evilscientress / ESP32-C3-UWB

Makerfabs ESP32 UWB

/*
Version:		V2.0
Author:			Vincent
Create Date:	2021/11/6
Note:
	2021/12/9 V2.0:Add a Indoor Positioning demo.
*/

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Makerfabs

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Makerfabs ESP32 UWB

Intruduce

Product Link ：esp32-uwb-ultra-wideband

Wiki Link : ESP32_UWB

Makerfabs ESP32 UWB contains an ESP32 and a DW1000 chip.

The DW1000 is a single-chip wireless transceiver based on ultra-wideband technology. The chip enables you to develop cost-effective RTLS solutions that can pinpoint indoor and outdoor positioning to within 10 cm.

The chip provides a new approach to real-time location and indoor location systems, location-based services, wireless sensor networks and the Internet of Things by providing accurate location awareness and communication.

Feature

• Integrated ESP32 2.4G WiFi and Bluetooth.
• DW1000 UWB module.

Front:

Back:

Example

Equipment list

• At least two ESP32 UWB

Compiler Options

If you have any questions，such as how to install the development board, how to download the code, how to install the library. Please refer to :Makerfabs_FAQ

• Install board : ESP32 .
• Install library : arduino-dw1000
• Change code in DW1000.cpp

void DW1000Class::begin(uint8_t irq, uint8_t rst) {
	// generous initial init/wake-up-idle delay
	delay(5);
	// Configure the IRQ pin as INPUT. Required for correct interrupt setting for ESP8266
    	pinMode(irq, INPUT);
	// start SPI
	SPI.begin();

// Change By VINCENT
// #ifndef ESP8266
// 	SPI.usingInterrupt(digitalPinToInterrupt(irq)); // not every board support this, e.g. ESP8266
// #endif

	// pin and basic member setup
	_rst        = rst;
	_irq        = irq;
	_deviceMode = IDLE_MODE;
	// attach interrupt
	//attachInterrupt(_irq, DW1000Class::handleInterrupt, CHANGE); // todo interrupt for ESP8266
	// TODO throw error if pin is not a interrupt pin
	attachInterrupt(digitalPinToInterrupt(_irq), DW1000Class::handleInterrupt, RISING); // todo interrupt for ESP8266
}

Comment out these code, or a compilation error will occur.

// #ifndef ESP8266
// 	SPI.usingInterrupt(digitalPinToInterrupt(irq)); // not every board support this, e.g. ESP8266
// #endif

• Upload code, select board "ESP32 DEV"

Example List

Anchor

Distance test anchor point.

Tag

Distance to the receiving end of the test. You need an anchor point to receive data.

Tag_1306

There is an SSD1306 screen receiver, and a data structure for storing multiple anchor points is implemented. (The screen can display a maximum of two anchors, you can modify the font size to show more anchors). You need an anchor point to receive data.

Indoor positioning

Three UWB modules were used for indoor plane positioning. Data is transmitted through UDP protocol and graphically displayed in Python.

The law of cosines is used to calculate tag coordinates.

def tag_pos(a, b, c):
    # p = (a + b + c) / 2.0
    # s = cmath.sqrt(p * (p - a) * (p - b) * (p - c))
    # y = 2.0 * s / c
    # x = cmath.sqrt(b * b - y * y)
    cos_a = (b * b + c*c - a * a) / (2 * b * c)
    x = b * cos_a
    y = b * cmath.sqrt(1 - cos_a * cos_a)

    return round(x.real, 1), round(y.real, 1)

Code Explain

• Define Pins

#define SPI_SCK 18
#define SPI_MISO 19
#define SPI_MOSI 23
#define DW_CS 4

// connection pins
const uint8_t PIN_RST = 27; // reset pin
const uint8_t PIN_IRQ = 34; // irq pin
const uint8_t PIN_SS = 4;   // spi select pin