Combining Waveshare 2.9" e-paper display with UWB Module (DW1000) on ESP32 WROOM

xploaded · July 10, 2022, 2:27pm

Hi, I'm new here so let me know if I forgot/can improve something. I really hope someone can help me here.

Situation:
I am currently building a Project that tries to combine the Ultra Wideband DW1000 Chip ranging capabilities with an E-Paper Display from Waveshare.
The DW1000 was pre bundled onto an ESP32-WROOM (bought from makerfabs.com).

Problem:
Over the last couple of weeks I worked out the individual aspects of the prototype with libraries I found online. Now, individually everything works fine. Like I can flash the ESPs with the ranging sketches and it will print out the values fine to the Serial Monitor. Just like that, the E-Paper Display also works great on its own. The Problem Im currently stuck on is combining everything into one working sketch.

AFAIK both modules use SPI to communicate and I think that might be the main direction I have to search in.

Main Libraries used:

DW1000Ranging & DW1000 (modified ones for better anchor calibration)
GxEPD

The DW1000 comes pre soldered to the board, but from the example codes I assume it uses:

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

#define UWB_RST 27 // reset pin
#define UWB_IRQ 34 // irq pin
#define UWB_SS 4   // spi select pin

... for SPI communication.

The E-Paper Display inits SPI with:

GxIO_Class io(SPI, /*CS=5*/ SS, /*DC=*/ 17, /*RST=*/ 16); // arbitrary selection of 17, 16
GxEPD_Class display(io, /*RST=*/ 16, /*BUSY=*/ 4); // arbitrary selection of (16), 4

... I think.

Full (messy) Sketch:

//Epaper
// mapping suggestion for ESP32, e.g. LOLIN32, see .../variants/.../pins_arduino.h for your board
// NOTE: there are variants with different pins for SPI ! CHECK SPI PINS OF YOUR BOARD
// BUSY -> 4, RST -> 16, DC -> 17, CS -> SS(5), CLK -> SCK(18), DIN -> MOSI(23), GND -> GND, 3.3V -> 3.3V

// include library, include base class, make path known
#include <GxEPD.h>

// select the display class to use, only one
//#include <GxGDEP015OC1/GxGDEP015OC1.h>    // 1.54" b/w
//#include <GxGDEH0154D67/GxGDEH0154D67.h>  // 1.54" b/w
#include <GxGDEM029T94/GxGDEM029T94.h>      // 2.9" b/w
//#include <GxGDEW042T2/GxGDEW042T2.h>      // 4.2" b/w

#include GxEPD_BitmapExamples

// FreeFonts from Adafruit_GFX
#include <Fonts/FreeMonoBold9pt7b.h>
#include <Fonts/FreeMonoBold12pt7b.h>
#include <Fonts/FreeMonoBold18pt7b.h>
#include <Fonts/FreeMonoBold24pt7b.h>
#include <Fonts/Tiny3x3a2pt7b.h>

#include <GxIO/GxIO_SPI/GxIO_SPI.h>
#include <GxIO/GxIO.h>

#if defined(ESP32)

// for SPI pin definitions see e.g.:
// C:\Users\xxx\Documents\Arduino\hardware\espressif\esp32\variants\lolin32\pins_arduino.h

GxIO_Class io(SPI, /*CS=5*/ SS, /*DC=*/ 17, /*RST=*/ 16); // arbitrary selection of 17, 16
GxEPD_Class display(io, /*RST=*/ 16, /*BUSY=*/ 4); // arbitrary selection of (16), 4

#endif defined(ARDUINO_ARCH_SAMD)

//UWB Libraries
#include <SPI.h>
#include "DW1000Ranging.h"
#include "DW1000.h"

#define TAG_ADDR "7D:00:22:EA:82:60:3B:9C"

// #define DEBUG

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

#define UWB_RST 27 // reset pin
#define UWB_IRQ 34 // irq pin
#define UWB_SS 4   // spi select pin

//Datenstruktur für Anchors:
typedef struct _link
{
  uint16_t anchor_addr;
  float range;
  float dbm;
  struct _link *next;
} _link;

_link *uwb_data;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  Serial.println();
  Serial.println("setup");

  SPI.begin(SPI_SCK, SPI_MISO, SPI_MOSI);
  DW1000Ranging.initCommunication(UWB_RST, UWB_SS, UWB_IRQ); //Reset, CS, IRQ pin !!!!!!!!!!!!!!!!!!!!!!!!!!! if this is commented out, e-paper works
  //define the sketch as anchor. It will be great to dynamically change the type of module
  DW1000Ranging.attachNewRange(newRange);
  DW1000Ranging.attachNewDevice(newDevice);
  DW1000Ranging.attachInactiveDevice(inactiveDevice);
  //Enable the filter to smooth the distance
  //DW1000Ranging.useRangeFilter(true);

  //we start the module as a tag
  //DW1000Ranging.startAsTag(TAG_ADDR, DW1000.MODE_LONGDATA_RANGE_LOWPOWER);
  DW1000Ranging.startAsTag(TAG_ADDR, DW1000.MODE_SHORTDATA_FAST_LOWPOWER);
  //DW1000Ranging.startAsTag(TAG_ADDR, DW1000.MODE_LONGDATA_FAST_LOWPOWER);
  // DW1000Ranging.startAsTag(TAG_ADDR, DW1000.MODE_SHORTDATA_FAST_ACCURACY);
  // DW1000Ranging.startAsTag(TAG_ADDR, DW1000.MODE_LONGDATA_FAST_ACCURACY);
  // DW1000Ranging.startAsTag(TAG_ADDR, DW1000.MODE_LONGDATA_RANGE_ACCURACY);
  uwb_data = init__link();

  display.init(115200); // enable diagnostic output on Serial !!!!!!!!!!!!!!!!!!!!!!!! if this is commented out, UWB Ranging works --- it throws Guru Meditation Errors as long as line 87 (inside GxGDEM...) , which modifies the pinmode of _busy, isnt commented out
  display.setRotation(3);
  Serial.println("setup done");
}

long int runtime = 0;

void loop() {
  // put your main code here, to run repeatedly:
  DW1000Ranging.loop();
  if ((millis() - runtime) > 6000)
  {
    //display_uwb(uwb_data);
    //updateScreen();
    Serial.println("60sec update triggered");
    runtime = millis();
    showGUI();
  }
}

void showGUI() {
  //display.fillScreen(GxEPD_WHITE);
  //display.update();
  display.setTextColor(GxEPD_BLACK);
  display.setFont(&FreeMonoBold9pt7b);
  display.setCursor(25, 25);
  display.print("Short address: ");
  //  Serial.println(currentNearestName);
  display.setCursor(5, 55);
  display.setFont(NULL);
  display.println("Informationen zum Kunstwerk");
  //  display.println(currentNearestDistance);

  display.setCursor(80, 118);
  display.setTextColor(GxEPD_WHITE, GxEPD_BLACK);
  display.println("Nicht Gespeichert");
  display.setCursor(2, 118);
  display.println("Kurz(+)");
  display.setCursor(240, 118);
  display.println("Lang(-)");
  display.fillRect(0, 40, 296, 2, GxEPD_BLACK);
  display.fillRect(0, 110, 296, 2, GxEPD_BLACK);
  display.update();
  Serial.println("inGUI");
}

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");

  fresh__link(uwb_data, DW1000Ranging.getDistantDevice()->getShortAddress(), DW1000Ranging.getDistantDevice()->getRange(), DW1000Ranging.getDistantDevice()->getRXPower());
  //print__link(uwb_data);
}

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());
}
//Data _link

_link *init__link()
{
#ifdef DEBUG
  Serial.println("init__link");
#endif
  _link *p = (_link *)malloc(sizeof(_link));
  p->next = NULL;
  p->anchor_addr = 0;
  p->range = 0.0;

  return p;
}

void add__link(_link *p, uint16_t addr)
{
#ifdef DEBUG
  Serial.println("add__link");
#endif
  _link *temp = p;
  //Find _link end
  while (temp->next != NULL)
  {
    temp = temp->next;
  }

  Serial.println("add__link:find _link end");
  //Create a anchor
  _link *a = (_link *)malloc(sizeof(_link));
  a->anchor_addr = addr;
  a->range = 0.0;
  a->dbm = 0.0;
  a->next = NULL;

  //Add anchor to end of _link
  temp->next = a;

  return;
}

_link *find__link(_link *p, uint16_t addr)
{
#ifdef DEBUG
  Serial.println("find__link");
#endif
  if (addr == 0)
  {
    Serial.println("find__link:Input addr is 0");
    return NULL;
  }

  if (p->next == NULL)
  {
    Serial.println("find__link:_link is empty");
    return NULL;
  }

  _link *temp = p;
  //Find target _link or _link end
  while (temp->next != NULL)
  {
    temp = temp->next;
    if (temp->anchor_addr == addr)
    {
      // Serial.println("find__link:Find addr");
      return temp;
    }
  }

  Serial.println("find__link:Can't find addr");
  return NULL;
}

void fresh__link(_link *p, uint16_t addr, float range, float dbm)
{
#ifdef DEBUG
  Serial.println("fresh__link");
#endif
  _link *temp = find__link(p, addr);
  if (temp != NULL)
  {

    temp->range = range;
    temp->dbm = dbm;
    return;
  }
  else
  {
    Serial.println("fresh__link:Fresh fail");
    return;
  }
}

void print__link(_link *p)
{
#ifdef DEBUG
  Serial.println("print__link");
#endif
  _link *temp = p;

  while (temp->next != NULL)
  {
    //Serial.println("Dev %d:%d m", temp->next->anchor_addr, temp->next->range);
    Serial.println(temp->next->anchor_addr, HEX);
    Serial.println(temp->next->range);
    Serial.println(temp->next->dbm);
    temp = temp->next;
  }

  return;
}

void delete__link(_link *p, uint16_t addr)
{
#ifdef DEBUG
  Serial.println("delete__link");
#endif
  if (addr == 0)
    return;

  _link *temp = p;
  while (temp->next != NULL)
  {
    if (temp->next->anchor_addr == addr)
    {
      _link *del = temp->next;
      temp->next = del->next;
      free(del);
      return;
    }
    temp = temp->next;
  }
  return;
}

As I had no idea how to properly DEBUG this I experimented with the code in the sketch and corresponding Libraries. So far I observed that when I comment out either

DW1000Ranging.initCommunication(UWB_RST, UWB_SS, UWB_IRQ);
or
display.init(115200);
either of them work individually. Otherwise I get:

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

Core  1 register dump:
PC      : 0x4008a716  PS      : 0x00060d35  A0      : 0x8008996e  A1      : 0x3ffbedbc  
A2      : 0x3ffb7f54  A3      : 0x3ffb8890  A4      : 0x00000004  A5      : 0x00060d23  
A6      : 0x00060d23  A7      : 0x00000001  A8      : 0x3ffb8890  A9      : 0x00000018  
A10     : 0x3ffb8890  A11     : 0x00000018  A12     : 0x3ffc3414  A13     : 0x00060d23  
A14     : 0x007bef68  A15     : 0x003fffff  SAR     : 0x0000001e  EXCCAUSE: 0x00000006  
EXCVADDR: 0x00000000  LBEG    : 0x40085e74  LEND    : 0x40085e79  LCOUNT  : 0x00000000  
Core  1 was running in ISR context:
EPC1    : 0x400e16d3  EPC2    : 0x00000000  EPC3    : 0x00000000  EPC4    : 0x00000000


Backtrace:0x4008a713:0x3ffbedbc |<-CORRUPTED


Core  0 register dump:
PC      : 0x4008a893  PS      : 0x00060035  A0      : 0x80089597  A1      : 0x3ffbe8bc  
A2      : 0x3ffbef68  A3      : 0xb33fffff  A4      : 0x0000abab  A5      : 0x00060023  
A6      : 0x00060021  A7      : 0x0000cdcd  A8      : 0x0000abab  A9      : 0xffffffff  
A10     : 0x3ffc3230  A11     : 0x00000000  A12     : 0x3ffc322c  A13     : 0x00000007  
A14     : 0x007bef68  A15     : 0x003fffff  SAR     : 0x0000001a  EXCCAUSE: 0x00000006  
EXCVADDR: 0x00000000  LBEG    : 0x00000000  LEND    : 0x00000000  LCOUNT  : 0x00000000  


Backtrace:0x4008a890:0x3ffbe8bc |<-CORRUPTED




ELF file SHA256: 0000000000000000

Rebooting...

Do I have to change something with the SPI configuration pins? I read mutliple SPI devices can share the same pins except the CS/SS pins. I tried that at one point, I think, but it didnt change the outcome. I only hope the libraries are compatible with each other and I am the problem and not the rest of the code. If someone can help me, give me a general direction or something I might be missing Id really appreciate it!

Idahowalker · July 10, 2022, 3:03pm