> For the complete documentation index, see [llms.txt](https://freegrow-1.gitbook.io/product-docs-en/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://freegrow-1.gitbook.io/product-docs-en/en-creator-kit-q1/uwb-q1-complete-setup-and-usage-guide/practice-examples/arduino-mega-2560-integration.md).
# Arduino Mega 2560 Integration
### In this guide
we explain how to connect a GrowSpace developer tag to an Arduino Mega 2560 via serial communication and receive real-time location data using the `lec` and `lep` commands.\
We also provide example code to show how to build a stable high-speed communication setup using the Mega 2560’s hardware serial ports.
***
### Required Materials
* Arduino Mega 2560 Board
* GrowSpace Developer Tag
* Arduino IDE Program (Official: )
* Jumper wires
> ⚠️ The **UNO board has only one hardware serial port**, which may cause errors during high-speed communication. The **Mega 2560 provides Serial1 to Serial3**, enabling more stable and reliable communication.
***
### Arduino IDE Setup and Board Connection
* Open the Arduino IDE after installation.
* In the top menu, apply the following settings:
* **Tools > Board > Arduino Mega or Mega 2560**
* **Tools > Port > Select the connected COM port** (e.g. COM3)
* Connect the **Arduino Mega 2560** to your PC via USB.
***
### Hardware Pin Connection
Connect the pins using the **right-side connector** (5V only) on the GrowSpace developer tag as shown below:
| Developer Tag Pin | Arduino Mega pin |
| ----------------- | ---------------- |
| TX | RX1 (pin 19) |
| RX | TX1 (pin 18) |
| 5V | 5V |
| GND | GND |
> 🔄 **TX and RX must be cross-connected** for communication to work properly.
Below is an example of the pin layout on the Arduino Mega board.
Connect the GrowSpace developer tag using **TX1 (pin 18)** and **RX1 (pin 19)** of **Serial1**.
{% columns %}
{% column width="25%" %}
Connection example: Developer tag connected to Arduino Mega 2560
{% endcolumn %}
{% column %}
{% endcolumn %}
{% endcolumns %}
***
### Serial Relay Example (Basic Communication Test)
```cpp
String inputFromSerial0 = "";
String inputFromSerial1 = "";
void setup() {
Serial.begin(115200); // USB Serial (Serial0)
Serial1.begin(115200); // Hardware Serial1 ( pin 18 TX1, pin 19 RX1)
}
void loop() {
// serialEvent() and serialEvent1() are called automatically
}
// Input from Serial0 → sent to Serial1 (with carriage return \r added)
void serialEvent() {
while (Serial.available()) {
char inChar = (char)Serial.read();
if (inChar != '\n') {
inputFromSerial0 += inChar;
}
if (inChar == '\n') {
Serial1.print(inputFromSerial0);
Serial1.print('\r');
inputFromSerial0 = "";
}
}
}
// Input from Serial1 → sent to Serial0
void serialEvent1() {
while (Serial1.available()) {
char inChar = (char)Serial1.read();
inputFromSerial1 += inChar;
if (inChar == '\n') {
Serial.print("From Serial1: ");
Serial.print(inputFromSerial1);
inputFromSerial1 = "";
}
}
}
```
#### Explanation
* In `setup()`, both the USB serial (`Serial`) and the hardware serial (`Serial1`) are initialized.
* `serialEvent()` sends the string entered from the PC (Serial0) to the tag.
* `serialEvent1()` reads the response from the tag and prints it to the PC.
* When a command is sent, the input is split by newline (`\n`), and a carriage return (`\r`) is automatically added.
#### **Serial Monitor Setup Tips**
* Baudrate: **115200bps**
* **Set line ending to**: *New Line*
* If the tag returns system information after sending the `si` command, the communication is working.
If you type `si` in the Serial Monitor and receive a valid response, the connection is successful.
***
### Location Parsing Example Using Commands
```cpp
String bufferSerial0 = "";
String bufferSerial1 = "";
void setup() {
Serial.begin(115200); // USB Serial
Serial1.begin(115200); // Serial1 for developer tag connection
}
void loop() {
// Leave empty, serialEvent / serialEvent1 run automatically
}
// Receive command input from Serial0
void serialEvent() {
while (Serial.available()) {
char inChar = (char)Serial.read();
if (inChar != '\n') {
bufferSerial0 += inChar;
}
if (inChar == '\n') {
bufferSerial0.trim(); // Remove newline
if (bufferSerial0.equalsIgnoreCase("lec") || bufferSerial0.equalsIgnoreCase("lep")) {
Serial.print("Command sent: ");
Serial.println(bufferSerial0);
Serial1.print(bufferSerial0); // Append CR only
Serial1.print('\r');
} else {
Serial.println("⚠ Unsupported command.");
}
bufferSerial0 = "";
}
}
}
// Receive response from Serial1 → parse lec/lep
void serialEvent1() {
while (Serial1.available()) {
char inChar = (char)Serial1.read();
bufferSerial1 += inChar;
if (inChar == '\n') {
bufferSerial1.trim();
if (bufferSerial1.startsWith("POS,")) {
parseLEP(bufferSerial1);
} else if (bufferSerial1.startsWith("DIST,")) {
parseLEC(bufferSerial1);
} else {
Serial.println("[Response] " + bufferSerial1);
}
bufferSerial1 = "";
}
}
}
// --- Parse position only (lep) ---
void parseLEP(String line) {
Serial.println("[LEP Position Result]");
int idx = 0;
String parts[5];
while (line.length() > 0 && idx < 5) {
int comma = line.indexOf(',');
if (comma == -1) {
parts[idx++] = line;
break;
} else {
parts[idx++] = line.substring(0, comma);
line = line.substring(comma + 1);
}
}
Serial.print("X: "); Serial.println(parts[1]);
Serial.print("Y: "); Serial.println(parts[2]);
Serial.print("Z: "); Serial.println(parts[3]);
Serial.print("Quality (QF): "); Serial.println(parts[4]);
Serial.println();
}
// --- Parse full lec data ---
void parseLEC(String line) {
Serial.println("[LEC Distance + Position Result]");
int posIndex = line.indexOf("POS,");
if (posIndex == -1) {
Serial.println("→ Missing position data");
return;
}
String distPart = line.substring(0, posIndex - 1);
String posPart = line.substring(posIndex);
Serial.println("▶ Anchor Distance Info:");
int anchorIdx = 0;
int anStart = 0;
while ((anStart = distPart.indexOf("AN", anStart)) != -1) {
int idStart = anStart + 2;
int idEnd = distPart.indexOf(",", idStart);
String id = distPart.substring(idStart, idEnd);
int valStart = idEnd + 1;
float x = distPart.substring(valStart, distPart.indexOf(",", valStart)).toFloat();
valStart = distPart.indexOf(",", valStart) + 1;
float y = distPart.substring(valStart, distPart.indexOf(",", valStart)).toFloat();
valStart = distPart.indexOf(",", valStart) + 1;
float z = distPart.substring(valStart, distPart.indexOf(",", valStart)).toFloat();
valStart = distPart.indexOf(",", valStart) + 1;
float d = distPart.substring(valStart, distPart.indexOf(",", valStart)).toFloat();
Serial.print("AN"); Serial.print(anchorIdx++); Serial.print(" (ID "); Serial.print(id); Serial.print("): ");
Serial.print("x="); Serial.print(x); Serial.print(", y="); Serial.print(y); Serial.print(", z="); Serial.print(z);
Serial.print(" → Distance: "); Serial.print(d); Serial.println("m");
anStart = valStart;
}
Serial.println("▶ Tag Position Info:");
parseLEP(posPart);
}
```
* LEP Command Execution
* LEC Command Execution
***
### Conclusion
This guide walks you through setting up serial communication between the Arduino Mega 2560 and the GrowSpace developer tag, and receiving real-time location data using the `lec` and `lep` commands.
* `lep`: View X, Y, Z coordinates and quality factor (QF)
* `lec`: Check anchor information, distance, and full location data
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