[driver] DW3110 UWB radio

README.md

@@ -738,90 +738,91 @@ your specific needs.
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ds1631">DS1631</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ds18b20">DS18B20</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-dw3110">DW3110</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ea_dog">EA-DOG</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input">Encoder Input</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input-bitbang">Encoder Input BitBang</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_output-bitbang">Encoder Output BitBang</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ft245">FT245</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-ft6x06">FT6x06</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-ft6x06">FT6x06</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-gpio_sampler">Gpio Sampler</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-hclax">HCLAx</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-hd44780">HD44780</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc58x">HMC58x</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc6343">HMC6343</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-hx711">HX711</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-hx711">HX711</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-i2c-eeprom">I2C-EEPROM</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ili9341">ILI9341</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-is31fl3733">IS31FL3733</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-itg3200">ITG3200</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ixm42xxx">IXM42XXX</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-l3gd20">L3GD20</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-l3gd20">L3GD20</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lan8720a">LAN8720A</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lawicel">LAWICEL</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lis302dl">LIS302DL</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3dsh">LIS3DSH</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3mdl">LIS3MDL</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-lm75">LM75</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-lm75">LM75</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lp503x">LP503x</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm303a">LSM303A</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6ds33">LSM6DS33</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6dso">LSM6DSO</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ltc2984">LTC2984</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-max31855">MAX31855</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-max31855">MAX31855</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-max31865">MAX31865</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-max6966">MAX6966</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-max7219">MAX7219</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp23x17">MCP23x17</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp2515">MCP2515</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp3008">MCP3008</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp3008">MCP3008</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp7941x">MCP7941x</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp990x">MCP990X</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-mmc5603">MMC5603</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ms5611">MS5611</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ms5837">MS5837</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-nokia5110">NOKIA5110</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-nokia5110">NOKIA5110</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-nrf24">NRF24</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-parallel_tft_display">TFT-DISPLAY</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-pat9125el">PAT9125EL</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-pca8574">PCA8574</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9535">PCA9535</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9548a">PCA9548A</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9548a">PCA9548A</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9685">PCA9685</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-qmc5883l">QMC5883L</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-sh1106">SH1106</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s65">SIEMENS-S65</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s75">SIEMENS-S75</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk6812">SK6812</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk6812">SK6812</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-sk9822">SK9822</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ssd1306">SSD1306</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-st7586s">ST7586S</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-st7789">ST7789</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-stts22h">STTS22H</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-stusb4500">STUSB4500</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-stusb4500">STUSB4500</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-sx1276">SX1276</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-sx128x">SX128X</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3414">TCS3414</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3472">TCS3472</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-tlc594x">TLC594x</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp102">TMP102</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp102">TMP102</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp12x">TMP12x</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp175">TMP175</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-touch2046">TOUCH2046</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-vl53l0">VL53L0</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-vl6180">VL6180</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-ws2812">WS2812</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-ws2812">WS2812</a></td>
 </tr>
 </table>
 <!--/drivertable-->

examples/nucleo_f401re/dw3110-communication/main.cpp

@@ -0,0 +1,171 @@
+/*
+ * Copyright (c) 2024, Elias H.
+ * Copyright (c) 2024, Raphael Lehmann
+ * Copyright (c) 2024, Michael Jossen
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+#include <modm/board.hpp>
+#include <modm/debug/logger.hpp>
+#include <modm/driver/radio/dw3110/dw3110_phy.hpp>
+#include <modm/processing/protothread.hpp>
+#include <modm/processing/timer.hpp>
+
+using namespace Board;
+using namespace std::chrono_literals;
+
+using MySpiMaster = modm::platform::SpiMaster1;
+using MyDw3110_a = modm::Dw3110Phy<MySpiMaster, GpioB6>;
+using MyDw3110_b = modm::Dw3110Phy<MySpiMaster, GpioA10>;
+
+constexpr static size_t PacketLength = 1021;
+
+class TXThread : public modm::pt::Protothread
+{
+public:
+	bool
+	init()
+	{
+		auto ret = RF_CALL_BLOCKING(radio.initialize(
+			modm::Dw3110::Channel::Channel9, modm::Dw3110::PreambleCode::Code_64Mhz_9,
+			modm::Dw3110::PreambleLength::Preamble_128,
+			modm::Dw3110::StartFrameDelimiter::Decawave_8));
+		RF_CALL_BLOCKING(radio.setEnableLongFrames(true));
+		return ret;
+	}
+
+	bool
+	run()
+	{
+		PT_BEGIN();
+		while (true)
+		{
+
+			txdata[txdata.size() - 1]++;
+			timeout.restart(Button::read() ? 500ms : 10ms);
+			PT_WAIT_UNTIL(timeout.execute());
+			if (PT_CALL(radio.transmit(txdata, true)) == MyDw3110_b::Error::None)
+			{
+				sentCount++;
+			} else
+			{
+				MODM_LOG_DEBUG << "[TX] Failed to trasmit!" << modm::endl;
+			}
+		}
+		PT_END();
+	}
+
+	size_t
+	getCount()
+	{
+		return sentCount;
+	}
+
+private:
+	MyDw3110_b radio{};
+	std::array<uint8_t, PacketLength> txdata = {0xBA, 0xDE, 0xAF, 0xFE, 0x00};
+	modm::Timeout timeout{10ms};
+	size_t sentCount{0};
+};
+
+class RXThread : public modm::pt::Protothread
+{
+public:
+	bool
+	init()
+	{
+		auto ret = RF_CALL_BLOCKING(radio.initialize(
+			modm::Dw3110::Channel::Channel9, modm::Dw3110::PreambleCode::Code_64Mhz_9,
+			modm::Dw3110::PreambleLength::Preamble_128,
+			modm::Dw3110::StartFrameDelimiter::Decawave_8));
+		RF_CALL_BLOCKING(radio.setEnableLongFrames(true));
+		return ret;
+	}
+
+	bool
+	run()
+	{
+		PT_BEGIN();
+		while (true)
+		{
+			while (!PT_CALL(radio.packetReady()))
+			{
+				if (!PT_CALL(radio.isReceiving()))
+				{
+					// KEEP ON SEPERATE LINE
+					PT_CALL(radio.startReceive());
+				}
+				PT_YIELD();
+			}
+
+			if (PT_CALL(radio.fetchPacket(rxdata, rxlen))) { recvCount++; }
+		}
+		PT_END();
+	}
+
+	size_t
+	getCount()
+	{
+		return recvCount;
+	}
+
+private:
+	MyDw3110_a radio{};
+	size_t rxlen{0}, recvCount{0};
+	std::array<uint8_t, PacketLength> rxdata = {};
+};
+
+int
+main()
+{
+	Board::initialize();
+	LedD13::setOutput();
+
+	MySpiMaster::initialize<Board::SystemClock, 21_MHz>();
+	MySpiMaster::connect<GpioA6::Miso, GpioA7::Mosi, GpioA5::Sck>();
+
+	// Use the logging streams to print some messages.
+	// Change MODM_LOG_LEVEL above to enable or disable these messages
+	MODM_LOG_DEBUG << "debug" << modm::endl;
+	MODM_LOG_INFO << "info" << modm::endl;
+	MODM_LOG_WARNING << "warning" << modm::endl;
+	MODM_LOG_ERROR << "error" << modm::endl;
+
+	MODM_LOG_INFO << "Initializing Devices..." << modm::endl;
+	bool success = true;
+	TXThread tx;
+	if (!tx.init())
+	{
+		MODM_LOG_ERROR << "Failed to initialize TX Device!" << modm::endl;
+		success = false;
+	}
+
+	RXThread rx;
+	if (!rx.init())
+	{
+		MODM_LOG_ERROR << "Failed to initialize TR Device!" << modm::endl;
+		success = false;
+	}
+	if (!success)
+		while (true) {}
+
+	modm::PeriodicTimer timer{1000ms};
+	MODM_LOG_INFO << "Starting ping pong..." << modm::endl;
+	while (true)
+	{
+		rx.run();
+		tx.run();
+		if (timer.execute())
+		{
+			MODM_LOG_DEBUG << "Sent " << tx.getCount() << ", received " << rx.getCount()
+						   << ". Diff:" << tx.getCount() - rx.getCount() << modm::endl;
+		}
+	}
+
+	return 0;
+}

examples/nucleo_f401re/dw3110-communication/project.xml

@@ -0,0 +1,12 @@
+<library>
+  <extends>modm:nucleo-f401re</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/nucleo_f401re/dw3110-communication</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:driver:dw3110</module>
+    <module>modm:platform:spi:1</module>
+    <module>modm:processing:protothread</module>
+  </modules>
+</library>

src/modm/driver/radio/dw3110/dw3110.lb

@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright (c) 2024, Elias H.
+# Copyright (c) 2024, Raphael Lehmann
+# Copyright (c) 2024, Michael Jossen
+#
+# This file is part of the modm project.
+#
+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at http://mozilla.org/MPL/2.0/.
+# -----------------------------------------------------------------------------
+
+
+def init(module):
+    module.name = ":driver:dw3110"
+    module.description = "DW3110 Drivers"
+
+def prepare(module, options):
+    module.depends(
+        ":architecture:register",
+        ":architecture:spi.device",
+        ":debug",
+        ":processing:timer",
+        ":processing:resumable")
+    return True
+
+def build(env):
+    env.outbasepath = "modm/src/modm/driver/radio/dw3110"
+    env.copy("dw3110_phy.hpp")
+    env.copy("dw3110_phy_impl.hpp")
+    env.copy("dw3110_definitions.hpp")