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
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56
src/config.h
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56
src/config.h
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#ifndef CONFIG_H
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#define CONFIG_H
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// Hardware Pin Definitions for ESP32-S3
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#define RESET_PIN 16
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#define IO_RXD2 18
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#define IO_TXD2 17
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#define I2C_SDA 39
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#define I2C_SCL 38
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// UWB Configuration
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#ifndef UWB_INDEX
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#define UWB_INDEX 0
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#endif
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#ifndef NETWORK_ID
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#define NETWORK_ID 1234
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#endif
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// System Configuration
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#define MAX_DEVICES 10
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#define MAX_ANCHORS 8
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#define UWB_TAG_COUNT 64
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// Timing Configuration
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#define DISPLAY_UPDATE_INTERVAL 500
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#define DEVICE_TIMEOUT 5000
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#define SLEEP_DURATION 5000
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// Display Configuration
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#define SCREEN_WIDTH 128
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#define SCREEN_HEIGHT 64
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#define OLED_RESET -1
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#define SCREEN_ADDRESS 0x3C
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// Serial Configuration
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#define SERIAL_BAUD 115200
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// Debug Configuration
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#ifdef DEBUG_ENABLED
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#define DEBUG_PRINT(x) Serial.print(x)
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#define DEBUG_PRINTLN(x) Serial.println(x)
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#define DEBUG_PRINTF(x, ...) Serial.printf(x, __VA_ARGS__)
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#else
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#define DEBUG_PRINT(x)
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#define DEBUG_PRINTLN(x)
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#define DEBUG_PRINTF(x, ...)
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#endif
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// WiFi Configuration (optional)
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#ifdef OTA_ENABLED
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#define WIFI_SSID "YOUR_WIFI_SSID"
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#define WIFI_PASSWORD "YOUR_WIFI_PASSWORD"
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#endif
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#endif // CONFIG_H
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183
src/main_anchor.cpp
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183
src/main_anchor.cpp
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#include <Arduino.h>
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#include <Wire.h>
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#include <Adafruit_GFX.h>
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#include <Adafruit_SSD1306.h>
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#include "config.h"
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#include "UWBHelper.h"
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// Function declarations
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void showStartupScreen();
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void processUWBData();
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void updateDisplay();
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void checkTimeouts();
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// Hardware setup
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HardwareSerial uwbSerial(2);
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Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
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UWBHelper uwb(&uwbSerial, RESET_PIN);
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// Data storage
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DeviceData tags[UWB_TAG_COUNT];
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DistanceFilter tagFilters[UWB_TAG_COUNT];
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String response = "";
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unsigned long lastDisplayUpdate = 0;
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void setup() {
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Serial.begin(SERIAL_BAUD);
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Serial.println("Starting UWB Anchor...");
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// Initialize I2C and display
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Wire.begin(I2C_SDA, I2C_SCL);
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if (!display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS)) {
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Serial.println(F("SSD1306 allocation failed"));
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for (;;);
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}
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showStartupScreen();
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// Initialize UWB
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uwbSerial.begin(115200, SERIAL_8N1, IO_RXD2, IO_TXD2);
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delay(1000);
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if (!uwb.begin()) {
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Serial.println("UWB initialization failed!");
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return;
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}
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// Configure as anchor
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Serial.println("Configuring as Anchor...");
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uwb.configureDevice(UWB_INDEX, true); // true = anchor
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uwb.setCapacity(UWB_TAG_COUNT, 10, 1);
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uwb.setNetwork(NETWORK_ID);
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uwb.enableReporting(true);
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uwb.saveConfiguration();
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delay(1000);
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uwb.restartDevice();
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delay(2000);
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// Initialize tag data
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for (int i = 0; i < UWB_TAG_COUNT; i++) {
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tags[i].deviceId = -1;
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tags[i].active = false;
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tags[i].distance = 0.0;
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tags[i].rssi = 0.0;
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tags[i].lastUpdate = 0;
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}
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Serial.println("Anchor ready! Waiting for tags...");
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}
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void loop() {
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processUWBData();
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updateDisplay();
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checkTimeouts();
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// Handle serial passthrough for debugging
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while (Serial.available()) {
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uwbSerial.write(Serial.read());
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}
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delay(10);
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}
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void processUWBData() {
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while (uwbSerial.available()) {
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char c = uwbSerial.read();
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if (c == '\r') continue;
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if (c == '\n') {
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if (response.length() > 0) {
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Serial.println("Received: " + response);
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if (uwb.parseRangeData(response, tags, UWB_TAG_COUNT)) {
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// Successfully parsed data
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for (int i = 0; i < UWB_TAG_COUNT; i++) {
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if (tags[i].active && (millis() - tags[i].lastUpdate < 1000)) {
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Serial.printf("Tag %d: %.2fm, RSSI: %.1fdBm\n",
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tags[i].deviceId, tags[i].distance, tags[i].rssi);
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}
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}
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}
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response = "";
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}
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} else {
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response += c;
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}
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}
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}
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void updateDisplay() {
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if (millis() - lastDisplayUpdate < DISPLAY_UPDATE_INTERVAL) return;
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display.clearDisplay();
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display.setTextSize(1);
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display.setTextColor(SSD1306_WHITE);
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// Header
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display.setCursor(0, 0);
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display.printf("Anchor %d (Net:%d)", UWB_INDEX, NETWORK_ID);
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display.setCursor(0, 10);
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display.println("Active Tags:");
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// Show active tags
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int activeCount = 0;
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int yPos = 20;
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for (int i = 0; i < UWB_TAG_COUNT && yPos < 55; i++) {
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if (tags[i].active) {
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display.setCursor(0, yPos);
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display.printf("T%d: %.2fm", tags[i].deviceId, tags[i].distance);
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display.setCursor(70, yPos);
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display.printf("%.0fdBm", tags[i].rssi);
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yPos += 8;
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activeCount++;
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}
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}
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if (activeCount == 0) {
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display.setCursor(0, 30);
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display.println("No active tags");
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display.setCursor(0, 40);
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display.println("Waiting...");
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}
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// Status line
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display.setCursor(0, 56);
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display.printf("Active: %d/%d", activeCount, UWB_TAG_COUNT);
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display.display();
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lastDisplayUpdate = millis();
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}
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void checkTimeouts() {
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unsigned long currentTime = millis();
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for (int i = 0; i < UWB_TAG_COUNT; i++) {
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if (tags[i].active && (currentTime - tags[i].lastUpdate > DEVICE_TIMEOUT)) {
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tags[i].active = false;
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Serial.printf("Tag %d timeout\n", tags[i].deviceId);
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}
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}
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}
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void showStartupScreen() {
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display.clearDisplay();
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display.setTextSize(1);
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(0, 0);
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display.println("MaUWB Anchor");
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display.setCursor(0, 15);
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display.printf("ID: %d", UWB_INDEX);
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display.setCursor(0, 25);
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display.printf("Network: %d", NETWORK_ID);
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display.setCursor(0, 35);
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display.println("6.8Mbps Mode");
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display.setCursor(0, 45);
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display.println("Initializing...");
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display.display();
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delay(2000);
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}
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168
src/main_tag.cpp
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168
src/main_tag.cpp
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#include <Arduino.h>
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#include <Wire.h>
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#include <Adafruit_GFX.h>
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#include <Adafruit_SSD1306.h>
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#include "config.h"
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#include "UWBHelper.h"
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// Function declarations
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void showStartupScreen();
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void processUWBData();
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void updateDisplay();
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void checkTimeouts();
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// Hardware setup
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HardwareSerial uwbSerial(2);
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Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
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UWBHelper uwb(&uwbSerial, RESET_PIN);
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// Data storage
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DeviceData anchors[MAX_ANCHORS];
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String response = "";
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unsigned long lastDisplayUpdate = 0;
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void setup() {
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Serial.begin(SERIAL_BAUD);
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// Initialize display
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Wire.begin(I2C_SDA, I2C_SCL);
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if (!display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS)) {
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Serial.println(F("SSD1306 allocation failed"));
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for (;;);
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}
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showStartupScreen();
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// Initialize UWB
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uwbSerial.begin(115200, SERIAL_8N1, IO_RXD2, IO_TXD2);
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if (!uwb.begin()) {
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Serial.println("UWB initialization failed!");
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return;
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}
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// Configure as tag
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Serial.println("Configuring as Tag...");
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uwb.configureDevice(UWB_INDEX, false); // false = tag
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uwb.setCapacity(10, 10, 1);
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uwb.setNetwork(NETWORK_ID);
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uwb.enableReporting(true);
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uwb.saveConfiguration();
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delay(1000);
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uwb.restartDevice();
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delay(2000);
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// Initialize anchor data
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for (int i = 0; i < MAX_ANCHORS; i++) {
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anchors[i].deviceId = -1;
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anchors[i].active = false;
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}
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Serial.println("Tag ready!");
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}
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void loop() {
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processUWBData();
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updateDisplay();
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checkTimeouts();
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// Handle serial passthrough for debugging
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while (Serial.available()) {
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uwbSerial.write(Serial.read());
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}
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delay(10);
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}
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void processUWBData() {
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while (uwbSerial.available()) {
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char c = uwbSerial.read();
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if (c == '\r') continue;
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if (c == '\n') {
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if (response.length() > 0) {
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Serial.println("Received: " + response);
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if (uwb.parseRangeData(response, anchors, MAX_ANCHORS)) {
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// Successfully parsed data
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for (int i = 0; i < MAX_ANCHORS; i++) {
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if (anchors[i].active && (millis() - anchors[i].lastUpdate < 1000)) {
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Serial.printf("Anchor %d: %.2fm, RSSI: %.1fdBm\n",
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anchors[i].deviceId, anchors[i].distance, anchors[i].rssi);
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}
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}
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}
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response = "";
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}
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} else {
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response += c;
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}
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}
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}
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void updateDisplay() {
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if (millis() - lastDisplayUpdate < DISPLAY_UPDATE_INTERVAL) return;
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display.clearDisplay();
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display.setTextSize(1);
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display.setTextColor(SSD1306_WHITE);
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// Header
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display.setCursor(0, 0);
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display.printf("Tag %d (Net:%d)", UWB_INDEX, NETWORK_ID);
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display.setCursor(0, 10);
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display.println("Anchors:");
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int activeCount = 0;
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int yPos = 20;
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for (int i = 0; i < MAX_ANCHORS && yPos < 55; i++) {
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if (anchors[i].active) {
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display.setCursor(0, yPos);
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display.printf("A%d: %.2fm", anchors[i].deviceId, anchors[i].distance);
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display.setCursor(70, yPos);
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display.printf("%.0fdBm", anchors[i].rssi);
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yPos += 8;
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activeCount++;
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}
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}
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if (activeCount == 0) {
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display.setCursor(0, 30);
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display.println("Searching...");
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display.setCursor(0, 40);
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display.println("for anchors...");
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}
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// Status line
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display.setCursor(0, 56);
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display.printf("Found: %d/%d", activeCount, MAX_ANCHORS);
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display.display();
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lastDisplayUpdate = millis();
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}
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void checkTimeouts() {
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unsigned long currentTime = millis();
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for (int i = 0; i < MAX_ANCHORS; i++) {
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if (anchors[i].active && (currentTime - anchors[i].lastUpdate > DEVICE_TIMEOUT)) {
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anchors[i].active = false;
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}
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}
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}
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void showStartupScreen() {
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display.clearDisplay();
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display.setTextSize(1);
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(0, 0);
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display.println("MaUWB Tag");
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display.setCursor(0, 15);
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display.printf("ID: %d", UWB_INDEX);
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display.setCursor(0, 25);
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display.printf("Network: %d", NETWORK_ID);
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display.setCursor(0, 35);
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display.println("Initializing...");
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display.display();
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delay(2000);
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}
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