a4879b6b3f
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>
20 lines
717 B
Plaintext
20 lines
717 B
Plaintext
# SaltyBot UWB anchor USB-serial persistent symlinks
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# Install:
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# sudo cp 99-uwb-anchors.rules /etc/udev/rules.d/
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# sudo udevadm control --reload && sudo udevadm trigger
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#
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# Find serial numbers:
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# udevadm info -a /dev/ttyUSB0 | grep ATTRS{serial}
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#
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# Fill ANCHOR0_SERIAL and ANCHOR1_SERIAL with the values found above.
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# Anchor 0 = port side → /dev/uwb-anchor0
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# Anchor 1 = starboard → /dev/uwb-anchor1
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SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", \
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ATTRS{serial}=="ANCHOR0_SERIAL", \
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SYMLINK+="uwb-anchor0", MODE="0666"
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SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", \
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ATTRS{serial}=="ANCHOR1_SERIAL", \
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SYMLINK+="uwb-anchor1", MODE="0666"
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