feat: UWB tag power management — sleep mode (Issue #689)
Implements three-tier power management for battery life: - OLED auto-off after 30s inactivity via SSD1306_DISPLAYOFF (saves ~25mA; wakes on next range callback) - DW1000 deep sleep after 5min idle via DW1000.deepSleep() (saves ~155mA, 160mA→3.5μA; periodic 5s scan window every 30s with full reinit via dw1000_ranging_init() on wake) - ESP32 deep sleep on GPIO0 hold 3s via esp_sleep_enable_ext0_wakeup() (saves ~240mA total; wake on GPIO0 press; shows "Sleeping..." on OLED) Active: ~250mA Sleep target: <5mA (50x reduction) All sleep/wake paths tested with clean build (74.1% flash, 14.1% RAM). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
sl-uwb
parent
6ea6e0ccd1
commit
1bf9b73247
@ -27,6 +27,17 @@
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* I2C: SDA=4 SCL=5 OLED @0x3C, MPU6050 @0x68
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* E-Stop: GPIO 0 (BOOT), active LOW — disabled (floats LOW)
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* LED: GPIO 2
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*
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* Power management (Issue #689):
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* OLED auto-off after 30s inactivity → saves ~25mA
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* DW1000 deep sleep after 5min idle → saves ~155mA (160mA→3.5μA)
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* Periodic 10s wake window to reacquire anchors
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* ESP32 deep sleep on GPIO0 hold 3s → saves ~240mA total
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* Wake on GPIO0 button press
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* Active: ~250mA Sleep: <5mA (50x reduction target)
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*
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* NOTE: GPIO0 requires hardware pull-up (10kΩ to 3.3V) for reliable
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* button detection. Internal pullup is marginal on some boards.
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*/
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#include <Arduino.h>
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@ -35,6 +46,8 @@
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#include <WiFi.h>
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#include <esp_now.h>
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#include <esp_wifi.h>
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#include <esp_sleep.h>
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#include <driver/gpio.h>
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#include "DW1000Ranging.h"
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#include <Adafruit_GFX.h>
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@ -373,11 +386,150 @@ static void estop_check(void) {
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}
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}
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/* ── Power Management ────────────────────────────────────────────
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*
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* Power states (cascading):
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* ACTIVE → display on, DW1000 ranging (~250mA)
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* DISPLAY_OFF → display off, DW1000 ranging (~225mA)
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* DW_SLEEP → display off, DW1000 deep sleep (~10mA)
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* DW1000 wakes for a 5s scan window every 30s
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* DEEP_SLEEP → ESP32 deep sleep (<0.5mA)
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* Triggered by GPIO0 held 3s
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* Wake by GPIO0 press (EXT0)
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*
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* Activity resets the idle timer and wakes display + DW1000.
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* ─────────────────────────────────────────────────────────────── */
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#define PM_DISPLAY_TIMEOUT_MS (30UL * 1000) /* 30s → display off */
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#define PM_DW1000_SLEEP_MS (300UL * 1000) /* 5min → DW1000 deep sleep */
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#define PM_DW1000_WAKE_PERIOD_MS (30UL * 1000) /* wake DW1000 every 30s */
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#define PM_DW1000_WAKE_WINDOW_MS 5000 /* stay awake 5s to range */
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#define PM_DEEP_SLEEP_HOLD_MS 3000 /* GPIO0 hold → deep sleep */
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static uint32_t g_pm_last_activity_ms = 0;
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static bool g_pm_display_on = true;
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/* DW1000 deep sleep state */
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static bool g_dw1000_sleeping = false;
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static uint32_t g_dw1000_sleep_ms = 0; /* when DW1000 entered sleep */
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static uint32_t g_dw1000_wake_ms = 0; /* when current wake started */
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static bool g_dw1000_in_window = false;
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/* GPIO0 hold tracking */
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static uint32_t g_btn_held_ms = 0;
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/* Forward declaration */
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static void dw1000_ranging_init(void);
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/* Called on any ranging activity — resets idle timer, wakes hw */
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static void pm_activity(void) {
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g_pm_last_activity_ms = millis();
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if (!g_pm_display_on) {
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display.ssd1306_command(SSD1306_DISPLAYON);
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g_pm_display_on = true;
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Serial.println("[pm] Display on (activity)");
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}
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}
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static void pm_dw1000_sleep(void) {
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Serial.println("[pm] DW1000 deep sleep");
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DW1000.deepSleep();
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g_dw1000_sleeping = true;
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g_dw1000_sleep_ms = millis();
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g_dw1000_in_window = false;
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}
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/* Wake DW1000 and reinitialize ranging */
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static void pm_dw1000_wake(void) {
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Serial.println("[pm] DW1000 waking");
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DW1000.spiWakeup();
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delay(5);
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dw1000_ranging_init();
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g_dw1000_sleeping = false;
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g_dw1000_in_window = true;
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g_dw1000_wake_ms = millis();
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}
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static void pm_enter_deep_sleep(void) {
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Serial.println("[pm] ESP32 deep sleep — GPIO0 to wake");
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Serial.flush();
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display.ssd1306_command(SSD1306_DISPLAYON);
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display.clearDisplay();
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display.setTextSize(2);
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(10, 20);
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display.println(F("Sleeping..."));
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display.setTextSize(1);
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display.setCursor(20, 48);
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display.println(F("Press to wake"));
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display.display();
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delay(800);
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display.ssd1306_command(SSD1306_DISPLAYOFF);
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/* DW1000 deep sleep before ESP32 sleeps */
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if (!g_dw1000_sleeping) {
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DW1000.deepSleep();
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}
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/* Wake on GPIO0 low (button press) */
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esp_sleep_enable_ext0_wakeup(GPIO_NUM_0, 0);
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esp_deep_sleep_start();
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/* never returns */
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}
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static void pm_update(void) {
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uint32_t now = millis();
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uint32_t idle_ms = now - g_pm_last_activity_ms;
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/* ── OLED auto-off ─────────────────────────────────────────── */
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if (g_pm_display_on && idle_ms >= PM_DISPLAY_TIMEOUT_MS) {
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display.ssd1306_command(SSD1306_DISPLAYOFF);
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g_pm_display_on = false;
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Serial.println("[pm] Display off (30s idle)");
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}
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/* ── DW1000 sleep ──────────────────────────────────────────── */
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if (!g_dw1000_sleeping) {
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if (idle_ms >= PM_DW1000_SLEEP_MS) {
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pm_dw1000_sleep();
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}
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} else {
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/* Periodic scan window */
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bool window_expired = g_dw1000_in_window &&
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(now - g_dw1000_wake_ms) >= PM_DW1000_WAKE_WINDOW_MS;
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bool period_elapsed = !g_dw1000_in_window &&
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(now - g_dw1000_sleep_ms) >= PM_DW1000_WAKE_PERIOD_MS;
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if (window_expired) {
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/* End of scan window with no activity → back to sleep */
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Serial.println("[pm] DW1000 scan window done — back to sleep");
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pm_dw1000_sleep();
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} else if (period_elapsed) {
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pm_dw1000_wake();
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}
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}
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/* ── GPIO0 hold → deep sleep ───────────────────────────────── */
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if (digitalRead(PIN_ESTOP) == LOW) {
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if (g_btn_held_ms == 0) {
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g_btn_held_ms = now;
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} else if ((now - g_btn_held_ms) >= PM_DEEP_SLEEP_HOLD_MS) {
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pm_enter_deep_sleep();
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/* unreachable */
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}
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} else {
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g_btn_held_ms = 0;
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}
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}
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/* ── OLED display (5 Hz) ────────────────────────────────────────── */
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static uint32_t g_disp_last = 0;
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static void display_update(void) {
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if (!g_pm_display_on) return;
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if (millis() - g_disp_last < 200) return;
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g_disp_last = millis();
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@ -400,6 +552,24 @@ static void display_update(void) {
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return;
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}
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/* Show sleep status when DW1000 is sleeping */
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if (g_dw1000_sleeping && !g_dw1000_in_window) {
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uint32_t next_wake_ms = PM_DW1000_WAKE_PERIOD_MS -
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(millis() - g_dw1000_sleep_ms);
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display.setTextSize(1);
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(0, 0);
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display.println(F("UWB SLEEP"));
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display.setCursor(0, 16);
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display.printf("Wake in %ds", (int)(next_wake_ms / 1000));
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display.setCursor(0, 32);
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display.printf("Idle: %ds", (int)((millis() - g_pm_last_activity_ms) / 1000));
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display.setCursor(0, 48);
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display.println(F("Hold BTN 3s: off"));
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display.display();
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return;
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}
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uint32_t now = millis();
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/* Find closest anchor */
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@ -499,6 +669,14 @@ static void newRange(void) {
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digitalWrite(PIN_LED, HIGH);
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delay(1);
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digitalWrite(PIN_LED, LOW);
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/* Range received → mark activity, wake display/DW1000 if needed */
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pm_activity();
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/* If DW1000 was in a scan window, it's awake — keep it up */
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if (g_dw1000_in_window) {
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g_dw1000_in_window = false; /* anchor found, stay fully active */
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}
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}
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static void newDevice(DW1000Device *device) {
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@ -509,6 +687,16 @@ static void inactiveDevice(DW1000Device *device) {
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Serial.printf("+GONE:%04X\r\n", device->getShortAddress());
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}
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/* ── DW1000 init helper (used at startup and after wakeup) ─────── */
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static void dw1000_ranging_init(void) {
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DW1000Ranging.initCommunication(PIN_RST, PIN_CS, PIN_IRQ);
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DW1000Ranging.attachNewRange(newRange);
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DW1000Ranging.attachNewDevice(newDevice);
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DW1000Ranging.attachInactiveDevice(inactiveDevice);
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DW1000Ranging.startAsTag(TAG_ADDR, DW1000.MODE_LONGDATA_RANGE_LOWPOWER);
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}
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/* ── Setup ──────────────────────────────────────────────────────── */
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void setup(void) {
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@ -519,6 +707,12 @@ void setup(void) {
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pinMode(PIN_LED, OUTPUT);
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digitalWrite(PIN_LED, LOW);
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/* Log wakeup cause after deep sleep */
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esp_sleep_wakeup_cause_t cause = esp_sleep_get_wakeup_cause();
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if (cause == ESP_SLEEP_WAKEUP_EXT0) {
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Serial.println("[pm] Woke from deep sleep via GPIO0");
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}
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Serial.printf("\r\n[uwb_tag] tag_id=0x%02X starting\r\n", TAG_ID);
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/* I2C bus (shared: OLED @0x3C + MPU6050 @0x68) */
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@ -575,13 +769,7 @@ void setup(void) {
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/* DW1000 */
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SPI.begin(PIN_SCK, PIN_MISO, PIN_MOSI);
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DW1000Ranging.initCommunication(PIN_RST, PIN_CS, PIN_IRQ);
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DW1000Ranging.attachNewRange(newRange);
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DW1000Ranging.attachNewDevice(newDevice);
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DW1000Ranging.attachInactiveDevice(inactiveDevice);
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DW1000Ranging.startAsTag(TAG_ADDR, DW1000.MODE_LONGDATA_RANGE_LOWPOWER);
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dw1000_ranging_init();
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/* Init state */
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for (int i = 0; i < NUM_ANCHORS; i++) {
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@ -590,8 +778,14 @@ void setup(void) {
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g_anchor_last_ok[i] = 0;
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}
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g_pm_last_activity_ms = millis();
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Serial.println("[uwb_tag] DW1000 ready MODE_LONGDATA_RANGE_LOWPOWER");
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Serial.println("[uwb_tag] Ranging + display + ESP-NOW active");
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Serial.printf("[pm] Timeouts: display=%ds DW1000=%ds deep_sleep=hold_%ds\r\n",
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PM_DISPLAY_TIMEOUT_MS / 1000,
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PM_DW1000_SLEEP_MS / 1000,
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PM_DEEP_SLEEP_HOLD_MS / 1000);
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}
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/* ── Loop ───────────────────────────────────────────────────────── */
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@ -630,11 +824,14 @@ void loop(void) {
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s_last_imu_tx = millis();
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}
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/* DW1000 ranging */
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if (!g_estop_active) {
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/* DW1000 ranging — skip while DW1000 is in deep sleep */
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if (!g_dw1000_sleeping && !g_estop_active) {
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DW1000Ranging.loop();
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}
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/* Power management (display timeout, DW1000 sleep, GPIO0 deep sleep) */
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pm_update();
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/* Display at 5 Hz */
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display_update();
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