Rust DW3000 Driver

Introduction

A modernized driver for the Decawave DW3000 UWB transceiver, written in the Rust programming language. We used the crate dw1000 developped for the DW1000 module and changed the registers access and spi functions, added fast command and implemented some high level functions.

Status

Both RTT methods (single and double sided) are working and giving good positioning values. PDoA and TDoA can be enabled optionally (Please read the docs as they require certain configurations!).

Compared to the old dw3000 crate we fixed the GPIOs and LEDs, also got rid of the old unmaintained ieee802154 crate and replaced it with smoltcp.

We mainly test on the ESP32 platform with embassy async framework.

Usage

Include this crate in your Cargo project by adding the following to Cargo.toml:

[dependencies]
dw3000-ng = "1.0"

Documentation

Please refer to the API Reference.

Please also refer to the DW3000 User Manual

Citation

If you are using this in your academic work, please cite it as follows:

@inproceedings{Jiang24hotmobile,
    author = {Jiang, Fan and Dhekne, Ashutosh},
    title = {Demo: uFiμ: An open-source integrated UWB-WiFi-IMU platform for localization research and beyond},
    year = {2024},
    isbn = {9798400704970},
    publisher = {Association for Computing Machinery},
    address = {New York, NY, USA},
    url = {https://doi.org/10.1145/3638550.3643628},
    doi = {10.1145/3638550.3643628},
    booktitle = {Proceedings of the 25th International Workshop on Mobile Computing Systems and Applications},
    pages = {156},
    location = {San Diego, CA, USA},
    series = {HOTMOBILE '24}
}

CHANGELOG

Current main

(Blank)

1.0.0

• Added init_tracing example to inspect the SPI transactions happening during the initialization of the DW3000
• Modified rx_wait to not use _unchecked and return Err when the decoding of the 802.15.4 frame fails
• BREAKING: The library is now both sync and async compatible. The feature async can be used to enable the corresponding interfaces.
  • When async, the SPI traits are using embedded_hal_async, otherwise embedded_hal.
• BREAKING: The delay primitives in the config function are now embedded_hal/embedded_hal_async::delay::DelayNs instead of FnMut(u32) -> Future<Output = ()>

0.9.0

• API change: config now takes a delay_us(u32) function to allow non-blocking initialization.
• Now the radio init is feature-par with the official DW3000 driver. You should have much better TX/RX performance now.
• Fixed the register definition of RX_FWTO. RX timeout is now working.

0.8.4

• Fixed important bug in 0.8.3 where we are trying to read the device ID before the device is ready

0.8.3

• Fixed infinite loop in init() if the SPI device is not ready or connected

0.8.2

• Add parameter recv_time to allow delayed receiving by @trembel
• Fix pll_cc register by @JohannesProgrammiert

0.8.1

• Fixed the STS register setup when calling config() with STS enabled

0.8.0

• Renamed the num-traits feature to rssi to better indicate what it does
• Added PDoA and TDoA support

0.7.0

• Add field rx_quality to struct Message holding first path signal power by (@elrafoon)
• Fixed STS config values by (@elrafoon)

0.6.1

• Fixed read of the RX_RAWST register

0.6.0

• Added the carrier recovery integrator register

0.5.1

• Fix DTUNE register value

0.5.0

• Migrated to embedded-hal 1.0
• Removed explicit manipulations of the SPI CS pin

License

BSD-3-Clause