NOTE: This set of projects require Zephyr Version 2.5.

This project contains examples on how to use the Ultra Wideband (UWB) and Bluetooth hardware based DWM1001 module together with Zephyr RTOS. Specifically, this repository is the one of examples to esimate tag's position through triangulation between a tag and anchors. Thus, to run this example, you need at least four dwm1001 board (1 tag, 3 anchors).

This repository is based on

• https://github.com/foldedtoad/dwm1001 (for DWM Firmware with Zephyr)
• https://github.com/amalabey/dwm1001-gatt-client (for GUI)

The major changes from these original sources are:

• Write example code for localization with trianulation.
• Change many lines to build it on Zephyr RTOS 2.5.
• Make GUI with our custum BLE communication.

If you wanna more insight about DWM firmware, you should visit above repositories. Then, you can find other examples.

NOTE: If you wanna see UART example instead of BLE communication, Please move to "uart" branch in this repository.

Linux 18.04 (I tested it on only Linux. But, I think it will be run if you install python3.x and Zephyr on Windows and Mac OS.)

'DWM1001-dev', 'DWM1001c', 'MDEK1001'. But, again, to run this example, you need at least four boards.

• Zephyr RTOS (to build the firmware): Follow the instructions from Zephyr here

• nRF-Command-Line-Tools_10_12_1_Linux-amd64 (to download the frimware to the board): You can find it here

• wxPython (for GUI):

pip install -U -f https://extras.wxpython.org/wxPython4/extras/linux/gtk3/ubuntu-18.04/ wxPython
sudo apt-get install git curl libsdl2-mixer-2.0-0 libsdl2-image-2.0-0 libsdl2-2.0-0

• Gatt Client (for BLE communication) Reference:

sudo pip3 install gatt
sudo apt-get install python3-dbus

This firmware has the following functions

• Distance estimation between tag and each anchors (default: 3)
• BLE communication between tag and other device (such as computer, RasberryPi, etc)

You can find source code of the tag's firmware, as follow:

cd apps/ss_initiator

To build this example

mkdir build
cd build
make

To Download this example to your DWM board

make flash

NOTE: If you get error messages from the above procedure, you should check your Zephyr RTOS version.

NOTE: The firmware of Tag is to communicate with each anchors (default, three anchors). If you wanna change the number of anchors, please modify the following line in main.c

#define NUM_ANCHOR 3

Note: The BLE(Bluetooth Low Energy)'s name is automatically set as "DWM1001_TAG". And the default Cahracterisitcs UUID is de259bcd-1d7c-48db-a7e3-4759ac040002

This firmware has the following function

• Communication btw tag

You can find source code of the anchor's firmware, as follow:

cd apps/ss_respondor

To build this example

mkdir build
cd build
make

To Download this example to your DWM board

make flash

NOTE: If you get error messages from the above procedure, you should check your Zephyr RTOS version.

NOTE: The firmware of each anchors has id. So you should change the id of each anchor in main.c.

int my_id = 1; //1, 2, 3 

If you succesfully run a tag and anchors, you can use GUI system which is based on https://github.com/amalabey/dwm1001-gatt-client

To operate GUI, the first step is

cd gui

For detecting your Tag's BLE mac address

echo "power on" | sudo bluetoothctl
sudo python3 dwm1001.py --discover

Then you can find the mac address of your tag (The default tag name is DWM1001-Tag) Please change the mac address in dwm1001.py and LocationTrackerWorker.py

mac_address='e3:ec:26:c3:38:45'

Finally, to run GUI

sudo python3 main.py

Then you can find this window on your computer

If you are developing on a Linux or OSX system and have installled the JLink package, then you can use the rtt.sh script (in the root directory) to start console instance.