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
102 lines
4.1 KiB
C++
102 lines
4.1 KiB
C++
/**
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* Copyright (c) 2015 by Thomas Trojer <thomas@trojer.net>
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* Copyright (c) 2016 by Ludwig Grill (www.rotzbua.de); extended example
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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 TimestampUsageTest.ino
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* This is a simple unit test for the DW1000Time class. This test
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* has no actual use to the operation of the DW1000.
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*/
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#include <SPI.h>
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#include "DW1000Time.h"
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void setup() {
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Serial.begin(9600);
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Serial.println(F("### DW1000Time-arduino-test ###"));
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}
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void loop() {
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// variables for the test
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DW1000Time time1, time2, time3, time4;
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byte stamp[DW1000Time::LENGTH_TIMESTAMP];
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// unit test
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Serial.println(F("simple test for + - "));
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Serial.print(F("Time1 is (0)[us] ... ")); Serial.println(time1.getAsMicroSeconds(), 4);
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time1 += DW1000Time(10, DW1000Time::MICROSECONDS);
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Serial.print(F("Time1 is (10)[us] ... ")); Serial.println(time1.getAsMicroSeconds(), 4);
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time1 -= DW1000Time(500, DW1000Time::NANOSECONDS);
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Serial.print(F("Time1 is (9.5)[us] ... ")); Serial.println(time1.getAsMicroSeconds(), 4);
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Serial.println();
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Serial.println(F("test compare"));
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time2 = time1;
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time2 += DW1000Time(10.0f);
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Serial.print(F("Time2 == Time1 (NO)... ")); Serial.println(time1 == time2 ? "YES" : "NO");
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time1 += DW1000Time(10000, DW1000Time::NANOSECONDS);
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Serial.print(F("Time2 == Time1 (YES)... ")); Serial.println(time1 == time2 ? "YES" : "NO");
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Serial.println();
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Serial.println(F("test different output"));
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memset(stamp, 0, DW1000Time::LENGTH_TIMESTAMP);
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stamp[1] = 0x02; // = 512
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time2 = DW1000Time(stamp);
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Serial.print(F("Time2 is (512) ... ")); Serial.println(time2);
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Serial.print(F("Time2 is (0.0080)[us] ... ")); Serial.println(time2.getAsMicroSeconds(), 4);
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Serial.print(F("Time2 range is (2.4022)[m] ... ")); Serial.println(time2.getAsMeters(), 4);
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time3 = DW1000Time(10, DW1000Time::SECONDS);
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time3.getTimestamp(stamp);
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time3.setTimestamp(stamp);
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Serial.print(F("Time3 is (10)[s] ... ")); Serial.println(time3.getAsMicroSeconds() * 1.0e-6, 4);
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Serial.println();
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Serial.println(F("test negativ value"));
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memset(stamp, 0, DW1000Time::LENGTH_TIMESTAMP);
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time2.setTimestamp(-512);
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Serial.print(F("Time2 is (-512) ... ")); Serial.println(time2);
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Serial.print(F("Time2 is (-0.0080)[us] ... ")); Serial.println(time2.getAsMicroSeconds(), 4);
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Serial.print(F("Time2 range is (-2.4022)[m] ... ")); Serial.println(time2.getAsMeters(), 4);
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Serial.println();
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Serial.println(F("test calculation"));
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time1.setTimestamp(1536);
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time2.setTimestamp(512);
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time3.setTimestamp(4);
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time4 = (time1 + time2) / time3;
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Serial.print(F("Time4 is (512) ... ")); Serial.println(time4);
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time4 = (time1 - time2) / time3;
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Serial.print(F("Time4 is (256) ... ")); Serial.println(time4);
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time4 = (time1 * time3 * time2 - time2 * time3 * time2) / (time2 * time2);
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Serial.print(F("Time4 is (8) ... ")); Serial.println(time4);
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Serial.println();
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Serial.println(F("test valid/maxima"));
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time1.setTimestamp(DW1000Time::TIME_MAX);
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time2.setTimestamp(DW1000Time::TIME_MAX);
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time3.setTimestamp(2);
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time4 = (time1 + time2);
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Serial.print(F("Time4 is valid? (NO) ... ")); Serial.println(time4.isValidTimestamp() ? "YES" : "NO");
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Serial.print(F("Time4 is TIME_MAX (NO) ... ")); Serial.println(time4 == DW1000Time::TIME_MAX ? "YES" : "NO");
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time4 /= time3;
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Serial.print(F("Time4 is valid? (YES) ... ")); Serial.println(time4.isValidTimestamp() ? "YES" : "NO");
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Serial.print(F("Time4 is TIME_MAX (YES) ... ")); Serial.println(time4 == DW1000Time::TIME_MAX ? "YES" : "NO");
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Serial.println();
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// keep calm
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delay(10000);
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}
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