im trying to show the location of headhog beacons on my serial display but only 0 are showing
i switched the beacons last time and it worked but now it's back
this is my code
#include <SoftwareSerial.h>
SoftwareSerial portOne(0,1);
int hedgehog_x, hedgehog_y;// coordinates of hedgehog (X,Y), cm
int hedgehog_h;// height of hedgehog, cm
int hedgehog_pos_updated;// flag of new data from hedgehog received
///
#define HEDGEHOG_BUF_SIZE 30
#define HEDGEHOG_PACKET_SIZE 23
byte hedgehog_serial_buf[HEDGEHOG_BUF_SIZE];
byte hedgehog_serial_buf_ofs;
const int hedgehog_packet_header[5]= {0xff, 0x47, 0x01, 0x00, 0x10};
typedef union {byte b[2]; unsigned int w;} uni_8x2_16;
// Marvelmind hedgehog support initialize
void setup_hedgehog()
{
//Serial.begin(57600); // hedgehog transmits data on 500 kbps
portOne.begin(57600);
hedgehog_serial_buf_ofs= 0;
hedgehog_pos_updated= 0;
}
// Marvelmind hedgehog service loop
void loop_hedgehog()
{int incoming_byte;
int total_received_in_loop;
int packet_received;
portOne.listen();/////////////////////////////////////////////////////////////////////////////////
total_received_in_loop= 0;
packet_received= 0;
// while(Serial.available() > 0)//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
while (portOne.available() > 0)
{
if (hedgehog_serial_buf_ofs>=HEDGEHOG_BUF_SIZE) break;// buffer overflow
total_received_in_loop++;
if (total_received_in_loop>100) break;// too much data without required header
//incoming_byte= Serial.read();
incoming_byte= portOne.read();/////////////////////////////////////////////////////////////////////////////////
// check first 5 bytes for constant value
if (hedgehog_serial_buf_ofs<5)
{
if (incoming_byte != hedgehog_packet_header[hedgehog_serial_buf_ofs])
{
hedgehog_serial_buf_ofs= 0;// restart bufer fill
continue;
}
}
hedgehog_serial_buf[hedgehog_serial_buf_ofs++]= incoming_byte;
if (hedgehog_serial_buf_ofs == HEDGEHOG_PACKET_SIZE)
{// received packet with required header
packet_received= 1;
hedgehog_serial_buf_ofs= 0;// restart bufer fill
break;
}
}
if (packet_received)
{
hedgehog_set_crc16(&hedgehog_serial_buf[0], HEDGEHOG_PACKET_SIZE);// calculate CRC checksum of packet
if ((hedgehog_serial_buf[HEDGEHOG_PACKET_SIZE] == 0)&&(hedgehog_serial_buf[HEDGEHOG_PACKET_SIZE+1] == 0))
{// checksum success
hedgehog_x= int(hedgehog_serial_buf[9]) + (int(hedgehog_serial_buf[10])<<8);
hedgehog_y= int(hedgehog_serial_buf[11]) + (int(hedgehog_serial_buf[12])<<8);// coordinates of hedgehog (X,Y), cm
hedgehog_h= int(hedgehog_serial_buf[13]) + (int(hedgehog_serial_buf[14])<<8);// height of hedgehog, cm (FW V3.97+)
hedgehog_pos_updated= 1;// flag of new data from hedgehog received
}
}
}
// Calculate CRC-16 of hedgehog packet
void hedgehog_set_crc16(byte *buf, byte size)
{uni_8x2_16 sum;
byte shift_cnt;
byte byte_cnt;
sum.w=0xffffU;
for(byte_cnt=size; byte_cnt>0; byte_cnt--)
{
sum.w=(unsigned int) ((sum.w/256U)*256U + ((sum.w%256U)^(buf[size-byte_cnt])));
for(shift_cnt=0; shift_cnt<8; shift_cnt++)
{
if((sum.w&0x1)==1) sum.w=(unsigned int)((sum.w>>1)^0xa001U);
else sum.w>>=1;
}
}
buf[size]=sum.b[0];
buf[size+1]=sum.b[1];// little endian
}// hedgehog_set_crc16
// END OF MARVELMIND HEDGEHOG RELATED PART
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//Echo_pin
void setup()
{
setup_hedgehog();// Marvelmind hedgehog support initialize
Serial.begin(57600); // to display via USB serial port
}
void loop()
{
loop_hedgehog();// Marvelmind hedgehog service loop
if (hedgehog_pos_updated)
// new data from hedgehog available
hedgehog_pos_updated= 0;// clear new data flag
// output hedgehog position to LCD
Serial.print("X=");
Serial.print(hedgehog_x);
Serial.print(" ");
Serial.print("Y=");
Serial.print(hedgehog_y);
Serial.print(" ");
Serial.print("H=");
Serial.print(hedgehog_h);
Serial.print(" ");
Serial.println();
}
i tried to test the serial1 it give some output at unequal interval
/*
Multiple Serial test
Receives from the main serial port, sends to the others.
Receives from serial port 1, sends to the main serial (Serial 0).
This example works only with boards with more than one serial like Arduino Mega, Due, Zero etc.
The circuit:
- any serial device attached to Serial port 1
- Serial Monitor open on Serial port 0
created 30 Dec 2008
modified 20 May 2012
by Tom Igoe & Jed Roach
modified 27 Nov 2015
by Arturo Guadalupi
This example code is in the public domain.
*/
void setup() {
// initialize both serial ports:
Serial.begin(9600);
Serial1.begin(9600);
}
void loop() {
// read from port 1, send to port 0:
if (Serial1.available()) {
int inByte = Serial1.read();
Serial.write(inByte);
Serial.println(inByte);
}
// read from port 0, send to port 1:
if (Serial.available()) {
int inByte = Serial.read();
Serial1.write(inByte);
}
}
Hi,
Where in the data does it show you the pinout of the unit, so you know where TX/Rx are?
What baud rate does it work at?
You can also bump up the Serial baud to the IDE to 115200, to give the controller more time to run code.
The data sheet sort of gave me an indication of what it is.
What does it actually do?
Light up, tell you its position using GPS, what?
Assume we know NOTHING about the product.
Thanks.. Tom..
PS, I Googled and got this.
Description
The Super-Beacon is the most versatile, easy-to-use, and recommended beacon for Marvelmind precise indoor positioning and navigation system, particularly when starting with the Marvelmind Indoor “GPS” system. The system is used for autonomous robots, forklifts, drones, and people, as well as for industrial applications requiring precise positioning and localization indoors.
hi Tom,
i have uploaded the pin layout
the device is a system consisting of a modem that connect to pc and 5 beacons that you place in a large area and you can see the movement of the beacon that you set as a hedgehog on a software called dashboard. but the beacons coordinate can be transferred to arduino with UART.
i have tested the serial1 program that i told you about earlier like this
int hedgehog_x, hedgehog_y;// coordinates of hedgehog (X,Y), cm
int hedgehog_h;// height of hedgehog, cm
int hedgehog_pos_updated;// flag of new data from hedgehog received
#define HEDGEHOG_BUF_SIZE 30
#define HEDGEHOG_PACKET_SIZE 23
byte hedgehog_serial_buf[HEDGEHOG_BUF_SIZE];
byte hedgehog_serial_buf_ofs;
const int hedgehog_packet_header[5]= {0xff, 0x47, 0x01, 0x00, 0x10};
typedef union {byte b[2]; unsigned int w;} uni_8x2_16;
void setup_hedgehog()
{
//Serial.begin(57600); // hedgehog transmits data on 500 kbps
Serial.begin(19200);
hedgehog_serial_buf_ofs= 0;
hedgehog_pos_updated= 0;
}
void loop_hedgehog()
{int incoming_byte;
int total_received_in_loop;
int packet_received;
// Serial1.listen();
total_received_in_loop= 0;
packet_received= 0;
// while(Serial.available() > 0)
while (Serial1.available() > 0)
{
if (hedgehog_serial_buf_ofs>=HEDGEHOG_BUF_SIZE) break;// buffer overflow
total_received_in_loop++;
if (total_received_in_loop>100) break;// too much data without required header
//incoming_byte= Serial.read();
incoming_byte= Serial1.read();
// check first 5 bytes for constant value
if (hedgehog_serial_buf_ofs<5)
{
if (incoming_byte != hedgehog_packet_header[hedgehog_serial_buf_ofs])
{
hedgehog_serial_buf_ofs= 0;// restart bufer fill
continue;
}
}
hedgehog_serial_buf[hedgehog_serial_buf_ofs++]= incoming_byte;
if (hedgehog_serial_buf_ofs == HEDGEHOG_PACKET_SIZE)
{// received packet with required header
packet_received= 1;
hedgehog_serial_buf_ofs= 0;// restart bufer fill
break;
}
}
if (packet_received)
{
hedgehog_set_crc16(&hedgehog_serial_buf[0], HEDGEHOG_PACKET_SIZE);// calculate CRC checksum of packet
if ((hedgehog_serial_buf[HEDGEHOG_PACKET_SIZE] == 0)&&(hedgehog_serial_buf[HEDGEHOG_PACKET_SIZE+1] == 0))
{// checksum success
hedgehog_x= int(hedgehog_serial_buf[9]) + (int(hedgehog_serial_buf[10])<<8);
hedgehog_y= int(hedgehog_serial_buf[11]) + (int(hedgehog_serial_buf[12])<<8);// coordinates of hedgehog (X,Y), cm
hedgehog_h= int(hedgehog_serial_buf[13]) + (int(hedgehog_serial_buf[14])<<8);// height of hedgehog, cm (FW V3.97+)
hedgehog_pos_updated= 1;// flag of new data from hedgehog received
}
}
}
// Calculate CRC-16 of hedgehog packet
void hedgehog_set_crc16(byte *buf, byte size)
{uni_8x2_16 sum;
byte shift_cnt;
byte byte_cnt;
sum.w=0xffffU;
for(byte_cnt=size; byte_cnt>0; byte_cnt--)
{
sum.w=(unsigned int) ((sum.w/256U)*256U + ((sum.w%256U)^(buf[size-byte_cnt])));
for(shift_cnt=0; shift_cnt<8; shift_cnt++)
{
if((sum.w&0x1)==1) sum.w=(unsigned int)((sum.w>>1)^0xa001U);
else sum.w>>=1;
}
}
buf[size]=sum.b[0];
buf[size+1]=sum.b[1];// little endian
}
void setup() {
// initialize both serial ports:
Serial.begin(19200);
Serial1.begin(19200);
setup_hedgehog();
}
void loop() {
// read from port 1, send to port 0:
if (Serial1.available()) {
int inByte = altSerial.read();
String myString = String(inByte);
// Serial.write(inByte);
// Serial.println(inByte);
Serial.print("X=");
Serial.print(myString);
Serial.print(" ");
Serial.print("Y=");
Serial.print(hedgehog_y);
Serial.print(" ");
Serial.print("H=");
Serial.print(hedgehog_h);
Serial.print(" ");
Serial.println();
}
// read from port 0, send to port 1:
if (Serial1.available()) {
int inByte = Serial.read();
Serial1.write(inByte);
}
}
it is detecting the bytes coming from the beacon but not translating it
Hi Tom
I figured out the source of the problem but I don't know how to solve it
the problem is that the packets coming from the device to the Arduino is too fast for the serial and if conditions to reach the right conclusions for the bytes order
i checked if the loops reach the row of code where the values are given to the xyz variables but the loops never reached it that is way i keep getting zeros
i disabled the conditions for the packets and used serial.print to see that of course i keep getting garbage reading that is only 1% of the time is right
this is the same code modified
byte hedgehog_x, hedgehog_y;// coordinates of hedgehog (X,Y), cm
byte hedgehog_h;// height of hedgehog, cm
byte hedgehog_pos_updated;// flag of new data from hedgehog received
//#include <SoftwareSerial.h>
#include <AltSoftSerial.h>
AltSoftSerial altSerial(9, 8, 1);//rx tx
#define HEDGEHOG_BUF_SIZE 30
#define HEDGEHOG_PACKET_SIZE 23
byte hedgehog_serial_buf[HEDGEHOG_BUF_SIZE];
byte hedgehog_serial_buf_ofs;
const int hedgehog_packet_header[5]= {0xff, 0x47, 0x01, 0x00, 0x10};
typedef union {byte b[2]; unsigned int w;} uni_8x2_16;
//////////Marvelmind hedgehog support initialize////////////////////////
void setup_hedgehog()
{
Serial.begin(9600); // hedgehog transmits data on 500 kbps
Serial1.begin(9600);
//Serial1.begin(9600);
hedgehog_serial_buf_ofs= 0;
hedgehog_pos_updated= 0;
}
// Marvelmind hedgehog service loop////////////
void loop_hedgehog()
{
int incoming_byte;
int total_received_in_loop;
int packet_received;
total_received_in_loop= 0;
packet_received= 0;
while(Serial1.available() > 0)
{
//Serial.print(hedgehog_serial_buf_ofs);
if (hedgehog_serial_buf_ofs>=HEDGEHOG_BUF_SIZE) break;// buffer overflow
total_received_in_loop++;
//Serial.println(hedgehog_serial_buf_ofs);
if (total_received_in_loop>100) break;// too much data without required header
{
incoming_byte= Serial1.read();
//Serial.println(incoming_byte);
//Serial.println(total_received_in_loop);
//delay(300);
}
/*if (hedgehog_serial_buf_ofs<5)
{
//Serial.println(hedgehog_serial_buf_ofs);
if (incoming_byte != hedgehog_packet_header[hedgehog_serial_buf_ofs])
{
//hedgehog_serial_buf_ofs= 0;// restart bufer fill
//Serial.println("continue");
continue;
}
} */
hedgehog_serial_buf[hedgehog_serial_buf_ofs++]= incoming_byte;
//Serial.println(hedgehog_serial_buf_ofs);
if (hedgehog_serial_buf_ofs == HEDGEHOG_PACKET_SIZE)
{// received packet with required header
//Serial.println("message");
packet_received= 1;
hedgehog_serial_buf_ofs= 0;// restart bufer fill
break;
}
delay(10) ;}//end while
if (packet_received)
{
hedgehog_set_crc16(&hedgehog_serial_buf[0], HEDGEHOG_PACKET_SIZE);// calculate CRC checksum of packet
hedgehog_x= (hedgehog_serial_buf[9]) + ((hedgehog_serial_buf[10])<<8);
hedgehog_y= (hedgehog_serial_buf[11]) + ((hedgehog_serial_buf[12])<<8);// coordinates of hedgehog (X,Y), cm
hedgehog_h= (hedgehog_serial_buf[13]) + ((hedgehog_serial_buf[14])<<8);// height of hedgehog, cm (FW V3.97+)
hedgehog_pos_updated=1;// flag of new data from hedgehog received
if ((hedgehog_serial_buf[HEDGEHOG_PACKET_SIZE] == 0)&&(hedgehog_serial_buf[HEDGEHOG_PACKET_SIZE+1] == 0))
{// checksum success
Serial.println("ok");
hedgehog_x= (hedgehog_serial_buf[9]) + ((hedgehog_serial_buf[10])<<8);
hedgehog_y= (hedgehog_serial_buf[11]) + ((hedgehog_serial_buf[12])<<8);// coordinates of hedgehog (X,Y), cm
hedgehog_h= (hedgehog_serial_buf[13]) + ((hedgehog_serial_buf[14])<<8);// height of hedgehog, cm (FW V3.97+)
hedgehog_pos_updated=1;// flag of new data from hedgehog received
}
}
}//void loop_hedgehog
// Calculate CRC-16 of hedgehog packet
void hedgehog_set_crc16(byte *buf, byte size)
{uni_8x2_16 sum;
byte shift_cnt;
byte byte_cnt;
sum.w=0xffffU;
for(byte_cnt=size; byte_cnt>0; byte_cnt--)
{
sum.w=(unsigned int) ((sum.w/256U)*256U + ((sum.w%256U)^(buf[size-byte_cnt])));
for(shift_cnt=0; shift_cnt<8; shift_cnt++)
{
if((sum.w&0x1)==1) sum.w=(unsigned int)((sum.w>>1)^0xa001U);
else sum.w>>=1;
}
}
buf[size]=sum.b[0];
buf[size+1]=sum.b[1];// little endian
}// hedgehog_set_crc16
///END OF MARVELMIND HEDGEHOG RELATED PART///
//SoftwareSerial mySerial(10, 11); //RX and TX
void setup()
{
Serial.begin(9600);
Serial1.begin(9600);
setup_hedgehog();//Marvelmind hedgehog support initialize
//Serial.print(hedgehog_serial_buf_ofs);
//altSerial(10, 9);
//Serial1.begin(9600);
//Serial1(19, 18, 1);//RX and TX and inverting logic
//Serial2.begin(9600);
}
void loop()
{
loop_hedgehog();// Marvelmind hedgehog service loop
if (hedgehog_pos_updated);
{
//hedgehog_pos_updated=0;
//hedgehog_x= altSerial.read();
//hedgehog_y= altSerial.read();
//hedgehog_h= altSerial.read();
Serial.print("X=");
Serial.print(hedgehog_x*0.01,DEC );
Serial.print(" ");
Serial.print("Y=");
Serial.print(hedgehog_y*0.01,DEC );
Serial.print(" ");
Serial.print("H=");
Serial.print(hedgehog_h*0.01,DEC );
Serial.print(" \n");
}
}
