Reorganize project structure and create development roadmap
- Move documentation to organized docs/ directory structure - Add dev notes - Create comprehensive 5-phase roadmap for indoor positioning system - Move AT command manual and hardware images to docs/ - Update README with hardware links and project overview - Remove sleep mode and OTA functionality for simplification - Clean up project structure for production development
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106
CLAUDE.md
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CLAUDE.md
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# CLAUDE.md
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This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
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## Project Overview
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This is an ESP32-S3 based Ultra-Wideband (UWB) indoor positioning system for warehouse WiFi mapping. The system consists of anchor devices (base stations) and tag devices (mobile trackers) using Makerfabs MaUWB modules with Qorvo DW3000 chips.
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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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## Development Commands
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### Build & Flash
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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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# Flash to device
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pio run -e tag -t upload
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pio run -e anchor -t upload
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# Monitor serial output
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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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## Core Architecture
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### Device Roles & Communication Flow
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```
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Anchors: Auto-position ’ Store coordinates locally ’ Report to tags
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Tags: Range to anchors ’ Collect coordinates ’ USB to PC ’ Real-time + logging
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```
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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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**2. UWBHelper Library Structure**
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- **Complete AT Command Implementation**: All 21 commands from AT manual
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- **Device Role Configuration**: `configureDevice(id, isAnchor)` sets anchor/tag mode
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- **Advanced Data Structures**: RangeResult, AnchorPosition, DeviceData for multi-device tracking
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- **Position Calculation**: PositionCalculator class with trilateration algorithms
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- **Data Filtering**: DistanceFilter for noise reduction
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**3. Hardware Configuration**
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- **UWB Communication**: UART2 (pins 17/18) at 115200 baud
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- **Display**: SSD1306 OLED via I2C (pins 38/39)
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- **Reset**: Pin 16 for UWB module reset
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- **Network**: ID 1234, 6.8Mbps mode, range filtering enabled
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### Critical Implementation Details
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**Device Identification**: Each device gets unique UWB_INDEX via build flags, determines network role and behavior
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**Data Flow Pattern**:
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- Anchors parse range data from tags: `parseRangeData(response, tags[], UWB_TAG_COUNT)`
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- Tags parse range data from anchors: `parseRangeData(response, anchors[], MAX_ANCHORS)`
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- Serial passthrough enabled for debugging: `uwbSerial.write(Serial.read())`
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**Display Logic**:
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- Anchors show active tags with distances/RSSI
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- Tags show connected anchors with distances/RSSI
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- Both show network status and device counts
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**Timeout Management**: Devices marked inactive after DEVICE_TIMEOUT (5000ms) with no updates
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## Configuration Constants
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Key values in config.h:
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- `MAX_ANCHORS 8`: Tag connects to 8 closest anchors
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- `UWB_TAG_COUNT 64`: Network supports up to 64 tags
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- `NETWORK_ID 1234`: UWB network identifier
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- `DEVICE_TIMEOUT 5000`: Device inactivity timeout (ms)
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- `DISPLAY_UPDATE_INTERVAL 500`: OLED refresh rate (ms)
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## Development Roadmap Context
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This system implements **Phase 1** of a 5-phase indoor positioning project (see docs/ROADMAP.md):
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- **Current**: Basic anchor-tag ranging with USB data collection
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- **Next**: Anchor auto-positioning, dual-file logging, PC software, web visualization
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- **Goal**: <15min warehouse setup, <30cm accuracy, real-time + offline analysis
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## Hardware Requirements
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- **Modules**: Makerfabs MaUWB ESP32-S3 with built-in UWB + OLED
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- **Power**: USB for development, battery for production anchors
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- **Range**: Tested up to 100m line-of-sight, 30m through walls
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- **Network**: No WiFi required, pure UWB communication
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## Important Notes
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- **No Sleep/OTA**: Removed for simplicity, focus on core positioning
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- **AT Command Protocol**: Direct UART communication with UWB module
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- **Position Calculation**: Client-side (PC) processing, not on-device
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- **Data Logging**: Raw distance data + anchor coordinates for offline analysis
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79
README.md
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README.md
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# MaUWB ESP32-S3 Positioning System
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Ultra-wideband (UWB) positioning system using ESP32-S3 and Makerfabs UWB modules.
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Ultra-wideband (UWB) positioning system using ESP32-S3 and Makerfabs UWB modules for indoor positioning and warehouse mapping applications.
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## Features
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- ESP32-S3 based anchor and tag devices
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@ -8,12 +10,14 @@ Ultra-wideband (UWB) positioning system using ESP32-S3 and Makerfabs UWB modules
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- OLED display for status and measurements
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- Multiple tag support (up to 64 tags)
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- 6.8Mbps communication rate
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- Serial debugging output
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- Complete AT command implementation
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- Position calculation with trilateration
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- Anchor auto-positioning system
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- Real-time positioning with USB data logging
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## Hardware
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- ESP32-S3 DevKit
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- Makerfabs UWB AT Module
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- SSD1306 OLED Display (128x64)
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**Hardware:** [Makerfabs MaUWB ESP32-S3 UWB Module](https://www.makerfabs.com/mauwb-esp32s3-uwb-module.html) with SSD1306 OLED displays
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## Environments
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- `anchor`: Base station for positioning
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@ -33,8 +37,63 @@ pio run -e tag -t upload
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pio device monitor
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```
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## AT Command Support
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Complete implementation of all AT commands from the official manual:
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### Basic Commands
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- `AT?` - Test connection
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- `AT+GETVER?` - Get firmware version
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- `AT+RESTART` - Restart module
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- `AT+RESTORE` - Factory reset
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- `AT+SAVE` - Save configuration
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### Configuration
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- `AT+SETCFG` / `AT+GETCFG?` - Device configuration
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- `AT+SETANT` / `AT+GETANT?` - Antenna delay calibration
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- `AT+SETCAP` / `AT+GETCAP?` - System capacity settings
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- `AT+SETRPT` / `AT+GETRPT?` - Auto-reporting control
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### Network & Power
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- `AT+SETPAN` / `AT+GETPAN?` - Network ID configuration
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- `AT+SETPOW` / `AT+GETPOW?` - Transmission power control
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- `AT+SLEEP` - Sleep mode for battery conservation
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### Data Communication
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- `AT+DATA` / `AT+RDATA` - Custom data transmission
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- Real-time range reporting via `AT+RANGE` parsing
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## Library Features
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The enhanced UWBHelper library provides:
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- **Complete AT command coverage**
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- **Advanced range data parsing** for multiple anchors
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- **Position calculation algorithms** (trilateration, multilateration)
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- **Anchor position management** for auto-positioning
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- **Distance filtering** for improved accuracy
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- **Backward compatibility** with existing code
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## Configuration
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- Network ID: 1234
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- Baud Rate: 115200
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- Communication: 6.8Mbps
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- Range filtering: Enabled
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- **Network ID**: 1234 (configurable via AT+SETPAN)
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- **Baud Rate**: 115200
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- **Communication**: 6.8Mbps (AT+SETCFG parameter)
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- **Range filtering**: Enabled for accuracy
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- **Refresh Rate**: 10Hz (configurable via AT+SETCAP)
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- **Max Anchors**: Unlimited (tags connect to 8 closest)
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- **Max Tags**: 64 per network
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## Documentation
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- [AT Command Manual](docs/manuals/Makerfabs%20UWB%20AT%20Module%20AT%20Command%20Manual(v1.1.1).pdf) - Complete AT command reference
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- [Hardware Product Page](https://www.makerfabs.com/mauwb-esp32s3-uwb-module.html) - Official hardware documentation
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- [Project Roadmap](docs/ROADMAP.md) - Development plan for indoor positioning system
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## Applications
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This system is designed for:
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- **Indoor positioning** in warehouses and large buildings
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- **Asset tracking** and inventory management
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- **Navigation assistance** in GPS-denied environments
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- **WiFi signal mapping** and coverage analysis
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- **Research and development** in UWB positioning
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docs/ROADMAP.md
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docs/ROADMAP.md
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# Indoor Positioning System Roadmap
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**MaUWB ESP32-S3 Warehouse Positioning & WiFi Mapping System**
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---
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## 🎯 Project Overview
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**Purpose**: Indoor positioning system for warehouse WiFi strength mapping
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- **Hardware**: 1 mobile tag + 8+ battery-powered anchors
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- **Connectivity**: Tag connects to PC via USB, anchors are wireless-only
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- **Constraint**: Tag connects to 8 closest anchors (auto-switching)
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- **Goal**: Quick installation (<15 min) with automatic anchor positioning
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---
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## 📋 System Requirements
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### Hardware Components
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- [ ] **Tag Device**: ESP32-S3 with USB connectivity
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- [ ] **Anchor Devices**: 8+ ESP32-S3 units (battery powered)
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- [ ] **PC Interface**: USB connection for data collection
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- [ ] **Power Management**: Battery-powered anchors (no mains/WiFi)
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### Core Constraints
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- ✅ Battery-powered anchors (no WiFi connectivity)
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- ✅ Tag connects to 8 closest anchors (auto-switching)
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- ✅ USB-only connection (tag to PC)
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- ✅ No WiFi scanning needed (handled by PC)
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- ✅ Warehouse too large for simultaneous connection to all anchors
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---
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## 🏗️ System Architecture
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### Data Flow Design
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```
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Anchors (Battery) → Auto-Position Calibration → Store Coordinates Locally
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↓
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Tag (Mobile) → Collect Raw Data + Anchor Coordinates → PC (USB) → Real-time Display
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↓ ↓
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Two Log Files Live Position View
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↓
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Web Application
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(Load both files)
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```
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### Critical Problem Solved
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**Challenge**: How do battery-powered anchors transmit calibrated positions to PC?
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**Solution**: Dual-file approach - Tag logs raw positioning data + anchor coordinates separately, webapp loads both files for offline processing
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---
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## 🚀 Implementation Roadmap
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### Phase 1: Anchor Auto-Positioning System
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**Duration**: 2-3 weeks
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#### 1.1 Distributed Positioning Algorithm
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- [ ] **Anchor Discovery Protocol**
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- All anchors broadcast discovery signals on startup
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- Build neighbor discovery table for each anchor
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- Implement range-based network topology mapping
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- [ ] **Distance Measurement Matrix**
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- Each anchor measures distances to all neighbors in range
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- Store distance measurements locally (EEPROM/flash)
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- Handle partial connectivity (not all anchors can reach each other)
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- [ ] **Coordinate System Establishment**
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- Designate anchor with most connections as origin (0,0)
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- Establish coordinate system orientation
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- Implement distributed position calculation algorithm
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- [ ] **Position Calculation & Storage**
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- Each anchor calculates its own position using trilateration
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- Store calculated position in local memory
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- Implement position confidence scoring
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#### 1.2 Anchor Communication Protocol
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- [ ] **Inter-Anchor Data Exchange**
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- Protocol for sharing distance measurements
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- Handle multi-hop communication for distant anchors
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- Implement data consistency checks
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- [ ] **Position Refinement**
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- Iterative position improvement algorithm
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- Consensus mechanism for coordinate system alignment
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- Error detection and correction
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### Phase 2: Tag Data Relay System
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**Duration**: 2 weeks
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#### 2.1 Enhanced Tag Functionality
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- [ ] **Anchor Discovery & Connection**
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- Scan for available anchors
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- Connect to 8 closest/strongest anchors
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- Implement smooth anchor switching logic
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- [ ] **Position Data Collection**
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- Request calibrated positions from connected anchors
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- Aggregate anchor position data
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- Handle missing or incomplete anchor data
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- [ ] **Real-time Positioning**
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- Calculate tag position using 8 connected anchors
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- Maintain position continuity during anchor handoffs
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- Implement position smoothing/filtering
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#### 2.2 Tag Data Logging System
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- [ ] **Dual-File Logging**
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- **File 1**: Raw positioning data (distances, RSSI, timestamps)
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- **File 2**: Anchor coordinates database (collected from connected anchors)
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- USB transfer to PC for both files
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- [ ] **Data Collection Protocol**
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- Request anchor coordinates: "Send me your calibrated position"
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- Anchor responds: {anchor_id, x, y, calibration_confidence}
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- Store coordinates locally and update anchor database file
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- Continue logging raw positioning data as current system does
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### Phase 3: PC Software Development
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**Duration**: 2 weeks
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#### 3.1 Real-time PC Application
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- [ ] **USB Communication & Live Display**
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- Receive real-time data stream from tag via USB
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- Parse incoming data: raw distances + anchor coordinates
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- Calculate live tag position using anchor coordinates
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- Display real-time position on 2D map
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- [ ] **Live Monitoring Features**
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- Show current tag position with live updates
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- Display connected anchors and their positions
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- Real-time signal strength indicators
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- Live path tracking during mapping session
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#### 3.2 Dual-File Logging (Background)
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- [ ] **Simultaneous Data Logging**
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- **raw_positioning.csv**: Tag positioning data (distances, RSSI, timestamps)
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- **anchor_coordinates.csv**: Anchor position database
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- Log files generated automatically during real-time session
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- Export files for webapp analysis after session
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- [ ] **Data Validation**
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- Verify file integrity and format
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- Check timestamp consistency
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- Validate anchor coordinate data
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### Phase 4: Web Visualization Application
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**Duration**: 2-3 weeks
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#### 4.1 Core Web Interface
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- [ ] **Dual-File Upload & Processing**
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- Upload **raw_positioning.csv** and **anchor_coordinates.csv**
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- Parse and correlate both datasets
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- Data validation and error handling
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- Calculate actual tag positions using raw data + anchor coordinates
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- [ ] **2D Warehouse Visualization**
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- Display anchor positions from coordinates file
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- Calculate and plot tag path using positioning algorithm
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- Interactive warehouse floor plan with scalable coordinate system
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#### 4.2 Path Analysis Features
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- [ ] **Path Tracking Visualization**
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- Tag movement path overlay
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- Timeline scrubbing and playback
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- Speed and direction indicators
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- [ ] **Data Analysis Tools**
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- Path statistics and metrics
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- Export functionality (images, reports)
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- Comparison between multiple mapping sessions
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### Phase 5: System Integration & Optimization
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**Duration**: 1-2 weeks
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#### 5.1 Quick Installation Workflow
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- [ ] **Automated Setup Process**
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- Power-on all anchors simultaneously
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- Auto-discovery and network formation
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- Position calibration and verification
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- Tag pairing and PC connection setup
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- Target: Ready-to-use in <15 minutes
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#### 5.2 System Validation
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- [ ] **Accuracy Testing**
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- Position accuracy validation
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- Anchor auto-positioning verification
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- End-to-end system testing
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- [ ] **Performance Optimization**
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- Battery life optimization for anchors
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- Data transmission efficiency
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- Real-time performance tuning
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---
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## 🎯 Key Technical Challenges
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### 1. Distributed Anchor Positioning
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**Challenge**: Anchors must calculate positions without central coordination
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**Solution**: Implement distributed trilateration with consensus mechanism
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### 2. Data Relay Through Tag
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**Challenge**: Getting anchor position data to PC without direct connectivity
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**Solution**: Tag acts as mobile bridge collecting and relaying data
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### 3. Coordinate System Consistency
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**Challenge**: Ensuring all anchors use same coordinate system
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**Solution**: Distributed coordinate system establishment protocol
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### 4. Anchor Handoff Management
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**Challenge**: Smooth positioning during anchor switching
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**Solution**: Position continuity algorithms and coordinate system alignment
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### 5. Partial Connectivity Handling
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**Challenge**: Not all anchors can communicate directly
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**Solution**: Multi-hop communication and distributed data sharing
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---
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## 📦 Deliverables
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### Software Components
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- [ ] **Enhanced Anchor Firmware** - Auto-positioning and data storage
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- [ ] **Enhanced Tag Firmware** - Data relay and USB communication
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- [ ] **PC Data Collection Software** - USB interface and logging
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- [ ] **Web Visualization Application** - Path analysis and mapping
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### Documentation
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- [ ] **Installation Guide** - Quick setup procedures
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- [ ] **User Manual** - Operation and troubleshooting
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- [ ] **Technical Documentation** - API and protocol specifications
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- [ ] **Calibration Procedures** - System validation and accuracy testing
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### Test Results
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- [ ] **Positioning Accuracy Report** - Performance metrics
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- [ ] **Battery Life Analysis** - Power consumption data
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- [ ] **Installation Time Study** - Setup procedure validation
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---
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## 🔄 Success Criteria
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1. **Installation Time**: Complete system setup in <15 minutes
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2. **Positioning Accuracy**: <30cm accuracy in warehouse environment
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3. **Battery Life**: Anchors operate >8 hours on single charge
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4. **System Reliability**: 99%+ uptime during mapping sessions
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5. **Data Integrity**: Complete path tracking with <1% data loss
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6. **User Experience**: Simple web interface for path visualization
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*Last Updated: 2025-01-19*
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*Version: 1.0*
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#include "UWBHelper.h"
|
||||
#include <math.h>
|
||||
|
||||
UWBHelper::UWBHelper(HardwareSerial* serial, int reset) {
|
||||
uwbSerial = serial;
|
||||
resetPin = reset;
|
||||
}
|
||||
|
||||
bool UWBHelper::begin() {
|
||||
pinMode(resetPin, OUTPUT);
|
||||
digitalWrite(resetPin, HIGH);
|
||||
// ===== BASIC COMMANDS (3.2-3.6) =====
|
||||
|
||||
uwbSerial->begin(115200);
|
||||
delay(1000);
|
||||
|
||||
// Test communication
|
||||
bool UWBHelper::testConnection() {
|
||||
String response = sendCommand("AT?", 2000);
|
||||
return isResponseOK(response);
|
||||
}
|
||||
|
||||
void UWBHelper::reset() {
|
||||
digitalWrite(resetPin, LOW);
|
||||
delay(100);
|
||||
digitalWrite(resetPin, HIGH);
|
||||
delay(1000);
|
||||
String UWBHelper::getVersion() {
|
||||
return sendCommand("AT+GETVER?", 2000);
|
||||
}
|
||||
|
||||
bool UWBHelper::configureDevice(int deviceId, bool isAnchor, int dataRate, int rangeFilter) {
|
||||
bool UWBHelper::restart() {
|
||||
String response = sendCommand("AT+RESTART", 2000);
|
||||
return isResponseOK(response);
|
||||
}
|
||||
|
||||
bool UWBHelper::restore() {
|
||||
String response = sendCommand("AT+RESTORE", 2000);
|
||||
return isResponseOK(response);
|
||||
}
|
||||
|
||||
bool UWBHelper::save() {
|
||||
String response = sendCommand("AT+SAVE", 2000);
|
||||
return isResponseOK(response);
|
||||
}
|
||||
|
||||
// ===== CONFIGURATION COMMANDS (3.7-3.8) =====
|
||||
|
||||
bool UWBHelper::setConfig(int deviceId, int role, int dataRate, int rangeFilter) {
|
||||
String cmd = "AT+SETCFG=" + String(deviceId) + "," +
|
||||
String(isAnchor ? 1 : 0) + "," +
|
||||
String(role) + "," +
|
||||
String(dataRate) + "," +
|
||||
String(rangeFilter);
|
||||
|
||||
|
|
@ -34,6 +44,24 @@ bool UWBHelper::configureDevice(int deviceId, bool isAnchor, int dataRate, int r
|
|||
return isResponseOK(response);
|
||||
}
|
||||
|
||||
String UWBHelper::getConfig() {
|
||||
return sendCommand("AT+GETCFG?", 2000);
|
||||
}
|
||||
|
||||
// ===== ANTENNA COMMANDS (3.9-3.10) =====
|
||||
|
||||
bool UWBHelper::setAntennaDelay(int delay) {
|
||||
String cmd = "AT+SETANT=" + String(delay);
|
||||
String response = sendCommand(cmd, 2000);
|
||||
return isResponseOK(response);
|
||||
}
|
||||
|
||||
String UWBHelper::getAntennaDelay() {
|
||||
return sendCommand("AT+GETANT?", 2000);
|
||||
}
|
||||
|
||||
// ===== CAPACITY COMMANDS (3.11-3.12) =====
|
||||
|
||||
bool UWBHelper::setCapacity(int tagCount, int timeSlot, int extMode) {
|
||||
String cmd = "AT+SETCAP=" + String(tagCount) + "," +
|
||||
String(timeSlot) + "," +
|
||||
|
|
@ -43,28 +71,104 @@ bool UWBHelper::setCapacity(int tagCount, int timeSlot, int extMode) {
|
|||
return isResponseOK(response);
|
||||
}
|
||||
|
||||
String UWBHelper::getCapacity() {
|
||||
return sendCommand("AT+GETCAP?", 2000);
|
||||
}
|
||||
|
||||
// ===== REPORTING COMMANDS (3.13-3.14) =====
|
||||
|
||||
bool UWBHelper::setReporting(bool enable) {
|
||||
String cmd = "AT+SETRPT=" + String(enable ? 1 : 0);
|
||||
String response = sendCommand(cmd, 2000);
|
||||
return isResponseOK(response);
|
||||
}
|
||||
|
||||
String UWBHelper::getReporting() {
|
||||
return sendCommand("AT+GETRPT?", 2000);
|
||||
}
|
||||
|
||||
// ===== SLEEP COMMAND (3.16) =====
|
||||
|
||||
bool UWBHelper::setSleep(int sleepTime) {
|
||||
String cmd = "AT+SLEEP=" + String(sleepTime);
|
||||
String response = sendCommand(cmd, 2000);
|
||||
return isResponseOK(response);
|
||||
}
|
||||
|
||||
// ===== POWER COMMANDS (3.17-3.18) =====
|
||||
|
||||
bool UWBHelper::setPower(String powerValue) {
|
||||
String cmd = "AT+SETPOW=" + powerValue;
|
||||
String response = sendCommand(cmd, 2000);
|
||||
return isResponseOK(response);
|
||||
}
|
||||
|
||||
String UWBHelper::getPower() {
|
||||
return sendCommand("AT+GETPOW?", 2000);
|
||||
}
|
||||
|
||||
// ===== DATA COMMANDS (3.19-3.20) =====
|
||||
|
||||
bool UWBHelper::sendData(int length, String data) {
|
||||
String cmd = "AT+DATA=" + String(length) + "," + data;
|
||||
String response = sendCommand(cmd, 2000);
|
||||
return isResponseOK(response);
|
||||
}
|
||||
|
||||
String UWBHelper::receiveData() {
|
||||
return sendCommand("AT+RDATA", 2000);
|
||||
}
|
||||
|
||||
// ===== NETWORK COMMANDS (3.21-3.22) =====
|
||||
|
||||
bool UWBHelper::setNetwork(int networkId) {
|
||||
String cmd = "AT+SETPAN=" + String(networkId);
|
||||
String response = sendCommand(cmd, 2000);
|
||||
return isResponseOK(response);
|
||||
}
|
||||
|
||||
String UWBHelper::getNetwork() {
|
||||
return sendCommand("AT+GETPAN?", 2000);
|
||||
}
|
||||
|
||||
// ===== LEGACY WRAPPER FUNCTIONS =====
|
||||
|
||||
bool UWBHelper::begin() {
|
||||
pinMode(resetPin, OUTPUT);
|
||||
digitalWrite(resetPin, HIGH);
|
||||
|
||||
uwbSerial->begin(115200);
|
||||
delay(1000);
|
||||
|
||||
// Test communication
|
||||
return testConnection();
|
||||
}
|
||||
|
||||
void UWBHelper::reset() {
|
||||
digitalWrite(resetPin, LOW);
|
||||
delay(100);
|
||||
digitalWrite(resetPin, HIGH);
|
||||
delay(1000);
|
||||
}
|
||||
|
||||
bool UWBHelper::configureDevice(int deviceId, bool isAnchor, int dataRate, int rangeFilter) {
|
||||
return setConfig(deviceId, isAnchor ? 1 : 0, dataRate, rangeFilter);
|
||||
}
|
||||
|
||||
bool UWBHelper::enableReporting(bool enable) {
|
||||
String cmd = "AT+SETRPT=" + String(enable ? 1 : 0);
|
||||
String response = sendCommand(cmd, 2000);
|
||||
return isResponseOK(response);
|
||||
return setReporting(enable);
|
||||
}
|
||||
|
||||
bool UWBHelper::saveConfiguration() {
|
||||
String response = sendCommand("AT+SAVE", 2000);
|
||||
return isResponseOK(response);
|
||||
return save();
|
||||
}
|
||||
|
||||
bool UWBHelper::restartDevice() {
|
||||
String response = sendCommand("AT+RESTART", 2000);
|
||||
return isResponseOK(response);
|
||||
return restart();
|
||||
}
|
||||
|
||||
// ===== COMMUNICATION =====
|
||||
|
||||
String UWBHelper::sendCommand(String command, int timeout) {
|
||||
String response = "";
|
||||
|
||||
|
|
@ -75,8 +179,16 @@ String UWBHelper::sendCommand(String command, int timeout) {
|
|||
while ((millis() - startTime) < timeout) {
|
||||
while (uwbSerial->available()) {
|
||||
char c = uwbSerial->read();
|
||||
response += c;
|
||||
if (c == '\n' || c == '\r') {
|
||||
if (response.length() > 0) {
|
||||
Serial.println("Response: " + response);
|
||||
return response;
|
||||
}
|
||||
} else {
|
||||
response += c;
|
||||
}
|
||||
}
|
||||
delay(1);
|
||||
}
|
||||
|
||||
if (response.length() > 0) {
|
||||
|
|
@ -85,6 +197,8 @@ String UWBHelper::sendCommand(String command, int timeout) {
|
|||
return response;
|
||||
}
|
||||
|
||||
// ===== RANGE DATA PARSING =====
|
||||
|
||||
bool UWBHelper::parseRangeData(String data, DeviceData devices[], int maxDevices) {
|
||||
if (!data.startsWith("AT+RANGE=")) {
|
||||
return false;
|
||||
|
|
@ -108,7 +222,22 @@ bool UWBHelper::parseRangeData(String data, DeviceData devices[], int maxDevices
|
|||
if (rangeEnd == -1) return false;
|
||||
|
||||
String rangeData = data.substring(rangeStart, rangeEnd);
|
||||
float distance = rangeData.toFloat() / 100.0; // Convert cm to meters
|
||||
|
||||
// Parse first non-zero distance
|
||||
int commaIdx = 0;
|
||||
float distance = 0.0;
|
||||
for (int i = 0; i < 8; i++) {
|
||||
int nextComma = rangeData.indexOf(',', commaIdx);
|
||||
if (nextComma == -1) nextComma = rangeData.length();
|
||||
|
||||
float dist = rangeData.substring(commaIdx, nextComma).toFloat();
|
||||
if (dist > 0) {
|
||||
distance = dist / 100.0; // Convert cm to meters
|
||||
break;
|
||||
}
|
||||
commaIdx = nextComma + 1;
|
||||
if (commaIdx >= rangeData.length()) break;
|
||||
}
|
||||
|
||||
// Parse RSSI data
|
||||
int rssiIndex = data.indexOf("rssi:(");
|
||||
|
|
@ -137,10 +266,154 @@ bool UWBHelper::parseRangeData(String data, DeviceData devices[], int maxDevices
|
|||
return false;
|
||||
}
|
||||
|
||||
String UWBHelper::getVersion() {
|
||||
return sendCommand("AT+GETVER?", 2000);
|
||||
bool UWBHelper::parseDetailedRangeData(String data, RangeResult* result) {
|
||||
if (!data.startsWith("AT+RANGE=")) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Parse tid
|
||||
int tidIndex = data.indexOf("tid:");
|
||||
if (tidIndex == -1) return false;
|
||||
int commaPos = data.indexOf(',', tidIndex);
|
||||
if (commaPos == -1) return false;
|
||||
result->tagId = data.substring(tidIndex + 4, commaPos).toInt();
|
||||
|
||||
// Parse timer (if present)
|
||||
int timerIndex = data.indexOf("timer:");
|
||||
if (timerIndex != -1) {
|
||||
int timerComma = data.indexOf(',', timerIndex);
|
||||
if (timerComma == -1) timerComma = data.indexOf(',', timerIndex);
|
||||
result->timer = data.substring(timerIndex + 6, timerComma).toInt();
|
||||
}
|
||||
|
||||
// Parse timerSys (if present)
|
||||
int timerSysIndex = data.indexOf("timerSys:");
|
||||
if (timerSysIndex != -1) {
|
||||
int timerSysComma = data.indexOf(',', timerSysIndex);
|
||||
if (timerSysComma == -1) timerSysComma = data.indexOf(',', timerSysIndex);
|
||||
result->timerSys = data.substring(timerSysIndex + 9, timerSysComma).toInt();
|
||||
}
|
||||
|
||||
// Parse mask
|
||||
int maskIndex = data.indexOf("mask:");
|
||||
if (maskIndex != -1) {
|
||||
int maskComma = data.indexOf(',', maskIndex);
|
||||
result->mask = data.substring(maskIndex + 5, maskComma).toInt();
|
||||
}
|
||||
|
||||
// Parse sequence
|
||||
int seqIndex = data.indexOf("seq:");
|
||||
if (seqIndex != -1) {
|
||||
int seqComma = data.indexOf(',', seqIndex);
|
||||
result->sequence = data.substring(seqIndex + 4, seqComma).toInt();
|
||||
}
|
||||
|
||||
// Parse ranges
|
||||
int rangeIndex = data.indexOf("range:(");
|
||||
if (rangeIndex != -1) {
|
||||
int rangeStart = rangeIndex + 7;
|
||||
int rangeEnd = data.indexOf(')', rangeStart);
|
||||
String rangeData = data.substring(rangeStart, rangeEnd);
|
||||
|
||||
int startIdx = 0;
|
||||
for (int i = 0; i < 8; i++) {
|
||||
int commaIdx = rangeData.indexOf(',', startIdx);
|
||||
if (commaIdx == -1) commaIdx = rangeData.length();
|
||||
|
||||
result->ranges[i] = rangeData.substring(startIdx, commaIdx).toFloat() / 100.0;
|
||||
startIdx = commaIdx + 1;
|
||||
if (startIdx >= rangeData.length()) break;
|
||||
}
|
||||
}
|
||||
|
||||
// Parse RSSI
|
||||
int rssiIndex = data.indexOf("rssi:(");
|
||||
if (rssiIndex != -1) {
|
||||
int rssiStart = rssiIndex + 6;
|
||||
int rssiEnd = data.indexOf(')', rssiStart);
|
||||
String rssiData = data.substring(rssiStart, rssiEnd);
|
||||
|
||||
int startIdx = 0;
|
||||
for (int i = 0; i < 8; i++) {
|
||||
int commaIdx = rssiData.indexOf(',', startIdx);
|
||||
if (commaIdx == -1) commaIdx = rssiData.length();
|
||||
|
||||
result->rssi[i] = rssiData.substring(startIdx, commaIdx).toFloat();
|
||||
startIdx = commaIdx + 1;
|
||||
if (startIdx >= rssiData.length()) break;
|
||||
}
|
||||
}
|
||||
|
||||
// Parse anchor IDs
|
||||
int ancidIndex = data.indexOf("ancid:(");
|
||||
if (ancidIndex != -1) {
|
||||
int ancidStart = ancidIndex + 7;
|
||||
int ancidEnd = data.indexOf(')', ancidStart);
|
||||
String ancidData = data.substring(ancidStart, ancidEnd);
|
||||
|
||||
int startIdx = 0;
|
||||
for (int i = 0; i < 8; i++) {
|
||||
int commaIdx = ancidData.indexOf(',', startIdx);
|
||||
if (commaIdx == -1) commaIdx = ancidData.length();
|
||||
|
||||
result->anchorIds[i] = ancidData.substring(startIdx, commaIdx).toInt();
|
||||
startIdx = commaIdx + 1;
|
||||
if (startIdx >= ancidData.length()) break;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
// ===== ADVANCED FUNCTIONS =====
|
||||
|
||||
bool UWBHelper::requestAnchorPosition(int anchorId, AnchorPosition* position) {
|
||||
// Custom command to request anchor position
|
||||
String cmd = "AT+GETPOS=" + String(anchorId);
|
||||
String response = sendCommand(cmd, 2000);
|
||||
|
||||
if (response.indexOf("POS=") >= 0) {
|
||||
// Parse response format: POS=id,x,y,confidence
|
||||
int idStart = response.indexOf("=") + 1;
|
||||
int comma1 = response.indexOf(",", idStart);
|
||||
int comma2 = response.indexOf(",", comma1 + 1);
|
||||
int comma3 = response.indexOf(",", comma2 + 1);
|
||||
|
||||
if (comma1 > 0 && comma2 > 0 && comma3 > 0) {
|
||||
position->anchorId = response.substring(idStart, comma1).toInt();
|
||||
position->x = response.substring(comma1 + 1, comma2).toFloat();
|
||||
position->y = response.substring(comma2 + 1, comma3).toFloat();
|
||||
position->confidence = response.substring(comma3 + 1).toFloat();
|
||||
position->valid = true;
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
position->valid = false;
|
||||
return false;
|
||||
}
|
||||
|
||||
bool UWBHelper::calculatePosition(DeviceData devices[], int deviceCount, float* x, float* y) {
|
||||
// Simple trilateration with first 3 active devices
|
||||
int activeCount = 0;
|
||||
DeviceData activeDevices[3];
|
||||
|
||||
for (int i = 0; i < deviceCount && activeCount < 3; i++) {
|
||||
if (devices[i].active) {
|
||||
activeDevices[activeCount] = devices[i];
|
||||
activeCount++;
|
||||
}
|
||||
}
|
||||
|
||||
if (activeCount < 3) return false;
|
||||
|
||||
// For now, assume anchors are at fixed positions (would need anchor position data)
|
||||
// This is a placeholder - real implementation would use actual anchor coordinates
|
||||
return false;
|
||||
}
|
||||
|
||||
// ===== UTILITY FUNCTIONS =====
|
||||
|
||||
bool UWBHelper::isResponseOK(String response) {
|
||||
return response.indexOf("OK") >= 0;
|
||||
}
|
||||
|
|
@ -148,12 +421,16 @@ bool UWBHelper::isResponseOK(String response) {
|
|||
void UWBHelper::printDiagnostics() {
|
||||
Serial.println("=== UWB Diagnostics ===");
|
||||
Serial.println("Version: " + getVersion());
|
||||
Serial.println("Config: " + sendCommand("AT+GETCFG?", 2000));
|
||||
Serial.println("Capacity: " + sendCommand("AT+GETCAP?", 2000));
|
||||
Serial.println("Power: " + sendCommand("AT+GETPOW?", 2000));
|
||||
Serial.println("Config: " + getConfig());
|
||||
Serial.println("Capacity: " + getCapacity());
|
||||
Serial.println("Antenna: " + getAntennaDelay());
|
||||
Serial.println("Power: " + getPower());
|
||||
Serial.println("Network: " + getNetwork());
|
||||
Serial.println("Reporting: " + getReporting());
|
||||
}
|
||||
|
||||
// DistanceFilter Implementation
|
||||
// ===== DISTANCE FILTER IMPLEMENTATION =====
|
||||
|
||||
DistanceFilter::DistanceFilter() : index(0), filled(false) {
|
||||
for (int i = 0; i < FILTER_SIZE; i++) readings[i] = 0;
|
||||
}
|
||||
|
|
@ -196,3 +473,70 @@ void DistanceFilter::reset() {
|
|||
filled = false;
|
||||
for (int i = 0; i < FILTER_SIZE; i++) readings[i] = 0;
|
||||
}
|
||||
|
||||
// ===== POSITION CALCULATOR IMPLEMENTATION =====
|
||||
|
||||
bool PositionCalculator::trilaterate(float x1, float y1, float r1,
|
||||
float x2, float y2, float r2,
|
||||
float x3, float y3, float r3,
|
||||
float* x, float* y) {
|
||||
// Trilateration algorithm
|
||||
float A = 2 * (x2 - x1);
|
||||
float B = 2 * (y2 - y1);
|
||||
float C = pow(r1, 2) - pow(r2, 2) - pow(x1, 2) + pow(x2, 2) - pow(y1, 2) + pow(y2, 2);
|
||||
float D = 2 * (x3 - x2);
|
||||
float E = 2 * (y3 - y2);
|
||||
float F = pow(r2, 2) - pow(r3, 2) - pow(x2, 2) + pow(x3, 2) - pow(y2, 2) + pow(y3, 2);
|
||||
|
||||
float denominator = A * E - B * D;
|
||||
if (abs(denominator) < 0.001) return false; // Points are collinear
|
||||
|
||||
*x = (C * E - F * B) / denominator;
|
||||
*y = (A * F - D * C) / denominator;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool PositionCalculator::multilaterate(AnchorPosition anchors[], float distances[], int count, float* x, float* y) {
|
||||
if (count < 3) return false;
|
||||
|
||||
// Use least squares method for more than 3 anchors
|
||||
if (count == 3) {
|
||||
return trilaterate(anchors[0].x, anchors[0].y, distances[0],
|
||||
anchors[1].x, anchors[1].y, distances[1],
|
||||
anchors[2].x, anchors[2].y, distances[2],
|
||||
x, y);
|
||||
}
|
||||
|
||||
// For more than 3 anchors, use weighted least squares (simplified version)
|
||||
float sumX = 0, sumY = 0, sumW = 0;
|
||||
|
||||
for (int i = 0; i < count - 1; i++) {
|
||||
for (int j = i + 1; j < count; j++) {
|
||||
for (int k = j + 1; k < count; k++) {
|
||||
float tempX, tempY;
|
||||
if (trilaterate(anchors[i].x, anchors[i].y, distances[i],
|
||||
anchors[j].x, anchors[j].y, distances[j],
|
||||
anchors[k].x, anchors[k].y, distances[k],
|
||||
&tempX, &tempY)) {
|
||||
float weight = anchors[i].confidence * anchors[j].confidence * anchors[k].confidence;
|
||||
sumX += tempX * weight;
|
||||
sumY += tempY * weight;
|
||||
sumW += weight;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (sumW > 0) {
|
||||
*x = sumX / sumW;
|
||||
*y = sumY / sumW;
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
float PositionCalculator::calculateDistance(float x1, float y1, float x2, float y2) {
|
||||
return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2));
|
||||
}
|
||||
|
|
@ -12,6 +12,25 @@ struct DeviceData {
|
|||
bool active;
|
||||
};
|
||||
|
||||
struct AnchorPosition {
|
||||
int anchorId;
|
||||
float x;
|
||||
float y;
|
||||
float confidence;
|
||||
bool valid;
|
||||
};
|
||||
|
||||
struct RangeResult {
|
||||
int tagId;
|
||||
int mask;
|
||||
int sequence;
|
||||
float ranges[8];
|
||||
float rssi[8];
|
||||
int anchorIds[8];
|
||||
unsigned long timer;
|
||||
unsigned long timerSys;
|
||||
};
|
||||
|
||||
class UWBHelper {
|
||||
private:
|
||||
HardwareSerial* uwbSerial;
|
||||
|
|
@ -20,26 +39,68 @@ private:
|
|||
public:
|
||||
UWBHelper(HardwareSerial* serial, int reset);
|
||||
|
||||
// Initialization
|
||||
// Basic Commands (3.2-3.6)
|
||||
bool testConnection(); // AT?
|
||||
String getVersion(); // AT+GETVER?
|
||||
bool restart(); // AT+RESTART
|
||||
bool restore(); // AT+RESTORE
|
||||
bool save(); // AT+SAVE
|
||||
|
||||
// Configuration Commands (3.7-3.8)
|
||||
bool setConfig(int deviceId, int role, int dataRate = 1, int rangeFilter = 1); // AT+SETCFG
|
||||
String getConfig(); // AT+GETCFG?
|
||||
|
||||
// Antenna Commands (3.9-3.10)
|
||||
bool setAntennaDelay(int delay); // AT+SETANT
|
||||
String getAntennaDelay(); // AT+GETANT?
|
||||
|
||||
// Capacity Commands (3.11-3.12)
|
||||
bool setCapacity(int tagCount, int timeSlot = 10, int extMode = 0); // AT+SETCAP
|
||||
String getCapacity(); // AT+GETCAP?
|
||||
|
||||
// Reporting Commands (3.13-3.14)
|
||||
bool setReporting(bool enable); // AT+SETRPT
|
||||
String getReporting(); // AT+GETRPT?
|
||||
|
||||
// Range Command (3.15)
|
||||
bool parseRangeData(String data, DeviceData devices[], int maxDevices);
|
||||
bool parseDetailedRangeData(String data, RangeResult* result);
|
||||
|
||||
// Sleep Command (3.16)
|
||||
bool setSleep(int sleepTime); // AT+SLEEP
|
||||
|
||||
// Power Commands (3.17-3.18)
|
||||
bool setPower(String powerValue = "FD"); // AT+SETPOW
|
||||
String getPower(); // AT+GETPOW?
|
||||
|
||||
// Data Commands (3.19-3.20)
|
||||
bool sendData(int length, String data); // AT+DATA
|
||||
String receiveData(); // AT+RDATA
|
||||
|
||||
// Network Commands (3.21-3.22)
|
||||
bool setNetwork(int networkId); // AT+SETPAN
|
||||
String getNetwork(); // AT+GETPAN?
|
||||
|
||||
// Legacy wrapper functions for backward compatibility
|
||||
bool begin();
|
||||
void reset();
|
||||
|
||||
// Configuration
|
||||
bool configureDevice(int deviceId, bool isAnchor, int dataRate = 1, int rangeFilter = 1);
|
||||
bool setCapacity(int tagCount, int timeSlot = 10, int extMode = 1);
|
||||
bool setNetwork(int networkId);
|
||||
bool enableReporting(bool enable);
|
||||
bool saveConfiguration();
|
||||
bool restartDevice();
|
||||
|
||||
// Communication
|
||||
String sendCommand(String command, int timeout = 2000);
|
||||
bool parseRangeData(String data, DeviceData devices[], int maxDevices);
|
||||
|
||||
// Advanced parsing
|
||||
bool requestAnchorPosition(int anchorId, AnchorPosition* position);
|
||||
|
||||
// Utility
|
||||
String getVersion();
|
||||
bool isResponseOK(String response);
|
||||
void printDiagnostics();
|
||||
|
||||
// Position calculation helpers
|
||||
bool calculatePosition(DeviceData devices[], int deviceCount, float* x, float* y);
|
||||
};
|
||||
|
||||
// Data filtering class
|
||||
|
|
@ -57,4 +118,16 @@ public:
|
|||
void reset();
|
||||
};
|
||||
|
||||
// Position calculation class
|
||||
class PositionCalculator {
|
||||
public:
|
||||
static bool trilaterate(float x1, float y1, float r1,
|
||||
float x2, float y2, float r2,
|
||||
float x3, float y3, float r3,
|
||||
float* x, float* y);
|
||||
|
||||
static bool multilaterate(AnchorPosition anchors[], float distances[], int count, float* x, float* y);
|
||||
static float calculateDistance(float x1, float y1, float x2, float y2);
|
||||
};
|
||||
|
||||
#endif // UWBHELPER_H
|
||||
Loading…
Add table
Add a link
Reference in a new issue