Unify firmware, add config system
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CLAUDE.md
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CLAUDE.md
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@ -8,14 +8,20 @@ This is an ESP32-S3 based Ultra-Wideband (UWB) indoor positioning system for war
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**Key Architecture**: Battery-powered anchors auto-position themselves, mobile tag collects positioning data via USB to PC for real-time display and dual-file logging for offline analysis.
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**Unified Firmware**: Single codebase with config-driven behavior for all device types, organized in modular configuration structure.
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## Development Commands
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### Build & Flash
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### Build & Flash (Unified Firmware)
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```bash
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# Build specific device type
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pio run -e anchor # Build anchor firmware
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pio run -e tag # Build tag firmware
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pio run -e tag2 # Build second tag (ID 2)
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# Build default configurations
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pio run -e anchor # Build anchor (ID=0, Network=1234)
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pio run -e tag # Build tag (ID=1, Network=1234)
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pio run -e debug # Build debug anchor (ID=0, Network=1234)
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# Build with custom device ID and network
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set PLATFORMIO_BUILD_FLAGS=-DUWB_INDEX=5 -DNETWORK_ID=2000
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pio run -e anchor # Build anchor ID=5, Network=2000
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# Flash to device
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pio run -e tag -t upload
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@ -26,10 +32,16 @@ pio device monitor
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```
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### Development Environments
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- **anchor**: Base station (UWB_INDEX=0, tracks tags)
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- **tag**: Mobile tracker (UWB_INDEX=1, reports to anchors)
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- **tag2**: Second mobile tracker (UWB_INDEX=2)
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- **debug**: Development build with DEBUG_ENABLED=1
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- **anchor**: Base station with distributed positioning (default: ID=0, Network=1234)
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- **tag**: Mobile tracker with coordinate collection (default: ID=1, Network=1234)
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- **debug**: Development anchor build with DEBUG_ENABLED=1
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### Unified Architecture
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All devices now use the same `main.cpp` with config-driven behavior:
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- Device type determined by build flags (`DEVICE_TYPE_ANCHOR`/`DEVICE_TYPE_TAG`)
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- Behavior configured via `anchor_config.h` and `tag_config.h`
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- Positioning algorithm settings in `positioning_config.h`
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- Easy customization via `PLATFORMIO_BUILD_FLAGS` environment variable
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## Core Architecture
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@ -41,10 +53,11 @@ Tags: Range to anchors <20> Collect coordinates <20> USB to PC <20> Real-time + log
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### Key Technical Patterns
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**1. Dual Firmware Architecture**
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- `main_anchor.cpp`: Tracks tags, manages UWB_TAG_COUNT devices, displays active tags
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- `main_tag.cpp`: Connects to MAX_ANCHORS, reports to PC via USB, displays anchor distances
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- Shared: config.h for hardware pins, UWBHelper library for AT commands
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**1. Unified Firmware Architecture**
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- `src/main.cpp`: Single firmware for all devices, behavior determined by build flags
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- `src/config/`: Modular configuration system with device-specific settings
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- Dynamic behavior: Device type, peer management, and display logic configured at compile time
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- Shared: UWBHelper library for AT commands, unified communication and display handling
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**2. UWBHelper Library Structure**
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- **Complete AT Command Implementation**: All 21 commands from AT manual
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@ -75,6 +88,13 @@ Tags: Range to anchors <20> Collect coordinates <20> USB to PC <20> Real-time + log
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**Timeout Management**: Devices marked inactive after DEVICE_TIMEOUT (5000ms) with no updates
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**4. Modular Configuration System**
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- `src/config/config.h`: Hardware pin definitions and basic system settings
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- `src/config/device_config.h`: Device role detection and unified behavior configuration
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- `src/config/anchor_config.h`: Anchor-specific settings (tag tracking, positioning, inter-anchor communication)
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- `src/config/tag_config.h`: Tag-specific settings (anchor tracking, USB streaming, coordinate collection)
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- `src/config/positioning_config.h`: Distributed positioning algorithm parameters and validation settings
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## Configuration Constants
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Key values in config.h:
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@ -87,11 +107,18 @@ Key values in config.h:
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## Development Roadmap Context
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This ESP32 firmware implements the hardware foundation for the UWB positioning system (see docs/ROADMAP.md):
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- **Current**: Basic anchor-tag ranging with USB data streaming via UWBHelper library
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- **Next**: Anchor auto-positioning, coordinate relay through tag, battery optimization
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- **Current**: Unified firmware architecture with config-driven behavior, ready for distributed positioning implementation
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- **Framework**: Configuration structure established for anchor discovery, position calculation, coordinate storage, and data relay
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- **Next**: Implement anchor auto-positioning algorithms, coordinate relay through tag, battery optimization
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- **Goal**: <15min anchor setup, <30cm ranging accuracy, reliable USB data streaming to webapp
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- **WebApp Integration**: All data logging, visualization, and analysis handled by separate Next.js webapp
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### Distributed Positioning Framework Ready
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- **Anchor Behavior**: Framework for inter-anchor communication, discovery protocol, position calculation
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- **Tag Behavior**: Framework for coordinate collection, USB data streaming, real-time positioning
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- **Algorithm Foundation**: Trilateration, consensus mechanisms, coordinate system establishment
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- **Storage System**: EEPROM-based position persistence for battery-powered anchors
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## Hardware Requirements
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- **Modules**: Makerfabs MaUWB ESP32-S3 with built-in UWB + OLED
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