sending range data from 4 anchors to the tag and printing in serial

[lewthomps]

Hi All,

I purchased 4 UWB WROVER boards and 1 UWB DISPLAY PRO board. I'm using the 4 wrovers as anchors and the display as a tag.

I'm currently using this code: https://github.com/Makerfabs/Makerfabs- ... ag_display.

I want to send the range data of the proximity between the tag and the four anchors to the tag so I can track the (x,y,z) of the tag board. Does anyone know how I can do this?

Here is the algorithm I'm using to get the location of the tag in a 3d space:

x = sqr(r1) - sqr(r2) + c / 2 * c
y = sqr(r1) - sqr(r3) - sqr(x) + sqr(x - a)
(-z or z) = sqrt(sqr(r1) - sqr(x) - sqr(y))

determine if (-z or z) by whichever result is smaller
sqr(d-x) + sqr(e-y) + sqr(f-z)
sqr(d-x) + sqr(e-y) + sqr(f+z)

Just need to figure out how to send the range data from the anchor boards to the tag board so it can run this algorithm.

Thanks!
Lewis

[MicroController]

Maybe take the example code?

[lewthomps]

Thanks for the reply!

I copied and pasted the tag and anchor example codes, but so far they aren't working.

I'm currently getting this error message for the anchor code:

Code: Select all

Guru Meditation Error: Core  1 panic'ed (Interrupt wdt timeout on CPU1). 

Core  1 register dump:
PC      : 0x4008c2ae  PS      : 0x00060735  A0      : 0x8008b226  A1      : 0x3ffbf19c  
A2      : 0x3ffb7d84  A3      : 0x3ffbd364  A4      : 0x00000004  A5      : 0x00060723  
A6      : 0x00060723  A7      : 0x00000001  A8      : 0x3ffbd364  A9      : 0x00000018  
A10     : 0x3ffbd364  A11     : 0x00000018  A12     : 0x3ffc27d4  A13     : 0x00060723  
A14     : 0x007bf348  A15     : 0x003fffff  SAR     : 0x0000001e  EXCCAUSE: 0x00000006  
EXCVADDR: 0x00000000  LBEG    : 0x400855e1  LEND    : 0x400855e9  LCOUNT  : 0x00000026  
Core  1 was running in ISR context:
EPC1    : 0x400e023b  EPC2    : 0x00000000  EPC3    : 0x00000000  EPC4    : 0x00000000

Any idea why this might be happening? I changed nothing in the example code. I'm running on an ESP32 Wrover Module.

Thanks!

[lewthomps]

I found the line that was causing the error int the example anchor code:

// DW1000Ranging.initCommunication(PIN_RST, PIN_SS, PIN_IRQ);

Code: Select all

/*

For ESP32 UWB or ESP32 UWB Pro

*/

#include <SPI.h>
#include "DW1000Ranging.h"

#define ANCHOR_ADD "86:17:5B:D5:A9:9A:E2:9C"

#define SPI_SCK 18
#define SPI_MISO 19
#define SPI_MOSI 23
#define DW_CS 4

// connection pins
const uint8_t PIN_RST = 27; // reset pin
const uint8_t PIN_IRQ = 34; // irq pin
const uint8_t PIN_SS = 21;   // spi select pin

void setup()
{
    Serial.begin(115200);
    delay(1000);
    //init the configuration
    SPI.begin(SPI_SCK, SPI_MISO, SPI_MOSI);
    [size=150]// DW1000Ranging.initCommunication(PIN_RST, PIN_SS, PIN_IRQ); [/size]//Reset, CS, IRQ pin
    //define the sketch as anchor. It will be great to dynamically change the type of module
    DW1000Ranging.attachNewRange(newRange);
    DW1000Ranging.attachBlinkDevice(newBlink);
    DW1000Ranging.attachInactiveDevice(inactiveDevice);
    //Enable the filter to smooth the distance
    //DW1000Ranging.useRangeFilter(true);

    //we start the module as an anchor
    // DW1000Ranging.startAsAnchor("82:17:5B:D5:A9:9A:E2:9C", DW1000.MODE_LONGDATA_RANGE_ACCURACY);

    DW1000Ranging.startAsAnchor(ANCHOR_ADD, DW1000.MODE_LONGDATA_RANGE_LOWPOWER, false);
    // DW1000Ranging.startAsAnchor(ANCHOR_ADD, DW1000.MODE_SHORTDATA_FAST_LOWPOWER);
    // DW1000Ranging.startAsAnchor(ANCHOR_ADD, DW1000.MODE_LONGDATA_FAST_LOWPOWER);
    // DW1000Ranging.startAsAnchor(ANCHOR_ADD, DW1000.MODE_SHORTDATA_FAST_ACCURACY);
    // DW1000Ranging.startAsAnchor(ANCHOR_ADD, DW1000.MODE_LONGDATA_FAST_ACCURACY);
    // DW1000Ranging.startAsAnchor(ANCHOR_ADD, DW1000.MODE_LONGDATA_RANGE_ACCURACY);
}

void loop()
{
    DW1000Ranging.loop();
}

void newRange()
{
    Serial.print("from: ");
    Serial.print(DW1000Ranging.getDistantDevice()->getShortAddress(), HEX);
    Serial.print("\t Range: ");
    Serial.print(DW1000Ranging.getDistantDevice()->getRange());
    Serial.print(" m");
    Serial.print("\t RX power: ");
    Serial.print(DW1000Ranging.getDistantDevice()->getRXPower());
    Serial.println(" dBm");
}

void newBlink(DW1000Device *device)
{
    Serial.print("blink; 1 device added ! -> ");
    Serial.print(" short:");
    Serial.println(device->getShortAddress(), HEX);
}

void inactiveDevice(DW1000Device *device)
{
    Serial.print("delete inactive device: ");
    Serial.println(device->getShortAddress(), HEX);
}

What does this mean and how necessary is it?




As for the tag code, my board gets stuck in this loop and repeatedly prints "{"links":[]}"

void loop()
{
DW1000Ranging.loop();
if ((millis() - runtime) > 1000)
{
make_link_json(uwb_data, &all_json);
send_udp(&all_json);
runtime = millis();
Serial.println("hey");
}
}

Code: Select all

/*

For ESP32 UWB or ESP32 UWB Pro

*/

#include <SPI.h>
#include <DW1000Ranging.h>
#include <WiFi.h>
#include "link.h"

#define SPI_SCK 18
#define SPI_MISO 19
#define SPI_MOSI 23
#define DW_CS 4
#define PIN_RST 27
#define PIN_IRQ 34

const char *ssid = "Mackelis9496";
const char *password = "doesmacdoo?";
const char *host = "192.168.0.106";
WiFiClient client;

struct MyLink *uwb_data;
int index_num = 0;
long runtime = 0;
String all_json = "";

void setup()
{
    Serial.begin(115200);

    WiFi.mode(WIFI_STA);
    WiFi.setSleep(false);
    WiFi.begin(ssid, password);
    while (WiFi.status() != WL_CONNECTED)
    {
        delay(500);
        Serial.print(".");
    }
    Serial.println("Connected");
    Serial.print("IP Address:");
    Serial.println(WiFi.localIP());

    if (client.connect(host, 80))
    {
        Serial.println("Success");
        client.print(String("GET /") + " HTTP/1.1\r\n" +
                     "Host: " + host + "\r\n" +
                     "Connection: close\r\n" +
                     "\r\n");
    }

    delay(1000);

    //init the configuration
    SPI.begin(SPI_SCK, SPI_MISO, SPI_MOSI);
    DW1000Ranging.initCommunication(PIN_RST, DW_CS, PIN_IRQ);
    DW1000Ranging.attachNewRange(newRange);
    DW1000Ranging.attachNewDevice(newDevice);
    DW1000Ranging.attachInactiveDevice(inactiveDevice);

    //we start the module as a tag
    DW1000Ranging.startAsTag("7D:00:22:EA:82:60:3B:9C", DW1000.MODE_LONGDATA_RANGE_LOWPOWER);

    uwb_data = init_link();
}

void loop()
{
    DW1000Ranging.loop();
    if ((millis() - runtime) > 1000)
    {
        make_link_json(uwb_data, &all_json);
        send_udp(&all_json);
        runtime = millis();
        Serial.println("hey");
    }
}

void newRange()
{
    char c[30];

    Serial.print("from: ");
    Serial.print(DW1000Ranging.getDistantDevice()->getShortAddress(), HEX);
    Serial.print("\t Range: ");
    Serial.print(DW1000Ranging.getDistantDevice()->getRange());
    Serial.print(" m");
    Serial.print("\t RX power: ");
    Serial.print(DW1000Ranging.getDistantDevice()->getRXPower());
    Serial.println(" dBm");
    fresh_link(uwb_data, DW1000Ranging.getDistantDevice()->getShortAddress(), DW1000Ranging.getDistantDevice()->getRange(), DW1000Ranging.getDistantDevice()->getRXPower());
}

void newDevice(DW1000Device *device)
{
    Serial.print("ranging init; 1 device added ! -> ");
    Serial.print(" short:");
    Serial.println(device->getShortAddress(), HEX);

    add_link(uwb_data, device->getShortAddress());
}

void inactiveDevice(DW1000Device *device)
{
    Serial.print("delete inactive device: ");
    Serial.println(device->getShortAddress(), HEX);

    delete_link(uwb_data, device->getShortAddress());
}

void send_udp(String *msg_json)
{
    if (client.connected())
    {
        client.print(*msg_json);
        Serial.println("UDP send");
    }
}