Update ESP32 firmware roadmap - focus on hardware development
- Restructured roadmap to focus on ESP32 firmware development only - Removed time constraints from all development phases - Clarified data flow: ESP32 streams to webapp, webapp handles all logging - Updated deliverables: firmware components, hardware integration, OLED support - Removed PC software and web visualization phases (handled by separate webapp) - Updated success criteria for ESP32 firmware performance metrics - Updated dev notes to reflect webapp integration architecture
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CLAUDE.md
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CLAUDE.md
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@ -35,8 +35,8 @@ pio device monitor
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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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Anchors: Auto-position <EFBFBD> Store coordinates locally <20> Report to tags
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Tags: Range to anchors <EFBFBD> Collect coordinates <20> USB to PC <20> Real-time + logging
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```
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### Key Technical Patterns
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@ -86,10 +86,11 @@ Key values in config.h:
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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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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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- **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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## Hardware Requirements
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178
docs/ROADMAP.md
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docs/ROADMAP.md
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@ -1,15 +1,15 @@
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# Indoor Positioning System Roadmap
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**MaUWB ESP32-S3 Warehouse Positioning & WiFi Mapping System**
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# ESP32 UWB Hardware Roadmap
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**MaUWB ESP32-S3 Ultra-Wideband Indoor Positioning 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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**Purpose**: ESP32-S3 firmware for Ultra-Wideband indoor positioning hardware
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- **Hardware**: 1 mobile tag + 8+ battery-powered anchors (Makerfabs MaUWB)
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- **Connectivity**: Tag streams to PC via USB, anchors are battery-powered wireless
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- **Network**: Tag connects to 8 closest anchors with automatic switching
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- **Goal**: Reliable UWB ranging with anchor auto-positioning and real-time data streaming
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---
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@ -36,24 +36,22 @@
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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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Tag (Mobile) → Collect Raw Data + Anchor Coordinates → USB Stream → WebApp
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↓
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Web Application
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(Load both files)
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Real-time Display
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+ Data Logging
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+ Path Analysis
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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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**Solution**: Tag acts as data relay - collects anchor coordinates and streams all data via USB to webapp for processing, logging, and visualization
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---
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## 🚀 Implementation Roadmap
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## 🚀 ESP32 Firmware Development 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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@ -88,7 +86,6 @@ Tag (Mobile) → Collect Raw Data + Anchor Coordinates → PC (USB) → Real-tim
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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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@ -106,93 +103,49 @@ Tag (Mobile) → Collect Raw Data + Anchor Coordinates → PC (USB) → Real-tim
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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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#### 2.2 USB Data Streaming System
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- [ ] **Real-time Data Stream**
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- Stream raw positioning data via USB (AT+RANGE format)
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- Include anchor coordinates in data stream when available
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- Maintain backward compatibility with current UWBHelper parsing
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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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- Forward anchor data immediately via USB to webapp
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- No local file storage - webapp handles all logging
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### Phase 3: PC Software Development
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**Duration**: 2 weeks
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### Phase 3: System Integration & Optimization
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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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#### 3.1 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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- Tag pairing and webapp 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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#### 3.2 Performance Optimization
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- [ ] **Battery Life Optimization**
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- Optimize anchor power consumption
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- Implement sleep modes when possible
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- Efficient UWB communication protocols
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- [ ] **Data Transmission Efficiency**
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- Optimize AT command responses
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- Minimize USB data bandwidth usage
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- Ensure reliable anchor coordinate transmission
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#### 3.3 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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- End-to-end ESP32 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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- [ ] **Hardware Integration**
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- OLED display optimization
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- UWB module reset and recovery
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- Serial communication stability
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---
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@ -220,36 +173,39 @@ Tag (Mobile) → Collect Raw Data + Anchor Coordinates → PC (USB) → Real-tim
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---
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## 📦 Deliverables
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## 📦 ESP32 Firmware 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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### Firmware Components
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- [ ] **Enhanced Anchor Firmware** - Auto-positioning, coordinate storage, inter-anchor communication
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- [ ] **Enhanced Tag Firmware** - Data relay, anchor coordinate collection, USB streaming
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- [ ] **UWBHelper Library** - Complete AT command implementation with positioning support
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- [ ] **Configuration Management** - Network setup, device roles, calibration storage
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### Hardware Integration
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- [ ] **OLED Display Support** - Real-time status, anchor/tag information, connection indicators
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- [ ] **Reset & Recovery** - UWB module reset handling, error recovery protocols
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- [ ] **Power Management** - Battery optimization for anchors, USB power for tags
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- [ ] **Serial Communication** - Robust USB streaming, AT command processing
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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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- [ ] **Firmware Installation Guide** - PlatformIO build and flash procedures
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- [ ] **AT Command Reference** - Complete UWBHelper API documentation
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- [ ] **Hardware Setup Guide** - Pin configurations, OLED connections, reset procedures
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- [ ] **Calibration Procedures** - Anchor positioning, system validation, 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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### Validation & Testing
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- [ ] **Positioning Accuracy Report** - ESP32 ranging performance metrics
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- [ ] **Battery Life Analysis** - Anchor power consumption data
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- [ ] **Communication Reliability** - USB streaming stability, AT command response times
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---
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## 🔄 Success Criteria
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## 🔄 ESP32 Firmware 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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1. **Quick Setup**: Anchor auto-positioning completes in <15 minutes
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2. **Ranging Accuracy**: <30cm UWB distance measurement accuracy
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3. **Battery Life**: Anchors operate >8 hours on single battery charge
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4. **Communication Reliability**: Stable USB data streaming with <1% packet loss
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5. **Network Stability**: Automatic anchor discovery and handoff without interruption
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6. **AT Command Compatibility**: Full UWBHelper library integration with webapp
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*Last Updated: 2025-01-19*
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*Version: 1.0*
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