# ESP32 UWB Hardware Roadmap
**MaUWB ESP32-S3 Ultra-Wideband Indoor Positioning System**

---

## 🎯 Project Overview

**Purpose**: ESP32-S3 firmware for Ultra-Wideband indoor positioning hardware
- **Hardware**: 1 mobile tag + 8+ battery-powered anchors (Makerfabs MaUWB)  
- **Connectivity**: Tag streams to PC via USB, anchors are battery-powered wireless
- **Network**: Tag connects to 8 closest anchors with automatic switching
- **Goal**: Reliable UWB ranging with anchor auto-positioning and real-time data streaming

---

## 📋 System Requirements

### Hardware Components
- [ ] **Tag Device**: ESP32-S3 with USB connectivity
- [ ] **Anchor Devices**: 8+ ESP32-S3 units (battery powered)
- [ ] **PC Interface**: USB connection for data collection
- [ ] **Power Management**: Battery-powered anchors (no mains/WiFi)

### Core Constraints
- ✅ Battery-powered anchors (no WiFi connectivity)
- ✅ Tag connects to 8 closest anchors (auto-switching)
- ✅ USB-only connection (tag to PC)
- ✅ No WiFi scanning needed (handled by PC)
- ✅ Warehouse too large for simultaneous connection to all anchors

---

## 🏗️ System Architecture

### Data Flow Design
```
Anchors (Battery) → Auto-Position Calibration → Store Coordinates Locally
                                                        ↓
Tag (Mobile) → Collect Raw Data + Anchor Coordinates → USB Stream → WebApp
                                                                          ↓
                                                                   Real-time Display
                                                                   + Data Logging
                                                                   + Path Analysis
```

### Critical Problem Solved
**Challenge**: How do battery-powered anchors transmit calibrated positions to PC?
**Solution**: Tag acts as data relay - collects anchor coordinates and streams all data via USB to webapp for processing, logging, and visualization

---

## 🚀 ESP32 Firmware Development Roadmap

### Phase 1: Anchor Auto-Positioning System

#### 1.1 Distributed Positioning Algorithm
- [ ] **Anchor Discovery Protocol**
  - All anchors broadcast discovery signals on startup
  - Build neighbor discovery table for each anchor
  - Implement range-based network topology mapping

- [ ] **Distance Measurement Matrix**
  - Each anchor measures distances to all neighbors in range
  - Store distance measurements locally (EEPROM/flash)
  - Handle partial connectivity (not all anchors can reach each other)

- [ ] **Coordinate System Establishment**
  - Designate anchor with most connections as origin (0,0)
  - Establish coordinate system orientation
  - Implement distributed position calculation algorithm

- [ ] **Position Calculation & Storage**
  - Each anchor calculates its own position using trilateration
  - Store calculated position in local memory
  - Implement position confidence scoring

#### 1.2 Anchor Communication Protocol
- [ ] **Inter-Anchor Data Exchange**
  - Protocol for sharing distance measurements
  - Handle multi-hop communication for distant anchors
  - Implement data consistency checks

- [ ] **Position Refinement**
  - Iterative position improvement algorithm
  - Consensus mechanism for coordinate system alignment
  - Error detection and correction

### Phase 2: Tag Data Relay System

#### 2.1 Enhanced Tag Functionality
- [ ] **Anchor Discovery & Connection**
  - Scan for available anchors
  - Connect to 8 closest/strongest anchors
  - Implement smooth anchor switching logic

- [ ] **Position Data Collection**
  - Request calibrated positions from connected anchors
  - Aggregate anchor position data
  - Handle missing or incomplete anchor data

- [ ] **Real-time Positioning**
  - Calculate tag position using 8 connected anchors
  - Maintain position continuity during anchor handoffs
  - Implement position smoothing/filtering

#### 2.2 USB Data Streaming System
- [ ] **Real-time Data Stream**
  - Stream raw positioning data via USB (AT+RANGE format)
  - Include anchor coordinates in data stream when available
  - Maintain backward compatibility with current UWBHelper parsing

- [ ] **Data Collection Protocol**
  - Request anchor coordinates: "Send me your calibrated position"
  - Anchor responds: {anchor_id, x, y, calibration_confidence}
  - Forward anchor data immediately via USB to webapp
  - No local file storage - webapp handles all logging

### Phase 3: System Integration & Optimization

#### 3.1 Quick Installation Workflow
- [ ] **Automated Setup Process**
  - Power-on all anchors simultaneously
  - Auto-discovery and network formation
  - Position calibration and verification
  - Tag pairing and webapp connection setup
  - Target: Ready-to-use in <15 minutes

#### 3.2 Performance Optimization
- [ ] **Battery Life Optimization**
  - Optimize anchor power consumption
  - Implement sleep modes when possible
  - Efficient UWB communication protocols

- [ ] **Data Transmission Efficiency**
  - Optimize AT command responses
  - Minimize USB data bandwidth usage
  - Ensure reliable anchor coordinate transmission

#### 3.3 System Validation
- [ ] **Accuracy Testing**
  - Position accuracy validation
  - Anchor auto-positioning verification
  - End-to-end ESP32 system testing

- [ ] **Hardware Integration**
  - OLED display optimization
  - UWB module reset and recovery
  - Serial communication stability

---

## 🎯 Key Technical Challenges

### 1. Distributed Anchor Positioning
**Challenge**: Anchors must calculate positions without central coordination
**Solution**: Implement distributed trilateration with consensus mechanism

### 2. Data Relay Through Tag
**Challenge**: Getting anchor position data to PC without direct connectivity
**Solution**: Tag acts as mobile bridge collecting and relaying data

### 3. Coordinate System Consistency
**Challenge**: Ensuring all anchors use same coordinate system
**Solution**: Distributed coordinate system establishment protocol

### 4. Anchor Handoff Management
**Challenge**: Smooth positioning during anchor switching
**Solution**: Position continuity algorithms and coordinate system alignment

### 5. Partial Connectivity Handling
**Challenge**: Not all anchors can communicate directly
**Solution**: Multi-hop communication and distributed data sharing

---

## 📦 ESP32 Firmware Deliverables

### Firmware Components
- [ ] **Enhanced Anchor Firmware** - Auto-positioning, coordinate storage, inter-anchor communication
- [ ] **Enhanced Tag Firmware** - Data relay, anchor coordinate collection, USB streaming
- [ ] **UWBHelper Library** - Complete AT command implementation with positioning support
- [ ] **Configuration Management** - Network setup, device roles, calibration storage

### Hardware Integration
- [ ] **OLED Display Support** - Real-time status, anchor/tag information, connection indicators
- [ ] **Reset & Recovery** - UWB module reset handling, error recovery protocols
- [ ] **Power Management** - Battery optimization for anchors, USB power for tags
- [ ] **Serial Communication** - Robust USB streaming, AT command processing

### Documentation
- [ ] **Firmware Installation Guide** - PlatformIO build and flash procedures
- [ ] **AT Command Reference** - Complete UWBHelper API documentation  
- [ ] **Hardware Setup Guide** - Pin configurations, OLED connections, reset procedures
- [ ] **Calibration Procedures** - Anchor positioning, system validation, accuracy testing

### Validation & Testing
- [ ] **Positioning Accuracy Report** - ESP32 ranging performance metrics
- [ ] **Battery Life Analysis** - Anchor power consumption data
- [ ] **Communication Reliability** - USB streaming stability, AT command response times

---

## 🔄 ESP32 Firmware Success Criteria

1. **Quick Setup**: Anchor auto-positioning completes in <15 minutes
2. **Ranging Accuracy**: <30cm UWB distance measurement accuracy
3. **Battery Life**: Anchors operate >8 hours on single battery charge
4. **Communication Reliability**: Stable USB data streaming with <1% packet loss
5. **Network Stability**: Automatic anchor discovery and handoff without interruption
6. **AT Command Compatibility**: Full UWBHelper library integration with webapp

