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UWBandIMU.py
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import thread
import threading
import time
import DW1000
import monotonic
import DW1000Constants as C
import RPi.GPIO as GPIO
import numpy as np
import math
import RTIMU
SETTINGS_FILE = "RTIMULib"
s = RTIMU.Settings(SETTINGS_FILE)
imu = RTIMU.RTIMU(s)
t_print = time.time()
t_damp = time.time()
t_fail = time.time()
t_fail_timer = 0.0
t_shutdown = 0
if (not imu.IMUInit()):
hack = time.time()
imu_sentence = "$IIXDR,IMU_FAILED_TO_INITIALIZE*7C"
if (hack - t_print) > 1.0:
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.sendto(imu_sentence, (IMU_IP, IMU_PORT))
t_print = hack
t_shutdown += 1
if t_shutdown > 9:
sys.exit(1)
imu.setSlerpPower(0.02)
imu.setGyroEnable(True)
imu.setAccelEnable(True)
imu.setCompassEnable(True)
imu_array=np.zeros([9,200])
uwb_array=np.zeros([6,10])
Grid=[0]*1
n_23=0
n_24=0
n_25=0
n_26=0
n_27=0
n_29=0
imu_count=0
Position_Flag=0
DistanceFinish_Flag=0
Same_tag_flag=0
###### Anchor variable #####
lastActivity = 0
expectedMsgId = C.POLL
protocolFailed = False
sentAck = False
receivedAck = False
LEN_DATA =25
data = [0] * LEN_DATA
LEN_TAG=6
tag=[0]*LEN_TAG
timePollAckSentTS = 0
timePollAckReceivedTS = 0
timePollReceivedTS = 0
timeRangeReceivedTS = 0
timePollSentTS = 0
timeRangeSentTS = 0
timeComputedRangeTS = 0
REPLY_DELAY_TIME_US = 7000
PIN_RST = 17
PIN_IRQ = 19
PIN_SS = 27
GPIO.setmode(GPIO.BCM)
GPIO.setup(PIN_RST,GPIO.IN)
DW1000.begin(PIN_IRQ)
DW1000.setup(PIN_SS)
print("DW1000 initialized")
print("############### ANCHOR ##############")
DW1000.generalConfiguration("82:17:5B:D5:A9:9A:E2:9B", C.MODE_LONGDATA_RANGE_ACCURACY)
DW1000.setAntennaDelay(C.ANTENNA_DELAY_RASPI)
####### EKF #######
r2d = (180/math.pi)
d2r = (math.pi/180)
threshold_c =0.55
g =9.8
scale_factor_err = -0.0512
bx0=1*0.1*g
by0=-0.1*g
bz0=-4.97*d2r
xverr = 0.1
yverr = -0.1
xperr = 0.5
yperr = -0.5
xaerr = 0
yaerr = 0
psierr = 1
err_factor =1
radiosensor_err_factor = 1.0
sig_x_r=radiosensor_err_factor*0.1
sig_y_r=radiosensor_err_factor*0.1
sig_xr=err_factor*0.1*9.8/3600
sig_yr=err_factor*0.1*9.8/3600
sig_bx=err_factor*0.1*9.8
sig_by=err_factor*0.1*9.8
sig_arw_0 = 1*0.02
sig_rrw_0 = 0.02/3600
psi_true=0
psi=[0]*5
Imu=[0]*5
dwm=[0]*5
state = 1
select = 1
select_d = 1
u = 0
a=[0]*3
d=[0]*4
d_1=[0]*4
a_1=[0]*3
axm_h_1=0
aym_h_1=0
wzm_h_1=0
psi_h_1=0
bx_h_1=0
by_h_1=0
bz_h_1=0
xvm_Nh_1=0
yvm_Nh_1=0
xpm_Nh_1=0
ypm_Nh_1=0
xam_Nh_1=0
yam_Nh_1=0
xvm_Nh = 0
yvm_Nh = 0
xam_Nh = 0
yam_Nh = 0
psi_h = 0
bx_h = 0
by_h = 0
bz_h = 0
axm_h = 0
aym_h = 0
wzm_h = 0
R1m_h = 0
R2m_h = 0
R3m_h = 0
R4m_h = 0
xpm_Nh = 0
ypm_Nh = 0
xpm_Nh_2 = 0
ypm_Nh_2 = 0
zpm_Nh_2 = 0
end_count = 0
dt =0.005
EKF_Solution_Anc=[0]*2
###### 2D Grid_1_Tag_position #####
X_2D_1=np.array([7.65,0.13,0,0.9,0,5.64]).reshape([3,2])
Y_2D=(4.65,6.75)
#########################
###### 2D Grid_2_Tag_position #####
X_2D_2=np.array([0,5.64,0.17,11.8,7.78,11.7]).reshape([3,2])
#Y_2D=(4.65,6.75)
#########################
###### 3D Tag position #####
X=np.array([7.65,0.13,2.7,0,0.9,2.75,0,5.64,2.64,0.17,11.8,2.72,7.78,11.7,2.5,11.09,5.48,2.73]).reshape([6,3])
Y=(0,5.64,2.73)
def Grid_1_spread_2D():
global Solution_Anc
######Tag-------Anchor-------Distance#####
r0=((X_2D_1[0,0]-Y_2D[0])**2 + (X_2D_1[0,1]-Y_2D[1])**2)**(0.5) #26
r1=((X_2D_1[1,0]-Y_2D[0])**2 + (X_2D_1[1,1]-Y_2D[1])**2)**(0.5) #23
r2=((X_2D_1[2,0]-Y_2D[0])**2 + (X_2D_1[2,1]-Y_2D[1])**2)**(0.5) #24
A=np.array([2*(X_2D_1[0,0]-X_2D_1[1,0]),2*(X_2D_1[0,1]-X_2D_1[1,1]),2*(X_2D_1[0,0]-X_2D_1[2,0]),2*(X_2D_1[0,1]-X_2D_1[2,1])])
A=A.reshape([2,2])
b=np.array([tag[0]**2-tag[2]**2+X_2D_1[0,0]**2-X_2D_1[1,0]**2+X_2D_1[0,1]**2-X_2D_1[1,1]**2,tag[4]**2-tag[2]**2+X_2D_1[0,0]**2-X_2D_1[2,0]**2+X_2D_1[0,1]**2-X_2D_1[2,1]**2])
B=np.linalg.inv(A)
Solution_Anc=B.dot(b)
#print("Real_Position:%.2f %.2f "%(Y_2D[0],Y_2D[1]))
print("2D_Position:%.2f %.2f "%(Solution_Anc[0],Solution_Anc[1]))
def Grid_2_spread_2D():
global Solution_Anc
######Tag-------Anchor-------Distance#####
r0=((X_2D_2[0,0]-Y_2D[0])**2 + (X_2D_2[0,1]-Y_2D[1])**2)**(0.5) #24
r1=((X_2D_2[1,0]-Y_2D[0])**2 + (X_2D_2[1,1]-Y_2D[1])**2)**(0.5) #25
r2=((X_2D_2[2,0]-Y_2D[0])**2 + (X_2D_2[2,1]-Y_2D[1])**2)**(0.5) #27
A=np.array([2*(X_2D_2[0,0]-X_2D_2[1,0]),2*(X_2D_2[0,1]-X_2D_2[1,1]),2*(X_2D_2[0,0]-X_2D_2[2,0]),2*(X_2D_2[0,1]-X_2D_2[2,1])])
A=A.reshape([2,2])
b=np.array([tag[1]**2-tag[4]**2+X_2D_2[0,0]**2-X_2D_2[1,0]**2+X_2D_2[0,1]**2-X_2D_2[1,1]**2,tag[3]**2-tag[4]**2+X_2D_2[0,0]**2-X_2D_2[2,0]**2+X_2D_2[0,1]**2-X_2D_2[2,1]**2])
B=np.linalg.inv(A)
Solution_Anc=B.dot(b)
#print("Real_Position:%.2f %.2f "%(Y_2D[0],Y_2D[1]))
print("2D_Position:%.2f %.2f "%(Solution_Anc[0],Solution_Anc[1]))
def run_imu():
global imu_count ,imu_array,timer,accel,compass,gyro
if imu.IMURead():
Data = imu.getIMUData()
accel = Data["accel"]
gyro = Data["gyro"]
compass = Data["compass"]
print(accel[0])
imu_array[0,imu_count]=accel[0]
imu_array[1,imu_count]=accel[1]
imu_array[2,imu_count]=accel[2]
imu_array[3,imu_count]=gyro[0]
imu_array[4,imu_count]=gyro[1]
imu_array[5,imu_count]=gyro[2]
imu_array[6,imu_count]=compass[0]
imu_array[7,imu_count]=compass[1]
imu_array[8,imu_count]=compass[2]
imu_count+=1
if imu_count==200:
print("----------IMU_Data_finish----------")
np.savetxt('KNN_Data.csv',(imu_array) , delimiter=',')
t = time.time()
#print (int(round(t * 1000)))
timer = threading.Timer(0.05, run_imu)
timer.start()
timer = threading.Timer(0.05, run_imu)
timer.start()
timer = threading.Timer(0.05, run_imu)
timer.start()
def EKF_message():
global P00_z,tag,accel,gyro
EKF_New()
Imu[0]=accel[0]
Imu[1]=-accel[1]
Imu[2]=gyro[2]
if sum([tag[2],tag[0],tag[4]]) < sum([tag[4],tag[1],tag[3]]):
dwm[0]=tag[2]
dwm[1]=tag[0]
dwm[2]=tag[4]
dwm[3]=tag[5]
else:
dwm[0]=tag[4]
dwm[1]=tag[1]
dwm[2]=tag[3]
dwm[3]=tag[5]
print(tag[4],tag[1],tag[3],tag[5])
#t = time.time()
#print (int(round(t * 1000)))
if tag[1] !=0 and tag[3]!=0 and tag[4]!=0:
EKF_Update()
timer = threading.Timer(0.05, EKF_message)
timer.start()
timer = threading.Timer(0.05, EKF_message)
timer.start()
def EKF_New():
global P00_z,R,F_z,Q_z,Xz_h
P00_z = np.zeros([8,8])
R=np.zeros([4,4])
H=np.zeros([4,8])
Xz_h=np.zeros([8,1])
tmp=np.zeros([8,8])
tmp_1=np.zeros([8,8])
tmpYX=np.zeros([1,8])
##### covariance matrix(P00_z=phi_z*P00_z*(phi_z')+Q_z*dt) #####
P00_z[0,0] = xperr**2
P00_z[2,2] = 1*bx0**2
P00_z[3,3] = yperr**2
P00_z[5,5] = 1*by0**2
P00_z[6,6] = (1*psierr*d2r)**2
P00_z[7,7] =100* bz0**2
##### Xz_h(xz_h=phi_z*xz_h) #####
Xz_h[7,0] = bz0
##### Q matrix -predict(P00_z=phi_z*P00_z*(phi_z')+Q_z*dt) #####
Q_z=np.zeros([8,8])
##### R matrix -measurement(H*P00_z*H'+R) #####
R=np.array([sig_x_r**2,0,0,0,0,sig_y_r**2,0,0,0,0,sig_x_r**2,0,0,0,0,sig_y_r**2])*100
R=R.reshape([4,4])
##### Kalman Filter Gain(K_z = P00_z*H'/(H*P00_z*H'+R)) #####
K_z=np.zeros([8,4])
##### Measurement covariance update #####
S=np.zeros([4,4])
##### F matrix(P = (I+F*dt)*P*(I+F*dt)' + Q) #####
F_z=np.zeros([8,8])
H_D=np.zeros([4,8])
def EKF_Update():
##### IMU_MPU9250 #####
global Grid,n_ekf,dwm,Imu,state,xpm_Nh,ypm_Nh,xvm_Nh,yvm_Nh,xam_Nh,yam_Nh,wzm_h,bx_h,by_h,bz_h,psi_h,end_count,P00_z,tmp,tmp_1,tmp_YX,u,select,count1,select_d,EKF_Solution_Anc,R,Xz_h,F_z,Q_z,H_D,bx_h_1,by_h_1,bz_h_1,psi_h_1,xpm_Nh_1,ypm_Nh_1,xvm_Nh_1,yvm_Nh_1,xam_Nh_1,yam_Nh_1
a[0]=Imu[0] #acc_x
a[1]=Imu[1] #acc_y
a[2]=Imu[2] #gyro_z
d[0]=dwm[0] #distance1
d[1]=dwm[1] #distance2
d[2]=dwm[2] #distance3
d[3]=dwm[3] #distance4
for i in range(0,4):
if d[i]>150000:
d[i]=d_1[i]
if sum([tag[2],tag[0],tag[4]]) < sum([tag[4],tag[1],tag[3]]):
Grid_1_spread_2D()
Grid[0]=1
else:
Grid_2_spread_2D()
Grid[0]=2
xpm_Nh_2=Solution_Anc[0]
ypm_Nh_2=Solution_Anc[1]
if state == 1:
bz_h = bz0
if d[0]>0 and d[1]>0 and d[2]>0 and d[3]>0:
xpm_Nh = xpm_Nh_2
ypm_Nh = ypm_Nh_2
xpm_Nh_1 = xpm_Nh
ypm_Nh_1 = ypm_Nh
state = 2
if state == 2:
for j in range(0,2):
bx_h = bx_h_1
by_h = by_h_1
bz_h = bz_h_1
axm_h = a[0]-bx_h #acc_x
aym_h = a[1]-by_h #acc_y
axm_h_1 = a_1[0]- bx_h_1
aym_h_1 = a_1[1]- by_h_1
wzm_h_1 = (1-scale_factor_err)*(a_1[2] - bz_h_1)
wzm_h = (1-scale_factor_err)*(a[2] - bz_h_1)
psi_h = psi_h_1 +(wzm_h_1+wzm_h)*dt/2.0
xam_Nh = np.cos(psi_h_1)*axm_h_1 - np.sin(psi_h_1)*aym_h_1 - wzm_h_1*yvm_Nh_1
yam_Nh = np.sin(psi_h_1)*axm_h_1 + np.cos(psi_h_1)*aym_h_1 + wzm_h_1*xvm_Nh_1
xvm_Nh = xvm_Nh_1 + (xam_Nh+xam_Nh_1)*dt/2
yvm_Nh = yvm_Nh_1 + (yam_Nh+yam_Nh_1)*dt/2
xpm_Nh = xpm_Nh_1 + (xvm_Nh+xvm_Nh_1)*dt/2
ypm_Nh = ypm_Nh_1 + (yvm_Nh+yvm_Nh_1)*dt/2
F_z[0,1] = 1
F_z[1,2] = -np.cos(psi_h_1)
F_z[1,4] = -wzm_h_1
F_z[1,5] = np.sin(psi_h_1)
F_z[1,6] = 0*(-np.sin(psi_h_1)*(axm_h_1)-np.cos(psi_h_1)*(aym_h_1))
F_z[1,7] = 0*(yvm_Nh_1)
F_z[3,4] = 1
F_z[4,1] = wzm_h_1
F_z[4,2] = -np.sin(psi_h_1)
F_z[4,5] = -np.cos(psi_h_1)
F_z[4,6] = 0*(np.cos(psi_h_1)*(axm_h_1)-np.sin(psi_h_1)*(aym_h_1))
F_z[4,7] = 0*(-xvm_Nh_1)
F_z[6,7]= -1
I=np.eye(8)
phi_z = I+(F_z*dt)
Q_z[1,1] = (np.cos(psi_h_1))*(np.cos(psi_h_1))*(sig_bx**2) + (np.sin(psi_h_1))*(np.sin(psi_h_1))*(sig_by**2) + (yvm_Nh_1*yvm_Nh_1)*(sig_arw_0**2)
Q_z[2,2] = sig_xr**2
Q_z[4,4] = (np.sin(psi_h_1))*(np.sin(psi_h_1))*(sig_bx**2) + (np.cos(psi_h_1))*(np.cos(psi_h_1))*(sig_by**2) + (xvm_Nh_1*xvm_Nh_1)*(sig_arw_0**2)
Q_z[5,5] = sig_yr**2
Q_z[6,6] = 1*sig_arw_0**2
Q_z[7,7] = 1*sig_rrw_0**2
Xz_h=phi_z.dot(Xz_h)
if select==1:
tmp_1=phi_z.dot(P00_z)
else:
tmp_1=phi_z.dot(tmp)
tmp=tmp_1.dot(phi_z.T)+Q_z*dt
if select ==1:
a[0]=Imu[0] #acc_x
a[1]=Imu[1] #acc_y
a[2]=Imu[2] #gyro_z
a_1[0]=a[0]
a_1[1]=a[1]
a_1[2]=a[2]
bx_h_1 = bx_h
by_h_1 = by_h
bz_h_1 = bz_h
xam_Nh_1 = xam_Nh
yam_Nh_1 = yam_Nh
xvm_Nh_1 = xvm_Nh
yvm_Nh_1 = yvm_Nh
xpm_Nh_1 = xpm_Nh
ypm_Nh_1 = ypm_Nh
psi_h_1 = psi_h
wzm_h_1 = wzm_h
u = u +1
select = 2
###### IMU Estimate four Distances #####
if Grid[0]==1:
print("---------Grid_1----------------")
R1m_h = ((X[0,0]-xpm_Nh)**2+(X[0,1]-ypm_Nh)**2+(X[0,2]-1.32)**2)**(0.5)
R2m_h = ((X[1,0]-xpm_Nh)**2+(X[1,1]-ypm_Nh)**2+(X[1,2]-1.32)**2)**(0.5)
R3m_h = ((X[2,0]-xpm_Nh)**2+(X[2,1]-ypm_Nh)**2+(X[2,2]-1.32)**2)**(0.5)
R4m_h = ((X[5,0]-xpm_Nh)**2+(X[5,1]-ypm_Nh)**2+(X[5,2]-1.32)**2)**(0.5)
##### H Matrix Residual Calculator #####
r1_partial_x =-(X[0,0]-xpm_Nh)/R1m_h
r1_partial_y =-(X[0,1]-ypm_Nh)/R1m_h
r2_partial_x =-(X[1,0]-xpm_Nh)/R2m_h
r2_partial_y =-(X[1,1]-ypm_Nh)/R2m_h
r3_partial_x =-(X[2,0]-xpm_Nh)/R3m_h
r3_partial_y =-(X[2,1]-ypm_Nh)/R3m_h
r4_partial_x =-(X[5,0]-xpm_Nh)/R4m_h
r4_partial_y =-(X[5,1]-ypm_Nh)/R4m_h
if Grid[0]==2:
print("---------Grid_2----------------")
R1m_h = ((X[2,0]-xpm_Nh)**2+(X[2,1]-ypm_Nh)**2+(X[2,2]-1.32)**2)**(0.5)
R2m_h = ((X[3,0]-xpm_Nh)**2+(X[3,1]-ypm_Nh)**2+(X[3,2]-1.32)**2)**(0.5)
R3m_h = ((X[4,0]-xpm_Nh)**2+(X[4,1]-ypm_Nh)**2+(X[4,2]-1.32)**2)**(0.5)
R4m_h = ((X[5,0]-xpm_Nh)**2+(X[5,1]-ypm_Nh)**2+(X[5,2]-1.32)**2)**(0.5)
##### H Matrix Residual Calculator #####
r1_partial_x =-(X[2,0]-xpm_Nh)/R1m_h
r1_partial_y =-(X[2,1]-ypm_Nh)/R1m_h
r2_partial_x =-(X[3,0]-xpm_Nh)/R2m_h
r2_partial_y =-(X[3,1]-ypm_Nh)/R2m_h
r3_partial_x =-(X[4,0]-xpm_Nh)/R3m_h
r3_partial_y =-(X[4,1]-ypm_Nh)/R3m_h
r4_partial_x =-(X[5,0]-xpm_Nh)/R4m_h
r4_partial_y =-(X[5,1]-ypm_Nh)/R4m_h
##### H Matrix Data #####
H=np.array([r1_partial_x,0,0,r1_partial_y,0,0,0,0,r2_partial_x,0,0,r2_partial_y,0,0,0,0,r3_partial_x,0,0,r3_partial_y,0,0,0,0,r4_partial_x,0,0,r4_partial_y,0,0,0,0])
#H=np.array([r1_partial_x,0,0,r1_partial_y,0,0,0,0,r2_partial_x,0,0,r2_partial_y,0,0,0,0,r3_partial_x,0,0,r3_partial_y,0,0,0,0,0,0,0,0,0,0,0,0])
H=H.reshape([4,8])
###### Kalman_Filter_update_8_4_radio ######
zxm_z=[0]*4
##### Real Distance - Esitmate Distance #####
zxm_z[0] = d[0]-R1m_h
zxm_z[1] = d[1]-R2m_h
zxm_z[2] = d[2]-R3m_h
zxm_z[3] = d[3]-R4m_h
#zxm_z[3] = 0
##### Mu Martix Data #####
Y=np.array([zxm_z[0],zxm_z[1],zxm_z[2],zxm_z[3]])
k=0
l=0
z_update=np.zeros([8,1])
H_D=np.zeros([1,8])
K_z_help=[0]*1
tmpXY=np.zeros([8,1])
Mu_z=Y.reshape([4,1])
K_z=np.zeros([8,1])
I=np.eye(8)
n_h=0
for i in range(0,4):
if end_count> 15 :
if (zxm_z[i]*zxm_z[i])**0.5< threshold_c:
for j in range(0,8):
H_D[0,j]=H[i,j]
if select_d==1:
tmpYX=H_D.dot(tmp)
else:
tmp=P00_z.dot(I)
tmpYX=H_D.dot(tmp)
K_z_help=tmpYX.dot(H_D.T)
K_z_help[0]=1/(K_z_help[0]+R[i,i])
tmpXY=tmp.dot(H_D.T)
K_z=tmpXY*(K_z_help)
P00_z=(I-K_z.dot(H_D)).dot(tmp)
else:
for j in range(0,8):
H_D[0,j]=H[i,j]
K_z=np.zeros([8,1])
P00_z=(I-K_z.dot(H_D)).dot(tmp)
count1 = count1+1
else:
for j in range(0,8):
H_D[0,j]=H[i,j]
if select_d==1:
tmpYX=H_D.dot(tmp)
else:
n_h=n_h+1
tmp=P00_z.dot(I)
tmpYX=H_D.dot(tmp)
K_z_help=tmpYX.dot(H_D.T)
K_z_help[0]=1/(K_z_help[0]+R[i,i])
tmpXY=tmp.dot(H_D.T)
K_z=tmpXY*(K_z_help)
P00_z=(I-K_z.dot(H_D)).dot(tmp)
z_update=K_z*Y[i]+z_update
select_d = 0
#print(z_update)
xpm_Nh=xpm_Nh+z_update[0,0]
xvm_Nh=xvm_Nh+z_update[1,0]
bx_h = bx_h + z_update[2,0]
ypm_Nh=ypm_Nh+z_update[3,0]
yvm_Nh=yvm_Nh+z_update[4,0]
by_h= by_h + z_update[5,0]
psi_h=psi_h+z_update[6,0]
bz_h=bz_h+z_update[7,0]
Xz_h=np.zeros([8,1])
a_1[0] = a[0]
a_1[1] = a[1]
a_1[2] = a[2]
bx_h_1 = bx_h
by_h_1 = by_h
bz_h_1 = bz_h
xam_Nh_1 = xam_Nh
yam_Nh_1 = yam_Nh
xvm_Nh_1 = xvm_Nh
yvm_Nh_1 = yvm_Nh
xpm_Nh_1 = xpm_Nh
ypm_Nh_1 = ypm_Nh
psi_h_1 = psi_h
wzm_h_1 = wzm_h
d_1[0]=d[0]#distance1
d_1[1]=d[1]#distance2
d_1[2]=d[2]#distance3
d_1[3]=d[3]#distance4
u= u+1
select = 1
select_d = 1
count1 = 0
EKF_Solution_Anc[0]=xpm_Nh
EKF_Solution_Anc[1]=ypm_Nh
t = time.time()
print (int(round(t * 1000)))
print("EKF_Position:%.2f %.2f "%(EKF_Solution_Anc[0],EKF_Solution_Anc[1]))
def millis():
"""
This function returns the value (in milliseconds) of a clock which never goes backwards. It detects the inactivity of the chip and
is used to avoid having the chip stuck in an undesirable state.
"""
return int(round(monotonic.monotonic() * C.MILLISECONDS))
def handleSent():
"""
This is a callback called from the module's interrupt handler when a transmission was successful.
It sets the sentAck variable as True so the loop can continue.
"""
global sentAck
sentAck = True
def handleReceived():
"""
This is a callback called from the module's interrupt handler when a reception was successful.
It sets the received receivedAck as True so the loop can continue.
"""
global receivedAck
receivedAck = True
DW1000.registerCallback("handleSent", handleSent)
DW1000.registerCallback("handleReceived", handleReceived)
def noteActivity():
"""
This function records the time of the last activity so we can know if the device is inactive or not.
"""
global lastActivity
lastActivity = millis()
def Anchor_resetInactive():
"""
This function restarts the default polling operation when the device is deemed inactive.
"""
global expectedMsgId
expectedMsgId = C.POLL
receiver()
noteActivity()
def transmitPollAck():
"""
This function sends the polling acknowledge message which is used to confirm the reception of the polling message.
"""
global data
DW1000.newTransmit()
data[0] = C.POLL_ACK
DW1000.setDelay(REPLY_DELAY_TIME_US, C.MICROSECONDS)
DW1000.setData(data, LEN_DATA)
DW1000.startTransmit()
def transmitRangeAcknowledge():
"""
This functions sends the range acknowledge message which tells the tag that the ranging function was successful and another ranging transmission can begin.
"""
global data
DW1000.newTransmit()
data[0] = C.RANGE_REPORT
DW1000.setData(data, LEN_DATA)
DW1000.startTransmit()
def transmitRangeFailed():
"""
This functions sends the range failed message which tells the tag that the ranging function has failed and to start another ranging transmission.
"""
global data
DW1000.newTransmit()
data[0] = C.RANGE_FAILED
DW1000.setData(data, LEN_DATA)
DW1000.startTransmit()
def receiver():
"""
This function configures the chip to prepare for a message reception.
"""
global data
DW1000.newReceive()
DW1000.receivePermanently()
DW1000.startReceive()
receiver()
noteActivity()
def computeRangeAsymmetric():
"""
This is the function which calculates the timestamp used to determine the range between the devices.
"""
global timeComputedRangeTS
round1 = DW1000.wrapTimestamp(timePollAckReceivedTS - timePollSentTS)
reply1 = DW1000.wrapTimestamp(timePollAckSentTS - timePollReceivedTS)
round2 = DW1000.wrapTimestamp(timeRangeReceivedTS - timePollAckSentTS)
reply2 = DW1000.wrapTimestamp(timeRangeSentTS - timePollAckReceivedTS)
timeComputedRangeTS = (round1 * round2 - reply1 * reply2) / (round1 + round2 + reply1 + reply2)
def loop():
global uwb_array,gyro_array,gyro_count,sentAck,n_ekf_start,start,n_23,n_24,n_25,n_26,n_27,n_29,receivedAck, timePollAckSentTS, timePollReceivedTS, timePollSentTS, timePollAckReceivedTS, timeRangeReceivedTS, protocolFailed, data, expectedMsgId,expectedMsgID, timeRangeSentTS,Same_tag_flag,DistanceFinish_Flag,Position_Flag,EKF_start,EKF_message,EKF_New,EKF_Update
if Position_Flag==0:
if sentAck == False and receivedAck == False:
if ((millis() - lastActivity) > C.RESET_PERIOD):
Anchor_resetInactive()
return
if sentAck:
sentAck = False
msgId = data[0]
if Same_tag_flag == data[16]:
if msgId == C.POLL_ACK:
timePollAckSentTS = DW1000.getTransmitTimestamp()
noteActivity()
if receivedAck:
receivedAck = False
data = DW1000.getData(LEN_DATA)
msgId = data[0]
if msgId == C.POLL:
DistanceFinish_Flag =1
Same_tag_flag = data[16]
protocolFailed = False
timePollReceivedTS = DW1000.getReceiveTimestamp()
expectedMsgId = C.RANGE
transmitPollAck()
noteActivity()
elif msgId == C.RANGE :
if (DistanceFinish_Flag == 1 and Same_tag_flag == data[16]):
DistanceFinish_Flag = 0
timeRangeReceivedTS = DW1000.getReceiveTimestamp()
expectedMsgId = C.POLL
if protocolFailed == False:
timePollSentTS = DW1000.getTimeStamp(data, 1)
timePollAckReceivedTS = DW1000.getTimeStamp(data, 6)
timeRangeSentTS = DW1000.getTimeStamp(data, 11)
computeRangeAsymmetric()
transmitRangeAcknowledge()
distance = (timeComputedRangeTS % C.TIME_OVERFLOW) * C.DISTANCE_OF_RADIO
if data[16]==23:
print("Tag: %.2d"%(data[16]))
print("Distance1: %.2f m" %(distance))
#print("[%s]"%(time.ctime(time.time())))
t = time.time()
#print (int(round(t * 1000)))
n_23=n_23+1
if distance <12:
tag[0]=distance
if data[16]==25:
print("Tag: %.2d"%(data[16]))
print("Distance2: %.2f m" %(distance))
#print("[%s]"%(time.ctime(time.time())))
n_25=n_25+1
if distance <12:
tag[1]=distance
if data[16]==26:
print("Tag: %.2d"%(data[16]))
print("Distance3: %.2f m" %(distance))
t = time.time()
print (int(round(t * 1000)))
n_26=n_26+1
if distance <12:
tag[2]=distance
if data[16]==27:
print("Tag: %.2d"%(data[16]))
print("Distance4: %.2f m" %(distance))
n_27=n_27+1
if distance <12:
tag[3]=distance
if data[16]==24:
print("Tag: %.2d"%(data[16]))
print("Distance4: %.2f m" %(distance))
n_24=n_24+1
if distance <12:
tag[4]=distance
if data[16]==29:
print("Tag: %.2d"%(data[16]))
print("Distance4: %.2f m" %(distance))
n_29=n_29+1
if distance <12:
tag[5]=distance
if tag[0] !=0 and tag[1]!=0 and tag[2] !=0 and tag[3]!=0 and tag[4]!=0:
pass
else:
transmitRangeFailed()
noteActivity()
try:
pass
while 1:
loop()
except KeyboardInterrupt:
DW1000.close()