Fix unified firmware display and initialization issues
- Replace dynamic allocation with compile-time fixed arrays (tags[UWB_TAG_COUNT], anchors[MAX_ANCHORS]) - Restore uwb.begin() instead of testConnection() for proper UWB initialization - Add I2C bus reset (Wire.end()/Wire.begin()) to prevent bus conflicts during multi-device initialization - Use compile-time branching (#if DEVICE_TYPE) instead of runtime checks for better performance - Simplify display logic to directly access device arrays without null pointer complexity - Remove unused dynamic memory management and cleanup functions - Fix device counting to use proper array sizes (UWB_TAG_COUNT, MAX_ANCHORS) Resolves crash during initialization when multiple devices start simultaneously. Display now properly shows found anchors/tags with distances and RSSI values.
This commit is contained in:
martin
parent
a2e404ec0f
commit
7554b98d40
1 changed files with 89 additions and 54 deletions
143
src/main.cpp
143
src/main.cpp
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@ -24,9 +24,14 @@ UWBHelper uwb(&uwbSerial, RESET_PIN);
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// Get device configuration
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DeviceConfig deviceConfig = getDeviceConfig();
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// Dynamic data storage based on device type
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DeviceData* peerDevices = nullptr;
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DistanceFilter* deviceFilters = nullptr;
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// Data storage based on device type
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#if DEVICE_TYPE == DEVICE_ANCHOR
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DeviceData tags[UWB_TAG_COUNT];
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DistanceFilter tagFilters[UWB_TAG_COUNT];
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#elif DEVICE_TYPE == DEVICE_TAG
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DeviceData anchors[MAX_ANCHORS];
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#endif
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String response = "";
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unsigned long lastDisplayUpdate = 0;
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unsigned long lastPositioningUpdate = 0;
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@ -36,6 +41,8 @@ void setup() {
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Serial.printf("Starting UWB %s (ID: %d)...\n", deviceConfig.deviceName, deviceConfig.deviceId);
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// Initialize display
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Wire.end(); // Ensure I2C bus is properly reset
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delay(100);
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Wire.begin(I2C_SDA, I2C_SCL);
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if (!display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS)) {
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Serial.println(F("SSD1306 allocation failed"));
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@ -52,8 +59,8 @@ void setup() {
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digitalWrite(RESET_PIN, HIGH);
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delay(1000);
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// Test communication
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if (!uwb.testConnection()) {
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// Initialize UWB
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if (!uwb.begin()) {
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Serial.println("UWB initialization failed!");
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return;
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}
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@ -69,20 +76,24 @@ void setup() {
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uwb.restartDevice();
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delay(2000);
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// Allocate memory for peer devices based on device type
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peerDevices = new DeviceData[deviceConfig.maxPeers];
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if (DEVICE_IS_ANCHOR) {
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deviceFilters = new DistanceFilter[deviceConfig.maxPeers];
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}
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// Initialize peer device data
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for (int i = 0; i < deviceConfig.maxPeers; i++) {
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peerDevices[i].deviceId = -1;
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peerDevices[i].active = false;
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peerDevices[i].distance = 0.0;
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peerDevices[i].rssi = 0.0;
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peerDevices[i].lastUpdate = 0;
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}
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// Initialize device data
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#if DEVICE_TYPE == DEVICE_ANCHOR
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for (int i = 0; i < UWB_TAG_COUNT; i++) {
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tags[i].deviceId = -1;
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tags[i].active = false;
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tags[i].distance = 0.0;
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tags[i].rssi = 0.0;
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tags[i].lastUpdate = 0;
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}
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#elif DEVICE_TYPE == DEVICE_TAG
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for (int i = 0; i < MAX_ANCHORS; i++) {
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anchors[i].deviceId = -1;
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anchors[i].active = false;
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anchors[i].distance = 0.0;
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anchors[i].rssi = 0.0;
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anchors[i].lastUpdate = 0;
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}
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#endif
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Serial.printf("%s ready! Network ID: %d\n", deviceConfig.deviceName, NETWORK_ID);
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@ -135,16 +146,27 @@ void processUWBData() {
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if (response.length() > 0) {
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Serial.println("Received: " + response);
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if (uwb.parseRangeData(response, peerDevices, deviceConfig.maxPeers)) {
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// Successfully parsed data - log active peers
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for (int i = 0; i < deviceConfig.maxPeers; i++) {
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if (peerDevices[i].active && (millis() - peerDevices[i].lastUpdate < 1000)) {
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Serial.printf("%s %d: %.2fm, RSSI: %.1fdBm\n",
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deviceConfig.peerDisplayPrefix, peerDevices[i].deviceId,
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peerDevices[i].distance, peerDevices[i].rssi);
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#if DEVICE_TYPE == DEVICE_ANCHOR
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if (uwb.parseRangeData(response, tags, UWB_TAG_COUNT)) {
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// Successfully parsed data - log active tags
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for (int i = 0; i < UWB_TAG_COUNT; i++) {
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if (tags[i].active && (millis() - tags[i].lastUpdate < 1000)) {
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Serial.printf("Tag %d: %.2fm, RSSI: %.1fdBm\n",
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tags[i].deviceId, tags[i].distance, tags[i].rssi);
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}
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}
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}
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}
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#elif DEVICE_TYPE == DEVICE_TAG
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if (uwb.parseRangeData(response, anchors, MAX_ANCHORS)) {
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// Successfully parsed data - log active anchors
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for (int i = 0; i < MAX_ANCHORS; i++) {
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if (anchors[i].active && (millis() - anchors[i].lastUpdate < 1000)) {
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Serial.printf("Anchor %d: %.2fm, RSSI: %.1fdBm\n",
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anchors[i].deviceId, anchors[i].distance, anchors[i].rssi);
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}
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}
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}
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#endif
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response = "";
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}
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} else {
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@ -171,16 +193,29 @@ void updateDisplay() {
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int activeCount = 0;
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int yPos = 20;
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for (int i = 0; i < deviceConfig.maxPeers && yPos < 55; i++) {
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if (peerDevices[i].active) {
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display.setCursor(0, yPos);
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display.printf("%s%d: %.2fm", deviceConfig.peerDisplayPrefix, peerDevices[i].deviceId, peerDevices[i].distance);
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display.setCursor(70, yPos);
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display.printf("%.0fdBm", peerDevices[i].rssi);
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yPos += 8;
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activeCount++;
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#if DEVICE_TYPE == DEVICE_ANCHOR
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for (int i = 0; i < UWB_TAG_COUNT && yPos < 55; i++) {
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if (tags[i].active) {
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display.setCursor(0, yPos);
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display.printf("T%d: %.2fm", tags[i].deviceId, tags[i].distance);
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display.setCursor(70, yPos);
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display.printf("%.0fdBm", tags[i].rssi);
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yPos += 8;
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activeCount++;
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}
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}
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}
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#elif DEVICE_TYPE == DEVICE_TAG
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for (int i = 0; i < MAX_ANCHORS && yPos < 55; i++) {
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if (anchors[i].active) {
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display.setCursor(0, yPos);
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display.printf("A%d: %.2fm", anchors[i].deviceId, anchors[i].distance);
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display.setCursor(70, yPos);
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display.printf("%.0fdBm", anchors[i].rssi);
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yPos += 8;
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activeCount++;
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}
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}
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#endif
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if (activeCount == 0) {
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display.setCursor(0, 30);
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@ -192,9 +227,9 @@ void updateDisplay() {
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// Status line with device-specific information
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display.setCursor(0, 56);
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if (DEVICE_IS_ANCHOR) {
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display.printf("Active: %d/%d", activeCount, deviceConfig.maxPeers);
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display.printf("Active: %d/%d", activeCount, UWB_TAG_COUNT);
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} else {
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display.printf("Found: %d/%d", activeCount, deviceConfig.maxPeers);
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display.printf("Found: %d/%d", activeCount, MAX_ANCHORS);
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}
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display.display();
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@ -203,12 +238,22 @@ void updateDisplay() {
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void checkTimeouts() {
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unsigned long currentTime = millis();
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for (int i = 0; i < deviceConfig.maxPeers; i++) {
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if (peerDevices[i].active && (currentTime - peerDevices[i].lastUpdate > DEVICE_TIMEOUT)) {
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peerDevices[i].active = false;
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Serial.printf("%s %d timeout\n", deviceConfig.peerDisplayPrefix, peerDevices[i].deviceId);
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#if DEVICE_TYPE == DEVICE_ANCHOR
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for (int i = 0; i < UWB_TAG_COUNT; i++) {
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if (tags[i].active && (currentTime - tags[i].lastUpdate > DEVICE_TIMEOUT)) {
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tags[i].active = false;
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Serial.printf("Tag %d timeout\n", tags[i].deviceId);
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}
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}
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}
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#elif DEVICE_TYPE == DEVICE_TAG
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for (int i = 0; i < MAX_ANCHORS; i++) {
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if (anchors[i].active && (currentTime - anchors[i].lastUpdate > DEVICE_TIMEOUT)) {
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anchors[i].active = false;
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Serial.printf("Anchor %d timeout\n", anchors[i].deviceId);
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}
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}
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#endif
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}
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void processAnchorBehavior() {
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@ -303,14 +348,4 @@ void showStartupScreen() {
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delay(2000);
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}
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// Cleanup
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void cleanup() {
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if (peerDevices) {
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delete[] peerDevices;
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peerDevices = nullptr;
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}
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if (deviceFilters) {
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delete[] deviceFilters;
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deviceFilters = nullptr;
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}
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}
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// Cleanup - no dynamic allocation needed
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