UWBUnit

UWB is a Unit which integrates the UWB(Ultra Wide Band) communication protocol which uses nanosecond pulses to locate objects and define position and orientation. The design uses the Ai-ThinkerBU01 Transceiver module which is based on Decawave’s DW1000 design. The internal STM32 chip with its integrated ranging algorithm,is capable of 10cm positioning accuracy and also supports AT command control. Applications include: Indoor wireless tracking/range finding of assets,which works by triangulating the position of the base station/s and tag (the base station resolves the position information and outputs it to the tag). The firmware currently carried by this Unit only supports the transmission of ranging information, and does not currently support the transmission of custom information. When in use, it supports the configuration of 4 base station devices (using different IDs), and only a single tag device is allowed to operate at the same time.

Support the following products:

UWBUnit

Micropython Anchor Example:

  1# SPDX-FileCopyrightText: 2024 M5Stack Technology CO LTD
  2#
  3# SPDX-License-Identifier: MIT
  4
  5import os, sys, io
  6import M5
  7from M5 import *
  8from unit import UWBUnit
  9
 10
 11label0 = None
 12label4 = None
 13label1 = None
 14label5 = None
 15label2 = None
 16label6 = None
 17label3 = None
 18label7 = None
 19circle0 = None
 20circle1 = None
 21circle2 = None
 22circle3 = None
 23uwb_0 = None
 24
 25
 26def uwb_0_0_online_event(args):
 27    global \
 28        label0, \
 29        label4, \
 30        label1, \
 31        label5, \
 32        label2, \
 33        label6, \
 34        label3, \
 35        label7, \
 36        circle0, \
 37        circle1, \
 38        circle2, \
 39        circle3, \
 40        uwb_0
 41    circle0.setColor(color=0x33FF33, fill_c=0x33FF33)
 42
 43
 44def uwb_0_1_online_event(args):
 45    global \
 46        label0, \
 47        label4, \
 48        label1, \
 49        label5, \
 50        label2, \
 51        label6, \
 52        label3, \
 53        label7, \
 54        circle0, \
 55        circle1, \
 56        circle2, \
 57        circle3, \
 58        uwb_0
 59    circle1.setColor(color=0x33FF33, fill_c=0x33FF33)
 60
 61
 62def uwb_0_2_online_event(args):
 63    global \
 64        label0, \
 65        label4, \
 66        label1, \
 67        label5, \
 68        label2, \
 69        label6, \
 70        label3, \
 71        label7, \
 72        circle0, \
 73        circle1, \
 74        circle2, \
 75        circle3, \
 76        uwb_0
 77    circle2.setColor(color=0x33FF33, fill_c=0x33FF33)
 78
 79
 80def uwb_0_3_online_event(args):
 81    global \
 82        label0, \
 83        label4, \
 84        label1, \
 85        label5, \
 86        label2, \
 87        label6, \
 88        label3, \
 89        label7, \
 90        circle0, \
 91        circle1, \
 92        circle2, \
 93        circle3, \
 94        uwb_0
 95    circle3.setColor(color=0x33FF33, fill_c=0x33FF33)
 96
 97
 98def uwb_0_0_offline_event(args):
 99    global \
100        label0, \
101        label4, \
102        label1, \
103        label5, \
104        label2, \
105        label6, \
106        label3, \
107        label7, \
108        circle0, \
109        circle1, \
110        circle2, \
111        circle3, \
112        uwb_0
113    circle0.setColor(color=0xFF0000, fill_c=0xFF0000)
114
115
116def uwb_0_1_offline_event(args):
117    global \
118        label0, \
119        label4, \
120        label1, \
121        label5, \
122        label2, \
123        label6, \
124        label3, \
125        label7, \
126        circle0, \
127        circle1, \
128        circle2, \
129        circle3, \
130        uwb_0
131    circle1.setColor(color=0xFF0000, fill_c=0xFF0000)
132
133
134def uwb_0_2_offline_event(args):
135    global \
136        label0, \
137        label4, \
138        label1, \
139        label5, \
140        label2, \
141        label6, \
142        label3, \
143        label7, \
144        circle0, \
145        circle1, \
146        circle2, \
147        circle3, \
148        uwb_0
149    circle2.setColor(color=0xFF0000, fill_c=0xFF0000)
150
151
152def uwb_0_3_offline_event(args):
153    global \
154        label0, \
155        label4, \
156        label1, \
157        label5, \
158        label2, \
159        label6, \
160        label3, \
161        label7, \
162        circle0, \
163        circle1, \
164        circle2, \
165        circle3, \
166        uwb_0
167    circle3.setColor(color=0xFF0000, fill_c=0xFF0000)
168
169
170def setup():
171    global \
172        label0, \
173        label4, \
174        label1, \
175        label5, \
176        label2, \
177        label6, \
178        label3, \
179        label7, \
180        circle0, \
181        circle1, \
182        circle2, \
183        circle3, \
184        uwb_0
185
186    M5.begin()
187    Widgets.fillScreen(0x222222)
188    label0 = Widgets.Label("Anchor0", 0, 4, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu18)
189    label4 = Widgets.Label("label4", 0, 120, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu12)
190    label1 = Widgets.Label("Anchor1", 80, 4, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu18)
191    label5 = Widgets.Label("label5", 80, 120, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu12)
192    label2 = Widgets.Label("Anchor2", 160, 4, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu18)
193    label6 = Widgets.Label("label6", 160, 120, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu12)
194    label3 = Widgets.Label("Anchor3", 240, 4, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu18)
195    label7 = Widgets.Label("label7", 240, 120, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu12)
196    circle0 = Widgets.Circle(38, 50, 15, 0xFF0000, 0xFF0000)
197    circle1 = Widgets.Circle(118, 52, 15, 0xFF0000, 0xFF0000)
198    circle2 = Widgets.Circle(193, 51, 15, 0xFF0000, 0xFF0000)
199    circle3 = Widgets.Circle(273, 51, 15, 0xFF0000, 0xFF0000)
200
201    uwb_0 = UWBUnit(2, port=(33, 32), device_mode=UWBUnit.TAG, verbose=False)
202    uwb_0.set_callback(0, uwb_0.ONLINE, uwb_0_0_online_event)
203    uwb_0.set_callback(1, uwb_0.ONLINE, uwb_0_1_online_event)
204    uwb_0.set_callback(2, uwb_0.ONLINE, uwb_0_2_online_event)
205    uwb_0.set_callback(3, uwb_0.ONLINE, uwb_0_3_online_event)
206    uwb_0.set_callback(0, uwb_0.OFFLINE, uwb_0_0_offline_event)
207    uwb_0.set_callback(1, uwb_0.OFFLINE, uwb_0_1_offline_event)
208    uwb_0.set_callback(2, uwb_0.OFFLINE, uwb_0_2_offline_event)
209    uwb_0.set_callback(3, uwb_0.OFFLINE, uwb_0_3_offline_event)
210    uwb_0.set_measurement_interval(5)
211    uwb_0.set_measurement(True)
212
213
214def loop():
215    global \
216        label0, \
217        label4, \
218        label1, \
219        label5, \
220        label2, \
221        label6, \
222        label3, \
223        label7, \
224        circle0, \
225        circle1, \
226        circle2, \
227        circle3, \
228        uwb_0
229    M5.update()
230    uwb_0.update()
231    label4.setText(str(uwb_0.get_distance(0)))
232    label5.setText(str(uwb_0.get_distance(1)))
233    label6.setText(str(uwb_0.get_distance(2)))
234    label7.setText(str(uwb_0.get_distance(3)))
235
236
237if __name__ == "__main__":
238    try:
239        setup()
240        while True:
241            loop()
242    except (Exception, KeyboardInterrupt) as e:
243        try:
244            from utility import print_error_msg
245
246            print_error_msg(e)
247        except ImportError:
248            print("please update to latest firmware")

Micropython Tag Example:

 1# SPDX-FileCopyrightText: 2024 M5Stack Technology CO LTD
 2#
 3# SPDX-License-Identifier: MIT
 4
 5import os, sys, io
 6import M5
 7from M5 import *
 8from hardware import *
 9from unit import UWBUnit
10
11
12label0 = None
13label1 = None
14uwb_0 = None
15
16
17anchor_id = None
18
19
20def btnA_wasClicked_event(state):  # noqa: N802
21    global label0, label1, uwb_0, anchor_id
22    anchor_id = (anchor_id + 1) % 4
23    uwb_0.set_device_mode(UWBUnit.ANCHOR, anchor_id)
24    label1.setText(str(uwb_0.get_device_id()))
25
26
27def setup():
28    global label0, label1, uwb_0, anchor_id
29
30    M5.begin()
31    label0 = Widgets.Label("label0", 29, 36, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu24)
32    label1 = Widgets.Label("0", 44, 98, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu72)
33
34    BtnA.setCallback(type=BtnA.CB_TYPE.WAS_CLICKED, cb=btnA_wasClicked_event)
35
36    anchor_id = 0
37    uwb_0 = UWBUnit(2, port=(33, 32), device_mode=UWBUnit.ANCHOR, device_id=0, verbose=False)
38    print(uwb_0.isconnected())
39    print(uwb_0.get_version())
40    if (uwb_0.get_device_mode()) == 1:
41        label0.setText(str("Anchor"))
42    else:
43        label0.setText(str("Tag"))
44    label1.setText(str(uwb_0.get_device_id()))
45
46
47def loop():
48    global label0, label1, uwb_0, anchor_id
49    M5.update()
50
51
52if __name__ == "__main__":
53    try:
54        setup()
55        while True:
56            loop()
57    except (Exception, KeyboardInterrupt) as e:
58        try:
59            from utility import print_error_msg
60
61            print_error_msg(e)
62        except ImportError:
63            print("please update to latest firmware")

UIFLOW2 Anchor Example:

example_anchor.png

UIFLOW2 Tag Example:

example_tag.png

core2_uwb_anchor_example.m5f2

stickc_plus2_uwb_tag_example.m5f2

class UWBUnit

Constructors

class UWBUnit(id, port, device_mode, device_id, verbose)

Create a UWB unit object.

Parameters:

  • id – UART ID.

  • port – The port that the unit is connected to.

  • device_mode – device mode.

  • device_id – device ID.

  • verbose (bool) – verbose output.

UIFLOW2:

init.png

Methods

UWBUnit.get_distance(index)

Get the distance to the anchor ID (0 ~ 3).

Return (float):

distance in meters.

Parameters:

index (int) – anchor ID (0 ~ 3).

UIFLOW2:

get_distance.png

UWBUnit.get_device_id()

Get the device ID.

Return (int):

device ID.

UIFLOW2:

get_device_id.png

UWBUnit.get_device_mode()

Get the device mode.

Return (int):

device mode.

UIFLOW2:

get_device_mode.png

UWBUnit.set_device_mode(mode, id)

Set the device mode and ID.

Parameters:

  • mode (int) – device mode. Options: - Anchor: UWBUnit.ANCHOR - Tag: UWBUnit.TAG

  • id (int) – device ID.

UIFLOW2:

set_device_mode.png

UWBUnit.isconnected()

Check if the UWB unit is connected.

Returns:

True if connected, False otherwise.

UIFLOW2:

isconnected.png

UWBUnit.get_version()

Get the UWB unit firmware version.

Returns:

firmware version.

UIFLOW2:

get_version.png

UWBUnit.reset()

Reset the UWB unit.

UWBUnit.set_measurement_interval(interval)

Set the measurement interval.

Parameters:

interval (int) – measurement interval.

UIFLOW2:

set_measurement_interval.png

UWBUnit.set_measurement(enable)

Set the measurement output.

Parameters:

enable (bool) – enable or disable measurement output.

UIFLOW2:

set_measurement.png

UWBUnit.set_callback(anchor, event, callback)

Set the callback function for the anchor status.

Parameters:

  • anchor (int) – anchor ID (0 ~ 3).

  • event (int) – anchor status. Options: - ONLINE: UWBUnit.ONLINE - OFFLINE: UWBUnit.OFFLINE

  • callback – callback function.

UIFLOW2:

set_callback.png

UWBUnit.update()

Update the distances and anchor status.

UIFLOW2:

update.png

Constants

UWBUnit.UNKNOWN
UWBUnit.ANCHOR
UWBUnit.TAG

device role

UWBUnit.OFFLINE
UWBUnit.ONLINE
UWBUnit._mode_map

device status