- Tag: strip all ESP-NOW/WiFi code
- Tag: add BLE GPS characteristic (def3) for iPhone binary GPS writes
- Tag: add BLE Phone IMU characteristic (def4) for iPhone IMU writes
- Tag: transmit GPS/IMU/heartbeat via DW1000 data frames (v2 protocol)
- Tag: update OLED display with GPS speed/heading/fix indicators
- Tag: e-stop now sent via UWB data frames (3x for reliability)
- Anchor: strip all ESP-NOW/WiFi code
- Anchor: receive DW1000 data frames, forward to serial as +GPS/+PIMU/+TIMU/+ESTOP
- Protocol v2: magic {0x5B, 0x02}, msg types 0x60-0x64
Replace hardcoded NUM_ANCHORS with dynamic discovery table.
Tag probes IDs 0..7 via standard DS-TWR POLL frames at startup
and after every DISC_RESCAN_MS (10 s); anchors that respond are
added to the active table, stale ones removed after
ANCHOR_MISS_LIMIT misses or ANCHOR_TIMEOUT_MS silence.
Key changes
-----------
- AnchorEntry table (8 slots): present/active flags, range_mm,
rssi, last_ok_ms, miss_count
- DISC_SCAN → DISC_RANGE state machine
- range_and_update(): ranges, updates table, emits +DISC:FOUND /
+DISC:LOST on serial and MSG_DISC (0x40) on ESP-NOW
- disc_scan_step(): advances cursor one probe per ranging slot,
skips already-active IDs
- New OLED screens: ANCHOR SCAN progress bar, NO ANCHOR rescan
countdown, active anchor count badge on normal screen
- platformio.ini: switch to MaUWB_DW3000 lib, remove NUM_ANCHORS
build flag (discovery is now dynamic)
- No anchor firmware changes required
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Display was never turned on after display.begin() in setup()
- Added SSD1306_DISPLAYON command after initialization
- Added short button press detection to wake display
- Fixes blank display issue reported by SAUL
Implements three-tier power management for battery life:
- OLED auto-off after 30s inactivity via SSD1306_DISPLAYOFF
(saves ~25mA; wakes on next range callback)
- DW1000 deep sleep after 5min idle via DW1000.deepSleep()
(saves ~155mA, 160mA→3.5μA; periodic 5s scan window every 30s
with full reinit via dw1000_ranging_init() on wake)
- ESP32 deep sleep on GPIO0 hold 3s via esp_sleep_enable_ext0_wakeup()
(saves ~240mA total; wake on GPIO0 press; shows "Sleeping..." on OLED)
Active: ~250mA Sleep target: <5mA (50x reduction)
All sleep/wake paths tested with clean build (74.1% flash, 14.1% RAM).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Tag: MPU6050 on shared I2C bus (SDA=4, SCL=5, addr 0x68)
- Accel ±8g, gyro ±500dps, read at 50Hz
- Fall detection: freefall+impact or sudden >3.5g
- Fall triggers auto e-stop (ESP-NOW broadcast)
- OLED shows tilt bar + accel magnitude
- New ESP-NOW packet types: MSG_IMU (0x40), MSG_FALL (0x50)
- IMU broadcast at 10Hz via ESP-NOW
- Anchor forwards +IMU: and +FALL: lines to Jetson serial
- ROS2 uwb_driver publishes sensor_msgs/Imu on /uwb/imu
- .gitignore for .pio build dirs
Anchors:
- Broadcast own range via ESP-NOW after each TWR cycle
- Receive other anchor's range via ESP-NOW, print as +RANGE on serial
- Either anchor's serial port gives Orin BOTH ranges (only need 1 USB/UART)
Tag:
- Receives ESP-NOW from both anchors
- Updates display with both A0 + A1 distances regardless of DW1000 pairing
- Solves the 'only sees A0' display issue
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>
