PMOD UWB

This repository contains the implementation of the pmod uwb's driver as well as an implementation of the MAC layer and a few examples. The whole implementation was done during my master thesis at UCLouvain.

It also contains the implementation of a IEEE 802.15.4 stack. This job is still in progress.

The pmod uses the DW1000 chip manufactured by Qorvo. For more informations about the chip please refer to its product page. There you can find:

• The user manual pdf
• The datasheet pdf

Get started

⚠️ The pmod isn't hot pluggable. The boards needs to be fully turned off before pluggin/unplugging it ⚠️

If you are new with GRiSP, it is recommended to get used to it by following our tutorial here The tutorial will guide you on setting up your environment to creating and deploying your first GRiSP application.

When this is done, you are ready to work with the pmod UWB.

The pmod UWB uses the SPI2 interface exclusively. You can find more informations about SPI here

Robot Example

start(_Type, _Args) ->
    Callback = fun(Frame, LQI, Security, Ranging) ->
                    {FrameControl, MacHeader, Payload} = Frame,
                    io:format("~p~n", [Payload])
                end,
    {ok, Supervisor} = robot_sup:start_link(),
    grisp:add_device(spi2, pmod_uwb), % Starts the driver for the pmod
    ieee802154:start_link(#ieee_parameters{phy_layer = pmod_uwb, callback = Callback}), % Create the IEEE 802.15.4 stack
    {ok, Supervisor}.

Simple transmission function

tx() ->
    FrameControl = #frame_control{}, % default frame control
    MacHeader = #mac_header{}, % default frame control
    {ok, _} = ieee802154:transmition(FrameControl, MacHeader, <<"Test">>).

To activate the continuous reception without enabling ranging:

ieee802154:rx_on(?DISABLED).

Sniffing the UWB frames

You can sniff and observe the UWB frames using a UWB sniffer.

You can find more informations on how to proceed using the Sewio UWB sniffer here

Testing

To run all the tests you have to run the following command:

rebar3 ct --sname=test

More informations about the tests can be found here

Callback function

At the reception of a frame, the IEEE 802.15.4 stack will call the specified callback function. More precisely, the process running the ieee802154.erl gen_server will call the callback. For that reason, the callback can't directly call API function of ieee802154.erl module unless they are non-blocking.

Structure of the repository

• doc: Edocs module documentation
• docs: additional documentation about the IEEE 802.15.4 stack and how to use it
• examples: (outdated)
• measurements: contains the python script used to draw some graphs for the two-way ranging measurements + the csv containing the measurements
• src: contains the source code of the driver
• test: contains the tests

IEEE 802.15.4 stack structure

ieee802154.erl

• Role:
  • Entry point for the API of the IEEE 802.15.4 stack
  • Encoding and decoding of the MAC frames (using the module mac_frames.erl)
  • Managing the PIB of the mac sublayer
  • Implementing the MLME and MPDU primitives
• Responsabilities: Keep the state of all the child modules in memory

Interaction with the IEEE 802.15.4 stack has to be done through this module.

gen_duty_cycle

This is a custom behaviour module.

• Role: Manage one the duty cycling configuration defined by the mac sublayer for a PAN (i.e. non-beacon enabled PAN or beacon-enabled PAN)

Since the module has to manage the duty cycling, it has to verify if a frame can be transmitted in time (in the current superframe in the case of a beacon enabled PAN).

Additionally, It has to manage the ACK reception and the potential retransmission of frames using the process defined

Modules implementing the behaviour:

• duty_cycle_non_beacon.erl: This module implements the duty cycle when a non-beacon configuration is used.

gen_mac_tx

This is a custom behaviour module.

• Role: Manage the transmission of a frame using one of the medium access algorithm defined by the IEEE 802.15.4 standard

Modules implementing the behaviour:

• unslotted_csma.erl: This module implements the unslotted CSMA algorithm used in a non-beacon enabled PAN