diff --git a/esp32/uwb_anchor/platformio.ini b/esp32/uwb_anchor/platformio.ini index 9d88d5f..a4f32c2 100644 --- a/esp32/uwb_anchor/platformio.ini +++ b/esp32/uwb_anchor/platformio.ini @@ -1,14 +1,9 @@ -; SaltyBot UWB Anchor Firmware — Issue #544 -; Target: Makerfabs ESP32 UWB Pro (DW3000 chip) -; -; Library: Makerfabs MaUWB_DW3000 -; https://github.com/Makerfabs/MaUWB_DW3000 +; SaltyBot UWB Anchor Firmware +; Target: Makerfabs ESP32 UWB Pro (DW1000, 200m range) ; ; Flash: -; pio run -e anchor0 --target upload (port-side anchor) -; pio run -e anchor1 --target upload (starboard anchor) -; Monitor: -; pio device monitor -e anchor0 -b 115200 +; pio run -e anchor0 --target upload (port-side) +; pio run -e anchor1 --target upload (starboard) [common] platform = espressif32 @@ -16,8 +11,7 @@ board = esp32dev framework = arduino monitor_speed = 115200 upload_speed = 921600 -lib_deps = - https://github.com/Makerfabs/MaUWB_DW3000.git +lib_extra_dirs = ../../lib build_flags = -DCORE_DEBUG_LEVEL=0 diff --git a/esp32/uwb_anchor/src/main.cpp b/esp32/uwb_anchor/src/main.cpp index eb484d6..40f7ab6 100644 --- a/esp32/uwb_anchor/src/main.cpp +++ b/esp32/uwb_anchor/src/main.cpp @@ -1,61 +1,57 @@ /* - * uwb_anchor — SaltyBot ESP32 UWB Pro anchor firmware (TWR responder) - * Issue #544 + * uwb_anchor — SaltyBot ESP32 UWB Pro anchor (DW1000 TWR responder) * - * Hardware: Makerfabs ESP32 UWB Pro (DW3000 chip) + * Hardware: Makerfabs ESP32 UWB Pro (DW1000, 200m range) + * Sits on robot body, USB-serial to Jetson Orin. + * Two anchors: anchor-0 (port), anchor-1 (starboard). * - * Role - * ──── - * Anchor sits on SaltyBot body, USB-connected to Jetson Orin. - * Two anchors per robot (anchor-0 port side, anchor-1 starboard). - * Person-worn tags initiate ranging; anchors respond. + * Serial output to Jetson (115200): + * +RANGE:,,,\r\n * - * Protocol: Double-Sided TWR (DS-TWR) - * ──────────────────────────────────── - * Tag → Anchor POLL (msg_type 0x01) - * Anchor → Tag RESP (msg_type 0x02, payload: T_poll_rx, T_resp_tx) - * Tag → Anchor FINAL (msg_type 0x03, payload: Ra, Da, Db timestamps) - * Anchor computes range via DS-TWR formula, emits +RANGE on Serial. + * Also receives ESP-NOW packets from tag and forwards: + * +ESPNOW:,,,,,,\r\n + * +ESTOP:\r\n (priority) * - * Serial output (115200 8N1, USB-CDC to Jetson) - * ────────────────────────────────────────────── - * +RANGE:,,\r\n (on each successful range) + * AT commands (host → anchor): + * AT+ID? → +ID: * - * AT commands (host → anchor) - * ─────────────────────────── - * AT+RANGE? → returns last buffered +RANGE line - * AT+RANGE_ADDR= → pair with specific tag (filter others) - * AT+RANGE_ADDR= → clear pairing (accept all tags) - * AT+ID? → returns +ID: - * - * Pin mapping — Makerfabs ESP32 UWB Pro - * ────────────────────────────────────── - * SPI SCK 18 SPI MISO 19 SPI MOSI 23 - * DW CS 21 DW RST 27 DW IRQ 34 - * - * Build - * ────── - * pio run -e anchor0 --target upload (port side) - * pio run -e anchor1 --target upload (starboard) + * Pin map — ESP32 UWB Pro (no display): + * SPI: SCK=18 MISO=19 MOSI=23 CS=4 + * DW1000: RST=27 IRQ=34 */ #include #include -#include #include #include #include -#include "dw3000.h" // Makerfabs MaUWB_DW3000 library +#include "DW1000Ranging.h" -/* ── Configurable ───────────────────────────────────────────────── */ +/* ── Config ─────────────────────────────────────────────────────── */ #ifndef ANCHOR_ID -# define ANCHOR_ID 0 /* 0 = port, 1 = starboard */ +# define ANCHOR_ID 0 #endif #define SERIAL_BAUD 115200 -/* ── ESP-NOW packet format (shared with tag firmware) ──────────── */ +/* Unique DW1000 address per anchor (last 2 bytes differ) */ +#if ANCHOR_ID == 0 +# define ANCHOR_ADDR "86:17:5B:D5:A9:9A:E2:00" +#else +# define ANCHOR_ADDR "86:17:5B:D5:A9:9A:E2:01" +#endif + +/* ── Pins (ESP32 UWB Pro, no display) ──────────────────────────── */ + +#define PIN_SCK 18 +#define PIN_MISO 19 +#define PIN_MOSI 23 +#define PIN_CS 4 +#define PIN_RST 27 +#define PIN_IRQ 34 + +/* ── ESP-NOW packet format (shared with tag) ───────────────────── */ #define ESPNOW_MAGIC_0 0x5B #define ESPNOW_MAGIC_1 0x01 @@ -79,157 +75,19 @@ struct EspNowPacket { }; #pragma pack(pop) -/* Ring buffer for received ESP-NOW packets (ISR → main loop) */ -#define ESPNOW_QUEUE_SIZE 8 -static volatile EspNowPacket g_espnow_queue[ESPNOW_QUEUE_SIZE]; -static volatile int g_espnow_head = 0; -static volatile int g_espnow_tail = 0; +/* ISR ring buffer for ESP-NOW */ +#define ESPNOW_Q_SIZE 8 +static volatile EspNowPacket g_enq[ESPNOW_Q_SIZE]; +static volatile int g_en_head = 0, g_en_tail = 0; static void IRAM_ATTR espnow_rx_cb(const uint8_t *mac, const uint8_t *data, int len) { if (len < (int)sizeof(EspNowPacket)) return; - const EspNowPacket *pkt = (const EspNowPacket *)data; - if (pkt->magic[0] != ESPNOW_MAGIC_0 || pkt->magic[1] != ESPNOW_MAGIC_1) return; - - int next = (g_espnow_head + 1) % ESPNOW_QUEUE_SIZE; - if (next == g_espnow_tail) return; /* queue full, drop */ - g_espnow_queue[g_espnow_head] = *pkt; - g_espnow_head = next; -} - -/* ── Pin map (Makerfabs ESP32 UWB Pro) ─────────────────────────── */ - -#define PIN_SCK 18 -#define PIN_MISO 19 -#define PIN_MOSI 23 -#define PIN_CS 21 -#define PIN_RST 27 -#define PIN_IRQ 34 - -/* ── DW3000 channel / PHY config ───────────────────────────────── */ - -static dwt_config_t dw_cfg = { - 5, /* channel 5 (6.5 GHz, best penetration) */ - DWT_PLEN_128, /* preamble length */ - DWT_PAC8, /* PAC size */ - 9, /* TX preamble code */ - 9, /* RX preamble code */ - 1, /* SFD type (IEEE 802.15.4z) */ - DWT_BR_6M8, /* data rate 6.8 Mbps */ - DWT_PHR_MODE_STD, /* standard PHR */ - DWT_PHR_RATE_DATA, - (129 + 8 - 8), /* SFD timeout */ - DWT_STS_MODE_OFF, /* STS off — standard TWR */ - DWT_STS_LEN_64, - DWT_PDOA_M0, /* no PDoA */ -}; - -/* ── Frame format ──────────────────────────────────────────────── */ - -/* Byte layout for all frames: - * [0] frame_type (FTYPE_*) - * [1] src_id (tag 8-bit addr, or ANCHOR_ID) - * [2] dst_id - * [3..] payload - * (FCS appended automatically by DW3000 — 2 bytes) - */ - -#define FTYPE_POLL 0x01 -#define FTYPE_RESP 0x02 -#define FTYPE_FINAL 0x03 - -#define FRAME_HDR 3 -#define FCS_LEN 2 - -/* RESP payload: T_poll_rx(5 B) + T_resp_tx(5 B) */ -#define RESP_PAYLOAD 10 -#define RESP_FRAME_LEN (FRAME_HDR + RESP_PAYLOAD + FCS_LEN) - -/* FINAL payload: Ra(5 B) + Da(5 B) + Db(5 B) */ -#define FINAL_PAYLOAD 15 -#define FINAL_FRAME_LEN (FRAME_HDR + FINAL_PAYLOAD + FCS_LEN) - -/* ── Timing ────────────────────────────────────────────────────── */ - -/* Turnaround delay: anchor waits 500 µs after poll_rx before tx_resp. - * DW3000 tick = 1/(128×499.2e6) ≈ 15.65 ps → 500 µs = ~31.95M ticks. - * Stored as uint32 shifted right 8 bits for dwt_setdelayedtrxtime. */ -#define RESP_TX_DLY_US 500UL -#define DWT_TICKS_PER_US 63898UL /* 1µs in DW3000 ticks (×8 prescaler) */ -#define RESP_TX_DLY_TICKS (RESP_TX_DLY_US * DWT_TICKS_PER_US) - -/* How long anchor listens for FINAL after sending RESP */ -#define FINAL_RX_TIMEOUT_US 3000 - -/* Speed of light (m/s) */ -#define SPEED_OF_LIGHT 299702547.0 - -/* DW3000 40-bit timestamp mask */ -#define DWT_TS_MASK 0xFFFFFFFFFFULL - -/* Antenna delay (factory default; calibrate per unit for best accuracy) */ -#define ANT_DELAY 16385 - -/* ── Interrupt flags (set in ISR, polled in main) ──────────────── */ - -static volatile bool g_rx_ok = false; -static volatile bool g_tx_done = false; -static volatile bool g_rx_err = false; -static volatile bool g_rx_to = false; - -static uint8_t g_rx_buf[128]; -static uint32_t g_rx_len = 0; - -/* ── State ──────────────────────────────────────────────────────── */ - -/* Last successful range (serves AT+RANGE? queries) */ -static int32_t g_last_range_mm = -1; -static char g_last_range_line[72] = {}; - -/* Optional tag pairing: 0 = accept all tags */ -static uint8_t g_paired_tag_id = 0; - -/* ── DW3000 ISR callbacks ───────────────────────────────────────── */ - -static void cb_tx_done(const dwt_cb_data_t *) { g_tx_done = true; } - -static void cb_rx_ok(const dwt_cb_data_t *d) { - g_rx_len = d->datalength; - if (g_rx_len > sizeof(g_rx_buf)) g_rx_len = sizeof(g_rx_buf); - dwt_readrxdata(g_rx_buf, g_rx_len, 0); - g_rx_ok = true; -} - -static void cb_rx_err(const dwt_cb_data_t *) { g_rx_err = true; } -static void cb_rx_to(const dwt_cb_data_t *) { g_rx_to = true; } - -/* ── Timestamp helpers ──────────────────────────────────────────── */ - -static uint64_t ts_read(const uint8_t *p) { - uint64_t v = 0; - for (int i = 4; i >= 0; i--) v = (v << 8) | p[i]; - return v; -} - -static void ts_write(uint8_t *p, uint64_t v) { - for (int i = 0; i < 5; i++, v >>= 8) p[i] = (uint8_t)(v & 0xFF); -} - -static inline uint64_t ts_diff(uint64_t later, uint64_t earlier) { - return (later - earlier) & DWT_TS_MASK; -} - -static inline double ticks_to_s(uint64_t t) { - return (double)t / (128.0 * 499200000.0); -} - -/* Estimate receive power from CIR diagnostics (dBm) */ -static float rx_power_dbm(void) { - dwt_rxdiag_t d; - dwt_readdiagnostics(&d); - if (d.maxGrowthCIR == 0 || d.rxPreamCount == 0) return 0.0f; - float f = (float)d.maxGrowthCIR; - float n = (float)d.rxPreamCount; - return 10.0f * log10f((f * f) / (n * n)) - 121.74f; + const EspNowPacket *p = (const EspNowPacket *)data; + if (p->magic[0] != ESPNOW_MAGIC_0 || p->magic[1] != ESPNOW_MAGIC_1) return; + int next = (g_en_head + 1) % ESPNOW_Q_SIZE; + if (next == g_en_tail) return; + g_enq[g_en_head] = *p; + g_en_head = next; } /* ── AT command handler ─────────────────────────────────────────── */ @@ -238,24 +96,8 @@ static char g_at_buf[64]; static int g_at_idx = 0; static void at_dispatch(const char *cmd) { - if (strcmp(cmd, "AT+RANGE?") == 0) { - if (g_last_range_mm >= 0) - Serial.println(g_last_range_line); - else - Serial.println("+RANGE:NO_DATA"); - - } else if (strcmp(cmd, "AT+ID?") == 0) { + if (strcmp(cmd, "AT+ID?") == 0) { Serial.printf("+ID:%d\r\n", ANCHOR_ID); - - } else if (strncmp(cmd, "AT+RANGE_ADDR=", 14) == 0) { - const char *v = cmd + 14; - if (*v == '\0') { - g_paired_tag_id = 0; - Serial.println("+OK:UNPAIRED"); - } else { - g_paired_tag_id = (uint8_t)strtoul(v, nullptr, 0); - Serial.printf("+OK:PAIRED=0x%02X\r\n", g_paired_tag_id); - } } else { Serial.println("+ERR:UNKNOWN_CMD"); } @@ -275,227 +117,86 @@ static void serial_poll(void) { } } -/* ── DS-TWR anchor state machine ────────────────────────────────── */ - -/* - * DS-TWR responder (one shot): - * 1. Wait for POLL from tag - * 2. Delayed-TX RESP (carry T_poll_rx + scheduled T_resp_tx) - * 3. Wait for FINAL from tag (tag embeds Ra, Da, Db) - * 4. Compute: Rb = T_final_rx − T_resp_tx - * tof = (Ra·Rb − Da·Db) / (Ra+Rb+Da+Db) - * range_m = tof × c - * 5. Print +RANGE line - */ -static void twr_cycle(void) { - - /* --- 1. Listen for POLL --- */ - dwt_setrxtimeout(0); - dwt_rxenable(DWT_START_RX_IMMEDIATE); - - g_rx_ok = g_rx_err = false; - uint32_t deadline = millis() + 2000; - while (!g_rx_ok && !g_rx_err) { - serial_poll(); - if (millis() > deadline) { - /* restart RX if we've been stuck */ - dwt_rxenable(DWT_START_RX_IMMEDIATE); - deadline = millis() + 2000; - } - yield(); - } - if (!g_rx_ok || g_rx_len < FRAME_HDR) return; - - /* validate POLL */ - if (g_rx_buf[0] != FTYPE_POLL) return; - uint8_t tag_id = g_rx_buf[1]; - if (g_paired_tag_id != 0 && tag_id != g_paired_tag_id) return; - - /* --- 2. Record T_poll_rx --- */ - uint8_t poll_rx_raw[5]; - dwt_readrxtimestamp(poll_rx_raw); - uint64_t T_poll_rx = ts_read(poll_rx_raw); - - /* Compute delayed TX time: poll_rx + turnaround, aligned to 512-tick grid */ - uint64_t resp_tx_sched = (T_poll_rx + RESP_TX_DLY_TICKS) & ~0x1FFULL; - - /* Build RESP frame */ - uint8_t resp[RESP_FRAME_LEN]; - resp[0] = FTYPE_RESP; - resp[1] = ANCHOR_ID; - resp[2] = tag_id; - ts_write(&resp[3], T_poll_rx); /* T_poll_rx (tag uses this) */ - ts_write(&resp[8], resp_tx_sched); /* scheduled T_resp_tx */ - - dwt_writetxdata(RESP_FRAME_LEN - FCS_LEN, resp, 0); - dwt_writetxfctrl(RESP_FRAME_LEN, 0, 1 /*ranging*/); - dwt_setdelayedtrxtime((uint32_t)(resp_tx_sched >> 8)); - - /* Enable RX after TX to receive FINAL */ - dwt_setrxaftertxdelay(300); - dwt_setrxtimeout(FINAL_RX_TIMEOUT_US); - - /* Fire delayed TX */ - g_tx_done = g_rx_ok = g_rx_err = g_rx_to = false; - if (dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED) != DWT_SUCCESS) { - dwt_forcetrxoff(); - return; /* TX window missed — try next cycle */ - } - - /* Wait for TX done (short wait, ISR fires fast) */ - uint32_t t0 = millis(); - while (!g_tx_done && millis() - t0 < 15) { yield(); } - - /* Read actual T_resp_tx */ - uint8_t resp_tx_raw[5]; - dwt_readtxtimestamp(resp_tx_raw); - uint64_t T_resp_tx = ts_read(resp_tx_raw); - - /* --- 3. Wait for FINAL --- */ - t0 = millis(); - while (!g_rx_ok && !g_rx_err && !g_rx_to && millis() - t0 < 60) { - serial_poll(); - yield(); - } - if (!g_rx_ok || g_rx_len < FRAME_HDR + FINAL_PAYLOAD) return; - if (g_rx_buf[0] != FTYPE_FINAL) return; - if (g_rx_buf[1] != tag_id) return; - - /* Extract DS-TWR timestamps from FINAL payload */ - uint64_t Ra = ts_read(&g_rx_buf[3]); /* tag: T_resp_rx − T_poll_tx */ - uint64_t Da = ts_read(&g_rx_buf[8]); /* tag: T_final_tx − T_resp_rx */ - /* g_rx_buf[13..17] = Db from tag (cross-check, unused here) */ - - /* T_final_rx */ - uint8_t final_rx_raw[5]; - dwt_readrxtimestamp(final_rx_raw); - uint64_t T_final_rx = ts_read(final_rx_raw); - - /* --- 4. DS-TWR formula --- */ - uint64_t Rb = ts_diff(T_final_rx, T_resp_tx); /* anchor round-trip */ - uint64_t Db = ts_diff(T_resp_tx, T_poll_rx); /* anchor turnaround */ - - double ra = ticks_to_s(Ra), rb = ticks_to_s(Rb); - double da = ticks_to_s(Da), db = ticks_to_s(Db); - - double denom = ra + rb + da + db; - if (denom < 1e-15) return; - - double tof = (ra * rb - da * db) / denom; - double range_m = tof * SPEED_OF_LIGHT; - - /* Validity window: 0.1 m – 130 m */ - if (range_m < 0.1 || range_m > 130.0) return; - - int32_t range_mm = (int32_t)(range_m * 1000.0 + 0.5); - float rssi = rx_power_dbm(); - - /* --- 5. Emit +RANGE --- */ - snprintf(g_last_range_line, sizeof(g_last_range_line), - "+RANGE:%d,%ld,%.1f", ANCHOR_ID, (long)range_mm, rssi); - g_last_range_mm = range_mm; - Serial.println(g_last_range_line); -} - -/* ── ESP-NOW packet processing (main loop context) ──────────────── */ +/* ── ESP-NOW processing ─────────────────────────────────────────── */ static void espnow_process(void) { - while (g_espnow_tail != g_espnow_head) { - const EspNowPacket &pkt = (const EspNowPacket &)g_espnow_queue[g_espnow_tail]; - g_espnow_tail = (g_espnow_tail + 1) % ESPNOW_QUEUE_SIZE; + while (g_en_tail != g_en_head) { + const EspNowPacket &pkt = (const EspNowPacket &)g_enq[g_en_tail]; + g_en_tail = (g_en_tail + 1) % ESPNOW_Q_SIZE; - /* E-STOP gets priority line */ if (pkt.msg_type == MSG_ESTOP) { - if (pkt.flags & 0x01) { + if (pkt.flags & 0x01) Serial.printf("+ESTOP:%d\r\n", pkt.tag_id); - } else { + else Serial.printf("+ESTOP_CLEAR:%d\r\n", pkt.tag_id); - } continue; } - /* Forward all other packets */ - Serial.printf("+ESPNOW:%d,%02X,%d,%ld,%.1f,%lu,%d,%02X,%d\r\n", - pkt.tag_id, - pkt.msg_type, - pkt.anchor_id, - (long)pkt.range_mm, - pkt.rssi_dbm, - (unsigned long)pkt.timestamp_ms, - pkt.battery_pct, - pkt.flags, - pkt.seq_num); + Serial.printf("+ESPNOW:%d,%02X,%ld,%.1f,%d,%02X,%d\r\n", + pkt.tag_id, pkt.msg_type, (long)pkt.range_mm, + pkt.rssi_dbm, pkt.battery_pct, pkt.flags, pkt.seq_num); } } -/* ── Arduino setup ──────────────────────────────────────────────── */ +/* ── DW1000Ranging callbacks ────────────────────────────────────── */ + +static void newRange(void) { + uint16_t tag_addr = DW1000Ranging.getDistantDevice()->getShortAddress(); + float range_m = DW1000Ranging.getDistantDevice()->getRange(); + float rxPow = DW1000Ranging.getDistantDevice()->getRXPower(); + + if (range_m < 0.0f || range_m > 250.0f) return; + + int32_t range_mm = (int32_t)(range_m * 1000.0f + 0.5f); + + Serial.printf("+RANGE:%d,%04X,%ld,%.1f\r\n", + ANCHOR_ID, tag_addr, (long)range_mm, rxPow); +} + +static void newBlink(DW1000Device *device) { + Serial.printf("+BLINK:%04X\r\n", device->getShortAddress()); +} + +static void inactiveDevice(DW1000Device *device) { + Serial.printf("+GONE:%04X\r\n", device->getShortAddress()); +} + +/* ── Setup ──────────────────────────────────────────────────────── */ void setup(void) { Serial.begin(SERIAL_BAUD); delay(300); + Serial.printf("\r\n[uwb_anchor] id=%d addr=%s starting\r\n", ANCHOR_ID, ANCHOR_ADDR); - Serial.printf("\r\n[uwb_anchor] anchor_id=%d starting\r\n", ANCHOR_ID); - - /* --- ESP-NOW receiver init --- */ + /* ESP-NOW receiver */ WiFi.mode(WIFI_STA); WiFi.disconnect(); esp_wifi_set_channel(1, WIFI_SECOND_CHAN_NONE); - if (esp_now_init() == ESP_OK) { esp_now_register_recv_cb(espnow_rx_cb); - Serial.println("[uwb_anchor] ESP-NOW receiver ok"); + Serial.println("[uwb_anchor] ESP-NOW rx ok"); } else { - Serial.println("[uwb_anchor] WARN: ESP-NOW init failed — tag relay disabled"); + Serial.println("[uwb_anchor] WARN: ESP-NOW failed"); } - SPI.begin(PIN_SCK, PIN_MISO, PIN_MOSI, PIN_CS); + /* DW1000 */ + SPI.begin(PIN_SCK, PIN_MISO, PIN_MOSI); + DW1000Ranging.initCommunication(PIN_RST, PIN_CS, PIN_IRQ); - /* Hardware reset */ - pinMode(PIN_RST, OUTPUT); - digitalWrite(PIN_RST, LOW); - delay(2); - pinMode(PIN_RST, INPUT_PULLUP); - delay(5); + DW1000Ranging.attachNewRange(newRange); + DW1000Ranging.attachBlinkDevice(newBlink); + DW1000Ranging.attachInactiveDevice(inactiveDevice); - /* DW3000 probe + init (Makerfabs MaUWB_DW3000 library) */ - if (dwt_probe((struct dwt_probe_s *)&dw3000_probe_interf)) { - Serial.println("[uwb_anchor] FATAL: DW3000 probe failed — check SPI wiring"); - for (;;) delay(1000); - } + DW1000Ranging.startAsAnchor(ANCHOR_ADDR, DW1000.MODE_LONGDATA_RANGE_ACCURACY, false); - if (dwt_initialise(DWT_DW_INIT) != DWT_SUCCESS) { - Serial.println("[uwb_anchor] FATAL: dwt_initialise failed"); - for (;;) delay(1000); - } - - if (dwt_configure(&dw_cfg) != DWT_SUCCESS) { - Serial.println("[uwb_anchor] FATAL: dwt_configure failed"); - for (;;) delay(1000); - } - - dwt_setrxantennadelay(ANT_DELAY); - dwt_settxantennadelay(ANT_DELAY); - dwt_settxpower(0x0E080222UL); /* max TX power for 120 m range */ - - dwt_setcallbacks(cb_tx_done, cb_rx_ok, cb_rx_to, cb_rx_err, - nullptr, nullptr, nullptr); - dwt_setinterrupt( - DWT_INT_TXFRS | DWT_INT_RFCG | DWT_INT_RFTO | - DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_ARFE | DWT_INT_CPERR, - 0, DWT_ENABLE_INT_ONLY); - - attachInterrupt(digitalPinToInterrupt(PIN_IRQ), - []() { dwt_isr(); }, RISING); - - Serial.printf("[uwb_anchor] DW3000 ready ch=%d 6.8Mbps id=%d\r\n", - dw_cfg.chan, ANCHOR_ID); + Serial.printf("[uwb_anchor] DW1000 ready id=%d MODE_LONGDATA_RANGE_ACCURACY\r\n", ANCHOR_ID); Serial.println("[uwb_anchor] Listening for tags..."); } -/* ── Arduino loop ───────────────────────────────────────────────── */ +/* ── Loop ───────────────────────────────────────────────────────── */ void loop(void) { serial_poll(); - espnow_process(); /* forward tag ESP-NOW packets to Jetson via serial */ - twr_cycle(); + espnow_process(); + DW1000Ranging.loop(); } diff --git a/esp32/uwb_tag/platformio.ini b/esp32/uwb_tag/platformio.ini index c5ba7ad..e4ca342 100644 --- a/esp32/uwb_tag/platformio.ini +++ b/esp32/uwb_tag/platformio.ini @@ -1,17 +1,8 @@ -; SaltyBot UWB Tag Firmware — Issue #545 -; Target: Makerfabs ESP32 UWB Pro with Display (DW3000 + SSD1306 OLED) -; -; The tag is battery-powered, worn by the person being tracked. -; It initiates DS-TWR ranging with each anchor in round-robin, -; shows status on OLED display, and sends data via ESP-NOW. -; -; Library: Makerfabs MaUWB_DW3000 -; https://github.com/Makerfabs/MaUWB_DW3000 +; SaltyBot UWB Tag Firmware +; Target: Makerfabs ESP32 UWB Pro with Display (DW1000 + SSD1306 OLED) ; ; Flash: ; pio run -e tag --target upload -; Monitor (USB debug): -; pio device monitor -b 115200 [env:tag] platform = espressif32 @@ -19,12 +10,10 @@ board = esp32dev framework = arduino monitor_speed = 115200 upload_speed = 921600 +lib_extra_dirs = ../../lib lib_deps = - https://github.com/Makerfabs/MaUWB_DW3000.git adafruit/Adafruit SSD1306@^2.5.7 adafruit/Adafruit GFX Library@^1.11.5 build_flags = -DCORE_DEBUG_LEVEL=0 - -DTAG_ID=0x01 ; unique per tag (0x01–0xFE) - -DNUM_ANCHORS=2 ; number of anchors to range with - -DRANGE_INTERVAL_MS=50 ; 20 Hz round-robin across anchors + -DTAG_ID=0x01 diff --git a/esp32/uwb_tag/src/main.cpp b/esp32/uwb_tag/src/main.cpp index db0a91e..375222d 100644 --- a/esp32/uwb_tag/src/main.cpp +++ b/esp32/uwb_tag/src/main.cpp @@ -1,77 +1,60 @@ /* - * uwb_tag — SaltyBot ESP32 UWB Pro tag firmware (DS-TWR initiator) - * Issue #545 + display/ESP-NOW/e-stop extensions + * uwb_tag — SaltyBot ESP32 UWB Pro with Display (DW1000 TWR initiator) * - * Hardware: Makerfabs ESP32 UWB Pro with Display (DW3000 + SSD1306 OLED) + * Hardware: Makerfabs ESP32 UWB Pro with Display + * DW1000 (200m range), SSD1306 128x64 OLED, LiPo battery * - * Role - * ──── - * Tag is worn by a person riding an EUC while SaltyBot follows. - * Initiates DS-TWR ranging with 2 anchors on the robot at 20 Hz. - * Shows distance/status on OLED. Sends range data via ESP-NOW - * (no WiFi AP needed — peer-to-peer, ~1ms latency, works outdoors). - * GPIO 0 = emergency stop button (active low). + * Worn by person on EUC while robot follows. + * Ranges with 2 anchors on robot, shows distance on OLED, + * broadcasts data via ESP-NOW, has e-stop on GPIO 0. * - * Serial output (USB, 115200) — debug - * ──────────────────────────────────── - * +RANGE:,,\r\n + * OLED display (5 Hz): + * Line 1: Big distance to nearest anchor + * Line 2: Per-anchor ranges + * Line 3: Link status + RSSI bars + * Line 4: Uptime + packet count * - * ESP-NOW packet (broadcast, 20 bytes) - * ───────────────────────────────────── - * [0-1] magic 0x5B 0x01 - * [2] tag_id - * [3] msg_type 0x10=range, 0x20=estop, 0x30=heartbeat - * [4] anchor_id - * [5-8] range_mm (int32_t LE) - * [9-12] rssi_dbm (float LE) - * [13-16] timestamp (uint32_t millis) - * [17] battery_pct (0-100 or 0xFF) - * [18] flags bit0=estop_active - * [19] seq_num_lo (uint8_t, rolling) + * ESP-NOW broadcast (20-byte packets): + * Range data after each successful TWR cycle + * Heartbeat every 1s even if ranging fails + * E-stop at 10 Hz while button held * - * Pin mapping — Makerfabs ESP32 UWB Pro with Display - * ────────────────────────────────────────────────── - * SPI SCK 18 SPI MISO 19 SPI MOSI 23 - * DW CS 21 DW RST 27 DW IRQ 34 - * I2C SDA 4 I2C SCL 5 OLED addr 0x3C - * LED 2 E-STOP 0 (BOOT, active LOW) + * Pin map — ESP32 UWB Pro with Display: + * SPI: SCK=18 MISO=19 MOSI=23 CS=21 (not 4! display board differs) + * DW1000: RST=27 IRQ=34 + * I2C: SDA=4 SCL=5 OLED @0x3C + * E-Stop: GPIO 0 (BOOT), active LOW + * LED: GPIO 2 */ #include #include #include -#include #include #include #include - -#include "dw3000.h" +#include "DW1000Ranging.h" #include #include -/* ── Configurable ───────────────────────────────────────────────── */ +/* ── Config ─────────────────────────────────────────────────────── */ #ifndef TAG_ID -# define TAG_ID 0x01 +# define TAG_ID 0x01 #endif -#ifndef NUM_ANCHORS -# define NUM_ANCHORS 2 -#endif +#define TAG_ADDR "7D:00:22:EA:82:60:3B:9B" -#ifndef RANGE_INTERVAL_MS -# define RANGE_INTERVAL_MS 50 /* 20 Hz round-robin */ -#endif - -#define SERIAL_BAUD 115200 +#define SERIAL_BAUD 115200 +#define NUM_ANCHORS 2 /* ── Pins ───────────────────────────────────────────────────────── */ #define PIN_SCK 18 #define PIN_MISO 19 #define PIN_MOSI 23 -#define PIN_CS 21 +#define PIN_CS 21 /* Display board uses 21, not 4 */ #define PIN_RST 27 #define PIN_IRQ 34 @@ -79,22 +62,19 @@ #define PIN_SCL 5 #define PIN_LED 2 -#define PIN_ESTOP 0 /* BOOT button, active LOW */ +#define PIN_ESTOP 0 /* ── OLED ───────────────────────────────────────────────────────── */ -#define SCREEN_W 128 -#define SCREEN_H 64 -Adafruit_SSD1306 display(SCREEN_W, SCREEN_H, &Wire, -1); +Adafruit_SSD1306 display(128, 64, &Wire, -1); /* ── ESP-NOW ────────────────────────────────────────────────────── */ -#define ESPNOW_MAGIC_0 0x5B /* "SB" */ -#define ESPNOW_MAGIC_1 0x01 /* v1 */ - -#define MSG_RANGE 0x10 -#define MSG_ESTOP 0x20 -#define MSG_HEARTBEAT 0x30 +#define ESPNOW_MAGIC_0 0x5B +#define ESPNOW_MAGIC_1 0x01 +#define MSG_RANGE 0x10 +#define MSG_ESTOP 0x20 +#define MSG_HEARTBEAT 0x30 static uint8_t broadcast_mac[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}; static uint8_t g_seq = 0; @@ -111,113 +91,10 @@ struct EspNowPacket { uint8_t battery_pct; uint8_t flags; uint8_t seq_num; - uint8_t _pad; /* pad to 20 bytes */ + uint8_t _pad; }; #pragma pack(pop) -static_assert(sizeof(EspNowPacket) == 20, "packet must be 20 bytes"); - -/* ── DW3000 PHY config (must match anchor) ──────────────────────── */ - -static dwt_config_t dw_cfg = { - 5, /* channel 5 */ - DWT_PLEN_128, - DWT_PAC8, - 9, 9, /* TX/RX preamble code */ - 1, /* SFD type */ - DWT_BR_6M8, - DWT_PHR_MODE_STD, - DWT_PHR_RATE_DATA, - (129 + 8 - 8), - DWT_STS_MODE_OFF, - DWT_STS_LEN_64, - DWT_PDOA_M0, -}; - -/* ── Frame format ──────────────────────────────────────────────── */ - -#define FTYPE_POLL 0x01 -#define FTYPE_RESP 0x02 -#define FTYPE_FINAL 0x03 - -#define FRAME_HDR 3 -#define FCS_LEN 2 - -#define POLL_FRAME_LEN (FRAME_HDR + FCS_LEN) -#define RESP_PAYLOAD 10 -#define RESP_FRAME_LEN (FRAME_HDR + RESP_PAYLOAD + FCS_LEN) -#define FINAL_PAYLOAD 15 -#define FINAL_FRAME_LEN (FRAME_HDR + FINAL_PAYLOAD + FCS_LEN) - -/* ── Timing ────────────────────────────────────────────────────── */ - -#define FINAL_TX_DLY_US 500UL -#define DWT_TICKS_PER_US 63898UL -#define FINAL_TX_DLY_TICKS (FINAL_TX_DLY_US * DWT_TICKS_PER_US) -#define RESP_RX_TIMEOUT_US 3000 - -#define SPEED_OF_LIGHT 299702547.0 -#define DWT_TS_MASK 0xFFFFFFFFFFULL -#define ANT_DELAY 16385 - -/* ── ISR state ──────────────────────────────────────────────────── */ - -static volatile bool g_rx_ok = false; -static volatile bool g_tx_done = false; -static volatile bool g_rx_err = false; -static volatile bool g_rx_to = false; - -static uint8_t g_rx_buf[128]; -static uint32_t g_rx_len = 0; - -static void cb_tx_done(const dwt_cb_data_t *) { g_tx_done = true; } -static void cb_rx_ok(const dwt_cb_data_t *d) { - g_rx_len = d->datalength; - if (g_rx_len > sizeof(g_rx_buf)) g_rx_len = sizeof(g_rx_buf); - dwt_readrxdata(g_rx_buf, g_rx_len, 0); - g_rx_ok = true; -} -static void cb_rx_err(const dwt_cb_data_t *) { g_rx_err = true; } -static void cb_rx_to(const dwt_cb_data_t *) { g_rx_to = true; } - -/* ── Timestamp helpers ──────────────────────────────────────────── */ - -static uint64_t ts_read(const uint8_t *p) { - uint64_t v = 0; - for (int i = 4; i >= 0; i--) v = (v << 8) | p[i]; - return v; -} - -static void ts_write(uint8_t *p, uint64_t v) { - for (int i = 0; i < 5; i++, v >>= 8) p[i] = (uint8_t)(v & 0xFF); -} - -static inline uint64_t ts_diff(uint64_t later, uint64_t earlier) { - return (later - earlier) & DWT_TS_MASK; -} - -static inline double ticks_to_s(uint64_t t) { - return (double)t / (128.0 * 499200000.0); -} - -static float rx_power_dbm(void) { - dwt_rxdiag_t d; - dwt_readdiagnostics(&d); - if (d.maxGrowthCIR == 0 || d.rxPreamCount == 0) return 0.0f; - float f = (float)d.maxGrowthCIR; - float n = (float)d.rxPreamCount; - return 10.0f * log10f((f * f) / (n * n)) - 121.74f; -} - -/* ── Shared state for display ───────────────────────────────────── */ - -static int32_t g_anchor_range_mm[NUM_ANCHORS]; /* last range per anchor */ -static float g_anchor_rssi[NUM_ANCHORS]; /* last RSSI per anchor */ -static uint32_t g_anchor_last_ok[NUM_ANCHORS]; /* millis() of last good range */ -static bool g_estop_active = false; - -/* ── ESP-NOW send helper ────────────────────────────────────────── */ - static void espnow_send(uint8_t msg_type, uint8_t anchor_id, int32_t range_mm, float rssi) { EspNowPacket pkt = {}; @@ -229,39 +106,76 @@ static void espnow_send(uint8_t msg_type, uint8_t anchor_id, pkt.range_mm = range_mm; pkt.rssi_dbm = rssi; pkt.timestamp_ms = millis(); - pkt.battery_pct = 0xFF; /* TODO: read ADC battery voltage */ - pkt.flags = g_estop_active ? 0x01 : 0x00; + pkt.battery_pct = 0xFF; /* TODO: battery ADC */ + pkt.flags = 0; pkt.seq_num = g_seq++; - esp_now_send(broadcast_mac, (uint8_t *)&pkt, sizeof(pkt)); } -/* ── E-Stop handling ────────────────────────────────────────────── */ +/* ── Anchor tracking ────────────────────────────────────────────── */ +/* + * DW1000Ranging gives us callbacks with a device short address. + * We map the first 2 unique addresses we see to anchor 0 and 1. + */ +static uint16_t g_anchor_addrs[NUM_ANCHORS] = {0, 0}; +static int32_t g_anchor_range_mm[NUM_ANCHORS]; +static float g_anchor_rssi[NUM_ANCHORS]; +static uint32_t g_anchor_last_ok[NUM_ANCHORS]; +static int g_num_known_anchors = 0; + +static int anchor_index(uint16_t addr) { + for (int i = 0; i < g_num_known_anchors; i++) { + if (g_anchor_addrs[i] == addr) return i; + } + if (g_num_known_anchors < NUM_ANCHORS) { + int idx = g_num_known_anchors++; + g_anchor_addrs[idx] = addr; + Serial.printf("[uwb_tag] Mapped anchor %04X → A%d\r\n", addr, idx); + return idx; + } + return -1; /* more anchors than expected */ +} + +/* ── E-Stop ─────────────────────────────────────────────────────── */ + +static bool g_estop_active = false; static uint32_t g_estop_last_tx = 0; static void estop_check(void) { bool pressed = (digitalRead(PIN_ESTOP) == LOW); if (pressed && !g_estop_active) { - /* Just pressed — enter e-stop */ g_estop_active = true; Serial.println("+ESTOP:ACTIVE"); } if (g_estop_active && pressed) { - /* While held: send e-stop at 10 Hz */ if (millis() - g_estop_last_tx >= 100) { - espnow_send(MSG_ESTOP, 0xFF, 0, 0.0f); + EspNowPacket pkt = {}; + pkt.magic[0] = ESPNOW_MAGIC_0; + pkt.magic[1] = ESPNOW_MAGIC_1; + pkt.tag_id = TAG_ID; + pkt.msg_type = MSG_ESTOP; + pkt.flags = 0x01; + pkt.seq_num = g_seq++; + pkt.timestamp_ms = millis(); + esp_now_send(broadcast_mac, (uint8_t *)&pkt, sizeof(pkt)); g_estop_last_tx = millis(); } } if (!pressed && g_estop_active) { - /* Released: send 3x clear packets, resume */ for (int i = 0; i < 3; i++) { - g_estop_active = false; /* clear flag before sending so flags=0 */ - espnow_send(MSG_ESTOP, 0xFF, 0, 0.0f); + EspNowPacket pkt = {}; + pkt.magic[0] = ESPNOW_MAGIC_0; + pkt.magic[1] = ESPNOW_MAGIC_1; + pkt.tag_id = TAG_ID; + pkt.msg_type = MSG_ESTOP; + pkt.flags = 0x00; /* clear */ + pkt.seq_num = g_seq++; + pkt.timestamp_ms = millis(); + esp_now_send(broadcast_mac, (uint8_t *)&pkt, sizeof(pkt)); delay(10); } g_estop_active = false; @@ -269,18 +183,17 @@ static void estop_check(void) { } } -/* ── OLED display update (5 Hz) ─────────────────────────────────── */ +/* ── OLED display (5 Hz) ────────────────────────────────────────── */ -static uint32_t g_display_last = 0; +static uint32_t g_disp_last = 0; static void display_update(void) { - if (millis() - g_display_last < 200) return; - g_display_last = millis(); + if (millis() - g_disp_last < 200) return; + g_disp_last = millis(); display.clearDisplay(); if (g_estop_active) { - /* Big E-STOP warning */ display.setTextSize(3); display.setTextColor(SSD1306_WHITE); display.setCursor(10, 4); @@ -301,7 +214,7 @@ static void display_update(void) { min_range = g_anchor_range_mm[i]; } - /* Line 1: Big distance to nearest anchor */ + /* Line 1: Big distance */ display.setTextSize(3); display.setTextColor(SSD1306_WHITE); display.setCursor(0, 0); @@ -318,16 +231,15 @@ static void display_update(void) { /* Line 2: Both anchor ranges */ display.setTextSize(1); display.setCursor(0, 30); - for (int i = 0; i < NUM_ANCHORS && i < 2; i++) { + for (int i = 0; i < NUM_ANCHORS; i++) { if (g_anchor_range_mm[i] > 0) { - float m = g_anchor_range_mm[i] / 1000.0f; - display.printf("A%d:%.1fm ", i, m); + display.printf("A%d:%.1fm ", i, g_anchor_range_mm[i] / 1000.0f); } else { display.printf("A%d:--- ", i); } } - /* Line 3: Connection status */ + /* Line 3: Link status + RSSI bars */ display.setCursor(0, 42); bool any_linked = false; for (int i = 0; i < NUM_ANCHORS; i++) { @@ -338,7 +250,6 @@ static void display_update(void) { } if (any_linked) { - /* RSSI bar: map -90..-30 dBm to 0-5 bars */ float best_rssi = -100.0f; for (int i = 0; i < NUM_ANCHORS; i++) { if (g_anchor_rssi[i] > best_rssi) best_rssi = g_anchor_rssi[i]; @@ -346,7 +257,6 @@ static void display_update(void) { int bars = constrain((int)((best_rssi + 90.0f) / 12.0f), 0, 5); display.print(F("LINKED ")); - /* Draw signal bars */ for (int b = 0; b < 5; b++) { int x = 50 + b * 6; int h = 2 + b * 2; @@ -356,101 +266,56 @@ static void display_update(void) { else display.drawRect(x, y, 4, h, SSD1306_WHITE); } - display.printf(" %.0fdB", best_rssi); + display.printf(" %.0f", best_rssi); } else { display.println(F("LOST -- searching --")); } - /* Line 4: Uptime */ + /* Line 4: Uptime + seq */ display.setCursor(0, 54); uint32_t secs = now / 1000; - display.printf("UP %02d:%02d seq:%d", secs / 60, secs % 60, g_seq); + display.printf("UP %02d:%02d pkt:%d", secs / 60, secs % 60, g_seq); display.display(); } -/* ── DS-TWR initiator (one anchor, one cycle) ───────────────────── */ +/* ── DW1000Ranging callbacks ────────────────────────────────────── */ -static int32_t twr_range_once(uint8_t anchor_id) { +static void newRange(void) { + uint16_t addr = DW1000Ranging.getDistantDevice()->getShortAddress(); + float range = DW1000Ranging.getDistantDevice()->getRange(); + float rxPow = DW1000Ranging.getDistantDevice()->getRXPower(); - /* --- 1. TX POLL --- */ - uint8_t poll[POLL_FRAME_LEN]; - poll[0] = FTYPE_POLL; - poll[1] = TAG_ID; - poll[2] = anchor_id; + if (range < 0.0f || range > 250.0f) return; - dwt_writetxdata(POLL_FRAME_LEN - FCS_LEN, poll, 0); - dwt_writetxfctrl(POLL_FRAME_LEN, 0, 1); + int idx = anchor_index(addr); + int32_t range_mm = (int32_t)(range * 1000.0f + 0.5f); - dwt_setrxaftertxdelay(300); - dwt_setrxtimeout(RESP_RX_TIMEOUT_US); - - g_tx_done = g_rx_ok = g_rx_err = g_rx_to = false; - if (dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED) != DWT_SUCCESS) - return -1; - - uint32_t t0 = millis(); - while (!g_tx_done && millis() - t0 < 15) yield(); - - uint8_t poll_tx_raw[5]; - dwt_readtxtimestamp(poll_tx_raw); - uint64_t T_poll_tx = ts_read(poll_tx_raw); - - /* --- 2. Wait for RESP --- */ - t0 = millis(); - while (!g_rx_ok && !g_rx_err && !g_rx_to && millis() - t0 < 60) yield(); - if (!g_rx_ok || g_rx_len < FRAME_HDR + RESP_PAYLOAD) return -1; - if (g_rx_buf[0] != FTYPE_RESP) return -1; - if (g_rx_buf[2] != TAG_ID) return -1; - if (g_rx_buf[1] != anchor_id) return -1; - - uint8_t resp_rx_raw[5]; - dwt_readrxtimestamp(resp_rx_raw); - uint64_t T_resp_rx = ts_read(resp_rx_raw); - - uint64_t T_poll_rx_a = ts_read(&g_rx_buf[3]); - uint64_t T_resp_tx_a = ts_read(&g_rx_buf[8]); - - /* --- 3. Compute DS-TWR values for FINAL --- */ - uint64_t Ra = ts_diff(T_resp_rx, T_poll_tx); - uint64_t Db = ts_diff(T_resp_tx_a, T_poll_rx_a); - - uint64_t final_tx_sched = (T_resp_rx + FINAL_TX_DLY_TICKS) & ~0x1FFULL; - uint64_t Da = ts_diff(final_tx_sched, T_resp_rx); - - /* --- 4. TX FINAL --- */ - uint8_t final_buf[FINAL_FRAME_LEN]; - final_buf[0] = FTYPE_FINAL; - final_buf[1] = TAG_ID; - final_buf[2] = anchor_id; - ts_write(&final_buf[3], Ra); - ts_write(&final_buf[8], Da); - ts_write(&final_buf[13], Db); - - dwt_writetxdata(FINAL_FRAME_LEN - FCS_LEN, final_buf, 0); - dwt_writetxfctrl(FINAL_FRAME_LEN, 0, 1); - dwt_setdelayedtrxtime((uint32_t)(final_tx_sched >> 8)); - - g_tx_done = false; - if (dwt_starttx(DWT_START_TX_DELAYED) != DWT_SUCCESS) { - dwt_forcetrxoff(); - return -1; + if (idx >= 0) { + g_anchor_range_mm[idx] = range_mm; + g_anchor_rssi[idx] = rxPow; + g_anchor_last_ok[idx] = millis(); } - t0 = millis(); - while (!g_tx_done && millis() - t0 < 15) yield(); - /* --- 5. Local range estimate (debug) --- */ - uint8_t final_tx_raw[5]; - dwt_readtxtimestamp(final_tx_raw); - /* uint64_t T_final_tx = ts_read(final_tx_raw); -- unused, tag uses SS estimate */ + /* Serial debug */ + Serial.printf("+RANGE:%d,%04X,%ld,%.1f\r\n", + (idx >= 0 ? idx : 99), addr, (long)range_mm, rxPow); - double ra = ticks_to_s(Ra); - double db = ticks_to_s(Db); - double tof = (ra - db) / 2.0; - double range_m = tof * SPEED_OF_LIGHT; + /* ESP-NOW broadcast */ + espnow_send(MSG_RANGE, (uint8_t)(idx >= 0 ? idx : 0xFF), range_mm, rxPow); - if (range_m < 0.1 || range_m > 130.0) return -1; - return (int32_t)(range_m * 1000.0 + 0.5); + /* LED blink */ + digitalWrite(PIN_LED, HIGH); + delay(1); + digitalWrite(PIN_LED, LOW); +} + +static void newDevice(DW1000Device *device) { + Serial.printf("+NEW:%04X\r\n", device->getShortAddress()); +} + +static void inactiveDevice(DW1000Device *device) { + Serial.printf("+GONE:%04X\r\n", device->getShortAddress()); } /* ── Setup ──────────────────────────────────────────────────────── */ @@ -459,18 +324,16 @@ void setup(void) { Serial.begin(SERIAL_BAUD); delay(300); - /* E-Stop button */ pinMode(PIN_ESTOP, INPUT_PULLUP); pinMode(PIN_LED, OUTPUT); digitalWrite(PIN_LED, LOW); - Serial.printf("\r\n[uwb_tag] tag_id=0x%02X num_anchors=%d starting\r\n", - TAG_ID, NUM_ANCHORS); + Serial.printf("\r\n[uwb_tag] tag_id=0x%02X starting\r\n", TAG_ID); - /* --- OLED init --- */ + /* OLED */ Wire.begin(PIN_SDA, PIN_SCL); if (!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) { - Serial.println("[uwb_tag] WARN: SSD1306 not found — running headless"); + Serial.println("[uwb_tag] WARN: SSD1306 not found"); } else { display.clearDisplay(); display.setTextSize(2); @@ -479,137 +342,70 @@ void setup(void) { display.println(F("SaltyBot")); display.setTextSize(1); display.setCursor(0, 20); - display.printf("Tag 0x%02X v2.0", TAG_ID); + display.printf("Tag 0x%02X", TAG_ID); display.setCursor(0, 35); - display.println(F("DW3000 DS-TWR + ESP-NOW")); + display.println(F("DW1000 200m + ESP-NOW")); display.setCursor(0, 50); - display.println(F("Initializing...")); + display.println(F("Searching anchors...")); display.display(); - Serial.println("[uwb_tag] OLED ok"); } - /* --- ESP-NOW init --- */ + /* ESP-NOW */ WiFi.mode(WIFI_STA); WiFi.disconnect(); - /* Set WiFi channel to match anchors (default ch 1) */ esp_wifi_set_channel(1, WIFI_SECOND_CHAN_NONE); - - if (esp_now_init() != ESP_OK) { - Serial.println("[uwb_tag] FATAL: esp_now_init failed"); - for (;;) delay(1000); + if (esp_now_init() == ESP_OK) { + esp_now_peer_info_t peer = {}; + memcpy(peer.peer_addr, broadcast_mac, 6); + peer.channel = 0; + peer.encrypt = false; + esp_now_add_peer(&peer); + Serial.println("[uwb_tag] ESP-NOW tx ok"); + } else { + Serial.println("[uwb_tag] WARN: ESP-NOW failed"); } - /* Add broadcast peer */ - esp_now_peer_info_t peer = {}; - memcpy(peer.peer_addr, broadcast_mac, 6); - peer.channel = 0; /* use current channel */ - peer.encrypt = false; - esp_now_add_peer(&peer); - Serial.println("[uwb_tag] ESP-NOW ok"); + /* DW1000 */ + SPI.begin(PIN_SCK, PIN_MISO, PIN_MOSI); + DW1000Ranging.initCommunication(PIN_RST, PIN_CS, PIN_IRQ); - /* --- DW3000 init --- */ - SPI.begin(PIN_SCK, PIN_MISO, PIN_MOSI, PIN_CS); + DW1000Ranging.attachNewRange(newRange); + DW1000Ranging.attachNewDevice(newDevice); + DW1000Ranging.attachInactiveDevice(inactiveDevice); - pinMode(PIN_RST, OUTPUT); - digitalWrite(PIN_RST, LOW); - delay(2); - pinMode(PIN_RST, INPUT_PULLUP); - delay(5); + DW1000Ranging.startAsTag(TAG_ADDR, DW1000.MODE_LONGDATA_RANGE_ACCURACY); - if (dwt_probe((struct dwt_probe_s *)&dw3000_probe_interf)) { - Serial.println("[uwb_tag] FATAL: DW3000 probe failed"); - for (;;) delay(1000); - } - - if (dwt_initialise(DWT_DW_INIT) != DWT_SUCCESS) { - Serial.println("[uwb_tag] FATAL: dwt_initialise failed"); - for (;;) delay(1000); - } - - if (dwt_configure(&dw_cfg) != DWT_SUCCESS) { - Serial.println("[uwb_tag] FATAL: dwt_configure failed"); - for (;;) delay(1000); - } - - dwt_setrxantennadelay(ANT_DELAY); - dwt_settxantennadelay(ANT_DELAY); - dwt_settxpower(0x0E080222UL); - - dwt_setcallbacks(cb_tx_done, cb_rx_ok, cb_rx_to, cb_rx_err, - nullptr, nullptr, nullptr); - dwt_setinterrupt( - DWT_INT_TXFRS | DWT_INT_RFCG | DWT_INT_RFTO | - DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_ARFE | DWT_INT_CPERR, - 0, DWT_ENABLE_INT_ONLY); - - attachInterrupt(digitalPinToInterrupt(PIN_IRQ), - []() { dwt_isr(); }, RISING); - - /* Init range state */ + /* Init state */ for (int i = 0; i < NUM_ANCHORS; i++) { g_anchor_range_mm[i] = -1; g_anchor_rssi[i] = -100.0f; g_anchor_last_ok[i] = 0; } - Serial.printf("[uwb_tag] DW3000 ready ch=%d 6.8Mbps tag=0x%02X\r\n", - dw_cfg.chan, TAG_ID); - Serial.println("[uwb_tag] Ranging + ESP-NOW + display active"); + Serial.println("[uwb_tag] DW1000 ready MODE_LONGDATA_RANGE_ACCURACY"); + Serial.println("[uwb_tag] Ranging + display + ESP-NOW active"); } -/* ── Main loop ──────────────────────────────────────────────────── */ +/* ── Loop ───────────────────────────────────────────────────────── */ + +static uint32_t g_last_hb = 0; void loop(void) { - static uint8_t anchor_idx = 0; - static uint32_t last_range_ms = 0; - static uint32_t last_hb_ms = 0; - - /* E-Stop always has priority */ + /* E-stop always first */ estop_check(); - if (g_estop_active) { - display_update(); - return; /* skip ranging while e-stop active */ - } - /* Heartbeat every 1 second */ - uint32_t now = millis(); - if (now - last_hb_ms >= 1000) { + /* Heartbeat every 1s */ + if (millis() - g_last_hb >= 1000) { espnow_send(MSG_HEARTBEAT, 0xFF, 0, 0.0f); - last_hb_ms = now; + g_last_hb = millis(); } - /* Ranging at configured interval */ - if (now - last_range_ms >= RANGE_INTERVAL_MS) { - last_range_ms = now; - - uint8_t anchor_id = anchor_idx % NUM_ANCHORS; - int32_t range_mm = twr_range_once(anchor_id); - - if (range_mm > 0) { - float rssi = rx_power_dbm(); - - /* Update shared state for display */ - g_anchor_range_mm[anchor_id] = range_mm; - g_anchor_rssi[anchor_id] = rssi; - g_anchor_last_ok[anchor_id] = now; - - /* Serial debug */ - Serial.printf("+RANGE:%d,%ld,%.1f\r\n", - anchor_id, (long)range_mm, rssi); - - /* ESP-NOW broadcast */ - espnow_send(MSG_RANGE, anchor_id, range_mm, rssi); - - /* LED blink */ - digitalWrite(PIN_LED, HIGH); - delay(2); - digitalWrite(PIN_LED, LOW); - } - - anchor_idx++; - if (anchor_idx >= NUM_ANCHORS) anchor_idx = 0; + /* DW1000Ranging handles TWR internally — + calls newRange() callback when range is available */ + if (!g_estop_active) { + DW1000Ranging.loop(); } - /* Display at 5 Hz (non-blocking) */ + /* Display at 5 Hz */ display_update(); } diff --git a/lib/DW1000/LICENSE.md b/lib/DW1000/LICENSE.md new file mode 100644 index 0000000..4b795af --- /dev/null +++ b/lib/DW1000/LICENSE.md @@ -0,0 +1,176 @@ +Apache License + Version 2.0, January 2004 + https://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS diff --git a/lib/DW1000/README.md b/lib/DW1000/README.md new file mode 100644 index 0000000..e58ab2e --- /dev/null +++ b/lib/DW1000/README.md @@ -0,0 +1,174 @@ +# arduino-dw1000 + +![Maintenance](https://img.shields.io/maintenance/no/2019.svg) +![Required know-how](https://img.shields.io/badge/Required%20know--how-professional-red.svg) +![Additional hardware required](https://img.shields.io/badge/Additional%20hardware-required-orange.svg) +![c++11](https://img.shields.io/badge/C%2B%2B-11-brightgreen.svg) +[![releases](https://img.shields.io/github/release/thotro/arduino-dw1000.svg?colorB=00aa00)](https://github.com/thotro/arduino-dw1000/releases) +![min arduino ide](https://img.shields.io/badge/ArduinoIDE-%3E%3D1.6.10-lightgrey.svg) +[![GitHub license](https://img.shields.io/badge/license-Apache%202-blue.svg)](https://raw.githubusercontent.com/thotro/arduino-dw1000/master/LICENSE.md) + +A library that offers basic functionality to use Decawave's DW1000 chips/modules with Arduino +(see https://www.decawave.com/products/dwm1000-module). + +Project state +------------- + +**Development:** +There is **no active development** by the owner *thotro*. + +This library is currently (2019) **not actively maintained**. + +Anyway you can create pull requests if you found a bug or developed a new feature. They maybe help others. + +**TODOs:** +* Fill wiki: https://github.com/thotro/arduino-dw1000/wiki +* MAC and frame filtering, error handling +* Sleep/power optimizations +* Refactor `DW1000Mac` +* Refactor `DW1000Ranging` +* Refactor `DW1000Device` +* Update examples (complete todos in header notice) + +**What can I do with this lib?:** +Stable transmission of messages between two modules is possible. The code for device tuning is working as well, hence different modes of operation can be chosen. As frame filtering (i.e. via MAC conforming messages) is partially implemented yet, internal features of the chip for node addressing and auto-acknowledgement of messages can not be used. This is part of a future milestone. For now, if acknowledgements are required, they have to be sent manually and node addresses have to be encoded in the message payload and processed by the host controller. + +**General notice:** +* The documentation https://github.com/thotro/arduino-dw1000/tree/master/extras/doc is manually generated and maybe out of date. +* Datasheet and application notices are available at https://www.decawave.com/ (require free registration). + +Installation +------------ + +**Requires c++11 support**, Arduino IDE >= 1.6.6 support c++11. + + 1. Get a ZIP file of the master branch or the latest release and save somewhere on your machine. + 2. Open your Arduino IDE and goto _Sketch_ / _Include Library_ / _Add .ZIP Library..._ + 3. Select the downloaded ZIP file of the DW1000 library + 4. You should now see the library in the list and have access to the examples in the dedicated section of the IDE + +Note that in version 1.6.6 of your Arduino IDE you can get the library via the Arduino library manager. + +Contents +-------- + + * [Project structure](../../wiki/Project-structure) + * [Features and design intentions](../../wiki/Features) + * [Testbed and Adapter board](../../wiki/Testbed-and-Adapter-board) + * [Projects, Media, Links](../../wiki/Projects) + * [Benchmarks](../../wiki/Benchmarks) + * API docs + * [HTML](https://cdn.rawgit.com/thotro/arduino-dw1000/master/extras/doc/html/index.html) + * [PDF](https://cdn.rawgit.com/thotro/arduino-dw1000/master/extras/doc/DW1000_Arduino_API_doc.pdf) + +Usage +----- + +General usage of the DW1000 library is depicted below. Please see the Arduino test example codes (described in the [project structure](../../wiki/Project-structure)) for more up-to-date and operational reference usage. + +At the moment the library contains two types: + * **DW1000:** + State: stable. + The statically accessible entity to work with your modules. Offers a variety of configuration options and manages module states and actions. + + * **DW1000Time:** + State: stable. + Container entities that handle DW1000 specific timing values. These are required to allow accurate timestamps and time based computations; they aid in avoiding potential precision and capacity problems of standard number formats in Arduino and basically are wrapper objects for 64-bit signed integer data types; most importantly they take care of all bit-to-time-and-distance (and vice versa) conversions. + + * **DW1000Ranging:** + State: prototype. + Contain all functions which allow to make the ranging protocole. + + * **DW1000Device:** + State: prototype. + Contain all informations (long address, short ephemeral address, DW1000Time of transition) about a distant device (anchor or tag) on the same network. + + * **DW1000Mac:** + State: prototype. + This class is a child of the DW1000Device class and allow to generate the MAC frame for his DW1000Device parent. + + +```Arduino +#include +... +// init with interrupt line and optionally with reset line +DW1000.begin(irq_pin[, rst_pin]); +// select a specific chip via a chip select line +DW1000.select(cs_pin); +// or use DW1000.reselect(cs_pin) to switch to previously selected chip +... +// open a device configuration sessions +DW1000.newConfiguration(); +// configure specific aspects and/or choose defaults +DW1000.setDefaults(); +DW1000.setDeviceAddress(5); +DW1000.setNetworkId(10); +// modes that define data rate, frequency, etc. (see API docs) +DW1000.enableMode(DW1000.MODE_LONGDATA_RANGE_LOWPOWER); +// ... and other stuff - finally upload to the module. +DW1000.commitConfiguration(); +... +// set some interrupt callback routines +DW1000.attachSentHandler(some_handler_function); +DW1000.attachReceivedHandler(another_handler_function); +... +// open a new transmit session +DW1000.newTransmit(); +// configure specific aspects and/or choose defaults +DW1000.setDefaults(); +DW1000.setData(some_data); +DW1000Time delayTime = DW1000Time(100, DW1000Time::MILLISECONDS); +[DW1000Time futureTimestamp = ]DW1000.setDelay(delayTime); +// ... and other stuff - finally start the transmission +DW1000.startTransmit(); +... +// similar for a receiving session, like so ... +DW1000.newReceive(); +DW1000.setDefaults(); +// so we don't need to restart the receiver manually each time +DW1000.receivePermanently(true); +// ... and other stuff - finally start awaiting messages +DW1000.startReceive(); +... +``` + +Dependency +---------- + +Disclaimer: +This is maybe a incomplete list. Please notice that some dependency libraries may **require** a **reproduction** of copyright and license, **even if they are shipped as binary!!** + +* **Arduino.h** + + * From: Arduino IDE / target specific + * License: (target: Arduino) GNU Lesser General Public License 2.1 + +* **SPI.h** + + * From: Arduino IDE / target specific + * License: (target: Arduino) GNU Lesser General Public License 2.1 + +* **stdint.h** + + * From: Arduino IDE / Compiler and target specific + * License: different + +* **stdio.h** + + * From: Arduino IDE / Compiler and target specific + * License: different + +* **stdlib.h** + + * From: Arduino IDE / Compiler and target specific + * License: different + +* **string.h** + + * From: Arduino IDE / Compiler and target specific + * License: different + + +License +------- +Apache License 2.0 (see [LICENSE.md](https://github.com/thotro/arduino-dw1000/blob/master/LICENSE.md)) diff --git a/lib/DW1000/adapterBoard/AdapterBoardTestBed.png 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + +The DWM1000 module is based on Decawave's DW1000 Ultra +Wideband (UWB) transceiver IC. It integrates antenna, all RF +circuitry, power management and clock circuitry in one module. +It can be used in 2-way ranging or TDOA location systems to +locate assets to a precision of 10 cm and supports data rates of +up to 6.8 Mbps + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/lib/DW1000/adapterBoard/dwm1000 arduino standalone/etch_top_sided_miror.pdf b/lib/DW1000/adapterBoard/dwm1000 arduino standalone/etch_top_sided_miror.pdf new file mode 100644 index 0000000..57a0eca Binary files /dev/null and b/lib/DW1000/adapterBoard/dwm1000 arduino standalone/etch_top_sided_miror.pdf differ diff --git a/lib/DW1000/adapterBoard/dwm1000 arduino standalone/one_sided_standalone_DWM1000.brd b/lib/DW1000/adapterBoard/dwm1000 arduino standalone/one_sided_standalone_DWM1000.brd new file mode 100644 index 0000000..6df2c14 --- /dev/null +++ b/lib/DW1000/adapterBoard/dwm1000 arduino standalone/one_sided_standalone_DWM1000.brd @@ -0,0 +1,859 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<h3>SparkFun Electronics' preferred foot prints</h3> +We've spent an enormous amount of time creating and checking these footprints and parts. If you enjoy using this library, please buy one of our products at www.sparkfun.com. +<br><br> +<b>Licensing:</b> CC v3.0 Share-Alike You are welcome to use this library for commercial purposes. For attribution, we ask that when you begin to sell your device using our footprint, you email us with a link to the product being sold. We want bragging rights that we helped (in a very small part) to create your 8th world wonder. We would like the opportunity to feature your device on our homepage. + + +<b>SOT-223</b> + + + + + + + + +>NAME +>VALUE + + + + + + + + + + +<h3>EIA3528-KIT</h3> +<b>Warning:</b> This is the KIT version of this package. This package has longer pads to make hand soldering easier.<br> + + + + + + + + + + + +>NAME +>VALUE + + + + + + +>NAME +>VALUE + + + +>NAME +>VALUE + + +<B>Thin Plasic Quad Flat Package</B> Grid 0.8 mm + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +Micro USB Package + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +DW1000 + + + + + + + + + + + + + + + + + +<b>EAGLE Design Rules</b> +<p> +Die Standard-Design-Rules sind so gewählt, dass sie für +die meisten Anwendungen passen. Sollte ihre Platine +besondere Anforderungen haben, treffen Sie die erforderlichen +Einstellungen hier und speichern die Design Rules unter +einem neuen Namen ab. +<b>EAGLE Design Rules</b> +<p> +The default Design Rules have been set to cover +a wide range of applications. Your particular design +may have different requirements, so please make the +necessary adjustments and save your customized +design rules under a new name. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/lib/DW1000/adapterBoard/dwm1000 arduino standalone/one_sided_standalone_DWM1000.sch b/lib/DW1000/adapterBoard/dwm1000 arduino standalone/one_sided_standalone_DWM1000.sch new file mode 100644 index 0000000..d45d0e9 --- /dev/null +++ b/lib/DW1000/adapterBoard/dwm1000 arduino standalone/one_sided_standalone_DWM1000.sch @@ -0,0 +1,2609 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<h3>SparkFun Electronics' preferred foot prints</h3> +We've spent an enormous amount of time creating and checking these footprints and parts. If you enjoy using this library, please buy one of our products at www.sparkfun.com. +<br><br> +<b>Licensing:</b> CC v3.0 Share-Alike You are welcome to use this library for commercial purposes. For attribution, we ask that when you begin to sell your device using our footprint, you email us with a link to the product being sold. We want bragging rights that we helped (in a very small part) to create your 8th world wonder. We would like the opportunity to feature your device on our homepage. + + +<b>SOT-223</b> + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + +>Value +>Name + + + + + + +>Name +>Value + + + + + + + + + + + + +>Name +>Value + + +<b>Panasonic Aluminium Electrolytic Capacitor VS-Serie Package G</b> + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + +<b>Panasonic Aluminium Electrolytic Capacitor VS-Serie Package E</b> + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + +<b>Panasonic Aluminium Electrolytic Capacitor VS-Serie Package E</b> + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + +>Value +>Name + + + + + + +>Value +>Name + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + +Type J2 package for SMD supercap PRT-10317 (p# EEC-EN0F204J2) + + + + + + + + + + + + + + + +>NAME +>VALUE + + +<h3>EIA3528-KIT</h3> +<b>Warning:</b> This is the KIT version of this package. This package has longer pads to make hand soldering easier.<br> + + + + + + + + + + + +>NAME +>VALUE + + +<h3>EIA3216-KIT</h3> +<b>Warning:</b> This is the KIT version of this package. This package has longer pads to make hand soldering easier.<br> + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + +>Name +>Value + + +<b>RESISTOR</b><p> +chip + + + + + + + + + + +>NAME +>VALUE + + + + + + + + +>NAME +>VALUE + + + + + + + + + + +>NAME +>VALUE + + + + + + +<b>CAPACITOR</b><p> +chip + + + + + + + + +>NAME +>VALUE + + + + + + +1/6W Thru-hole Resistor - *UNPROVEN* + + + + + + +>NAME +>VALUE + + + + + + +>NAME +>VALUE + + + + +1/4W Resistor, 0.4" wide<p> + +Yageo CFR series <a href="http://www.yageo.com/pdf/yageo/Leaded-R_CFR_2008.pdf">http://www.yageo.com/pdf/yageo/Leaded-R_CFR_2008.pdf</a> + + + + + + +>Name +>Value + + +1/2W Resistor, 0.5" wide<p> + +Yageo CFR series <a href="http://www.yageo.com/pdf/yageo/Leaded-R_CFR_2008.pdf">http://www.yageo.com/pdf/yageo/Leaded-R_CFR_2008.pdf</a> + + + + + + +>Name +>Value + + +1W Resistor, 0.6" wide<p> + +Yageo CFR series <a href="http://www.yageo.com/pdf/yageo/Leaded-R_CFR_2008.pdf">http://www.yageo.com/pdf/yageo/Leaded-R_CFR_2008.pdf</a> + + + + + + +>Name +>Value + + +2W Resistor, 0.8" wide<p> + +Yageo CFR series <a href="http://www.yageo.com/pdf/yageo/Leaded-R_CFR_2008.pdf">http://www.yageo.com/pdf/yageo/Leaded-R_CFR_2008.pdf</a> + + + + + + +>Name +>Value + + +<h3>AXIAL-0.3-KIT</h3> + +Commonly used for 1/4W through-hole resistors. 0.3" pitch between holes.<br> +<br> + +<b>Warning:</b> This is the KIT version of the AXIAL-0.3 package. This package has a smaller diameter top stop mask, which doesn't cover the diameter of the pad. This means only the bottom side of the pads' copper will be exposed. You'll only be able to solder to the bottom side. + + + + + + + + + + +>Name +>Value + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + +>NAME +>VALUE + + + + + + + + + + + + + +>Value +>Name + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + +>NAME +>VALUE + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>32M1-A</b> Micro Lead Frame package (MLF) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<B>Thin Plasic Quad Flat Package</B> Grid 0.8 mm + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>USB Series A Hole Mounted</b> + + + + + + + + + + + + + + + + + + + + + +>NAME +PCB Edge + + + + +<b>USB Series A Surface Mounted</b> + + + + + + + + + + + + + + + + +>NAME + + +<b>USB Series Mini-B Hole Mounted</b> + + + + + + + + + + + + + + + + + + + + +>NAME + + + + + + +USB Series B Surface Mounted + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME + + + + +<b>USB Series Mini-B Surface Mounted</b> + + + + + + + + + + + + + + + + +>VALUE +>NAME + + + + +<b>USB Series B Hole Mounted</b> + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + +<b>USB Series Mini-B Surface Mounted</b> + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + +>Name +>Value + + +<b>USB Series B Hole Mounted</b> + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + +>NAME + + + + + + + + + + + + + + + + + + +>NAME + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + +Micro USB Package + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + +>NAME +>VALUE +ADJ +IN +OUT + + + + + + + + + + +>NAME +>VALUE + + + + + + + +>VALUE + + + + + +>VALUE + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + +>VALUE +>NAME + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +USB + + + + + + + + +<b>Voltage Regulator LM1117</b> +Standard adjustable voltage regulator but in SMD form. Spark Fun Electronics SKU : COM-00595 + + + + + + + + + + + + + + + + + + +<b>Capacitor Polarized</b> +These are standard SMD and PTH capacitors. Normally 10uF, 47uF, and 100uF in electrolytic and tantalum varieties. Always verify the external diameter of the through hole cap, it varies with capacity, voltage, and manufacturer. The EIA devices should be standard. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>SUPPLY SYMBOL</b> + + + + + + + + + + + + +<b>SUPPLY SYMBOL</b> + + + + + + + + + + + + +<b>Resistor</b> +Basic schematic elements and footprints for 0603, 1206, and PTH resistors. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>Header 1</b> +Standard 1-pin 0.1" header. Use with straight break away headers (SKU : PRT-00116), right angle break away headers (PRT-00553), swiss pins (PRT-00743), machine pins (PRT-00117), and female headers (PRT-00115). + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>USB Connectors</b> +<p>USB-B-PTH is fully proven SKU : PRT-00139 +<p>USB-miniB is fully proven SKU : PRT-00587 +<p>USB-A-PCB is untested. +<p>USB-A-H is throughly reviewed, but untested. Spark Fun Electronics SKU : PRT-00437 +<p>USB-B-SMT is throughly reviewed, but untested. Needs silkscreen touching up. +<p>USB-A-S has not been used/tested +<p>USB-MB-H has not been used/tested + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +DW1000 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/lib/DW1000/examples/BasicConnectivityTest/BasicConnectivityTest.ino b/lib/DW1000/examples/BasicConnectivityTest/BasicConnectivityTest.ino new file mode 100644 index 0000000..7a5e877 --- /dev/null +++ b/lib/DW1000/examples/BasicConnectivityTest/BasicConnectivityTest.ino @@ -0,0 +1,64 @@ +/* + * Copyright (c) 2015 by Thomas Trojer + * Decawave DW1000 library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file BasicConnectivityTest.ino + * Use this to test connectivity with your DW1000 from Arduino. + * It performs an arbitrary setup of the chip and prints some information. + * + * @todo + * - move strings to flash (less RAM consumption) + * - make real check of connection (e.g. change some values on DW1000 and verify) + */ + +#include +#include + +// connection pins +const uint8_t PIN_RST = 9; // reset pin +const uint8_t PIN_IRQ = 2; // irq pin +const uint8_t PIN_SS = SS; // spi select pin + +void setup() { + // DEBUG monitoring + Serial.begin(9600); + // initialize the driver + DW1000.begin(PIN_IRQ, PIN_RST); + DW1000.select(PIN_SS); + Serial.println(F("DW1000 initialized ...")); + // general configuration + DW1000.newConfiguration(); + DW1000.setDeviceAddress(5); + DW1000.setNetworkId(10); + DW1000.commitConfiguration(); + Serial.println(F("Committed configuration ...")); + // wait a bit + delay(1000); +} + +void loop() { + // DEBUG chip info and registers pretty printed + char msg[128]; + DW1000.getPrintableDeviceIdentifier(msg); + Serial.print("Device ID: "); Serial.println(msg); + DW1000.getPrintableExtendedUniqueIdentifier(msg); + Serial.print("Unique ID: "); Serial.println(msg); + DW1000.getPrintableNetworkIdAndShortAddress(msg); + Serial.print("Network ID & Device Address: "); Serial.println(msg); + DW1000.getPrintableDeviceMode(msg); + Serial.print("Device mode: "); Serial.println(msg); + // wait a bit + delay(10000); +} diff --git a/lib/DW1000/examples/BasicReceiver/BasicReceiver.ino b/lib/DW1000/examples/BasicReceiver/BasicReceiver.ino new file mode 100644 index 0000000..70ce821 --- /dev/null +++ b/lib/DW1000/examples/BasicReceiver/BasicReceiver.ino @@ -0,0 +1,110 @@ +/* + * Copyright (c) 2015 by Thomas Trojer + * Decawave DW1000 library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file BasicReceiver.ino + * Use this to test simple sender/receiver functionality with two + * DW1000. Complements the "BasicSender" example sketch. + * + * @todo + * - move strings to flash (less RAM consumption) + * + */ + +#include +#include + +// connection pins +const uint8_t PIN_RST = 9; // reset pin +const uint8_t PIN_IRQ = 2; // irq pin +const uint8_t PIN_SS = SS; // spi select pin + +// DEBUG packet sent status and count +volatile boolean received = false; +volatile boolean error = false; +volatile int16_t numReceived = 0; // todo check int type +String message; + +void setup() { + // DEBUG monitoring + Serial.begin(9600); + Serial.println(F("### DW1000-arduino-receiver-test ###")); + // initialize the driver + DW1000.begin(PIN_IRQ, PIN_RST); + DW1000.select(PIN_SS); + Serial.println(F("DW1000 initialized ...")); + // general configuration + DW1000.newConfiguration(); + DW1000.setDefaults(); + DW1000.setDeviceAddress(6); + DW1000.setNetworkId(10); + DW1000.enableMode(DW1000.MODE_LONGDATA_RANGE_LOWPOWER); + DW1000.commitConfiguration(); + Serial.println(F("Committed configuration ...")); + // DEBUG chip info and registers pretty printed + char msg[128]; + DW1000.getPrintableDeviceIdentifier(msg); + Serial.print("Device ID: "); Serial.println(msg); + DW1000.getPrintableExtendedUniqueIdentifier(msg); + Serial.print("Unique ID: "); Serial.println(msg); + DW1000.getPrintableNetworkIdAndShortAddress(msg); + Serial.print("Network ID & Device Address: "); Serial.println(msg); + DW1000.getPrintableDeviceMode(msg); + Serial.print("Device mode: "); Serial.println(msg); + // attach callback for (successfully) received messages + DW1000.attachReceivedHandler(handleReceived); + DW1000.attachReceiveFailedHandler(handleError); + DW1000.attachErrorHandler(handleError); + // start reception + receiver(); +} + +void handleReceived() { + // status change on reception success + received = true; +} + +void handleError() { + error = true; +} + +void receiver() { + DW1000.newReceive(); + DW1000.setDefaults(); + // so we don't need to restart the receiver manually + DW1000.receivePermanently(true); + DW1000.startReceive(); +} + +void loop() { + // enter on confirmation of ISR status change (successfully received) + if (received) { + numReceived++; + // get data as string + DW1000.getData(message); + Serial.print("Received message ... #"); Serial.println(numReceived); + Serial.print("Data is ... "); Serial.println(message); + Serial.print("FP power is [dBm] ... "); Serial.println(DW1000.getFirstPathPower()); + Serial.print("RX power is [dBm] ... "); Serial.println(DW1000.getReceivePower()); + Serial.print("Signal quality is ... "); Serial.println(DW1000.getReceiveQuality()); + received = false; + } + if (error) { + Serial.println("Error receiving a message"); + error = false; + DW1000.getData(message); + Serial.print("Error data is ... "); Serial.println(message); + } +} diff --git a/lib/DW1000/examples/BasicSender/BasicSender.ino b/lib/DW1000/examples/BasicSender/BasicSender.ino new file mode 100644 index 0000000..2e0d23e --- /dev/null +++ b/lib/DW1000/examples/BasicSender/BasicSender.ino @@ -0,0 +1,110 @@ +/* + * Copyright (c) 2015 by Thomas Trojer + * Decawave DW1000 library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file BasicSender.ino + * Use this to test simple sender/receiver functionality with two + * DW1000. Complements the "BasicReceiver" example sketch. + * + * @todo + * - move strings to flash (less RAM consumption) + * + */ +#include +#include + +// connection pins +const uint8_t PIN_RST = 9; // reset pin +const uint8_t PIN_IRQ = 2; // irq pin +const uint8_t PIN_SS = SS; // spi select pin + +// DEBUG packet sent status and count +boolean sent = false; +volatile boolean sentAck = false; +volatile unsigned long delaySent = 0; +int16_t sentNum = 0; // todo check int type +DW1000Time sentTime; + +void setup() { + // DEBUG monitoring + Serial.begin(9600); + Serial.println(F("### DW1000-arduino-sender-test ###")); + // initialize the driver + DW1000.begin(PIN_IRQ, PIN_RST); + DW1000.select(PIN_SS); + Serial.println(F("DW1000 initialized ...")); + // general configuration + DW1000.newConfiguration(); + DW1000.setDefaults(); + DW1000.setDeviceAddress(5); + DW1000.setNetworkId(10); + DW1000.enableMode(DW1000.MODE_LONGDATA_RANGE_LOWPOWER); + DW1000.commitConfiguration(); + Serial.println(F("Committed configuration ...")); + // DEBUG chip info and registers pretty printed + char msg[128]; + DW1000.getPrintableDeviceIdentifier(msg); + Serial.print("Device ID: "); Serial.println(msg); + DW1000.getPrintableExtendedUniqueIdentifier(msg); + Serial.print("Unique ID: "); Serial.println(msg); + DW1000.getPrintableNetworkIdAndShortAddress(msg); + Serial.print("Network ID & Device Address: "); Serial.println(msg); + DW1000.getPrintableDeviceMode(msg); + Serial.print("Device mode: "); Serial.println(msg); + // attach callback for (successfully) sent messages + DW1000.attachSentHandler(handleSent); + // start a transmission + transmitter(); +} + +void handleSent() { + // status change on sent success + sentAck = true; +} + +void transmitter() { + // transmit some data + Serial.print("Transmitting packet ... #"); Serial.println(sentNum); + DW1000.newTransmit(); + DW1000.setDefaults(); + String msg = "Hello DW1000, it's #"; msg += sentNum; + DW1000.setData(msg); + // delay sending the message for the given amount + DW1000Time deltaTime = DW1000Time(10, DW1000Time::MILLISECONDS); + DW1000.setDelay(deltaTime); + DW1000.startTransmit(); + delaySent = millis(); +} + +void loop() { + if (!sentAck) { + return; + } + // continue on success confirmation + // (we are here after the given amount of send delay time has passed) + sentAck = false; + // update and print some information about the sent message + Serial.print("ARDUINO delay sent [ms] ... "); Serial.println(millis() - delaySent); + DW1000Time newSentTime; + DW1000.getTransmitTimestamp(newSentTime); + Serial.print("Processed packet ... #"); Serial.println(sentNum); + Serial.print("Sent timestamp ... "); Serial.println(newSentTime.getAsMicroSeconds()); + // note: delta is just for simple demo as not correct on system time counter wrap-around + Serial.print("DW1000 delta send time [ms] ... "); Serial.println((newSentTime.getAsMicroSeconds() - sentTime.getAsMicroSeconds()) * 1.0e-3); + sentTime = newSentTime; + sentNum++; + // again, transmit some data + transmitter(); +} diff --git a/lib/DW1000/examples/DW1000Ranging_ANCHOR/DW1000Ranging_ANCHOR.ino b/lib/DW1000/examples/DW1000Ranging_ANCHOR/DW1000Ranging_ANCHOR.ino new file mode 100644 index 0000000..caec3a3 --- /dev/null +++ b/lib/DW1000/examples/DW1000Ranging_ANCHOR/DW1000Ranging_ANCHOR.ino @@ -0,0 +1,52 @@ +/** + * + * @todo + * - move strings to flash (less RAM consumption) + * - fix deprecated convertation form string to char* startAsAnchor + * - give example description + */ +#include +#include "DW1000Ranging.h" + +// connection pins +const uint8_t PIN_RST = 9; // reset pin +const uint8_t PIN_IRQ = 2; // irq pin +const uint8_t PIN_SS = SS; // spi select pin + +void setup() { + Serial.begin(115200); + delay(1000); + //init the configuration + DW1000Ranging.initCommunication(PIN_RST, PIN_SS, PIN_IRQ); //Reset, CS, IRQ pin + //define the sketch as anchor. It will be great to dynamically change the type of module + DW1000Ranging.attachNewRange(newRange); + DW1000Ranging.attachBlinkDevice(newBlink); + DW1000Ranging.attachInactiveDevice(inactiveDevice); + //Enable the filter to smooth the distance + //DW1000Ranging.useRangeFilter(true); + + //we start the module as an anchor + DW1000Ranging.startAsAnchor("82:17:5B:D5:A9:9A:E2:9C", DW1000.MODE_LONGDATA_RANGE_ACCURACY); +} + +void loop() { + DW1000Ranging.loop(); +} + +void newRange() { + Serial.print("from: "); Serial.print(DW1000Ranging.getDistantDevice()->getShortAddress(), HEX); + Serial.print("\t Range: "); Serial.print(DW1000Ranging.getDistantDevice()->getRange()); Serial.print(" m"); + Serial.print("\t RX power: "); Serial.print(DW1000Ranging.getDistantDevice()->getRXPower()); Serial.println(" dBm"); +} + +void newBlink(DW1000Device* device) { + Serial.print("blink; 1 device added ! -> "); + Serial.print(" short:"); + Serial.println(device->getShortAddress(), HEX); +} + +void inactiveDevice(DW1000Device* device) { + Serial.print("delete inactive device: "); + Serial.println(device->getShortAddress(), HEX); +} + diff --git a/lib/DW1000/examples/DW1000Ranging_TAG/DW1000Ranging_TAG.ino b/lib/DW1000/examples/DW1000Ranging_TAG/DW1000Ranging_TAG.ino new file mode 100644 index 0000000..5d11a30 --- /dev/null +++ b/lib/DW1000/examples/DW1000Ranging_TAG/DW1000Ranging_TAG.ino @@ -0,0 +1,52 @@ +/** + * + * @todo + * - move strings to flash (less RAM consumption) + * - fix deprecated convertation form string to char* startAsTag + * - give example description + */ +#include +#include "DW1000Ranging.h" + +// connection pins +const uint8_t PIN_RST = 9; // reset pin +const uint8_t PIN_IRQ = 2; // irq pin +const uint8_t PIN_SS = SS; // spi select pin + +void setup() { + Serial.begin(115200); + delay(1000); + //init the configuration + DW1000Ranging.initCommunication(PIN_RST, PIN_SS, PIN_IRQ); //Reset, CS, IRQ pin + //define the sketch as anchor. It will be great to dynamically change the type of module + DW1000Ranging.attachNewRange(newRange); + DW1000Ranging.attachNewDevice(newDevice); + DW1000Ranging.attachInactiveDevice(inactiveDevice); + //Enable the filter to smooth the distance + //DW1000Ranging.useRangeFilter(true); + + //we start the module as a tag + DW1000Ranging.startAsTag("7D:00:22:EA:82:60:3B:9C", DW1000.MODE_LONGDATA_RANGE_ACCURACY); +} + +void loop() { + DW1000Ranging.loop(); +} + +void newRange() { + Serial.print("from: "); Serial.print(DW1000Ranging.getDistantDevice()->getShortAddress(), HEX); + Serial.print("\t Range: "); Serial.print(DW1000Ranging.getDistantDevice()->getRange()); Serial.print(" m"); + Serial.print("\t RX power: "); Serial.print(DW1000Ranging.getDistantDevice()->getRXPower()); Serial.println(" dBm"); +} + +void newDevice(DW1000Device* device) { + Serial.print("ranging init; 1 device added ! -> "); + Serial.print(" short:"); + Serial.println(device->getShortAddress(), HEX); +} + +void inactiveDevice(DW1000Device* device) { + Serial.print("delete inactive device: "); + Serial.println(device->getShortAddress(), HEX); +} + diff --git a/lib/DW1000/examples/MessagePingPong/MessagePingPong.ino b/lib/DW1000/examples/MessagePingPong/MessagePingPong.ino new file mode 100644 index 0000000..572d27f --- /dev/null +++ b/lib/DW1000/examples/MessagePingPong/MessagePingPong.ino @@ -0,0 +1,144 @@ +/* + * Copyright (c) 2015 by Thomas Trojer + * Decawave DW1000 library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file MessagePingPong.ino + * Use this to test two-way communication functionality with two + * DW1000. Both Arduinos use this sketch, but one node configured + * as initiator/sender of the (first) ping message and the other + * being configured as receiver/answerer of the (first) ping message. + * + * Configure each node by setting their "trxToggle" attribute to either + * "SENDER" or "RECEIVER". + * + * @todo + * - add in SENDER mode timeout if no pong received then resend ping + */ + +#include "require_cpp11.h" +#include +#include + +// connection pins +constexpr uint8_t PIN_RST = 9; // reset pin +constexpr uint8_t PIN_IRQ = 2; // irq pin +constexpr uint8_t PIN_SS = SS; // spi select pin + +// toggle state +enum class TransmissionState : uint8_t { + SENDER, + RECEIVER +}; +// toggle and message RX/TX +// NOTE: the other Arduino needs to be configured with RECEIVER +// (or SENDER respectively) +TransmissionState trxToggle = TransmissionState::RECEIVER; +volatile boolean trxAck = false; +volatile boolean rxError = false; +String msg; + +void setup() { + // DEBUG monitoring + Serial.begin(9600); + Serial.println(F("### DW1000-arduino-ping-pong-test ###")); + // initialize the driver + DW1000.begin(PIN_IRQ, PIN_RST); + DW1000.select(PIN_SS); + Serial.println(F("DW1000 initialized ...")); + // general configuration + DW1000.newConfiguration(); + DW1000.setDefaults(); + DW1000.setDeviceAddress(1); + DW1000.setNetworkId(10); + DW1000.commitConfiguration(); + Serial.println(F("Committed configuration ...")); + // DEBUG chip info and registers pretty printed + char msgInfo[128]; + DW1000.getPrintableDeviceIdentifier(msgInfo); + Serial.print(F("Device ID: ")); Serial.println(msgInfo); + DW1000.getPrintableExtendedUniqueIdentifier(msgInfo); + Serial.print(F("Unique ID: ")); Serial.println(msgInfo); + DW1000.getPrintableNetworkIdAndShortAddress(msgInfo); + Serial.print(F("Network ID & Device Address: ")); Serial.println(msgInfo); + DW1000.getPrintableDeviceMode(msgInfo); + Serial.print(F("Device mode: ")); Serial.println(msgInfo); + // attach callback for (successfully) sent and received messages + DW1000.attachSentHandler(handleSent); + DW1000.attachReceivedHandler(handleReceived); + DW1000.attachReceiveFailedHandler(handleReceiveFailed); + // sender starts by sending a PING message, receiver starts listening + if (trxToggle == TransmissionState::SENDER) { + msg = "Ping ..."; + receiver(); + transmit(); + } else { + msg = "... and Pong"; + receiver(); + } +} + +void handleSent() { + // status change on sent success + trxAck = true; +} + +void handleReceived() { + // status change on received success + trxAck = true; +} + +void handleReceiveFailed() { + // error flag + rxError = true; +} + +void transmit() { + DW1000.newTransmit(); + DW1000.setDefaults(); + DW1000.setData(msg); + DW1000.startTransmit(); +} + +void receiver() { + DW1000.newReceive(); + DW1000.setDefaults(); + // so we don't need to restart the receiver manually + DW1000.receivePermanently(true); + DW1000.startReceive(); +} + +void loop() { + if (rxError) { + Serial.println(F("Failed to properly receive message.")); + rxError = false; + return; + } + if (!trxAck) { + return; + } + // continue on any success confirmation + trxAck = false; + // a sender will be a receiver and vice versa + trxToggle = (trxToggle == TransmissionState::SENDER) ? TransmissionState::RECEIVER : TransmissionState::SENDER; + if (trxToggle == TransmissionState::SENDER) { + // formerly a receiver + String rxMsg; + DW1000.getData(rxMsg); + Serial.print(F("Received: ")); Serial.println(rxMsg); + transmit(); + } else { + Serial.print(F("Transmitted: ")); Serial.println(msg); + } +} diff --git a/lib/DW1000/examples/RangingAnchor/RangingAnchor.ino b/lib/DW1000/examples/RangingAnchor/RangingAnchor.ino new file mode 100644 index 0000000..432a5d4 --- /dev/null +++ b/lib/DW1000/examples/RangingAnchor/RangingAnchor.ino @@ -0,0 +1,275 @@ +/* + * Copyright (c) 2015 by Thomas Trojer + * Decawave DW1000 library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file RangingAnchor.ino + * Use this to test two-way ranging functionality with two + * DW1000. This is the anchor component's code which computes range after + * exchanging some messages. Addressing and frame filtering is currently done + * in a custom way, as no MAC features are implemented yet. + * + * Complements the "RangingTag" example sketch. + * + * @todo + * - weighted average of ranging results based on signal quality + * - use enum instead of define + * - move strings to flash (less RAM consumption) + */ + +#include +#include + +// connection pins +const uint8_t PIN_RST = 9; // reset pin +const uint8_t PIN_IRQ = 2; // irq pin +const uint8_t PIN_SS = SS; // spi select pin + +// messages used in the ranging protocol +// TODO replace by enum +#define POLL 0 +#define POLL_ACK 1 +#define RANGE 2 +#define RANGE_REPORT 3 +#define RANGE_FAILED 255 +// message flow state +volatile byte expectedMsgId = POLL; +// message sent/received state +volatile boolean sentAck = false; +volatile boolean receivedAck = false; +// protocol error state +boolean protocolFailed = false; +// timestamps to remember +DW1000Time timePollSent; +DW1000Time timePollReceived; +DW1000Time timePollAckSent; +DW1000Time timePollAckReceived; +DW1000Time timeRangeSent; +DW1000Time timeRangeReceived; +// last computed range/time +DW1000Time timeComputedRange; +// data buffer +#define LEN_DATA 16 +byte data[LEN_DATA]; +// watchdog and reset period +uint32_t lastActivity; +uint32_t resetPeriod = 250; +// reply times (same on both sides for symm. ranging) +uint16_t replyDelayTimeUS = 3000; +// ranging counter (per second) +uint16_t successRangingCount = 0; +uint32_t rangingCountPeriod = 0; +float samplingRate = 0; + +void setup() { + // DEBUG monitoring + Serial.begin(115200); + delay(1000); + Serial.println(F("### DW1000-arduino-ranging-anchor ###")); + // initialize the driver + DW1000.begin(PIN_IRQ, PIN_RST); + DW1000.select(PIN_SS); + Serial.println(F("DW1000 initialized ...")); + // general configuration + DW1000.newConfiguration(); + DW1000.setDefaults(); + DW1000.setDeviceAddress(1); + DW1000.setNetworkId(10); + DW1000.enableMode(DW1000.MODE_LONGDATA_RANGE_LOWPOWER); + DW1000.commitConfiguration(); + Serial.println(F("Committed configuration ...")); + // DEBUG chip info and registers pretty printed + char msg[128]; + DW1000.getPrintableDeviceIdentifier(msg); + Serial.print("Device ID: "); Serial.println(msg); + DW1000.getPrintableExtendedUniqueIdentifier(msg); + Serial.print("Unique ID: "); Serial.println(msg); + DW1000.getPrintableNetworkIdAndShortAddress(msg); + Serial.print("Network ID & Device Address: "); Serial.println(msg); + DW1000.getPrintableDeviceMode(msg); + Serial.print("Device mode: "); Serial.println(msg); + // attach callback for (successfully) sent and received messages + DW1000.attachSentHandler(handleSent); + DW1000.attachReceivedHandler(handleReceived); + // anchor starts in receiving mode, awaiting a ranging poll message + receiver(); + noteActivity(); + // for first time ranging frequency computation + rangingCountPeriod = millis(); +} + +void noteActivity() { + // update activity timestamp, so that we do not reach "resetPeriod" + lastActivity = millis(); +} + +void resetInactive() { + // anchor listens for POLL + expectedMsgId = POLL; + receiver(); + noteActivity(); +} + +void handleSent() { + // status change on sent success + sentAck = true; +} + +void handleReceived() { + // status change on received success + receivedAck = true; +} + +void transmitPollAck() { + DW1000.newTransmit(); + DW1000.setDefaults(); + data[0] = POLL_ACK; + // delay the same amount as ranging tag + DW1000Time deltaTime = DW1000Time(replyDelayTimeUS, DW1000Time::MICROSECONDS); + DW1000.setDelay(deltaTime); + DW1000.setData(data, LEN_DATA); + DW1000.startTransmit(); +} + +void transmitRangeReport(float curRange) { + DW1000.newTransmit(); + DW1000.setDefaults(); + data[0] = RANGE_REPORT; + // write final ranging result + memcpy(data + 1, &curRange, 4); + DW1000.setData(data, LEN_DATA); + DW1000.startTransmit(); +} + +void transmitRangeFailed() { + DW1000.newTransmit(); + DW1000.setDefaults(); + data[0] = RANGE_FAILED; + DW1000.setData(data, LEN_DATA); + DW1000.startTransmit(); +} + +void receiver() { + DW1000.newReceive(); + DW1000.setDefaults(); + // so we don't need to restart the receiver manually + DW1000.receivePermanently(true); + DW1000.startReceive(); +} + +/* + * RANGING ALGORITHMS + * ------------------ + * Either of the below functions can be used for range computation (see line "CHOSEN + * RANGING ALGORITHM" in the code). + * - Asymmetric is more computation intense but least error prone + * - Symmetric is less computation intense but more error prone to clock drifts + * + * The anchors and tags of this reference example use the same reply delay times, hence + * are capable of symmetric ranging (and of asymmetric ranging anyway). + */ + +void computeRangeAsymmetric() { + // asymmetric two-way ranging (more computation intense, less error prone) + DW1000Time round1 = (timePollAckReceived - timePollSent).wrap(); + DW1000Time reply1 = (timePollAckSent - timePollReceived).wrap(); + DW1000Time round2 = (timeRangeReceived - timePollAckSent).wrap(); + DW1000Time reply2 = (timeRangeSent - timePollAckReceived).wrap(); + DW1000Time tof = (round1 * round2 - reply1 * reply2) / (round1 + round2 + reply1 + reply2); + // set tof timestamp + timeComputedRange.setTimestamp(tof); +} + +void computeRangeSymmetric() { + // symmetric two-way ranging (less computation intense, more error prone on clock drift) + DW1000Time tof = ((timePollAckReceived - timePollSent) - (timePollAckSent - timePollReceived) + + (timeRangeReceived - timePollAckSent) - (timeRangeSent - timePollAckReceived)) * 0.25f; + // set tof timestamp + timeComputedRange.setTimestamp(tof); +} + +/* + * END RANGING ALGORITHMS + * ---------------------- + */ + +void loop() { + int32_t curMillis = millis(); + if (!sentAck && !receivedAck) { + // check if inactive + if (curMillis - lastActivity > resetPeriod) { + resetInactive(); + } + return; + } + // continue on any success confirmation + if (sentAck) { + sentAck = false; + byte msgId = data[0]; + if (msgId == POLL_ACK) { + DW1000.getTransmitTimestamp(timePollAckSent); + noteActivity(); + } + } + if (receivedAck) { + receivedAck = false; + // get message and parse + DW1000.getData(data, LEN_DATA); + byte msgId = data[0]; + if (msgId != expectedMsgId) { + // unexpected message, start over again (except if already POLL) + protocolFailed = true; + } + if (msgId == POLL) { + // on POLL we (re-)start, so no protocol failure + protocolFailed = false; + DW1000.getReceiveTimestamp(timePollReceived); + expectedMsgId = RANGE; + transmitPollAck(); + noteActivity(); + } + else if (msgId == RANGE) { + DW1000.getReceiveTimestamp(timeRangeReceived); + expectedMsgId = POLL; + if (!protocolFailed) { + timePollSent.setTimestamp(data + 1); + timePollAckReceived.setTimestamp(data + 6); + timeRangeSent.setTimestamp(data + 11); + // (re-)compute range as two-way ranging is done + computeRangeAsymmetric(); // CHOSEN RANGING ALGORITHM + transmitRangeReport(timeComputedRange.getAsMicroSeconds()); + float distance = timeComputedRange.getAsMeters(); + Serial.print("Range: "); Serial.print(distance); Serial.print(" m"); + Serial.print("\t RX power: "); Serial.print(DW1000.getReceivePower()); Serial.print(" dBm"); + Serial.print("\t Sampling: "); Serial.print(samplingRate); Serial.println(" Hz"); + //Serial.print("FP power is [dBm]: "); Serial.print(DW1000.getFirstPathPower()); + //Serial.print("RX power is [dBm]: "); Serial.println(DW1000.getReceivePower()); + //Serial.print("Receive quality: "); Serial.println(DW1000.getReceiveQuality()); + // update sampling rate (each second) + successRangingCount++; + if (curMillis - rangingCountPeriod > 1000) { + samplingRate = (1000.0f * successRangingCount) / (curMillis - rangingCountPeriod); + rangingCountPeriod = curMillis; + successRangingCount = 0; + } + } + else { + transmitRangeFailed(); + } + + noteActivity(); + } + } +} + diff --git a/lib/DW1000/examples/RangingTag/RangingTag.ino b/lib/DW1000/examples/RangingTag/RangingTag.ino new file mode 100644 index 0000000..bae29d9 --- /dev/null +++ b/lib/DW1000/examples/RangingTag/RangingTag.ino @@ -0,0 +1,201 @@ +/* + * Copyright (c) 2015 by Thomas Trojer + * Decawave DW1000 library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file RangingTag.ino + * Use this to test two-way ranging functionality with two DW1000. This is + * the tag component's code which polls for range computation. Addressing and + * frame filtering is currently done in a custom way, as no MAC features are + * implemented yet. + * + * Complements the "RangingAnchor" example sketch. + * + * @todo + * - use enum instead of define + * - move strings to flash (less RAM consumption) + */ + +#include +#include + +// connection pins +const uint8_t PIN_RST = 9; // reset pin +const uint8_t PIN_IRQ = 2; // irq pin +const uint8_t PIN_SS = SS; // spi select pin + +// messages used in the ranging protocol +// TODO replace by enum +#define POLL 0 +#define POLL_ACK 1 +#define RANGE 2 +#define RANGE_REPORT 3 +#define RANGE_FAILED 255 +// message flow state +volatile byte expectedMsgId = POLL_ACK; +// message sent/received state +volatile boolean sentAck = false; +volatile boolean receivedAck = false; +// timestamps to remember +DW1000Time timePollSent; +DW1000Time timePollAckReceived; +DW1000Time timeRangeSent; +// data buffer +#define LEN_DATA 16 +byte data[LEN_DATA]; +// watchdog and reset period +uint32_t lastActivity; +uint32_t resetPeriod = 250; +// reply times (same on both sides for symm. ranging) +uint16_t replyDelayTimeUS = 3000; + +void setup() { + // DEBUG monitoring + Serial.begin(115200); + Serial.println(F("### DW1000-arduino-ranging-tag ###")); + // initialize the driver + DW1000.begin(PIN_IRQ, PIN_RST); + DW1000.select(PIN_SS); + Serial.println("DW1000 initialized ..."); + // general configuration + DW1000.newConfiguration(); + DW1000.setDefaults(); + DW1000.setDeviceAddress(2); + DW1000.setNetworkId(10); + DW1000.enableMode(DW1000.MODE_LONGDATA_RANGE_LOWPOWER); + DW1000.commitConfiguration(); + Serial.println(F("Committed configuration ...")); + // DEBUG chip info and registers pretty printed + char msg[128]; + DW1000.getPrintableDeviceIdentifier(msg); + Serial.print("Device ID: "); Serial.println(msg); + DW1000.getPrintableExtendedUniqueIdentifier(msg); + Serial.print("Unique ID: "); Serial.println(msg); + DW1000.getPrintableNetworkIdAndShortAddress(msg); + Serial.print("Network ID & Device Address: "); Serial.println(msg); + DW1000.getPrintableDeviceMode(msg); + Serial.print("Device mode: "); Serial.println(msg); + // attach callback for (successfully) sent and received messages + DW1000.attachSentHandler(handleSent); + DW1000.attachReceivedHandler(handleReceived); + // anchor starts by transmitting a POLL message + receiver(); + transmitPoll(); + noteActivity(); +} + +void noteActivity() { + // update activity timestamp, so that we do not reach "resetPeriod" + lastActivity = millis(); +} + +void resetInactive() { + // tag sends POLL and listens for POLL_ACK + expectedMsgId = POLL_ACK; + transmitPoll(); + noteActivity(); +} + +void handleSent() { + // status change on sent success + sentAck = true; +} + +void handleReceived() { + // status change on received success + receivedAck = true; +} + +void transmitPoll() { + DW1000.newTransmit(); + DW1000.setDefaults(); + data[0] = POLL; + DW1000.setData(data, LEN_DATA); + DW1000.startTransmit(); +} + +void transmitRange() { + DW1000.newTransmit(); + DW1000.setDefaults(); + data[0] = RANGE; + // delay sending the message and remember expected future sent timestamp + DW1000Time deltaTime = DW1000Time(replyDelayTimeUS, DW1000Time::MICROSECONDS); + timeRangeSent = DW1000.setDelay(deltaTime); + timePollSent.getTimestamp(data + 1); + timePollAckReceived.getTimestamp(data + 6); + timeRangeSent.getTimestamp(data + 11); + DW1000.setData(data, LEN_DATA); + DW1000.startTransmit(); + //Serial.print("Expect RANGE to be sent @ "); Serial.println(timeRangeSent.getAsFloat()); +} + +void receiver() { + DW1000.newReceive(); + DW1000.setDefaults(); + // so we don't need to restart the receiver manually + DW1000.receivePermanently(true); + DW1000.startReceive(); +} + +void loop() { + if (!sentAck && !receivedAck) { + // check if inactive + if (millis() - lastActivity > resetPeriod) { + resetInactive(); + } + return; + } + // continue on any success confirmation + if (sentAck) { + sentAck = false; + byte msgId = data[0]; + if (msgId == POLL) { + DW1000.getTransmitTimestamp(timePollSent); + //Serial.print("Sent POLL @ "); Serial.println(timePollSent.getAsFloat()); + } else if (msgId == RANGE) { + DW1000.getTransmitTimestamp(timeRangeSent); + noteActivity(); + } + } + if (receivedAck) { + receivedAck = false; + // get message and parse + DW1000.getData(data, LEN_DATA); + byte msgId = data[0]; + if (msgId != expectedMsgId) { + // unexpected message, start over again + //Serial.print("Received wrong message # "); Serial.println(msgId); + expectedMsgId = POLL_ACK; + transmitPoll(); + return; + } + if (msgId == POLL_ACK) { + DW1000.getReceiveTimestamp(timePollAckReceived); + expectedMsgId = RANGE_REPORT; + transmitRange(); + noteActivity(); + } else if (msgId == RANGE_REPORT) { + expectedMsgId = POLL_ACK; + float curRange; + memcpy(&curRange, data + 1, 4); + transmitPoll(); + noteActivity(); + } else if (msgId == RANGE_FAILED) { + expectedMsgId = POLL_ACK; + transmitPoll(); + noteActivity(); + } + } +} + diff --git a/lib/DW1000/examples/TimestampUsageTest/TimestampUsageTest.ino b/lib/DW1000/examples/TimestampUsageTest/TimestampUsageTest.ino new file mode 100644 index 0000000..788ae0b --- /dev/null +++ b/lib/DW1000/examples/TimestampUsageTest/TimestampUsageTest.ino @@ -0,0 +1,101 @@ +/** + * Copyright (c) 2015 by Thomas Trojer + * Copyright (c) 2016 by Ludwig Grill (www.rotzbua.de); extended example + * Decawave DW1000 library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file TimestampUsageTest.ino + * This is a simple unit test for the DW1000Time class. This test + * has no actual use to the operation of the DW1000. + */ + +#include +#include "DW1000Time.h" + +void setup() { + Serial.begin(9600); + Serial.println(F("### DW1000Time-arduino-test ###")); +} + +void loop() { + // variables for the test + DW1000Time time1, time2, time3, time4; + byte stamp[DW1000Time::LENGTH_TIMESTAMP]; + + // unit test + Serial.println(F("simple test for + - ")); + Serial.print(F("Time1 is (0)[us] ... ")); Serial.println(time1.getAsMicroSeconds(), 4); + time1 += DW1000Time(10, DW1000Time::MICROSECONDS); + Serial.print(F("Time1 is (10)[us] ... ")); Serial.println(time1.getAsMicroSeconds(), 4); + time1 -= DW1000Time(500, DW1000Time::NANOSECONDS); + Serial.print(F("Time1 is (9.5)[us] ... ")); Serial.println(time1.getAsMicroSeconds(), 4); + Serial.println(); + + Serial.println(F("test compare")); + time2 = time1; + time2 += DW1000Time(10.0f); + Serial.print(F("Time2 == Time1 (NO)... ")); Serial.println(time1 == time2 ? "YES" : "NO"); + time1 += DW1000Time(10000, DW1000Time::NANOSECONDS); + Serial.print(F("Time2 == Time1 (YES)... ")); Serial.println(time1 == time2 ? "YES" : "NO"); + Serial.println(); + + Serial.println(F("test different output")); + memset(stamp, 0, DW1000Time::LENGTH_TIMESTAMP); + stamp[1] = 0x02; // = 512 + time2 = DW1000Time(stamp); + Serial.print(F("Time2 is (512) ... ")); Serial.println(time2); + Serial.print(F("Time2 is (0.0080)[us] ... ")); Serial.println(time2.getAsMicroSeconds(), 4); + Serial.print(F("Time2 range is (2.4022)[m] ... ")); Serial.println(time2.getAsMeters(), 4); + time3 = DW1000Time(10, DW1000Time::SECONDS); + time3.getTimestamp(stamp); + time3.setTimestamp(stamp); + Serial.print(F("Time3 is (10)[s] ... ")); Serial.println(time3.getAsMicroSeconds() * 1.0e-6, 4); + Serial.println(); + + Serial.println(F("test negativ value")); + memset(stamp, 0, DW1000Time::LENGTH_TIMESTAMP); + time2.setTimestamp(-512); + Serial.print(F("Time2 is (-512) ... ")); Serial.println(time2); + Serial.print(F("Time2 is (-0.0080)[us] ... ")); Serial.println(time2.getAsMicroSeconds(), 4); + Serial.print(F("Time2 range is (-2.4022)[m] ... ")); Serial.println(time2.getAsMeters(), 4); + Serial.println(); + + Serial.println(F("test calculation")); + time1.setTimestamp(1536); + time2.setTimestamp(512); + time3.setTimestamp(4); + time4 = (time1 + time2) / time3; + Serial.print(F("Time4 is (512) ... ")); Serial.println(time4); + time4 = (time1 - time2) / time3; + Serial.print(F("Time4 is (256) ... ")); Serial.println(time4); + time4 = (time1 * time3 * time2 - time2 * time3 * time2) / (time2 * time2); + Serial.print(F("Time4 is (8) ... ")); Serial.println(time4); + Serial.println(); + + Serial.println(F("test valid/maxima")); + time1.setTimestamp(DW1000Time::TIME_MAX); + time2.setTimestamp(DW1000Time::TIME_MAX); + time3.setTimestamp(2); + time4 = (time1 + time2); + Serial.print(F("Time4 is valid? (NO) ... ")); Serial.println(time4.isValidTimestamp() ? "YES" : "NO"); + Serial.print(F("Time4 is TIME_MAX (NO) ... ")); Serial.println(time4 == DW1000Time::TIME_MAX ? "YES" : "NO"); + time4 /= time3; + Serial.print(F("Time4 is valid? (YES) ... ")); Serial.println(time4.isValidTimestamp() ? "YES" : "NO"); + Serial.print(F("Time4 is TIME_MAX (YES) ... ")); Serial.println(time4 == DW1000Time::TIME_MAX ? "YES" : "NO"); + + Serial.println(); + + // keep calm + delay(10000); +} diff --git a/lib/DW1000/extras/LICENSE b/lib/DW1000/extras/LICENSE new file mode 100644 index 0000000..d0381d6 --- /dev/null +++ b/lib/DW1000/extras/LICENSE @@ -0,0 +1,176 @@ +Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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If +# left blank the current directory will be used. + +OUTPUT_DIRECTORY = + +# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub- +# directories (in 2 levels) under the output directory of each output format and +# will distribute the generated files over these directories. Enabling this +# option can be useful when feeding doxygen a huge amount of source files, where +# putting all generated files in the same directory would otherwise causes +# performance problems for the file system. +# The default value is: NO. + +CREATE_SUBDIRS = NO + +# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII +# characters to appear in the names of generated files. If set to NO, non-ASCII +# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode +# U+3044. +# The default value is: NO. + +ALLOW_UNICODE_NAMES = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese, +# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States), +# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian, +# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages), +# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian, +# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian, +# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish, +# Ukrainian and Vietnamese. +# The default value is: English. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member +# descriptions after the members that are listed in the file and class +# documentation (similar to Javadoc). Set to NO to disable this. +# The default value is: YES. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief +# description of a member or function before the detailed description +# +# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. +# The default value is: YES. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator that is +# used to form the text in various listings. Each string in this list, if found +# as the leading text of the brief description, will be stripped from the text +# and the result, after processing the whole list, is used as the annotated +# text. Otherwise, the brief description is used as-is. If left blank, the +# following values are used ($name is automatically replaced with the name of +# the entity):The $name class, The $name widget, The $name file, is, provides, +# specifies, contains, represents, a, an and the. + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# doxygen will generate a detailed section even if there is only a brief +# description. +# The default value is: NO. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. +# The default value is: NO. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path +# before files name in the file list and in the header files. If set to NO the +# shortest path that makes the file name unique will be used +# The default value is: YES. + +FULL_PATH_NAMES = YES + +# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. +# Stripping is only done if one of the specified strings matches the left-hand +# part of the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the path to +# strip. +# +# Note that you can specify absolute paths here, but also relative paths, which +# will be relative from the directory where doxygen is started. +# This tag requires that the tag FULL_PATH_NAMES is set to YES. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the +# path mentioned in the documentation of a class, which tells the reader which +# header file to include in order to use a class. If left blank only the name of +# the header file containing the class definition is used. Otherwise one should +# specify the list of include paths that are normally passed to the compiler +# using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but +# less readable) file names. This can be useful is your file systems doesn't +# support long names like on DOS, Mac, or CD-ROM. +# The default value is: NO. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the +# first line (until the first dot) of a Javadoc-style comment as the brief +# description. If set to NO, the Javadoc-style will behave just like regular Qt- +# style comments (thus requiring an explicit @brief command for a brief +# description.) +# The default value is: NO. + +JAVADOC_AUTOBRIEF = NO + +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first +# line (until the first dot) of a Qt-style comment as the brief description. If +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus +# requiring an explicit \brief command for a brief description.) +# The default value is: NO. + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as +# a brief description. This used to be the default behavior. The new default is +# to treat a multi-line C++ comment block as a detailed description. Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 4 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:\n" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". You can put \n's in the value part of an alias to insert +# newlines. + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding "class=itcl::class" +# will allow you to use the command class in the itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, Javascript, +# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran: +# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran: +# Fortran. In the later case the parser tries to guess whether the code is fixed +# or free formatted code, this is the default for Fortran type files), VHDL. For +# instance to make doxygen treat .inc files as Fortran files (default is PHP), +# and .f files as C (default is Fortran), use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See http://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = YES + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# (class|struct|union) declarations. If set to NO, these declarations will be +# included in the documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file +# names in lower-case letters. If set to YES, upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. +# The default value is: system dependent. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong or incomplete +# parameter documentation, but not about the absence of documentation. +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = ../../src + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: http://www.gnu.org/software/libiconv) for the list of +# possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, +# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f, *.for, *.tcl, +# *.vhd, *.vhdl, *.ucf, *.qsf, *.as and *.js. + +FILE_PATTERNS = *.h \ + *.cpp + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = NO + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# function all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see http://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the config file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in +# which the alphabetical index list will be split. +# Minimum value: 1, maximum value: 20, default value: 5. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). For an example see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# http://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use grayscales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: http://developer.apple.com/tools/xcode/), introduced with +# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a +# Makefile in the HTML output directory. Running make will produce the docset in +# that directory and running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on +# Windows. +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the master .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- +# folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location of Qt's +# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the +# generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine-tune the look of the index. As an example, the default style +# sheet generated by doxygen has an example that shows how to put an image at +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has +# the same information as the tab index, you could consider setting +# DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# http://www.mathjax.org) which uses client side Javascript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. See the MathJax site (see: +# http://docs.mathjax.org/en/latest/output.html) for more details. +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility), NativeMML (i.e. MathML) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from http://www.mathjax.org before deployment. +# The default value is: http://cdn.mathjax.org/mathjax/latest. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /