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MAUWB-platformiotest/README.md
martin a2e404ec0f Refactor to unified firmware architecture with modular configuration system 
BREAKING CHANGE: Replace separate anchor/tag firmware with single configurable codebase

## Major Changes
- **Unified Firmware**: Single main.cpp replaces main_anchor.cpp and main_tag.cpp
- **Modular Config**: Organized configuration system in src/config/ directory
- **Dynamic Behavior**: Device behavior determined by build flags at compile time
- **Simplified Builds**: Reduced from 8+ environments to 3 core environments

## New Architecture
- src/main.cpp - Single firmware with config-driven behavior
- src/config/device_config.h - Device role detection and unified behavior
- src/config/anchor_config.h - Anchor-specific settings (positioning, communication)
- src/config/tag_config.h - Tag-specific settings (USB streaming, coordinate collection)
- src/config/positioning_config.h - Distributed positioning algorithm framework

## Build System Improvements
- Simplified platformio.ini (anchor/tag/debug environments)
- Support for custom device ID and network via PLATFORMIO_BUILD_FLAGS
- Same firmware for all devices, behavior configured at compile time
- Easy device configuration: set PLATFORMIO_BUILD_FLAGS=-DUWB_INDEX=5 -DNETWORK_ID=2000

## Technical Benefits
- Reduced code duplication from ~350 lines to unified ~200 lines
- Consistent behavior across device types
- Easier maintenance with single codebase
- Framework ready for distributed positioning algorithm implementation
- Modular configuration system for future algorithm expansion

## Positioning Framework Ready
- Anchor discovery protocol framework established
- Inter-anchor communication configuration ready
- Position calculation algorithm structure in place
- Coordinate storage and validation system configured
- Tag coordinate collection and USB streaming framework prepared

## Testing
- ✅ Anchor build successful (325KB flash usage)
- ✅ Tag build successful (325KB flash usage)
- ✅ Custom device ID/network configuration working
- ✅ UWB initialization sequence fixed for active networks
2025-08-21 21:24:38 +02:00

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MaUWB ESP32-S3 Positioning System

Ultra-wideband (UWB) positioning system using ESP32-S3 and Makerfabs UWB modules for indoor positioning and warehouse mapping applications.

Working MaUWB Devices

Features

  • ESP32-S3 based anchor and tag devices
  • Real-time distance measurement with <10cm accuracy
  • OLED display for status and measurements
  • Multiple tag support (up to 64 tags)
  • 6.8Mbps communication rate
  • Complete AT command implementation
  • Position calculation with trilateration
  • Anchor auto-positioning system
  • Real-time positioning with USB data logging

MaUWB Modules

Hardware: Makerfabs MaUWB ESP32-S3 UWB Module with SSD1306 OLED displays

Unified Architecture

Single Firmware - All devices use the same main.cpp with config-driven behavior:

  • anchor: Base station with distributed positioning framework (default: ID=0, Network=1234)
  • tag: Mobile tracker with coordinate collection (default: ID=1, Network=1234)
  • debug: Development build with debug output enabled

Build & Upload

# Build with default settings
pio run -e anchor    # Anchor ID=0, Network=1234
pio run -e tag       # Tag ID=1, Network=1234

# Build with custom device ID and network
set PLATFORMIO_BUILD_FLAGS=-DUWB_INDEX=5 -DNETWORK_ID=2000
pio run -e anchor    # Anchor ID=5, Network=2000

# Upload to device
pio run -e tag -t upload

# Monitor serial output
pio device monitor

Project Structure

Modular Configuration System

  • src/main.cpp - Single unified firmware for all device types
  • src/config/ - Device behavior configuration
    • config.h - Hardware pins and system settings
    • device_config.h - Device role detection and unified behavior
    • anchor_config.h - Anchor-specific settings (positioning, inter-anchor communication)
    • tag_config.h - Tag-specific settings (USB streaming, coordinate collection)
    • positioning_config.h - Distributed positioning algorithm parameters
  • lib/UWBHelper/ - Complete UWB AT command library with positioning support
  • platformio.ini - Simplified build environments (3 instead of 8+)

AT Command Support

Complete implementation of all AT commands from the official manual:

Basic Commands

  • AT? - Test connection
  • AT+GETVER? - Get firmware version
  • AT+RESTART - Restart module
  • AT+RESTORE - Factory reset
  • AT+SAVE - Save configuration

Configuration

  • AT+SETCFG / AT+GETCFG? - Device configuration
  • AT+SETANT / AT+GETANT? - Antenna delay calibration
  • AT+SETCAP / AT+GETCAP? - System capacity settings
  • AT+SETRPT / AT+GETRPT? - Auto-reporting control

Network & Power

  • AT+SETPAN / AT+GETPAN? - Network ID configuration
  • AT+SETPOW / AT+GETPOW? - Transmission power control
  • AT+SLEEP - Sleep mode for battery conservation

Data Communication

  • AT+DATA / AT+RDATA - Custom data transmission
  • Real-time range reporting via AT+RANGE parsing

Library Features

The enhanced UWBHelper library provides:

  • Complete AT command coverage
  • Advanced range data parsing for multiple anchors
  • Position calculation algorithms (trilateration, multilateration)
  • Anchor position management for auto-positioning
  • Distance filtering for improved accuracy
  • Backward compatibility with existing code

Configuration

  • Network ID: 1234 (configurable via AT+SETPAN)
  • Baud Rate: 115200
  • Communication: 6.8Mbps (AT+SETCFG parameter)
  • Range filtering: Enabled for accuracy
  • Refresh Rate: 10Hz (configurable via AT+SETCAP)
  • Max Anchors: Unlimited (tags connect to 8 closest)
  • Max Tags: 64 per network

Documentation

Applications

This system is designed for:

  • Indoor positioning in warehouses and large buildings
  • Asset tracking and inventory management
  • Navigation assistance in GPS-denied environments
  • WiFi signal mapping and coverage analysis
  • Research and development in UWB positioning