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feat: UWB tag power management — sleep mode (Issue #689) #691

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sl-jetson merged 1 commits from sl-uwb/issue-689-tag-power-mgmt into salty/uwb-tag-display-wireless 2026-03-18 10:43:58 -04:00
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1 changed files with 206 additions and 9 deletions
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215
esp32/uwb_tag/src/main.cpp
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@ -27,6 +27,17 @@
* I2C: SDA=4 SCL=5 OLED @0x3C, MPU6050 @0x68
* E-Stop: GPIO 0 (BOOT), active LOW — disabled (floats LOW)
* LED: GPIO 2
*
* Power management (Issue #689):
* OLED auto-off after 30s inactivity → saves ~25mA
* DW1000 deep sleep after 5min idle → saves ~155mA (160mA→3.5μA)
* Periodic 10s wake window to reacquire anchors
* ESP32 deep sleep on GPIO0 hold 3s → saves ~240mA total
* Wake on GPIO0 button press
* Active: ~250mA Sleep: <5mA (50x reduction target)
*
* NOTE: GPIO0 requires hardware pull-up (10kΩ to 3.3V) for reliable
* button detection. Internal pullup is marginal on some boards.
*/
#include <Arduino.h>
@ -35,6 +46,8 @@
#include <WiFi.h>
#include <esp_now.h>
#include <esp_wifi.h>
#include <esp_sleep.h>
#include <driver/gpio.h>
#include "DW1000Ranging.h"
#include <Adafruit_GFX.h>
@ -373,11 +386,150 @@ static void estop_check(void) {
}
}
/* ── Power Management ────────────────────────────────────────────
*
* Power states (cascading):
* ACTIVE → display on, DW1000 ranging (~250mA)
* DISPLAY_OFF → display off, DW1000 ranging (~225mA)
* DW_SLEEP → display off, DW1000 deep sleep (~10mA)
* DW1000 wakes for a 5s scan window every 30s
* DEEP_SLEEP → ESP32 deep sleep (<0.5mA)
* Triggered by GPIO0 held 3s
* Wake by GPIO0 press (EXT0)
*
* Activity resets the idle timer and wakes display + DW1000.
* ─────────────────────────────────────────────────────────────── */
#define PM_DISPLAY_TIMEOUT_MS (30UL * 1000) /* 30s → display off */
#define PM_DW1000_SLEEP_MS (300UL * 1000) /* 5min → DW1000 deep sleep */
#define PM_DW1000_WAKE_PERIOD_MS (30UL * 1000) /* wake DW1000 every 30s */
#define PM_DW1000_WAKE_WINDOW_MS 5000 /* stay awake 5s to range */
#define PM_DEEP_SLEEP_HOLD_MS 3000 /* GPIO0 hold → deep sleep */
static uint32_t g_pm_last_activity_ms = 0;
static bool g_pm_display_on = true;
/* DW1000 deep sleep state */
static bool g_dw1000_sleeping = false;
static uint32_t g_dw1000_sleep_ms = 0; /* when DW1000 entered sleep */
static uint32_t g_dw1000_wake_ms = 0; /* when current wake started */
static bool g_dw1000_in_window = false;
/* GPIO0 hold tracking */
static uint32_t g_btn_held_ms = 0;
/* Forward declaration */
static void dw1000_ranging_init(void);
/* Called on any ranging activity — resets idle timer, wakes hw */
static void pm_activity(void) {
g_pm_last_activity_ms = millis();
if (!g_pm_display_on) {
display.ssd1306_command(SSD1306_DISPLAYON);
g_pm_display_on = true;
Serial.println("[pm] Display on (activity)");
}
}
static void pm_dw1000_sleep(void) {
Serial.println("[pm] DW1000 deep sleep");
DW1000.deepSleep();
g_dw1000_sleeping = true;
g_dw1000_sleep_ms = millis();
g_dw1000_in_window = false;
}
/* Wake DW1000 and reinitialize ranging */
static void pm_dw1000_wake(void) {
Serial.println("[pm] DW1000 waking");
DW1000.spiWakeup();
delay(5);
dw1000_ranging_init();
g_dw1000_sleeping = false;
g_dw1000_in_window = true;
g_dw1000_wake_ms = millis();
}
static void pm_enter_deep_sleep(void) {
Serial.println("[pm] ESP32 deep sleep — GPIO0 to wake");
Serial.flush();
display.ssd1306_command(SSD1306_DISPLAYON);
display.clearDisplay();
display.setTextSize(2);
display.setTextColor(SSD1306_WHITE);
display.setCursor(10, 20);
display.println(F("Sleeping..."));
display.setTextSize(1);
display.setCursor(20, 48);
display.println(F("Press to wake"));
display.display();
delay(800);
display.ssd1306_command(SSD1306_DISPLAYOFF);
/* DW1000 deep sleep before ESP32 sleeps */
if (!g_dw1000_sleeping) {
DW1000.deepSleep();
}
/* Wake on GPIO0 low (button press) */
esp_sleep_enable_ext0_wakeup(GPIO_NUM_0, 0);
esp_deep_sleep_start();
/* never returns */
}
static void pm_update(void) {
uint32_t now = millis();
uint32_t idle_ms = now - g_pm_last_activity_ms;
/* ── OLED auto-off ─────────────────────────────────────────── */
if (g_pm_display_on && idle_ms >= PM_DISPLAY_TIMEOUT_MS) {
display.ssd1306_command(SSD1306_DISPLAYOFF);
g_pm_display_on = false;
Serial.println("[pm] Display off (30s idle)");
}
/* ── DW1000 sleep ──────────────────────────────────────────── */
if (!g_dw1000_sleeping) {
if (idle_ms >= PM_DW1000_SLEEP_MS) {
pm_dw1000_sleep();
}
} else {
/* Periodic scan window */
bool window_expired = g_dw1000_in_window &&
(now - g_dw1000_wake_ms) >= PM_DW1000_WAKE_WINDOW_MS;
bool period_elapsed = !g_dw1000_in_window &&
(now - g_dw1000_sleep_ms) >= PM_DW1000_WAKE_PERIOD_MS;
if (window_expired) {
/* End of scan window with no activity → back to sleep */
Serial.println("[pm] DW1000 scan window done — back to sleep");
pm_dw1000_sleep();
} else if (period_elapsed) {
pm_dw1000_wake();
}
}
/* ── GPIO0 hold → deep sleep ───────────────────────────────── */
if (digitalRead(PIN_ESTOP) == LOW) {
if (g_btn_held_ms == 0) {
g_btn_held_ms = now;
} else if ((now - g_btn_held_ms) >= PM_DEEP_SLEEP_HOLD_MS) {
pm_enter_deep_sleep();
/* unreachable */
}
} else {
g_btn_held_ms = 0;
}
}
/* ── OLED display (5 Hz) ────────────────────────────────────────── */
static uint32_t g_disp_last = 0;
static void display_update(void) {
if (!g_pm_display_on) return;
if (millis() - g_disp_last < 200) return;
g_disp_last = millis();
@ -400,6 +552,24 @@ static void display_update(void) {
return;
}
/* Show sleep status when DW1000 is sleeping */
if (g_dw1000_sleeping && !g_dw1000_in_window) {
uint32_t next_wake_ms = PM_DW1000_WAKE_PERIOD_MS -
(millis() - g_dw1000_sleep_ms);
display.setTextSize(1);
display.setTextColor(SSD1306_WHITE);
display.setCursor(0, 0);
display.println(F("UWB SLEEP"));
display.setCursor(0, 16);
display.printf("Wake in %ds", (int)(next_wake_ms / 1000));
display.setCursor(0, 32);
display.printf("Idle: %ds", (int)((millis() - g_pm_last_activity_ms) / 1000));
display.setCursor(0, 48);
display.println(F("Hold BTN 3s: off"));
display.display();
return;
}
uint32_t now = millis();
/* Find closest anchor */
@ -499,6 +669,14 @@ static void newRange(void) {
digitalWrite(PIN_LED, HIGH);
delay(1);
digitalWrite(PIN_LED, LOW);
/* Range received → mark activity, wake display/DW1000 if needed */
pm_activity();
/* If DW1000 was in a scan window, it's awake — keep it up */
if (g_dw1000_in_window) {
g_dw1000_in_window = false; /* anchor found, stay fully active */
}
}
static void newDevice(DW1000Device *device) {
@ -509,6 +687,16 @@ static void inactiveDevice(DW1000Device *device) {
Serial.printf("+GONE:%04X\r\n", device->getShortAddress());
}
/* ── DW1000 init helper (used at startup and after wakeup) ─────── */
static void dw1000_ranging_init(void) {
DW1000Ranging.initCommunication(PIN_RST, PIN_CS, PIN_IRQ);
DW1000Ranging.attachNewRange(newRange);
DW1000Ranging.attachNewDevice(newDevice);
DW1000Ranging.attachInactiveDevice(inactiveDevice);
DW1000Ranging.startAsTag(TAG_ADDR, DW1000.MODE_LONGDATA_RANGE_LOWPOWER);
}
/* ── Setup ──────────────────────────────────────────────────────── */
void setup(void) {
@ -519,6 +707,12 @@ void setup(void) {
pinMode(PIN_LED, OUTPUT);
digitalWrite(PIN_LED, LOW);
/* Log wakeup cause after deep sleep */
esp_sleep_wakeup_cause_t cause = esp_sleep_get_wakeup_cause();
if (cause == ESP_SLEEP_WAKEUP_EXT0) {
Serial.println("[pm] Woke from deep sleep via GPIO0");
}
Serial.printf("\r\n[uwb_tag] tag_id=0x%02X starting\r\n", TAG_ID);
/* I2C bus (shared: OLED @0x3C + MPU6050 @0x68) */
@ -575,13 +769,7 @@ void setup(void) {
/* DW1000 */
SPI.begin(PIN_SCK, PIN_MISO, PIN_MOSI);
DW1000Ranging.initCommunication(PIN_RST, PIN_CS, PIN_IRQ);
DW1000Ranging.attachNewRange(newRange);
DW1000Ranging.attachNewDevice(newDevice);
DW1000Ranging.attachInactiveDevice(inactiveDevice);
DW1000Ranging.startAsTag(TAG_ADDR, DW1000.MODE_LONGDATA_RANGE_LOWPOWER);
dw1000_ranging_init();
/* Init state */
for (int i = 0; i < NUM_ANCHORS; i++) {
@ -590,8 +778,14 @@ void setup(void) {
g_anchor_last_ok[i] = 0;
}
g_pm_last_activity_ms = millis();
Serial.println("[uwb_tag] DW1000 ready MODE_LONGDATA_RANGE_LOWPOWER");
Serial.println("[uwb_tag] Ranging + display + ESP-NOW active");
Serial.printf("[pm] Timeouts: display=%ds DW1000=%ds deep_sleep=hold_%ds\r\n",
PM_DISPLAY_TIMEOUT_MS / 1000,
PM_DW1000_SLEEP_MS / 1000,
PM_DEEP_SLEEP_HOLD_MS / 1000);
}
/* ── Loop ───────────────────────────────────────────────────────── */
@ -630,11 +824,14 @@ void loop(void) {
s_last_imu_tx = millis();
}
/* DW1000 ranging */
if (!g_estop_active) {
/* DW1000 ranging — skip while DW1000 is in deep sleep */
if (!g_dw1000_sleeping && !g_estop_active) {
DW1000Ranging.loop();
}
/* Power management (display timeout, DW1000 sleep, GPIO0 deep sleep) */
pm_update();
/* Display at 5 Hz */
display_update();