add UWB DW1000 Example

Author: Gitshaoxiang

examples/Unit/UWB_DW1000/UWB_DW1000.ino

@@ -0,0 +1,283 @@
+/*
+    Description: UWB Unit test program. When using, two M5 devices are burned to the program, 
+    and the buttons A and B are used to configure them to base station mode and Tag mode respectively. 
+    For more details, please refer to the code comments below.
+    Before use, it is recommended to configure the base station first, and then configure the Tag
+*/
+
+#include <M5Stack.h>
+String DATA = " ";  //Used to store distance data
+int UWB_MODE = 2;   //Used to set UWB mode
+
+int UWB_T_UI_NUMBER_2 = 0; // flag bit 标志位
+int UWB_T_UI_NUMBER_1 = 0;
+int UWB_T_NUMBER = 0;
+int UWB_B_NUMBER = 0;
+
+
+hw_timer_t *timer = NULL;
+int timer_flag = 0;
+int base_flag = 0;
+uint32_t timer_data = 0;
+static void IRAM_ATTR Timer0_CallBack(void);
+
+//Data display
+void UWB_display()
+{
+  switch (UWB_MODE)
+  {
+    case 0:
+
+      if (UWB_T_NUMBER > 0 && UWB_T_NUMBER < 5)
+      {
+        int c = UWB_T_NUMBER;
+        int b = 4 - UWB_T_NUMBER;
+        while (c > 0)
+        {
+          c--;
+          M5.Lcd.drawString(DATA.substring(2 + c * 11, 3 + c * 11), 37, 50 + c * 40, 4 );//Tag the serial number 标签序号
+          M5.Lcd.drawString(DATA.substring(4 + c * 11, 8 + c * 11), 210, 50 + c * 40, 4); //Distance 距离
+        }
+        while (b > 0)
+        {
+          b--;
+          M5.Lcd.fillRect(0, 170 - b * 40, 340, 30, BLACK);
+        }
+      }
+      break;
+    case 1:
+      if (UWB_B_NUMBER == 1)
+      {
+        M5.Lcd.drawString(DATA, 60, 90, 4);//Prompt information  (Base station 0 only) 提示信息 (仅限基站0)
+      }
+      break;
+  }
+}
+
+//UI display
+void UWB_ui_display() {
+
+  M5.Lcd.drawString("UWB Example", 90, 0, 4); //UI
+  M5.Lcd.drawString("Tag", 50, 210, 4);
+  M5.Lcd.drawString("Base", 130, 210, 4);
+  M5.Lcd.drawString("Reset", 220, 210, 4);
+
+  switch (UWB_MODE)
+  {
+    case 0:
+      if (UWB_T_NUMBER > 0 && UWB_T_NUMBER < 5)   //Tag mode UI display  标签模式UI显示
+      {
+        int c = UWB_T_NUMBER;
+        int b = 4 - UWB_T_NUMBER;
+        while (c > 0 )
+        {
+          c--;
+          M5.Lcd.drawString("B", 20, 50 + c * 40, 4 );
+          M5.Lcd.drawString("Distance:", 80, 50 + c * 40, 4 );
+          M5.Lcd.drawString("M", 280, 50 + c * 40, 4);
+        }
+
+        while (b > 0)
+        {
+          b--;
+          M5.Lcd.fillRect(0, 170 - b * 40, 340, 30, BLACK);
+        }
+      }
+      break;
+    case 1:                                              //Base station mode UI display  基站模式UI显示
+      M5.Lcd.drawString("Base station", 80, 50, 4 );
+      M5.Lcd.drawString(String(UWB_B_NUMBER), 240, 50, 4 );//UWB_B_NUMBER
+      if (UWB_B_NUMBER == 0)
+      {
+        M5.Lcd.drawString("loading......", 100, 90, 4 );
+      }
+      else
+      {
+        M5.Lcd.fillRect(0, 90, 340, 30, BLACK);
+      }
+
+      break;
+  }
+}
+//  Display and data clear
+void UWB_clear() {               //Clear the display and DATA  清除显示和DATA
+  if (Serial2.available())
+  {
+    delay(3);
+    DATA = Serial2.readString();
+  }
+  DATA = "";
+  timer_flag = 0;
+  timer_data = 0;
+  M5.Lcd.fillRect(0, 50, 340, 150, BLACK);
+}
+
+int UWB_readString()          //Read UART data  读取串口数据
+{
+  switch (UWB_MODE)
+  {
+    case 0:
+      if (Serial2.available())
+      {
+        delay(20);
+        UWB_T_NUMBER = (Serial2.available() / 11);      //Count the number of Base stations  计算基站数目
+        delay(20);
+        if (UWB_T_NUMBER != UWB_T_UI_NUMBER_1 || UWB_T_UI_NUMBER_2 == 0)    //Changing the UI display  更改UI显示
+        {
+          UWB_ui_display();
+          UWB_T_UI_NUMBER_1 = UWB_T_NUMBER;
+          UWB_T_UI_NUMBER_2 = 1;
+        }
+        DATA = Serial2.readString();
+        delay(2);
+        timer_flag = 0;
+        timer_data = 1;
+        break;
+      }
+      else
+      {
+        timer_flag = 1;
+      }
+      if (timer_data == 0 || timer_data > 8)    //Count the number of Base stations  提示与基站0断连（测试）
+      {
+        if(timer_data==9){M5.Lcd.fillRect(210, 50, 50, 30, BLACK);}
+        DATA = "  0 2F   ";
+        timer_flag = 0;
+      }
+      break;
+    case 1:
+      if (timer_data == 0 || timer_data > 70)   //Indicates successful or lost connection with Tag  提示与标签连接成功或丢失断连
+      {
+        if (Serial2.available())
+        {
+          delay(2);
+          DATA = Serial2.readString();
+          DATA = "set up successfully!";
+          timer_data = 1;
+          timer_flag = 1;
+          break;
+        }
+        else if (timer_data > 0 && Serial2.available() == 0 )
+        {
+          DATA = "Can't find the tag!!!";
+          timer_flag = 0;
+          break;
+        }
+      }
+      break;
+  }
+}
+
+
+int UWB_setupmode()       //AT command
+{
+  switch (UWB_MODE) {
+    case 0:
+      for (int b = 0; b < 2; b++)
+      { //Repeat twice to stabilize the connection
+        delay(50);
+        Serial2.write("AT+anchor_tag=0\r\n");     //Set up the Tag 设置标签
+        delay(50);
+        Serial2.write("AT+interval=5\r\n");        //Set the calculation precision, the larger the response is, the slower it will be
+        delay(50);                                     //设置计算精度，越大响应越慢
+        Serial2.write("AT+switchdis=1\r\n");        //Began to distance 开始测距
+        delay(50);
+        if (b == 0) {
+          Serial2.write("AT+RST\r\n");            //RESET 复位
+        }
+      }
+      UWB_clear();
+      break;
+    case 1:
+      for (int b = 0; b < 2; b++)
+      {
+        delay(50);
+        Serial2.write("AT+anchor_tag=1,");      //Set the base station 设置基站
+        Serial2.print(UWB_B_NUMBER);            //UWB_B_NUMBER is base station ID0~ID3
+        Serial2.write("\r\n");
+        delay(1);
+        delay(50);
+        if (b == 0) {
+          Serial2.write("AT+RST\r\n");
+        }
+      }
+      UWB_clear();
+      break;
+  }
+}
+
+
+void UWB_Keyscan() {
+  if (M5.BtnA.wasReleased())
+  {
+    UWB_MODE = 0;
+    UWB_setupmode();
+    UWB_clear();
+    UWB_ui_display();
+    UWB_T_UI_NUMBER_2 = 0;
+  }
+  if (M5.BtnB.wasReleased())
+  {
+    UWB_MODE = 1;
+    if (UWB_B_NUMBER == 4)
+    {
+      UWB_B_NUMBER = 0;
+    }
+    UWB_setupmode();
+    UWB_clear();
+    UWB_ui_display();
+    UWB_B_NUMBER++;
+  }
+  if (M5.BtnC.wasReleased())
+  {
+    Serial2.write("AT+RST\r\n");
+    UWB_setupmode();
+    UWB_clear();
+    UWB_ui_display();
+  }
+}
+
+void UWB_Timer()
+{
+  timer = timerBegin(0, 80, true);              //Timer setting 定时器设置
+  timerAttachInterrupt(timer, Timer0_CallBack, true);
+  timerAlarmWrite(timer, 1000000, true);
+  timerAlarmEnable(timer);
+}
+
+static void IRAM_ATTR Timer0_CallBack(void)      //Timer function 定时器函数
+{
+  if (timer_flag == 1)
+  {
+    timer_data++;
+    if (timer_data == 4294967280)
+    {
+      timer_data = 1;
+    }
+  }
+  else
+  {
+    timer_data = 0;
+  }
+}
+
+void setup()
+{
+  M5.begin();
+  M5.Power.begin();
+  Serial2.begin(115200, SERIAL_8N1, 16, 17);
+  delay(100);
+  UWB_Timer();
+
+  UWB_ui_display();
+
+}
+
+void loop()
+{
+  M5.update();
+  UWB_Keyscan();
+  UWB_readString();
+  UWB_display();
+
+}