decawave/uwb-core

Ultrawideband Core

uwb-core for MyNewt OS

• See Linux Kernel for building uwb-core as a kernel module
• See Other RTOS for building uwb-core as a standalone library

Overview

The distribution https://github.com/decawave/uwb-core contains the device driver model for the Decawave Impulse Radio-Ultra Wideband (IR-UWB) transceiver(s) within the Mynewt-OS. The driver includes hardware abstraction layers (HAL), media access control (MAC) layer, Ranging Services (RNG). The uwb-core driver and Mynewt-OS combine to create a hardware and architecture agnostic platform for IoT Location Based Services (LBS). This augmented with the newtmgt management tools creates a compelling environment for large-scale deployment of LBS.

Under-the-hood

The uwb-core driver implements the MAC layers and exports a MAC extension interface for additional services, this MAC interface is defined in the struct uwb_mac_interface found in (../master/hw/driver/uwb/include/uwb.h)

How To Build for mynewt

See the companion repo UWB-Apps for building instructions.

Preparation if using mynewt 1.7

# After running newt upgrade or newt install we need to patch mynewt
cd repos/apache-mynewt-core
git apply ../decawave-uwb-core/patches/apache-mynewt-core/mynewt_1_7_0*.patch

uwb-core's Issues

Possible overflow

Related to Decawave/uwb-apps#8
It is possible that survey_encode is overflowing and causing the crash
https://github.com/Decawave/uwb-core/blob/591b800d81fe435dc103bd00d23eebc9d8e23ea9/lib/survey/src/survey_encode.c

Unit-tests needed

This has been moved from Decawave/uwb-core-archive

• lib/uwb_rng - only testing json-encoding and decoding for now
• lib/panmaster, handling of callbacks from lib/pan
• lib/tofdb,
• ... more to come

Clock calibration and TDMA docmuent?

Hi,
I am trying to understand uwb_ccp and tdma packet. Could you give me the documents from which you reference to implement?

Simulated uwb-driver for testing uwb-api

in hw/drivers/uwb we want a mock/sim driver that implements the uwb api and allows the testing of packages making use of it.

suggested package name: hw/drivers/uwb/uwb_sim

Suitable package to use for first test using this new simulated device is either lib/uwb_pan or lib/twr_ss.

Desense Tag response to any address (with hw frame filter disabled)

There's a return true; missing at the end of this if-statement:

uwb-core/lib/uwb_rf_tests/desense/src/desense.c

Line 447 in 8ffba63

if (frame->dst_address != inst->my_short_address && frame->dst_address != UWB_BROADCAST_ADDRESS) {

uwb_rng_request is possibly not thread safe.

In the uwb_rng_request function at the end it waits for a semaphore to be posted, signaling the end of transactions:

uwb-core/lib/uwb_rng/src/uwb_rng.c

Lines 535 to 538 in 66f4686

	err = dpl_sem_pend(&rng->sem, DPL_TIMEOUT_NEVER); // Wait for completion of transactions
	if (err != DPL_OK) {
	goto early_exit;
	}

But this semaphore is release in tx_comeplete():

uwb-core/lib/uwb_rng/src/uwb_rng.c

Lines 913 to 926 in 66f4686

	switch(rng->code) {
	case UWB_DATA_CODE_SS_TWR ... UWB_DATA_CODE_DS_TWR_EXT_END:
	RNG_STATS_INC(tx_complete);
	if (rng->control.complete_after_tx) {
	dpl_sem_release(&rng->sem);
	rng_issue_complete(inst);
	}
	rng->control.complete_after_tx = 0;
	return true;
	break;
	default:
	return false;
	}
	}

This function is then calling all the rng_complete functions, these could be scheduling an another request, or setting the radio to listen is this is done in ISR context or in another thread with a higher priority than the thread that triggered the uwb_rng_request then the first thread will be locked waiting for the semaphore to be released. This could fix itself in the long run, but if the device was set to listen forever then that thread would be definitively blocked.

Multiple Rules for Single Object File Prevents Parallel Compilation

Multiple modules attempt to build streamer.o with different paths but the same canonical path, causing race conditions in parallelized build:

uwb-core/Kbuild

Line 55 in 8ffba63

uwbcore-y += porting/dpl_lib/src/streamer.o

uwb-core/apps/uwb_desense/Kbuild

Line 23 in 8ffba63

uwb_desense-y += ../../porting/dpl_lib/src/streamer.o

about the 5G and UWB frequency.

Hello, I am the developer of DW1000. I checked the information and found that the 5G frequency band and many channel frequency bands of DW1000 overlap. I want to ask you something: Will the upcoming 5G affect UWB ultra-wideband communication?

thank u :)

Transition to using bus_driver for SPI

Currently a semaphore in the bsp is used top avoid collisions on the spi bus used for the dwX000 and hal_spi_XX calls used to access the bus.

• What needs to be changed in bsp's to support the bus_driver_spi?
• What needs to change in the dwX000_hal?
• Would this allow us to simplify the linux / mynewt interfacing currently in use in dwX000_hal.c?

Building DWM1001 bootloader fails

I'm attempting to build the bootloader for DWM1001 as shown in the uwb-apps repository, but I'm running into the following error.

system specs:
uwb-apps: master
mynewt: 1.8.0
gcc: 10.3.0

Compiling repos/mcuboot/boot/mynewt/src/main.c
Error: repos/mcuboot/boot/mynewt/src/main.c:
In function 'main': repos/mcuboot/boot/mynewt/src/main.c:254:5:
error: implicit declaration of function 'hal_bsp_deinit'; did you mean 'hal_bsp_init'? [-Werror=implicit-function-declaration]
254 | hal_bsp_deinit();
| ^~~~~~~~~~~~~~
| hal_bsp_init
cc1: all warnings being treated as errors

I could not find the definition or declaration of the deinit anywhere but it is included in the bootloader source for mynewt.

Mynewt 1.8 release upgrade

Go through bsps and code that is affected by the new mynewt release.

• BSP up to speed with how the latest way of writing them in 1.8, they may have lagged behind
• Look at making bus-master drivers available in bsps
• Console and shell api's still the same?
• Do we need to update the dpl porting layer to match new os_* apis?
• newtmgr is now smp