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saltylab-firmware/lib/DW1000/extras/doc/html/DW1000Mac_8h_source.html
salty ed1542ae11 feat: rewrite UWB firmware for DW1000 (all 3 boards) 
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
2026-03-14 12:30:26 -04:00

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<div id="projectname">Arduino driver library for Decawave DW1000
&#160;<span id="projectnumber">Dec 20 2016</span>
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<a href="DW1000Mac_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment"> * Copyright (c) 2015 by Leopold Sayous &lt;leosayous@gmail.com&gt; and Thomas Trojer &lt;thomas@trojer.net&gt;</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment"> * Decawave DW1000 library for arduino.</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment"> * Licensed under the Apache License, Version 2.0 (the &quot;License&quot;);</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment"> * you may not use this file except in compliance with the License.</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment"> * You may obtain a copy of the License at</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment"> * http://www.apache.org/licenses/LICENSE-2.0</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment"> * Unless required by applicable law or agreed to in writing, software</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="comment"> * distributed under the License is distributed on an &quot;AS IS&quot; BASIS,</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="comment"> * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="comment"> * See the License for the specific language governing permissions and</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="comment"> * limitations under the License.</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="comment"> * @file DW1000Mac.h</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="comment"> * Arduino global library (header file) working with the DW1000 library</span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="comment"> * for the Decawave DW1000 UWB transceiver IC. This class has the purpose</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="comment"> * to generate the mac layer</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="comment"> * </span></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="comment"> * @todo everything, this class is only a prototype</span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="DW1000Mac_8h.html#a2ba3ab1601625cfa3f8bf08461b05a7c"> 25</a></span>&#160;<span class="preprocessor">#define FC_1 0x41</span></div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="DW1000Mac_8h.html#ad28a254e7ef6e4727b5184d3bf9d031a"> 26</a></span>&#160;<span class="preprocessor">#define FC_1_BLINK 0xC5</span></div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="DW1000Mac_8h.html#a67f705d74521ebfcb95c681f395d5388"> 27</a></span>&#160;<span class="preprocessor">#define FC_2 0x8C</span></div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="DW1000Mac_8h.html#aafa3d58fff9713bbbc8a3809314d4900"> 28</a></span>&#160;<span class="preprocessor">#define FC_2_SHORT 0x88</span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="DW1000Mac_8h.html#a88107fce892aafcbaf927e1e42222420"> 30</a></span>&#160;<span class="preprocessor">#define PAN_ID_1 0xCA</span></div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="DW1000Mac_8h.html#a011d9c176ed4ceedec064aa5aeaa20e8"> 31</a></span>&#160;<span class="preprocessor">#define PAN_ID_2 0xDE</span></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="DW1000Mac_8h.html#a85c4b1faaa02403bc64b752104056612"> 33</a></span>&#160;<span class="preprocessor">#define SHORT_MAC_LEN 9</span></div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="DW1000Mac_8h.html#af1800432b24b2a1d74440a39b3f38c66"> 34</a></span>&#160;<span class="preprocessor">#define LONG_MAC_LEN 15</span></div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160;<span class="preprocessor">#ifndef _DW1000MAC_H_INCLUDED</span></div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160;<span class="preprocessor">#define _DW1000MAC_H_INCLUDED</span></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160;<span class="preprocessor">#include &lt;Arduino.h&gt;</span></div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="DW1000Device_8h.html">DW1000Device.h</a>&quot;</span> </div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160;<span class="keyword">class </span><a class="code" href="classDW1000Device.html">DW1000Device</a>;</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classDW1000Mac.html"> 45</a></span>&#160;<span class="keyword">class </span><a class="code" href="classDW1000Mac.html">DW1000Mac</a> {</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160; <span class="comment">//Constructor and destructor</span></div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160; <a class="code" href="classDW1000Mac.html#a909721404f8104f11f6d742109f737db">DW1000Mac</a>(<a class="code" href="classDW1000Device.html">DW1000Device</a>* parent);</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160; <a class="code" href="classDW1000Mac.html#a909721404f8104f11f6d742109f737db">DW1000Mac</a>();</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160; <a class="code" href="classDW1000Mac.html#a293da3de13fab424c05bf7a03f0fb644">~DW1000Mac</a>();</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160; </div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160; </div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160; <span class="comment">//setters</span></div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classDW1000Mac.html#a43d5a523f597d2ba864a7ad22992705d">setDestinationAddress</a>(byte* destinationAddress);</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classDW1000Mac.html#a91c708d29ac3af102d3286f1b0567743">setDestinationAddressShort</a>(byte* shortDestinationAddress);</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classDW1000Mac.html#ac70032280e060369c529893cedaba329">setSourceAddress</a>(byte* sourceAddress);</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classDW1000Mac.html#aecf242f46fed339168cab8138d030647">setSourceAddressShort</a>(byte* shortSourceAddress);</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160; </div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160; </div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160; <span class="comment">//for poll message we use just 2 bytes address</span></div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160; <span class="comment">//total=12 bytes</span></div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classDW1000Mac.html#a437fa0efccbef6bc0a0b627e01bd7631">generateBlinkFrame</a>(byte frame[], byte sourceAddress[], byte sourceShortAddress[]);</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160; </div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160; <span class="comment">//the short fram usually for Resp, Final, or Report</span></div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160; <span class="comment">//2 bytes for Desination Address and 2 bytes for Source Address</span></div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160; <span class="comment">//total=9 bytes</span></div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classDW1000Mac.html#a9f71c8982e0b95e126d2e6fd97c7f686">generateShortMACFrame</a>(byte frame[], byte sourceShortAddress[], byte destinationShortAddress[]);</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160; </div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160; <span class="comment">//the long frame for Ranging init</span></div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160; <span class="comment">//8 bytes for Destination Address and 2 bytes for Source Address</span></div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160; <span class="comment">//total of</span></div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classDW1000Mac.html#a9aa586d9a2f32948c6bdb32fd8060317">generateLongMACFrame</a>(byte frame[], byte sourceShortAddress[], byte destinationAddress[]);</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160; </div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160; <span class="comment">//in order to decode the frame and save source Address!</span></div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classDW1000Mac.html#a2f463c08db2db3c66a1c78cc939b2068">decodeBlinkFrame</a>(byte frame[], byte address[], byte shortAddress[]);</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classDW1000Mac.html#a7858e613a82b01bc30faa4d65ec86970">decodeShortMACFrame</a>(byte frame[], byte address[]);</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classDW1000Mac.html#ad52462fa07f4130dceccdaa8edb96ebf">decodeLongMACFrame</a>(byte frame[], byte address[]);</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160; </div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classDW1000Mac.html#a20763a3a40fa1c9e652486a4ba48c9af">incrementSeqNumber</a>();</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160; uint8_t _seqNumber = 0;</div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160; <span class="keywordtype">void</span> reverseArray(byte to[], byte from[], int16_t size);</div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>&#160; </div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160;};</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160;</div><div class="ttc" id="classDW1000Mac_html_a20763a3a40fa1c9e652486a4ba48c9af"><div class="ttname"><a href="classDW1000Mac.html#a20763a3a40fa1c9e652486a4ba48c9af">DW1000Mac::incrementSeqNumber</a></div><div class="ttdeci">void incrementSeqNumber()</div><div class="ttdef"><b>Definition:</b> DW1000Mac.cpp:146</div></div>
<div class="ttc" id="classDW1000Mac_html_a9aa586d9a2f32948c6bdb32fd8060317"><div class="ttname"><a href="classDW1000Mac.html#a9aa586d9a2f32948c6bdb32fd8060317">DW1000Mac::generateLongMACFrame</a></div><div class="ttdeci">void generateLongMACFrame(byte frame[], byte sourceShortAddress[], byte destinationAddress[])</div><div class="ttdef"><b>Definition:</b> DW1000Mac.cpp:91</div></div>
<div class="ttc" id="classDW1000Mac_html_ac70032280e060369c529893cedaba329"><div class="ttname"><a href="classDW1000Mac.html#ac70032280e060369c529893cedaba329">DW1000Mac::setSourceAddress</a></div><div class="ttdeci">void setSourceAddress(byte *sourceAddress)</div></div>
<div class="ttc" id="classDW1000Device_html"><div class="ttname"><a href="classDW1000Device.html">DW1000Device</a></div><div class="ttdef"><b>Definition:</b> DW1000Device.h:37</div></div>
<div class="ttc" id="classDW1000Mac_html_a9f71c8982e0b95e126d2e6fd97c7f686"><div class="ttname"><a href="classDW1000Mac.html#a9f71c8982e0b95e126d2e6fd97c7f686">DW1000Mac::generateShortMACFrame</a></div><div class="ttdeci">void generateShortMACFrame(byte frame[], byte sourceShortAddress[], byte destinationShortAddress[])</div><div class="ttdef"><b>Definition:</b> DW1000Mac.cpp:62</div></div>
<div class="ttc" id="DW1000Device_8h_html"><div class="ttname"><a href="DW1000Device_8h.html">DW1000Device.h</a></div></div>
<div class="ttc" id="classDW1000Mac_html"><div class="ttname"><a href="classDW1000Mac.html">DW1000Mac</a></div><div class="ttdef"><b>Definition:</b> DW1000Mac.h:45</div></div>
<div class="ttc" id="classDW1000Mac_html_a293da3de13fab424c05bf7a03f0fb644"><div class="ttname"><a href="classDW1000Mac.html#a293da3de13fab424c05bf7a03f0fb644">DW1000Mac::~DW1000Mac</a></div><div class="ttdeci">~DW1000Mac()</div><div class="ttdef"><b>Definition:</b> DW1000Mac.cpp:35</div></div>
<div class="ttc" id="classDW1000Mac_html_a43d5a523f597d2ba864a7ad22992705d"><div class="ttname"><a href="classDW1000Mac.html#a43d5a523f597d2ba864a7ad22992705d">DW1000Mac::setDestinationAddress</a></div><div class="ttdeci">void setDestinationAddress(byte *destinationAddress)</div></div>
<div class="ttc" id="classDW1000Mac_html_a2f463c08db2db3c66a1c78cc939b2068"><div class="ttname"><a href="classDW1000Mac.html#a2f463c08db2db3c66a1c78cc939b2068">DW1000Mac::decodeBlinkFrame</a></div><div class="ttdeci">void decodeBlinkFrame(byte frame[], byte address[], byte shortAddress[])</div><div class="ttdef"><b>Definition:</b> DW1000Mac.cpp:116</div></div>
<div class="ttc" id="classDW1000Mac_html_a7858e613a82b01bc30faa4d65ec86970"><div class="ttname"><a href="classDW1000Mac.html#a7858e613a82b01bc30faa4d65ec86970">DW1000Mac::decodeShortMACFrame</a></div><div class="ttdeci">void decodeShortMACFrame(byte frame[], byte address[])</div><div class="ttdef"><b>Definition:</b> DW1000Mac.cpp:127</div></div>
<div class="ttc" id="classDW1000Mac_html_aecf242f46fed339168cab8138d030647"><div class="ttname"><a href="classDW1000Mac.html#aecf242f46fed339168cab8138d030647">DW1000Mac::setSourceAddressShort</a></div><div class="ttdeci">void setSourceAddressShort(byte *shortSourceAddress)</div></div>
<div class="ttc" id="classDW1000Mac_html_a91c708d29ac3af102d3286f1b0567743"><div class="ttname"><a href="classDW1000Mac.html#a91c708d29ac3af102d3286f1b0567743">DW1000Mac::setDestinationAddressShort</a></div><div class="ttdeci">void setDestinationAddressShort(byte *shortDestinationAddress)</div></div>
<div class="ttc" id="classDW1000Mac_html_a437fa0efccbef6bc0a0b627e01bd7631"><div class="ttname"><a href="classDW1000Mac.html#a437fa0efccbef6bc0a0b627e01bd7631">DW1000Mac::generateBlinkFrame</a></div><div class="ttdeci">void generateBlinkFrame(byte frame[], byte sourceAddress[], byte sourceShortAddress[])</div><div class="ttdef"><b>Definition:</b> DW1000Mac.cpp:40</div></div>
<div class="ttc" id="classDW1000Mac_html_a909721404f8104f11f6d742109f737db"><div class="ttname"><a href="classDW1000Mac.html#a909721404f8104f11f6d742109f737db">DW1000Mac::DW1000Mac</a></div><div class="ttdeci">DW1000Mac()</div><div class="ttdef"><b>Definition:</b> DW1000Mac.cpp:30</div></div>
<div class="ttc" id="classDW1000Mac_html_ad52462fa07f4130dceccdaa8edb96ebf"><div class="ttname"><a href="classDW1000Mac.html#ad52462fa07f4130dceccdaa8edb96ebf">DW1000Mac::decodeLongMACFrame</a></div><div class="ttdeci">void decodeLongMACFrame(byte frame[], byte address[])</div><div class="ttdef"><b>Definition:</b> DW1000Mac.cpp:136</div></div>
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