The development boards from Decawave use a STM32F105 ARM Cortex M3 processor. The supplied source code use floating point math and other fancy things not easily performed by a small 8 bit MCU (in our case: ATmega328P). In order to squeeze it all in we had to rewrite large portions of the code and make some simplifications, but without compromising performance. Now we got an Arduino lib to be used with our little board! There is still room for optimisation, but it is good enough for now. It will be released when it has been tidied up a bit. We are currently implementing the wisdom of Donald Knuth: "Premature optimization is the root of all evil" :-)

With our first set of stable hardware prototypes it has been possible to perform long term tests without the problem of hardware crashes. Our tag asks around among all anchors it can see and reports the measured values to an external MCU (e.g. Raspberry Pi), where localisation is done. Our board is thus to be considered a navigation sensor, not a stand-alone navigator.