ed1542ae11
Anchor (esp32/uwb_anchor): - DW1000Ranging library (200m range, MODE_LONGDATA_RANGE_ACCURACY) - Unique addresses per anchor (anchor0/anchor1 build envs) - +RANGE output: anchor_id, tag_addr, range_mm, rssi - ESP-NOW receiver: forwards tag packets + priority E-STOP to Jetson - AT+ID? command Tag with Display (esp32/uwb_tag): - DW1000Ranging as tag, auto-discovers anchors - SSD1306 OLED: big distance, per-anchor ranges, RSSI bars, link status - ESP-NOW broadcast: range/heartbeat/estop packets - E-Stop on GPIO 0 (BOOT button), 10Hz TX while held - Display at 5Hz, ranging driven by DW1000Ranging.loop() Shared: - lib/DW1000/ extracted from mf_DW1000.zip (Makerfabs fork) - lib_extra_dirs for PlatformIO to find local library
111 lines
3.7 KiB
C++
111 lines
3.7 KiB
C++
/*
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* Copyright (c) 2015 by Thomas Trojer <thomas@trojer.net>
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* Decawave DW1000 library for arduino.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* @file BasicSender.ino
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* Use this to test simple sender/receiver functionality with two
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* DW1000. Complements the "BasicReceiver" example sketch.
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*
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* @todo
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* - move strings to flash (less RAM consumption)
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*
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*/
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#include <SPI.h>
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#include <DW1000.h>
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// connection pins
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const uint8_t PIN_RST = 9; // reset pin
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const uint8_t PIN_IRQ = 2; // irq pin
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const uint8_t PIN_SS = SS; // spi select pin
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// DEBUG packet sent status and count
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boolean sent = false;
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volatile boolean sentAck = false;
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volatile unsigned long delaySent = 0;
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int16_t sentNum = 0; // todo check int type
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DW1000Time sentTime;
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void setup() {
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// DEBUG monitoring
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Serial.begin(9600);
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Serial.println(F("### DW1000-arduino-sender-test ###"));
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// initialize the driver
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DW1000.begin(PIN_IRQ, PIN_RST);
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DW1000.select(PIN_SS);
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Serial.println(F("DW1000 initialized ..."));
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// general configuration
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DW1000.newConfiguration();
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DW1000.setDefaults();
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DW1000.setDeviceAddress(5);
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DW1000.setNetworkId(10);
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DW1000.enableMode(DW1000.MODE_LONGDATA_RANGE_LOWPOWER);
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DW1000.commitConfiguration();
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Serial.println(F("Committed configuration ..."));
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// DEBUG chip info and registers pretty printed
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char msg[128];
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DW1000.getPrintableDeviceIdentifier(msg);
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Serial.print("Device ID: "); Serial.println(msg);
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DW1000.getPrintableExtendedUniqueIdentifier(msg);
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Serial.print("Unique ID: "); Serial.println(msg);
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DW1000.getPrintableNetworkIdAndShortAddress(msg);
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Serial.print("Network ID & Device Address: "); Serial.println(msg);
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DW1000.getPrintableDeviceMode(msg);
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Serial.print("Device mode: "); Serial.println(msg);
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// attach callback for (successfully) sent messages
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DW1000.attachSentHandler(handleSent);
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// start a transmission
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transmitter();
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}
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void handleSent() {
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// status change on sent success
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sentAck = true;
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}
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void transmitter() {
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// transmit some data
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Serial.print("Transmitting packet ... #"); Serial.println(sentNum);
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DW1000.newTransmit();
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DW1000.setDefaults();
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String msg = "Hello DW1000, it's #"; msg += sentNum;
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DW1000.setData(msg);
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// delay sending the message for the given amount
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DW1000Time deltaTime = DW1000Time(10, DW1000Time::MILLISECONDS);
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DW1000.setDelay(deltaTime);
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DW1000.startTransmit();
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delaySent = millis();
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}
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void loop() {
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if (!sentAck) {
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return;
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}
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// continue on success confirmation
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// (we are here after the given amount of send delay time has passed)
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sentAck = false;
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// update and print some information about the sent message
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Serial.print("ARDUINO delay sent [ms] ... "); Serial.println(millis() - delaySent);
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DW1000Time newSentTime;
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DW1000.getTransmitTimestamp(newSentTime);
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Serial.print("Processed packet ... #"); Serial.println(sentNum);
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Serial.print("Sent timestamp ... "); Serial.println(newSentTime.getAsMicroSeconds());
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// note: delta is just for simple demo as not correct on system time counter wrap-around
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Serial.print("DW1000 delta send time [ms] ... "); Serial.println((newSentTime.getAsMicroSeconds() - sentTime.getAsMicroSeconds()) * 1.0e-3);
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sentTime = newSentTime;
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sentNum++;
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// again, transmit some data
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transmitter();
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}
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