ESP32 + UWB | Indoor Positioning + Unity Visualization

Author: Eric

UWB_Indoor_Position_Visualization/ESP32_UWB_Tag_Anchor/DW1000Ranging_ANCHOR_Left_Right/DW1000Ranging_ANCHOR_Left_Right.ino

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+/////////////////////////////////////////////////////////////////
+/*
+  ESP32 + UWB | Indoor Positioning + Unity Visualization
+  For More Information: https://youtu.be/c8Pn7lS5Ppg
+  Created by Eric N. (ThatProject)
+*/
+/////////////////////////////////////////////////////////////////
+
+#include <SPI.h>
+#include "DW1000Ranging.h"
+
+// connection pins
+const uint8_t PIN_SCK = 18;
+const uint8_t PIN_MOSI = 23;
+const uint8_t PIN_MISO = 19;
+const uint8_t PIN_SS = 15;
+const uint8_t PIN_RST = 2;
+const uint8_t PIN_IRQ = 22;
+
+void setup() {
+  Serial.begin(115200);
+  delay(1000);
+  //init the configuration
+  SPI.begin(PIN_SCK, PIN_MISO, PIN_MOSI);
+  DW1000Ranging.initCommunication(PIN_RST, PIN_SS, PIN_IRQ);  //Reset, CS, IRQ pin
+  //define the sketch as anchor. It will be great to dynamically change the type of module
+  DW1000Ranging.attachNewRange(newRange);
+  DW1000Ranging.attachBlinkDevice(newBlink);
+  DW1000Ranging.attachInactiveDevice(inactiveDevice);
+  //Enable the filter to smooth the distance
+  //DW1000Ranging.useRangeFilter(true);
+
+  DW1000.enableDebounceClock();
+  DW1000.enableLedBlinking();
+  DW1000.setGPIOMode(MSGP3, LED_MODE);
+  
+  //Left Anchor - short name of this anchor: aabb
+  //DW1000Ranging.startAsAnchor("BB:AA:5B:D5:A9:9A:E2:9C", DW1000.MODE_LONGDATA_RANGE_LOWPOWER, false); 
+
+  //Right Anchor - short name of this anchor: ccdd
+  DW1000Ranging.startAsAnchor("DD:CC:5B:D5:A9:9A:E2:9C", DW1000.MODE_LONGDATA_RANGE_LOWPOWER, false);
+}
+
+void loop() {
+  DW1000Ranging.loop();
+}
+
+void newRange() {
+  updateRange(DW1000Ranging.getDistantDevice()->getRange());
+}
+
+void newBlink(DW1000Device* device) {
+}
+
+void inactiveDevice(DW1000Device* device) {
+}
+
+void updateRange(float range) {
+}

UWB_Indoor_Position_Visualization/ESP32_UWB_Tag_Anchor/DW1000Ranging_TAG_UDP_Client/DW1000Ranging_TAG_UDP_Client.ino

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+/////////////////////////////////////////////////////////////////
+/*
+  ESP32 + UWB | Indoor Positioning + Unity Visualization
+  For More Information: https://youtu.be/c8Pn7lS5Ppg
+  Created by Eric N. (ThatProject)
+*/
+/////////////////////////////////////////////////////////////////
+
+#include <SPI.h>
+#include "DW1000Ranging.h"
+#include "WiFi.h"
+#include <WiFiUdp.h>
+
+// connection pins
+const uint8_t PIN_SCK = 18;
+const uint8_t PIN_MOSI = 23;
+const uint8_t PIN_MISO = 19;
+const uint8_t PIN_SS = 15;
+const uint8_t PIN_RST = 2;
+const uint8_t PIN_IRQ = 22;
+
+const char * ssid = "ThatProject";
+const char * password = "California";
+const char * udpAddress = "192.168.0.2"; //My UDP Server IP
+const int udpPort = 8080;
+
+boolean connected = false;
+WiFiUDP udp;
+
+void setup() {
+  Serial.begin(115200);
+  delay(1000);
+  SPI.begin(PIN_SCK, PIN_MISO, PIN_MOSI);
+  //init the configuration
+  DW1000Ranging.initCommunication(PIN_RST, PIN_SS, PIN_IRQ); //Reset, CS, IRQ pin
+  //define the sketch as anchor. It will be great to dynamically change the type of module
+  DW1000Ranging.attachNewRange(newRange);
+  DW1000Ranging.attachNewDevice(newDevice);
+  DW1000Ranging.attachInactiveDevice(inactiveDevice);
+  //Enable the filter to smooth the distance
+  //DW1000Ranging.useRangeFilter(true);
+
+  DW1000.enableDebounceClock();
+  DW1000.enableLedBlinking();
+  DW1000.setGPIOMode(MSGP3, LED_MODE);
+
+  //we start the module as a tag
+  DW1000Ranging.startAsTag("7D:00:22:EA:82:60:3B:9C", DW1000.MODE_LONGDATA_RANGE_LOWPOWER);
+
+  connectToWiFi(ssid, password);
+}
+
+void loop() {
+  DW1000Ranging.loop();
+}
+
+void newRange() {
+  float projectedRange = DW1000Ranging.getDistantDevice()->getRange() * 2 / 5;
+  String strData = String(DW1000Ranging.getDistantDevice()->getShortAddress(), HEX);
+  strData += ", ";
+  strData += String(projectedRange);
+  Serial.println(strData);
+
+  if(connected){
+    udp.beginPacket(udpAddress, udpPort);
+    udp.write((uint8_t *)strData.c_str(), strlen(strData.c_str()));
+    udp.endPacket();
+  }
+}
+
+void newDevice(DW1000Device* device) {
+  Serial.print("ranging init; 1 device added ! -> ");
+  Serial.print(" short:");
+  Serial.println(device->getShortAddress(), HEX);
+}
+
+void inactiveDevice(DW1000Device* device) {
+  Serial.print("delete inactive device: ");
+  Serial.println(device->getShortAddress(), HEX);
+}
+
+void WiFiEvent(WiFiEvent_t event){
+    switch(event) {
+      case SYSTEM_EVENT_STA_GOT_IP:
+          Serial.print("WiFi connected! IP address: ");
+          Serial.println(WiFi.localIP());  
+          udp.begin(WiFi.localIP(),udpPort);
+          connected = true;
+          break;
+      case SYSTEM_EVENT_STA_DISCONNECTED:
+          Serial.println("WiFi lost connection");
+          connected = false;
+          break;
+    }
+}
+
+void connectToWiFi(const char * ssid, const char * pwd){
+  Serial.println();
+  Serial.println("Connecting to WiFi network: " + String(ssid));
+  WiFi.disconnect(true);
+  WiFi.onEvent(WiFiEvent);
+  WiFi.begin(ssid, pwd);
+  Serial.println("Waiting for WIFI connection...");
+}

UWB_Indoor_Position_Visualization/Unity_UWB_INDOOR_POSITION_Visualization/.gitignore

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+# This .gitignore file should be placed at the root of your Unity project directory
+#
+# Get latest from https://github.com/github/gitignore/blob/master/Unity.gitignore
+#
+/[Ll]ibrary/
+/[Tt]emp/
+/[Oo]bj/
+/[Bb]uild/
+/[Bb]uilds/
+/[Ll]ogs/
+/[Uu]ser[Ss]ettings/
+
+# MemoryCaptures can get excessive in size.
+# They also could contain extremely sensitive data
+/[Mm]emoryCaptures/
+
+# Asset meta data should only be ignored when the corresponding asset is also ignored
+!/[Aa]ssets/**/*.meta
+
+# Uncomment this line if you wish to ignore the asset store tools plugin
+# /[Aa]ssets/AssetStoreTools*
+
+# Autogenerated Jetbrains Rider plugin
+/[Aa]ssets/Plugins/Editor/JetBrains*
+
+# Visual Studio cache directory
+.vs/
+
+# Gradle cache directory
+.gradle/
+
+# Autogenerated VS/MD/Consulo solution and project files
+ExportedObj/
+.consulo/
+*.csproj
+*.unityproj
+*.sln
+*.suo
+*.tmp
+*.user
+*.userprefs
+*.pidb
+*.booproj
+*.svd
+*.pdb
+*.mdb
+*.opendb
+*.VC.db
+
+# Unity3D generated meta files
+*.pidb.meta
+*.pdb.meta
+*.mdb.meta
+
+# Unity3D generated file on crash reports
+sysinfo.txt
+
+# Builds
+*.apk
+*.unitypackage
+
+# Crashlytics generated file
+crashlytics-build.properties
+
+# Packed Addressables
+/[Aa]ssets/[Aa]ddressable[Aa]ssets[Dd]ata/*/*.bin*
+
+# Temporary auto-generated Android Assets
+/[Aa]ssets/[Ss]treamingAssets/aa.meta
+/[Aa]ssets/[Ss]treamingAssets/aa/*