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ESP32 UWB Pro tag firmware (TWR initiator for SaltyBot) #545

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opened 2026-03-14 09:54:40 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-14 09:54:40 -04:00
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Implement tag firmware for the ESP32 UWB Pro module mounted on SaltyBot.

Requirements:

  • Two-Way Ranging (TWR) initiator mode
  • Poll all configured anchors in sequence
  • Output range-to-each-anchor over serial (JSON format) for Jetson bridge
  • Configurable poll rate (default 10Hz)
  • Configurable anchor list (IDs + expected positions)
  • Watchdog: report anchor-lost if no response within timeout
  • Based on: https://github.com/sebastienvg/Makerfabs-ESP32-UWB

Deliverables:

  • Arduino/ESP-IDF project under esp32/uwb_tag/
  • Serial JSON protocol spec (anchor_id, range_m, timestamp)
  • Config header for tag ID, anchor list, poll rate
  • README with flash and setup instructions

Assigned to: sl-uwb

Implement tag firmware for the ESP32 UWB Pro module mounted on SaltyBot. **Requirements:** - Two-Way Ranging (TWR) initiator mode - Poll all configured anchors in sequence - Output range-to-each-anchor over serial (JSON format) for Jetson bridge - Configurable poll rate (default 10Hz) - Configurable anchor list (IDs + expected positions) - Watchdog: report anchor-lost if no response within timeout - Based on: https://github.com/sebastienvg/Makerfabs-ESP32-UWB **Deliverables:** - Arduino/ESP-IDF project under esp32/uwb_tag/ - Serial JSON protocol spec (anchor_id, range_m, timestamp) - Config header for tag ID, anchor list, poll rate - README with flash and setup instructions Assigned to: sl-uwb
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#545
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