uid nodes :
  • the user pastes and broadcasts the command from the cli on the pinger uid 1CF6567337562176 topic
  • the pinger node 1CF6567337562176 recognises itself and broadcasts a ping command on the target uid CBC216DC164B1DE8 topic
  • the pinger provides a response where rssi and time relate to the cli -> pinger rx message
  • The target of the ping request (2.) (CBC216DC164B1DE8) broadcasts a pong response where rssi and time relate to the ping rx message (1CF6567337562176 -> CBC216DC164B1DE8)

1. >sm/1CF6567337562176{"rf_diag":"target_ping","target":"CBC216DC164B1DE8"}
2. >sm/CBC216DC164B1DE8{"rf_diag":"ping"}
3. sm/1CF6567337562176{"rf_diag":"pinger","rssi":52,"time":4200857}
4. sm/CBC216DC164B1DE8{"rf_diag":"pong","rssi":41,"time":3898403}

UWB Diagnosis

• ping command and response. In this case, the ping request is a packet sent through simplemesh (2.4 GHz RF) to the pinger node, which then sends an UWB packet to the target node
• the response contains collected data from the DW1000 registers and sent as a simplemesh response packet. For details see DW1000_Software_API_Guide_rev2p7.pdf dwt_readdiagnostics
  • fpAmp1 the leading edge signal from the LDE accumulator
  • fpAmp2 same for index floor firstpath+2
  • fpAmp3 same for index floor firstpath+3
  • maxGrowthCIR Channel Impulse Response Max Growth related to the receive signal power.
  • maxNoise peak maximum Noise
  • rxPreamCount number of symbols accumulated for the preamble
  • stdNoise standard deviation of the noise level

sm{"uwb_cmd":"ping", "pinger":0,"target":1,"at_ms":100}
sm/C24FD51212E905F0{"diag":{"fpAmp1":7196,"fpAmp2":7220,"fpAmp3":6969,"maxGrowthCIR":1995,"maxNoise":1495,"rxPreamCount":118,"stdNoise":64},"uwb_cmd":"ping"}

sm{"uwb_cmd":"ping", "pinger":0,"target":1,"at_ms":100,"count":3,"count_ms":6}
sm/C24FD51212E905F0{"diag":{"fpAmp1":4771,"fpAmp2":7206,"fpAmp3":7313,"maxGrowthCIR":2091,"maxNoise":1516,"rxPreamCount":124,"stdNoise":68},"uwb_cmd":"ping"}
sm/C24FD51212E905F0{"diag":{"fpAmp1":7344,"fpAmp2":7710,"fpAmp3":7008,"maxGrowthCIR":2146,"maxNoise":1712,"rxPreamCount":118,"stdNoise":68},"uwb_cmd":"ping"}
sm/C24FD51212E905F0{"diag":{"fpAmp1":6346,"fpAmp2":6986,"fpAmp3":6808,"maxGrowthCIR":1976,"maxNoise":1339,"rxPreamCount":124,"stdNoise":60},"uwb_cmd":"ping"}

Database

• Ground Truth.

• 0-1 : 1.01 m
• 0-2 : 1.01 m
• 0-3 : 1.05 m
• 0-4 : 1.04 m
• Two Way Ranging

[
    {
        "initiator": 0,
        "range": "1.065",
        "responder": 1,
        "seq": 0
    },
    {
        "initiator": 0,
        "range": "1.004",
        "responder": 2,
        "seq": 1
    },
    {
        "initiator": 0,
        "range": "1.210",
        "responder": 3,
        "seq": 2
    },
    {
        "initiator": 0,
        "range": "1.187",
        "responder": 4,
        "seq": 3
    },
    {
        "initiator": 0,
        "range": "1.093",
        "responder": 1,
        "seq": 4
    },
    {
        "initiator": 0,
        "range": "0.947",
        "responder": 2,
        "seq": 5
    },
    {
        "initiator": 0,
        "range": "1.219",
        "responder": 3,
        "seq": 6
    },
    {
        "initiator": 0,
        "range": "1.177",
        "responder": 4,
        "seq": 7
    },
    {
        "initiator": 0,
        "range": "1.069",
        "responder": 1,
        "seq": 8
    },
    {
        "initiator": 0,
        "range": "1.008",
        "responder": 2,
        "seq": 9
    },
    {
        "initiator": 0,
        "range": "1.196",
        "responder": 3,
        "seq": 10
    },
    {
        "initiator": 0,
        "range": "1.154",
        "responder": 4,
        "seq": 11
    }
]

• Ping Diagnostic, below an example of the result json format with two entries only. The database below available for download contains 586 ping diagnostic measures

[
    {
        "pinger": 0,
        "target": 1,
        "diag": {
            "fpAmp1": 6699,
            "fpAmp2": 6986,
            "fpAmp3": 5772,
            "maxGrowthCIR": 1953,
            "maxNoise": 908,
            "rxPreamCount": 120,
            "stdNoise": 40
        },
        "seq": 0
    },
    {
        "pinger": 0,
        "target": 1,
        "diag": {
            "fpAmp1": 7886,
            "fpAmp2": 7867,
            "fpAmp3": 6459,
            "maxGrowthCIR": 3164,
            "maxNoise": 1725,
            "rxPreamCount": 122,
            "stdNoise": 68
        },
        "seq": 1
    }
]

Features

• Using west with a connected zephyr version dependency and a deca driver integration that can be enabled with the flag CONFIG_DW1000=y
• using the already available board in Zephyr decawave_dwm1001_dev instead of the locally declared board nrf52_dwm1001
• adding custom mesh network functionality. The issue is that testing UWB should have another independent communication and configuration channel. Normal Bluetooth cannot cover a big network so a mesh is needed. nRF52832 do not support openthread and Bluetooth Mesh is a big overhead compared to the simplemesh
• adding a higher level API to greatly simplify TWR applications and others by eliminating redundant blocks in the code and fitting the whole ranging sequence on a single screen function, the new API MP as meshpositioning includes mp_receive() that is overloaded with the structure type intended to be received, mp_request() when sending a struct and expecting a response . Also for when initiating a delayed transmission either expecting a response mp_request_at() or not mp_send_at()
• support for C++17 and standard library e.g. string, list, map. Now before the C / C++ skepticism takes over, please consider that C++ shall not be used in a real time system without knowing how C++ works. e.g. bad C++ is adding constructor without knowing when where are resources allocated. good C++ is using typed enums, any compile time typing verifications and dead simple iteration loops.
• using nlohmann/json JSON for Modern C++ for remote procedure call e.g. an uwb listener has an MQTT interface where an app throws a json config sent over simplemesh to use with dwt_configure() verbose target log for status register thanks to a simple map flag to string

TWR GPIO Profiling

• samples used uwb\samples\twr_initiator and uwb\samples\twr_responder
• Debug PIO used [nRF52] P0.13 => M_PIN17 => J7 pin 8
• Debug function calls APP_SET; and APP_CLEAR;

• in the screenshot below we can profile a Two Way Ranging cycle
• The initiator has two pulses
  • • from first immediate TX until resp RX
  • • from intiating the delayed final TX until it is actually transmitted
• The responder has three pulses
  • • blocked on RX listening until the first poll message is received
  • • from initiating the delayed response transmittion including its actual transmission and then waiting till the reception of the final RX
  • • does not include RF transaction and is simply to monitor the time it takes to compute the double precision distance computation

×

Hardware

RTLS Gen 2

DWM3001 cdk

Microcontrollers / nRF52 / UWB DWM3001 cdk

• form factor 65 mm x 45 mm (single board)
• on board debugger and battery power management
• DW3110 from the DW3000 IC family IEEE 802.15.4z, IEEE802.15.4-2015 UWB,...
• on board host nRF52833 capable of Thread and Bluetooth Mesh and Direction finding

DWM3000 evb

This part number has been renamed from DWS3000 to DWM3000 evb

• Arduino shield form factor (+ module antenna) 80 mm x 54 mm (to be stacked over host board)
• DW3110 from the DW3000 IC family IEEE 802.15.4z, IEEE802.15.4-2015 UWB,...
• supported hardware reference platforms nRF52840-DK and nucleo-F429ZI.

RTLS Gen 1

×

• DRTLS : DWM1001 Two-Way-Ranging RTLS
• RTLS : Real Time Locating System
• PANS : Positioning and Netowrking Stack
• eCos : Free Open source Real-Time Operating-System

More details about the UWB DWM1001 development kit :

Microcontrollers / nRF52 / UWB DWM1001 dev

DW Tranceiver

• User Manual : latest version 2.18 as of May 2021
• Transmission, Reception, MAC features, Calibration,...

• document User Guide : dw1000_api_rev2p14\dw1000_api_rev2p14_stsw\DW1000_Software_API_Guide_rev2p7.pdf
• source code decadriver : DW1000 Device Driver Version 05.01.00
• ported to STM32 platforms coocox and stsw

Software Survey

• Production Firmware : available as precompiled binary DWM1001_PANS_R2.0.hex in order to recover the Module for production grade certified applications
• PANS library : All the main functions performed by the module (TWR, RTLS, Bluetooth, 802.15.4) are provided as a library on top of which a user nRF52832 application can be built.
• PANS library API : described in DWM1001-Firmware-User-Guide.pdf and DWM1001-API-Guide.pdf
• Open Source Firmware : multiple examples are provided to kick start development

 DWM1001 TWR Real Time Location System

 Copyright :  2016-2019 LEAPS and Decawave
 License   :  Please visit https://decawave.com/dwm1001_license
 Compiled  :  Jun  7 2019 18:00:03

 Help      :  ? or help

dwm> si
[000042.580 INF] sys: fw2 fw_ver=x01030001 cfg_ver=x00010700
[000042.580 INF] uwb0: panid=x0000 addr=xDECA50BFBF5001D2
[000042.590 INF] mode: tn (pasv,twr,np,le)
[000042.590 INF] uwbmac: disconnected
[000042.590 INF] uwbmac: bh disconnected
[000042.600 INF] cfg: sync=0 fwup=0 ble=1 leds=1 le=1 lp=0 stat_det=1 (sens=1) m                                   ode=0 upd_rate_norm=1 upd_rate_stat=100 label=DW01D2
[000042.610 INF] enc: off
[000042.610 INF] ble: addr=E0:69:AF:07:D2:94

• DWM1001_PANS_R2.0.hex has the same firmware version but compiled on a different date Compiled : Mar 27 2019 03:35:59

nrfjprog -f nrf52 --program DWM1001_PANS_R2.0.hex --sectorerase --verify

Product Page

DWM1001

• Path v9_dwm_on_board_package/examples : dwm-api-test, dwm-range-iot, dwm-simple, dwm-sniffer, dwm-timer, dwm-uart
• API 2.2, Firmware 1.3.0 : DWM1001 PANS Library Version 1.3.0
• Transciever API not exposed, used by the library as dwm_ functions provided as binary files dwm.o, libdwm.a,...
• available .emProject project files for Segger Studio
• based on Nordik SDK version 12.1.0
• Used GNU Tools ARM Embedded version 5.4 2016q3

DWM3000

• supported hardware reference platforms nRF52840-DK and nucleo-F429ZI. The nucleo requires a hardware modification
  • STM32 Cube MX project for nucleo-F429ZI
  • SES emProject for nRF52840-DK using nRF5 SDK version 16.0.0

Decawave Github

• Path dwm1001-examples/examples/ : ss_twr_init, ss_twr_init_int, ss_twr_resp, twi_accel
• DWM1001 board definition (leds, buttons,...)
• based on Nordik SDK version 14.2.0
• decadriver : DW1000 Device Driver Version 04.00.06

Variant on top of dwm1001-examples

Github mynewt

• examples : sniffer, OTA, TWR, TDOA,...
• running over Apache's myNewt Operating System which comes with code for BT, network,...

Zephyr Mainline

• module port as decawave_dwm1001_dev board with .dts
• transciever driver decawave,dw1000 integrated in the spi dts entry
• no uwb specific positioning code

Zephyr Community

• using custom board nrf52_dwm1001
• Path dwm1001/examples
• ex_01 ... ex_14 (simple, sleep, sniff, twr, low power, accell,...)
• decadriver DW1000 Device Driver Version 05.01.00
• logs through RTT and serila

Zephyr with Bluetooth

Arm mbed

Arduino

• No longer maintained
• not supporting all functions, e.g. antenna calibration
• License : Apache 2.0
• TWR

• Fork of arduino-dw1000
• License : MIT
• TWR

Decawave Raspberry pi software

• DWM Daemon
• DWM Proxy
• webapp http server
• dwm device on /dev/dwm0

DWM Daemon

• service : dwm1001.service
• log : /var/log/dwm-daemon.log
• config : /etc/dwm1001/dwm1001.config

DWM Proxy

• service : dwm1001-proxy.service
• config : /etc/dwm1001/dwm1001-proxy.config

Decawave Webapp

• the webapp is provided on the raspberry pi on the path /var/www/html/.
• The webapp is based on three.js which is a viable choice for 3d gemoetry calculations of anchors and tag coordinates.
• The view is limited to an orthogonal projection which makes the app 2d only. Although the created tags and anchros are actual 3d meshes, only 2d shapes appear on the screen.
• The down side of 3d is the need for ray casting to create click events on objects. But on the upside it's a frameowrk that can easily extend to 3D models. Maybe for the future, Decawave will get inspired by the smart home 3d webapp project.
• The menus are handled with injected jquery html with classes.
• All in all, this webapp is an amazing user experience and a reference for open design, that's how all mdoern apps should be

MQTT Config

• Details of the IoT Data message are provided in DWM1001_System_Overview.pdf section 9.1.12 IOT Data message
• config can be updated by sending a request
  • topic dwm/node/<nodeid>/downlink/config
  • 802.15.4-uwb downlink message id UWBMAC_FRM_TYPE_DL_IOT_DATA
• config is received by a response
  • topic dwm/node/<nodeid>/uplink/config
  • 802.15.4-uwb uplink message id UWBMAC_FRM_TYPE_UL_IOT_DATA

{
  "configuration": {
    "label": "RearRight",
    "nodeType": "ANCHOR",
    "uwbFirmwareUpdate": false,
    "leds": false,
    "ble": false,
    "anchor": {
      "routingConfig": "ROUTING_CFG_OFF",
      "initiator": false,
      "position": {
        "x": 3.5500002,
        "y": 1.1,
        "z": 0,
        "quality": 100
      }
    }
  }
}

{
  "configuration": {
    "label": "BatteryTag",
    "nodeType": "TAG",
    "uwbFirmwareUpdate": false,
    "leds": false,
    "ble": false,
    "tag": {
      "locationEngine": true,
      "responsive": true,
      "stationaryDetection": true,
      "nomUpdateRate": 100,
      "statUpdateRate": 2000
    }
  }
}

Standard

References

FAQ - Discussion

• Support should be available from the official forum. Reviews, experience exchange and ideas related to this page content can be discussed in the forum category

  Discussion - sdk-uwb-zephyr