UWB Unit

UWB 是一款集成 UWB（Ultra Wide Band）通信协议的 Unit，该协议使用纳秒级脉冲来定位物体，并确定位置与方向。其设计采用基于 Decawave 的 DW1000 方案的 Ai-ThinkerBU01 收发器模块。内置的 STM32 芯片集成测距算法，可实现 10 cm 定位精度，并支持 AT 命令控制。应用包括：室内资产无线追踪/测距，通过对基站与标签进行三角定位来确定位置（基站解析位置信息并输出给标签）。该 Unit 当前搭载的固件仅支持测距信息传输，暂不支持自定义信息传输。使用时，支持配置 4 个基站设备（使用不同 ID），且同一时间仅允许 1 个标签设备运行。

支持以下产品：

MicroPython 锚点示例：

# SPDX-FileCopyrightText: 2024 M5Stack Technology CO LTD
#
# SPDX-License-Identifier: MIT

import os, sys, io
import M5
from M5 import *
from unit import UWBUnit


label0 = None
label4 = None
label1 = None
label5 = None
label2 = None
label6 = None
label3 = None
label7 = None
circle0 = None
circle1 = None
circle2 = None
circle3 = None
uwb_0 = None


def uwb_0_0_online_event(args):
    global \
        label0, \
        label4, \
        label1, \
        label5, \
        label2, \
        label6, \
        label3, \
        label7, \
        circle0, \
        circle1, \
        circle2, \
        circle3, \
        uwb_0
    circle0.setColor(color=0x33FF33, fill_c=0x33FF33)


def uwb_0_1_online_event(args):
    global \
        label0, \
        label4, \
        label1, \
        label5, \
        label2, \
        label6, \
        label3, \
        label7, \
        circle0, \
        circle1, \
        circle2, \
        circle3, \
        uwb_0
    circle1.setColor(color=0x33FF33, fill_c=0x33FF33)


def uwb_0_2_online_event(args):
    global \
        label0, \
        label4, \
        label1, \
        label5, \
        label2, \
        label6, \
        label3, \
        label7, \
        circle0, \
        circle1, \
        circle2, \
        circle3, \
        uwb_0
    circle2.setColor(color=0x33FF33, fill_c=0x33FF33)


def uwb_0_3_online_event(args):
    global \
        label0, \
        label4, \
        label1, \
        label5, \
        label2, \
        label6, \
        label3, \
        label7, \
        circle0, \
        circle1, \
        circle2, \
        circle3, \
        uwb_0
    circle3.setColor(color=0x33FF33, fill_c=0x33FF33)


def uwb_0_0_offline_event(args):
    global \
        label0, \
        label4, \
        label1, \
        label5, \
        label2, \
        label6, \
        label3, \
        label7, \
        circle0, \
        circle1, \
        circle2, \
        circle3, \
        uwb_0
    circle0.setColor(color=0xFF0000, fill_c=0xFF0000)


def uwb_0_1_offline_event(args):
    global \
        label0, \
        label4, \
        label1, \
        label5, \
        label2, \
        label6, \
        label3, \
        label7, \
        circle0, \
        circle1, \
        circle2, \
        circle3, \
        uwb_0
    circle1.setColor(color=0xFF0000, fill_c=0xFF0000)


def uwb_0_2_offline_event(args):
    global \
        label0, \
        label4, \
        label1, \
        label5, \
        label2, \
        label6, \
        label3, \
        label7, \
        circle0, \
        circle1, \
        circle2, \
        circle3, \
        uwb_0
    circle2.setColor(color=0xFF0000, fill_c=0xFF0000)


def uwb_0_3_offline_event(args):
    global \
        label0, \
        label4, \
        label1, \
        label5, \
        label2, \
        label6, \
        label3, \
        label7, \
        circle0, \
        circle1, \
        circle2, \
        circle3, \
        uwb_0
    circle3.setColor(color=0xFF0000, fill_c=0xFF0000)


def setup():
    global \
        label0, \
        label4, \
        label1, \
        label5, \
        label2, \
        label6, \
        label3, \
        label7, \
        circle0, \
        circle1, \
        circle2, \
        circle3, \
        uwb_0

    M5.begin()
    Widgets.fillScreen(0x222222)
    label0 = Widgets.Label("Anchor0", 0, 4, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu18)
    label4 = Widgets.Label("label4", 0, 120, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu12)
    label1 = Widgets.Label("Anchor1", 80, 4, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu18)
    label5 = Widgets.Label("label5", 80, 120, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu12)
    label2 = Widgets.Label("Anchor2", 160, 4, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu18)
    label6 = Widgets.Label("label6", 160, 120, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu12)
    label3 = Widgets.Label("Anchor3", 240, 4, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu18)
    label7 = Widgets.Label("label7", 240, 120, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu12)
    circle0 = Widgets.Circle(38, 50, 15, 0xFF0000, 0xFF0000)
    circle1 = Widgets.Circle(118, 52, 15, 0xFF0000, 0xFF0000)
    circle2 = Widgets.Circle(193, 51, 15, 0xFF0000, 0xFF0000)
    circle3 = Widgets.Circle(273, 51, 15, 0xFF0000, 0xFF0000)

    uwb_0 = UWBUnit(2, port=(33, 32), device_mode=UWBUnit.TAG, verbose=False)
    uwb_0.set_callback(0, uwb_0.ONLINE, uwb_0_0_online_event)
    uwb_0.set_callback(1, uwb_0.ONLINE, uwb_0_1_online_event)
    uwb_0.set_callback(2, uwb_0.ONLINE, uwb_0_2_online_event)
    uwb_0.set_callback(3, uwb_0.ONLINE, uwb_0_3_online_event)
    uwb_0.set_callback(0, uwb_0.OFFLINE, uwb_0_0_offline_event)
    uwb_0.set_callback(1, uwb_0.OFFLINE, uwb_0_1_offline_event)
    uwb_0.set_callback(2, uwb_0.OFFLINE, uwb_0_2_offline_event)
    uwb_0.set_callback(3, uwb_0.OFFLINE, uwb_0_3_offline_event)
    uwb_0.set_measurement_interval(5)
    uwb_0.set_measurement(True)


def loop():
    global \
        label0, \
        label4, \
        label1, \
        label5, \
        label2, \
        label6, \
        label3, \
        label7, \
        circle0, \
        circle1, \
        circle2, \
        circle3, \
        uwb_0
    M5.update()
    uwb_0.update()
    label4.setText(str(uwb_0.get_distance(0)))
    label5.setText(str(uwb_0.get_distance(1)))
    label6.setText(str(uwb_0.get_distance(2)))
    label7.setText(str(uwb_0.get_distance(3)))


if __name__ == "__main__":
    try:
        setup()
        while True:
            loop()
    except (Exception, KeyboardInterrupt) as e:
        try:
            from utility import print_error_msg

            print_error_msg(e)
        except ImportError:
            print("please update to latest firmware")

MicroPython 标签示例：

# SPDX-FileCopyrightText: 2024 M5Stack Technology CO LTD
#
# SPDX-License-Identifier: MIT

import os, sys, io
import M5
from M5 import *
from hardware import *
from unit import UWBUnit


label0 = None
label1 = None
uwb_0 = None


anchor_id = None


def btnA_wasClicked_event(state):  # noqa: N802
    global label0, label1, uwb_0, anchor_id
    anchor_id = (anchor_id + 1) % 4
    uwb_0.set_device_mode(UWBUnit.ANCHOR, anchor_id)
    label1.setText(str(uwb_0.get_device_id()))


def setup():
    global label0, label1, uwb_0, anchor_id

    M5.begin()
    label0 = Widgets.Label("label0", 29, 36, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu24)
    label1 = Widgets.Label("0", 44, 98, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu72)

    BtnA.setCallback(type=BtnA.CB_TYPE.WAS_CLICKED, cb=btnA_wasClicked_event)

    anchor_id = 0
    uwb_0 = UWBUnit(2, port=(33, 32), device_mode=UWBUnit.ANCHOR, device_id=0, verbose=False)
    print(uwb_0.isconnected())
    print(uwb_0.get_version())
    if (uwb_0.get_device_mode()) == 1:
        label0.setText(str("Anchor"))
    else:
        label0.setText(str("Tag"))
    label1.setText(str(uwb_0.get_device_id()))


def loop():
    global label0, label1, uwb_0, anchor_id
    M5.update()


if __name__ == "__main__":
    try:
        setup()
        while True:
            loop()
    except (Exception, KeyboardInterrupt) as e:
        try:
            from utility import print_error_msg

            print_error_msg(e)
        except ImportError:
            print("please update to latest firmware")

UIFLOW2 Anchor 应用示例：

UIFLOW2 标签示例：

core2_uwb_anchor_example.m5f2

stickc_plus2_uwb_tag_example.m5f2

class UWBUnit

构造函数

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

创建一个 UWB 单元对象。

参数:

id – UART ID。
port – 单元连接到的端口。
device_mode – 设备模式。
device_id – 设备 ID。
verbose (bool) – 请把需要翻译的 PO 条目（含 msgid/msgstr，以及可能的 #, fuzzy、#: 行）贴出来或上传文件。我会按规则只返回对应的中文 msgstr 文本（需要保留为空的条目会保持空）。