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
3.5 KiB
C++
111 lines
3.5 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 BasicReceiver.ino
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* Use this to test simple sender/receiver functionality with two
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* DW1000. Complements the "BasicSender" 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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volatile boolean received = false;
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volatile boolean error = false;
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volatile int16_t numReceived = 0; // todo check int type
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String message;
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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-receiver-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(6);
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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) received messages
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DW1000.attachReceivedHandler(handleReceived);
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DW1000.attachReceiveFailedHandler(handleError);
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DW1000.attachErrorHandler(handleError);
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// start reception
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receiver();
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}
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void handleReceived() {
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// status change on reception success
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received = true;
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}
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void handleError() {
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error = true;
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}
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void receiver() {
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DW1000.newReceive();
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DW1000.setDefaults();
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// so we don't need to restart the receiver manually
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DW1000.receivePermanently(true);
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DW1000.startReceive();
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}
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void loop() {
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// enter on confirmation of ISR status change (successfully received)
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if (received) {
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numReceived++;
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// get data as string
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DW1000.getData(message);
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Serial.print("Received message ... #"); Serial.println(numReceived);
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Serial.print("Data is ... "); Serial.println(message);
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Serial.print("FP power is [dBm] ... "); Serial.println(DW1000.getFirstPathPower());
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Serial.print("RX power is [dBm] ... "); Serial.println(DW1000.getReceivePower());
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Serial.print("Signal quality is ... "); Serial.println(DW1000.getReceiveQuality());
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received = false;
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}
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if (error) {
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Serial.println("Error receiving a message");
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error = false;
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DW1000.getData(message);
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Serial.print("Error data is ... "); Serial.println(message);
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}
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}
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