Each anchor only runs DW1000Ranging during its 50ms time slot.
Anchor 0 responds in even slots, anchor 1 in odd slots.
Prevents RF collisions that caused wild range readings.
- MODE_LONGDATA_RANGE_ACCURACY → MODE_LONGDATA_RANGE_LOWPOWER (both anchor+tag)
- Add delay(1) in tag loop to prevent tight-loop when no anchors respond
- ACCURACY was unnecessary and kept DW1000 radio hot
Tag firmware (esp32/uwb_tag):
- SSD1306 128x64 OLED: shows distance, anchor ranges, RSSI bars, link status
- ESP-NOW broadcast: sends range/heartbeat/estop packets (20 bytes, peer-to-peer)
- Emergency stop: GPIO 0 (BOOT), active LOW, 10Hz TX while held, 3x clear on release
- Display updates at 5Hz, ranging still at 20Hz round-robin
- Added Adafruit SSD1306 + GFX lib_deps to platformio.ini
Anchor firmware (esp32/uwb_anchor):
- ESP-NOW receiver: captures tag packets via ISR ring buffer
- Forwards to Jetson serial as +ESPNOW: and +ESTOP: lines
- E-STOP packets get priority immediate output
- Zero impact on existing TWR ranging loop
For Makerfabs ESP32 UWB Pro with Display (DW3000 chip).
Tag firmware for Makerfabs ESP32 UWB Pro worn by person being tracked.
Initiates DS-TWR with each robot anchor in 20 Hz round-robin.
- DS-TWR initiator: Poll→(RESP received)→Final with timestamps Ra/Da/Db
- Anchor side computes authoritative range; tag computes local estimate
- Round-robin across NUM_ANCHORS anchors (default 2) at 20 Hz
- Streams +RANGE:<id>,<mm>,<rssi> over USB serial (bench debug)
- LED blink on each successful range
- TAG_ID, NUM_ANCHORS, RANGE_INTERVAL_MS configurable in platformio.ini
- Pin map: SCK=18 MISO=19 MOSI=23 CS=21 RST=27 IRQ=34
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Anchor firmware for Makerfabs ESP32 UWB Pro (DW3000 chip). Two anchors
mount on SaltyBot (port/starboard), USB-connected to Jetson Orin.
- DS-TWR responder: Poll→Resp→Final with ±10cm accuracy
- Streams +RANGE:<id>,<mm>,<rssi_dbm> on Serial 115200
- AT command interface: AT+RANGE?, AT+RANGE_ADDR=, AT+ID?
- ANCHOR_ID 0/1 set at build time (env:anchor0 / env:anchor1)
- PlatformIO config for Makerfabs MaUWB_DW3000 library
- udev rules for /dev/uwb-anchor0 /dev/uwb-anchor1 USB symlinks
- Pin map: SCK=18 MISO=19 MOSI=23 CS=21 RST=27 IRQ=34
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
