DWM1001 dev (Mdek) CIR data problem

Wireless Connectivity Ultra-Wideband
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1

Hello everyone.

I’m trying to get CIR data from DWM1001 dev, by Raspberry pi 3 B
and dwm1001_host_api software that provided by Decawave.

The data that I got in the log file looks like that:

[color=#ff3399]dwm_loc_get(&loc):
[/color]
[color=#ff3399] SPI: Tx 2 bytes: 0x0c00[/color]
[color=#ff3399]SPI0: Rx step 1: [/color]
[color=#ff3399]SPI0: Wait 10 ms…[/color]
[color=#ff3399]SPI: Rx 1 bytes: 0x3d[/color]
[color=#ff3399]SPI0: Rx step 2: [/color]
[color=#ff3399]SPI0: Wait 10 ms…[/color]
[color=#ff3399]SPI: Rx 61 bytes: 0x400100410d000000000000000000000000004929029fd28b08000064cfffffff00000000fc080000648a575e00000064dc050000d0200000fc08000064[/color]
[color=#ff3399]SPI0: Wait 10 ms…[/color]
[color=#ff3399]SPI0: Received 61 bytes, in 20 ms OK[/color]
[color=#ff3399][0,0,0,0][/color]
[color=#ff3399]0)0xd29f[-49,0,2300,100]=2187,100 [/color]
[color=#ff3399]1)0x578a[1500,8400,2300,100]=94,100[/color]
[color=#ff3399]Wait 1000 ms…[/color]
[color=#ff3399]dwm_loc_get(&loc):[/color]
[color=#ff3399]SPI: Tx 2 bytes: 0x0c00[/color]
[color=#ff3399]SPI0: Rx step 1: [/color]
[color=#ff3399]SPI0: Wait 10 ms…[/color]
[color=#ff3399]SPI: Rx 1 bytes: 0x29[/color]
[color=#ff3399]SPI0: Rx step 2: [/color]
[color=#ff3399]SPI0: Wait 10 ms…[/color]
[color=#ff3399]SPI: Rx 41 bytes: 0x400100410d000000000000000000000000004915019fd2d108000064cfffffff00000000fc08000064[/color]
[color=#ff3399]SPI0: Wait 10 ms…[/color]
[color=#ff3399]SPI0: Received 41 bytes, in 20 ms OK[/color]
[color=#ff3399][0,0,0,0][/color]
[color=#ff3399]0)0xd29f[-49,0,2300,100]=2257,100[/color]

The question is:
On datasheet the CIR register is 4064 bytes " 0x25 4064 RO ACC_MEM Read access to accumulator data "
and on the log file as you can see it giving me only 41/61 bytes (20 bytes per connected anchor) and there are no changes in the data even if I am moving the anchors.
am I missing something?
Is this data really the CIR?
Any advice, please!!

2

Hi MLEV,

It is not possible to extract the CIR when using PANS software.

If you need the CIR, you should develop a custom firmware.

The dwm_loc_get is an api to retrieve the location data when using the PANS firmware. It is not meant to provide the CIR.

Thank you,
Regards
Yves

3

Thank you, Yves!
Is there a firmware that I can start from doing my changes?
Some source C code?
I found C code in:
DWM1001_DWM1001-DEV_MDEK1001_Sources_and_Docs_v8\DWM1001\Source_Code\dwm1001_on-board_package_v1p0\dwm
Is it the right one?

You said there is no possibility to get register data with PANS software. What about PANS 2.0? It will also be impossible?

4

Hi [color=#333333][size=small]MLEV,[/size][/color]

[color=#333333][size=small]It is not possible for PANS and any derived version.[/size][/color]

[color=#333333][size=small]The [/size][/color][color=#333333][size=small]dwm project is a user application project within PANS and you will not be able to read the accumulator from [/size][/color][color=#333333][size=small]t[/size][/color][color=#333333][size=small]here.[/size][/color]

[color=#333333][size=small][color=#333333][size=small]You need to develop a fully custom firmware but you will lose all the location stack implemented with PANS (concept of “anchors”, "tags).[/size][/color][/size][/color]

[color=#333333][size=small][color=#333333][size=small]See the examples below for a C project implementing TWR on the dwm1001:[/size][/color][/size][/color]

[color=#333333][size=small][color=#333333][size=small]https://github.com/Decawave/dwm1001-examples[/size][/color][/size][/color]

[color=#333333][size=small][color=#333333][size=small]Thanks[/size][/color][/size][/color]
[color=#333333][size=small][color=#333333][size=small]Yves[/size][/color][/size][/color]

5

Hi Yves,
I understand that I need to develop new firmware, but my question is about existing firmware.
Can I get it somewhere (I mean source code) or it’s business secret of DW?

And where can I find the guide for changing the firmware?

6

Hi [color=#333333][size=small]MLEV,[/size][/color]

[color=#333333][size=small]We don’t provide the source code for PANS firmware.[/size][/color]

[color=#333333][size=small]The only existing firmware you can start from would be the simple example on the git repository I sent before :[/size][/color]
[color=#333333][size=small][color=#333333][size=small][size=small]https://github.com/Decawave/dwm1001-examples[/size][/size][/color][/size][/color]

[color=#333333][color=#333333][size=small]But it is not a full RTLS stack so depending on what your final [/size][size=x-small]application[/size][size=small] is it may no suit.[/size][/color][/color]

[color=#333333][size=small]Thanks[/size][/color]
[color=#333333][size=small]Yves[/size][/color]