Reorganize project structure and create development roadmap
- Move documentation to organized docs/ directory structure - Add dev notes - Create comprehensive 5-phase roadmap for indoor positioning system - Move AT command manual and hardware images to docs/ - Update README with hardware links and project overview - Remove sleep mode and OTA functionality for simplification - Clean up project structure for production development
This commit is contained in:
martin
parent
ea370ac702
commit
e7c8fad272
8 changed files with 884 additions and 47 deletions
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@ -1,32 +1,42 @@
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#include "UWBHelper.h"
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#include <math.h>
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UWBHelper::UWBHelper(HardwareSerial* serial, int reset) {
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uwbSerial = serial;
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resetPin = reset;
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}
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bool UWBHelper::begin() {
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pinMode(resetPin, OUTPUT);
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digitalWrite(resetPin, HIGH);
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uwbSerial->begin(115200);
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delay(1000);
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// Test communication
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// ===== BASIC COMMANDS (3.2-3.6) =====
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bool UWBHelper::testConnection() {
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String response = sendCommand("AT?", 2000);
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return isResponseOK(response);
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}
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void UWBHelper::reset() {
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digitalWrite(resetPin, LOW);
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delay(100);
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digitalWrite(resetPin, HIGH);
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delay(1000);
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String UWBHelper::getVersion() {
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return sendCommand("AT+GETVER?", 2000);
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}
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bool UWBHelper::configureDevice(int deviceId, bool isAnchor, int dataRate, int rangeFilter) {
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bool UWBHelper::restart() {
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String response = sendCommand("AT+RESTART", 2000);
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return isResponseOK(response);
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}
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bool UWBHelper::restore() {
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String response = sendCommand("AT+RESTORE", 2000);
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return isResponseOK(response);
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}
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bool UWBHelper::save() {
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String response = sendCommand("AT+SAVE", 2000);
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return isResponseOK(response);
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}
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// ===== CONFIGURATION COMMANDS (3.7-3.8) =====
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bool UWBHelper::setConfig(int deviceId, int role, int dataRate, int rangeFilter) {
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String cmd = "AT+SETCFG=" + String(deviceId) + "," +
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String(isAnchor ? 1 : 0) + "," +
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String(role) + "," +
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String(dataRate) + "," +
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String(rangeFilter);
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@ -34,6 +44,24 @@ bool UWBHelper::configureDevice(int deviceId, bool isAnchor, int dataRate, int r
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return isResponseOK(response);
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}
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String UWBHelper::getConfig() {
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return sendCommand("AT+GETCFG?", 2000);
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}
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// ===== ANTENNA COMMANDS (3.9-3.10) =====
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bool UWBHelper::setAntennaDelay(int delay) {
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String cmd = "AT+SETANT=" + String(delay);
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String response = sendCommand(cmd, 2000);
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return isResponseOK(response);
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}
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String UWBHelper::getAntennaDelay() {
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return sendCommand("AT+GETANT?", 2000);
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}
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// ===== CAPACITY COMMANDS (3.11-3.12) =====
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bool UWBHelper::setCapacity(int tagCount, int timeSlot, int extMode) {
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String cmd = "AT+SETCAP=" + String(tagCount) + "," +
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String(timeSlot) + "," +
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@ -43,28 +71,104 @@ bool UWBHelper::setCapacity(int tagCount, int timeSlot, int extMode) {
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return isResponseOK(response);
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}
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String UWBHelper::getCapacity() {
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return sendCommand("AT+GETCAP?", 2000);
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}
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// ===== REPORTING COMMANDS (3.13-3.14) =====
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bool UWBHelper::setReporting(bool enable) {
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String cmd = "AT+SETRPT=" + String(enable ? 1 : 0);
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String response = sendCommand(cmd, 2000);
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return isResponseOK(response);
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}
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String UWBHelper::getReporting() {
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return sendCommand("AT+GETRPT?", 2000);
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}
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// ===== SLEEP COMMAND (3.16) =====
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bool UWBHelper::setSleep(int sleepTime) {
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String cmd = "AT+SLEEP=" + String(sleepTime);
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String response = sendCommand(cmd, 2000);
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return isResponseOK(response);
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}
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// ===== POWER COMMANDS (3.17-3.18) =====
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bool UWBHelper::setPower(String powerValue) {
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String cmd = "AT+SETPOW=" + powerValue;
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String response = sendCommand(cmd, 2000);
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return isResponseOK(response);
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}
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String UWBHelper::getPower() {
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return sendCommand("AT+GETPOW?", 2000);
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}
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// ===== DATA COMMANDS (3.19-3.20) =====
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bool UWBHelper::sendData(int length, String data) {
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String cmd = "AT+DATA=" + String(length) + "," + data;
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String response = sendCommand(cmd, 2000);
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return isResponseOK(response);
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}
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String UWBHelper::receiveData() {
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return sendCommand("AT+RDATA", 2000);
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}
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// ===== NETWORK COMMANDS (3.21-3.22) =====
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bool UWBHelper::setNetwork(int networkId) {
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String cmd = "AT+SETPAN=" + String(networkId);
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String response = sendCommand(cmd, 2000);
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return isResponseOK(response);
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}
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String UWBHelper::getNetwork() {
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return sendCommand("AT+GETPAN?", 2000);
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}
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// ===== LEGACY WRAPPER FUNCTIONS =====
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bool UWBHelper::begin() {
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pinMode(resetPin, OUTPUT);
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digitalWrite(resetPin, HIGH);
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uwbSerial->begin(115200);
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delay(1000);
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// Test communication
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return testConnection();
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}
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void UWBHelper::reset() {
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digitalWrite(resetPin, LOW);
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delay(100);
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digitalWrite(resetPin, HIGH);
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delay(1000);
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}
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bool UWBHelper::configureDevice(int deviceId, bool isAnchor, int dataRate, int rangeFilter) {
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return setConfig(deviceId, isAnchor ? 1 : 0, dataRate, rangeFilter);
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}
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bool UWBHelper::enableReporting(bool enable) {
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String cmd = "AT+SETRPT=" + String(enable ? 1 : 0);
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String response = sendCommand(cmd, 2000);
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return isResponseOK(response);
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return setReporting(enable);
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}
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bool UWBHelper::saveConfiguration() {
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String response = sendCommand("AT+SAVE", 2000);
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return isResponseOK(response);
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return save();
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}
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bool UWBHelper::restartDevice() {
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String response = sendCommand("AT+RESTART", 2000);
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return isResponseOK(response);
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return restart();
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}
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// ===== COMMUNICATION =====
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String UWBHelper::sendCommand(String command, int timeout) {
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String response = "";
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@ -75,8 +179,16 @@ String UWBHelper::sendCommand(String command, int timeout) {
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while ((millis() - startTime) < timeout) {
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while (uwbSerial->available()) {
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char c = uwbSerial->read();
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response += c;
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if (c == '\n' || c == '\r') {
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if (response.length() > 0) {
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Serial.println("Response: " + response);
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return response;
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}
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} else {
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response += c;
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}
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}
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delay(1);
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}
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if (response.length() > 0) {
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@ -85,6 +197,8 @@ String UWBHelper::sendCommand(String command, int timeout) {
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return response;
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}
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// ===== RANGE DATA PARSING =====
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bool UWBHelper::parseRangeData(String data, DeviceData devices[], int maxDevices) {
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if (!data.startsWith("AT+RANGE=")) {
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return false;
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@ -108,7 +222,22 @@ bool UWBHelper::parseRangeData(String data, DeviceData devices[], int maxDevices
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if (rangeEnd == -1) return false;
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String rangeData = data.substring(rangeStart, rangeEnd);
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float distance = rangeData.toFloat() / 100.0; // Convert cm to meters
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// Parse first non-zero distance
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int commaIdx = 0;
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float distance = 0.0;
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for (int i = 0; i < 8; i++) {
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int nextComma = rangeData.indexOf(',', commaIdx);
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if (nextComma == -1) nextComma = rangeData.length();
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float dist = rangeData.substring(commaIdx, nextComma).toFloat();
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if (dist > 0) {
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distance = dist / 100.0; // Convert cm to meters
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break;
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}
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commaIdx = nextComma + 1;
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if (commaIdx >= rangeData.length()) break;
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}
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// Parse RSSI data
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int rssiIndex = data.indexOf("rssi:(");
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@ -137,10 +266,154 @@ bool UWBHelper::parseRangeData(String data, DeviceData devices[], int maxDevices
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return false;
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}
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String UWBHelper::getVersion() {
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return sendCommand("AT+GETVER?", 2000);
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bool UWBHelper::parseDetailedRangeData(String data, RangeResult* result) {
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if (!data.startsWith("AT+RANGE=")) {
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return false;
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}
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// Parse tid
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int tidIndex = data.indexOf("tid:");
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if (tidIndex == -1) return false;
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int commaPos = data.indexOf(',', tidIndex);
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if (commaPos == -1) return false;
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result->tagId = data.substring(tidIndex + 4, commaPos).toInt();
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// Parse timer (if present)
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int timerIndex = data.indexOf("timer:");
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if (timerIndex != -1) {
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int timerComma = data.indexOf(',', timerIndex);
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if (timerComma == -1) timerComma = data.indexOf(',', timerIndex);
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result->timer = data.substring(timerIndex + 6, timerComma).toInt();
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}
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// Parse timerSys (if present)
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int timerSysIndex = data.indexOf("timerSys:");
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if (timerSysIndex != -1) {
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int timerSysComma = data.indexOf(',', timerSysIndex);
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if (timerSysComma == -1) timerSysComma = data.indexOf(',', timerSysIndex);
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result->timerSys = data.substring(timerSysIndex + 9, timerSysComma).toInt();
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}
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// Parse mask
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int maskIndex = data.indexOf("mask:");
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if (maskIndex != -1) {
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int maskComma = data.indexOf(',', maskIndex);
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result->mask = data.substring(maskIndex + 5, maskComma).toInt();
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}
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// Parse sequence
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int seqIndex = data.indexOf("seq:");
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if (seqIndex != -1) {
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int seqComma = data.indexOf(',', seqIndex);
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result->sequence = data.substring(seqIndex + 4, seqComma).toInt();
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}
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// Parse ranges
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int rangeIndex = data.indexOf("range:(");
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if (rangeIndex != -1) {
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int rangeStart = rangeIndex + 7;
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int rangeEnd = data.indexOf(')', rangeStart);
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String rangeData = data.substring(rangeStart, rangeEnd);
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int startIdx = 0;
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for (int i = 0; i < 8; i++) {
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int commaIdx = rangeData.indexOf(',', startIdx);
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if (commaIdx == -1) commaIdx = rangeData.length();
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result->ranges[i] = rangeData.substring(startIdx, commaIdx).toFloat() / 100.0;
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startIdx = commaIdx + 1;
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if (startIdx >= rangeData.length()) break;
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}
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}
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// Parse RSSI
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int rssiIndex = data.indexOf("rssi:(");
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if (rssiIndex != -1) {
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int rssiStart = rssiIndex + 6;
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int rssiEnd = data.indexOf(')', rssiStart);
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String rssiData = data.substring(rssiStart, rssiEnd);
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int startIdx = 0;
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for (int i = 0; i < 8; i++) {
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int commaIdx = rssiData.indexOf(',', startIdx);
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if (commaIdx == -1) commaIdx = rssiData.length();
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result->rssi[i] = rssiData.substring(startIdx, commaIdx).toFloat();
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startIdx = commaIdx + 1;
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if (startIdx >= rssiData.length()) break;
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}
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}
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// Parse anchor IDs
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int ancidIndex = data.indexOf("ancid:(");
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if (ancidIndex != -1) {
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int ancidStart = ancidIndex + 7;
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int ancidEnd = data.indexOf(')', ancidStart);
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String ancidData = data.substring(ancidStart, ancidEnd);
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int startIdx = 0;
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for (int i = 0; i < 8; i++) {
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int commaIdx = ancidData.indexOf(',', startIdx);
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if (commaIdx == -1) commaIdx = ancidData.length();
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result->anchorIds[i] = ancidData.substring(startIdx, commaIdx).toInt();
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startIdx = commaIdx + 1;
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if (startIdx >= ancidData.length()) break;
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}
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}
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return true;
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}
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// ===== ADVANCED FUNCTIONS =====
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bool UWBHelper::requestAnchorPosition(int anchorId, AnchorPosition* position) {
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// Custom command to request anchor position
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String cmd = "AT+GETPOS=" + String(anchorId);
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String response = sendCommand(cmd, 2000);
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if (response.indexOf("POS=") >= 0) {
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// Parse response format: POS=id,x,y,confidence
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int idStart = response.indexOf("=") + 1;
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int comma1 = response.indexOf(",", idStart);
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int comma2 = response.indexOf(",", comma1 + 1);
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int comma3 = response.indexOf(",", comma2 + 1);
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if (comma1 > 0 && comma2 > 0 && comma3 > 0) {
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position->anchorId = response.substring(idStart, comma1).toInt();
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position->x = response.substring(comma1 + 1, comma2).toFloat();
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position->y = response.substring(comma2 + 1, comma3).toFloat();
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position->confidence = response.substring(comma3 + 1).toFloat();
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position->valid = true;
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return true;
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}
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}
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position->valid = false;
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return false;
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}
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bool UWBHelper::calculatePosition(DeviceData devices[], int deviceCount, float* x, float* y) {
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// Simple trilateration with first 3 active devices
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int activeCount = 0;
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DeviceData activeDevices[3];
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for (int i = 0; i < deviceCount && activeCount < 3; i++) {
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if (devices[i].active) {
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activeDevices[activeCount] = devices[i];
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activeCount++;
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}
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}
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if (activeCount < 3) return false;
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// For now, assume anchors are at fixed positions (would need anchor position data)
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// This is a placeholder - real implementation would use actual anchor coordinates
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return false;
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}
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// ===== UTILITY FUNCTIONS =====
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bool UWBHelper::isResponseOK(String response) {
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return response.indexOf("OK") >= 0;
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}
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@ -148,12 +421,16 @@ bool UWBHelper::isResponseOK(String response) {
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void UWBHelper::printDiagnostics() {
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Serial.println("=== UWB Diagnostics ===");
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Serial.println("Version: " + getVersion());
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Serial.println("Config: " + sendCommand("AT+GETCFG?", 2000));
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Serial.println("Capacity: " + sendCommand("AT+GETCAP?", 2000));
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Serial.println("Power: " + sendCommand("AT+GETPOW?", 2000));
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Serial.println("Config: " + getConfig());
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Serial.println("Capacity: " + getCapacity());
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Serial.println("Antenna: " + getAntennaDelay());
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Serial.println("Power: " + getPower());
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Serial.println("Network: " + getNetwork());
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Serial.println("Reporting: " + getReporting());
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}
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// DistanceFilter Implementation
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// ===== DISTANCE FILTER IMPLEMENTATION =====
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DistanceFilter::DistanceFilter() : index(0), filled(false) {
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for (int i = 0; i < FILTER_SIZE; i++) readings[i] = 0;
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}
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@ -195,4 +472,71 @@ void DistanceFilter::reset() {
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index = 0;
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filled = false;
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for (int i = 0; i < FILTER_SIZE; i++) readings[i] = 0;
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}
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// ===== POSITION CALCULATOR IMPLEMENTATION =====
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bool PositionCalculator::trilaterate(float x1, float y1, float r1,
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float x2, float y2, float r2,
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float x3, float y3, float r3,
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float* x, float* y) {
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// Trilateration algorithm
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float A = 2 * (x2 - x1);
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float B = 2 * (y2 - y1);
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float C = pow(r1, 2) - pow(r2, 2) - pow(x1, 2) + pow(x2, 2) - pow(y1, 2) + pow(y2, 2);
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float D = 2 * (x3 - x2);
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float E = 2 * (y3 - y2);
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float F = pow(r2, 2) - pow(r3, 2) - pow(x2, 2) + pow(x3, 2) - pow(y2, 2) + pow(y3, 2);
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float denominator = A * E - B * D;
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if (abs(denominator) < 0.001) return false; // Points are collinear
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*x = (C * E - F * B) / denominator;
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*y = (A * F - D * C) / denominator;
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return true;
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}
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bool PositionCalculator::multilaterate(AnchorPosition anchors[], float distances[], int count, float* x, float* y) {
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if (count < 3) return false;
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// Use least squares method for more than 3 anchors
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if (count == 3) {
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return trilaterate(anchors[0].x, anchors[0].y, distances[0],
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anchors[1].x, anchors[1].y, distances[1],
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anchors[2].x, anchors[2].y, distances[2],
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x, y);
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}
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// For more than 3 anchors, use weighted least squares (simplified version)
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float sumX = 0, sumY = 0, sumW = 0;
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for (int i = 0; i < count - 1; i++) {
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for (int j = i + 1; j < count; j++) {
|
||||
for (int k = j + 1; k < count; k++) {
|
||||
float tempX, tempY;
|
||||
if (trilaterate(anchors[i].x, anchors[i].y, distances[i],
|
||||
anchors[j].x, anchors[j].y, distances[j],
|
||||
anchors[k].x, anchors[k].y, distances[k],
|
||||
&tempX, &tempY)) {
|
||||
float weight = anchors[i].confidence * anchors[j].confidence * anchors[k].confidence;
|
||||
sumX += tempX * weight;
|
||||
sumY += tempY * weight;
|
||||
sumW += weight;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (sumW > 0) {
|
||||
*x = sumX / sumW;
|
||||
*y = sumY / sumW;
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
float PositionCalculator::calculateDistance(float x1, float y1, float x2, float y2) {
|
||||
return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2));
|
||||
}
|
||||
|
|
@ -12,6 +12,25 @@ struct DeviceData {
|
|||
bool active;
|
||||
};
|
||||
|
||||
struct AnchorPosition {
|
||||
int anchorId;
|
||||
float x;
|
||||
float y;
|
||||
float confidence;
|
||||
bool valid;
|
||||
};
|
||||
|
||||
struct RangeResult {
|
||||
int tagId;
|
||||
int mask;
|
||||
int sequence;
|
||||
float ranges[8];
|
||||
float rssi[8];
|
||||
int anchorIds[8];
|
||||
unsigned long timer;
|
||||
unsigned long timerSys;
|
||||
};
|
||||
|
||||
class UWBHelper {
|
||||
private:
|
||||
HardwareSerial* uwbSerial;
|
||||
|
|
@ -20,26 +39,68 @@ private:
|
|||
public:
|
||||
UWBHelper(HardwareSerial* serial, int reset);
|
||||
|
||||
// Initialization
|
||||
// Basic Commands (3.2-3.6)
|
||||
bool testConnection(); // AT?
|
||||
String getVersion(); // AT+GETVER?
|
||||
bool restart(); // AT+RESTART
|
||||
bool restore(); // AT+RESTORE
|
||||
bool save(); // AT+SAVE
|
||||
|
||||
// Configuration Commands (3.7-3.8)
|
||||
bool setConfig(int deviceId, int role, int dataRate = 1, int rangeFilter = 1); // AT+SETCFG
|
||||
String getConfig(); // AT+GETCFG?
|
||||
|
||||
// Antenna Commands (3.9-3.10)
|
||||
bool setAntennaDelay(int delay); // AT+SETANT
|
||||
String getAntennaDelay(); // AT+GETANT?
|
||||
|
||||
// Capacity Commands (3.11-3.12)
|
||||
bool setCapacity(int tagCount, int timeSlot = 10, int extMode = 0); // AT+SETCAP
|
||||
String getCapacity(); // AT+GETCAP?
|
||||
|
||||
// Reporting Commands (3.13-3.14)
|
||||
bool setReporting(bool enable); // AT+SETRPT
|
||||
String getReporting(); // AT+GETRPT?
|
||||
|
||||
// Range Command (3.15)
|
||||
bool parseRangeData(String data, DeviceData devices[], int maxDevices);
|
||||
bool parseDetailedRangeData(String data, RangeResult* result);
|
||||
|
||||
// Sleep Command (3.16)
|
||||
bool setSleep(int sleepTime); // AT+SLEEP
|
||||
|
||||
// Power Commands (3.17-3.18)
|
||||
bool setPower(String powerValue = "FD"); // AT+SETPOW
|
||||
String getPower(); // AT+GETPOW?
|
||||
|
||||
// Data Commands (3.19-3.20)
|
||||
bool sendData(int length, String data); // AT+DATA
|
||||
String receiveData(); // AT+RDATA
|
||||
|
||||
// Network Commands (3.21-3.22)
|
||||
bool setNetwork(int networkId); // AT+SETPAN
|
||||
String getNetwork(); // AT+GETPAN?
|
||||
|
||||
// Legacy wrapper functions for backward compatibility
|
||||
bool begin();
|
||||
void reset();
|
||||
|
||||
// Configuration
|
||||
bool configureDevice(int deviceId, bool isAnchor, int dataRate = 1, int rangeFilter = 1);
|
||||
bool setCapacity(int tagCount, int timeSlot = 10, int extMode = 1);
|
||||
bool setNetwork(int networkId);
|
||||
bool enableReporting(bool enable);
|
||||
bool saveConfiguration();
|
||||
bool restartDevice();
|
||||
|
||||
// Communication
|
||||
String sendCommand(String command, int timeout = 2000);
|
||||
bool parseRangeData(String data, DeviceData devices[], int maxDevices);
|
||||
|
||||
// Advanced parsing
|
||||
bool requestAnchorPosition(int anchorId, AnchorPosition* position);
|
||||
|
||||
// Utility
|
||||
String getVersion();
|
||||
bool isResponseOK(String response);
|
||||
void printDiagnostics();
|
||||
|
||||
// Position calculation helpers
|
||||
bool calculatePosition(DeviceData devices[], int deviceCount, float* x, float* y);
|
||||
};
|
||||
|
||||
// Data filtering class
|
||||
|
|
@ -57,4 +118,16 @@ public:
|
|||
void reset();
|
||||
};
|
||||
|
||||
// Position calculation class
|
||||
class PositionCalculator {
|
||||
public:
|
||||
static bool trilaterate(float x1, float y1, float r1,
|
||||
float x2, float y2, float r2,
|
||||
float x3, float y3, float r3,
|
||||
float* x, float* y);
|
||||
|
||||
static bool multilaterate(AnchorPosition anchors[], float distances[], int count, float* x, float* y);
|
||||
static float calculateDistance(float x1, float y1, float x2, float y2);
|
||||
};
|
||||
|
||||
#endif // UWBHELPER_H
|
||||
Loading…
Add table
Add a link
Reference in a new issue