a2e404ec0f
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
118 lines
4.3 KiB
Markdown
118 lines
4.3 KiB
Markdown
# MaUWB ESP32-S3 Positioning System
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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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- Real-time distance measurement with <10cm accuracy
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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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- 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:** [Makerfabs MaUWB ESP32-S3 UWB Module](https://www.makerfabs.com/mauwb-esp32s3-uwb-module.html) with SSD1306 OLED displays
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## Unified Architecture
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**Single Firmware** - All devices use the same `main.cpp` with config-driven behavior:
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- `anchor`: Base station with distributed positioning framework (default: ID=0, Network=1234)
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- `tag`: Mobile tracker with coordinate collection (default: ID=1, Network=1234)
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- `debug`: Development build with debug output enabled
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## Build & Upload
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```bash
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# Build with default settings
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pio run -e anchor # Anchor ID=0, Network=1234
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pio run -e tag # Tag ID=1, Network=1234
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# Build with custom device ID and network
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set PLATFORMIO_BUILD_FLAGS=-DUWB_INDEX=5 -DNETWORK_ID=2000
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pio run -e anchor # Anchor ID=5, Network=2000
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# Upload to device
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pio run -e tag -t upload
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# Monitor serial output
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pio device monitor
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```
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## Project Structure
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### Modular Configuration System
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- `src/main.cpp` - Single unified firmware for all device types
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- `src/config/` - Device behavior configuration
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- `config.h` - Hardware pins and system settings
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- `device_config.h` - Device role detection and unified behavior
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- `anchor_config.h` - Anchor-specific settings (positioning, inter-anchor communication)
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- `tag_config.h` - Tag-specific settings (USB streaming, coordinate collection)
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- `positioning_config.h` - Distributed positioning algorithm parameters
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- `lib/UWBHelper/` - Complete UWB AT command library with positioning support
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- `platformio.ini` - Simplified build environments (3 instead of 8+)
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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 (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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