Initial commit: ESP32-S3 UWB positioning system

- Added anchor and tag implementations for MaUWB modules
- Configured for 6.8Mbps communication with range filtering
- Support for multiple tags (tag/tag2 environments)
- OLED display integration for real-time measurements
- Simplified code without sleep mode and OTA functionality
- Complete UWBHelper library for AT command interface

🤖 Generated with [Claude Code](https://claude.ai/code)

Co-Authored-By: Claude <noreply@anthropic.com>

src/main_anchor.cpp

@@ -0,0 +1,183 @@
+#include <Arduino.h>
+#include <Wire.h>
+#include <Adafruit_GFX.h>
+#include <Adafruit_SSD1306.h>
+#include "config.h"
+#include "UWBHelper.h"
+
+// Function declarations
+void showStartupScreen();
+void processUWBData();
+void updateDisplay();
+void checkTimeouts();
+
+// Hardware setup
+HardwareSerial uwbSerial(2);
+Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
+UWBHelper uwb(&uwbSerial, RESET_PIN);
+
+// Data storage
+DeviceData tags[UWB_TAG_COUNT];
+DistanceFilter tagFilters[UWB_TAG_COUNT];
+String response = "";
+unsigned long lastDisplayUpdate = 0;
+
+void setup() {
+    Serial.begin(SERIAL_BAUD);
+    Serial.println("Starting UWB Anchor...");
+    
+    // Initialize I2C and display
+    Wire.begin(I2C_SDA, I2C_SCL);
+    if (!display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS)) {
+        Serial.println(F("SSD1306 allocation failed"));
+        for (;;);
+    }
+    
+    showStartupScreen();
+    
+    // Initialize UWB
+    uwbSerial.begin(115200, SERIAL_8N1, IO_RXD2, IO_TXD2);
+    delay(1000);
+    
+    if (!uwb.begin()) {
+        Serial.println("UWB initialization failed!");
+        return;
+    }
+    
+    // Configure as anchor
+    Serial.println("Configuring as Anchor...");
+    uwb.configureDevice(UWB_INDEX, true); // true = anchor
+    uwb.setCapacity(UWB_TAG_COUNT, 10, 1);
+    uwb.setNetwork(NETWORK_ID);
+    uwb.enableReporting(true);
+    uwb.saveConfiguration();
+    delay(1000);
+    uwb.restartDevice();
+    delay(2000);
+    
+    // Initialize tag data
+    for (int i = 0; i < UWB_TAG_COUNT; i++) {
+        tags[i].deviceId = -1;
+        tags[i].active = false;
+        tags[i].distance = 0.0;
+        tags[i].rssi = 0.0;
+        tags[i].lastUpdate = 0;
+    }
+    
+    Serial.println("Anchor ready! Waiting for tags...");
+}
+
+void loop() {
+    processUWBData();
+    updateDisplay();
+    checkTimeouts();
+    
+    // Handle serial passthrough for debugging
+    while (Serial.available()) {
+        uwbSerial.write(Serial.read());
+    }
+    
+    delay(10);
+}
+
+void processUWBData() {
+    while (uwbSerial.available()) {
+        char c = uwbSerial.read();
+        if (c == '\r') continue;
+        if (c == '\n') {
+            if (response.length() > 0) {
+                Serial.println("Received: " + response);
+                if (uwb.parseRangeData(response, tags, UWB_TAG_COUNT)) {
+                    // Successfully parsed data
+                    for (int i = 0; i < UWB_TAG_COUNT; i++) {
+                        if (tags[i].active && (millis() - tags[i].lastUpdate < 1000)) {
+                            Serial.printf("Tag %d: %.2fm, RSSI: %.1fdBm\n", 
+                                        tags[i].deviceId, tags[i].distance, tags[i].rssi);
+                        }
+                    }
+                }
+                response = "";
+            }
+        } else {
+            response += c;
+        }
+    }
+}
+
+void updateDisplay() {
+    if (millis() - lastDisplayUpdate < DISPLAY_UPDATE_INTERVAL) return;
+    
+    display.clearDisplay();
+    display.setTextSize(1);
+    display.setTextColor(SSD1306_WHITE);
+    
+    // Header
+    display.setCursor(0, 0);
+    display.printf("Anchor %d (Net:%d)", UWB_INDEX, NETWORK_ID);
+    
+    display.setCursor(0, 10);
+    display.println("Active Tags:");
+    
+    // Show active tags
+    int activeCount = 0;
+    int yPos = 20;
+    
+    for (int i = 0; i < UWB_TAG_COUNT && yPos < 55; i++) {
+        if (tags[i].active) {
+            display.setCursor(0, yPos);
+            display.printf("T%d: %.2fm", tags[i].deviceId, tags[i].distance);
+            display.setCursor(70, yPos);
+            display.printf("%.0fdBm", tags[i].rssi);
+            yPos += 8;
+            activeCount++;
+        }
+    }
+    
+    if (activeCount == 0) {
+        display.setCursor(0, 30);
+        display.println("No active tags");
+        display.setCursor(0, 40);
+        display.println("Waiting...");
+    }
+    
+    // Status line
+    display.setCursor(0, 56);
+    display.printf("Active: %d/%d", activeCount, UWB_TAG_COUNT);
+    
+    display.display();
+    lastDisplayUpdate = millis();
+}
+
+void checkTimeouts() {
+    unsigned long currentTime = millis();
+    for (int i = 0; i < UWB_TAG_COUNT; i++) {
+        if (tags[i].active && (currentTime - tags[i].lastUpdate > DEVICE_TIMEOUT)) {
+            tags[i].active = false;
+            Serial.printf("Tag %d timeout\n", tags[i].deviceId);
+        }
+    }
+}
+
+void showStartupScreen() {
+    display.clearDisplay();
+    display.setTextSize(1);
+    display.setTextColor(SSD1306_WHITE);
+    display.setCursor(0, 0);
+    display.println("MaUWB Anchor");
+    
+    display.setCursor(0, 15);
+    display.printf("ID: %d", UWB_INDEX);
+    
+    display.setCursor(0, 25);
+    display.printf("Network: %d", NETWORK_ID);
+    
+    display.setCursor(0, 35);
+    display.println("6.8Mbps Mode");
+    
+    display.setCursor(0, 45);
+    display.println("Initializing...");
+    
+    display.display();
+    delay(2000);
+}
+