LaserWandsUWB + TDMA plan · 12–16 players · ~450 m²

Hub / Hardware / UWB Anchor

hardware in progress

UWB Anchor

Fixed ranging nodes — ESP32-C6 + DWM3001C.

UWB Anchor concept
Product concept — not a photograph

Engineering

UWB Anchor — fixed ranging node firmware written, room fix pending

Fixed ESP32-C6 + Qorvo DWM3001C nodes provide the UWB infrastructure that locates every wand (and later every smart obstacle / prop). Typical install: 8–12 anchors around a ~450 m² arena; firmware lives in anchor_sw/.

ESP32-C6
MCU + Wi‑Fi HTTP :80
DWM3001C
UWB ranging (UART)
8–12
nodes per arena

Firmware focus

  • web_server — local HTTP on port 80
  • gateway_client — reports ranges upstream
  • uart_bridge — ESP32-C6 ↔ DWM3001C
  • ota_manager — field updates

UART pinout to DWM3001C matches the wand (see HARDWARE.md and the pinout / J-Link below).

Role in the system

Anchors form the fixed reference frame for TDMA-scheduled ranging. Tags (wands, obstacle PCBs, smart props) range against them; the gateway multilaterates XYZ. Optical cameras are not required for v1 position.

See TDMA for slotting and collision avoidance.

DWM3001C — pinout, J-Link, UART

Same module as the wand. Program the nRF52833 over SWD from a J-Link 10-pin socket; the ESP32-C6 talks UART (115200 8N1, CRLF). Full write-up: HARDWARE.md.

DWM3001C module pin diagram: 48 castellations, antenna at the top, pins 1–48 counter-clockwise
Figure 1 — DWM3001C pin diagram (Qorvo datasheet). J-Link: SWD_CLK pin 2, SWD_DIO pin 3, VDD pin 12, RESET pin 47. UART (not labeled TX/RX): right-side 32 (P0.15 RX) and 34 (P0.19 TX).

J-Link 10-pin socket · pin face

Two rows of five. Five wires only; unused holes stay open. Socket pin 1 is top-left.

UART — ESP32-C6 ↔ DWM

ESP32-C6DWM3001CnRF
TX GPIO 4pin 32 UWB RXP0.15
RX GPIO 5pin 34 UWB TXP0.19
GNDGND—

ESP GPIO 4 / 5 — not DWM pin 3 (SWD_DIO) or DevKit header positions 3 / 4.

Flash

Same UWB image on every wand and anchor. Mode (tag vs anchor) is set later over UART, not by a second hex.

cd DWM3001C-starter-firmware-main && make build && make flash

RUNBOOK A2 · same diagram on the wand page

Status: Firmware is written and runs on the bench, but Gate D — the first real multilaterated fix in a room — has not been passed, so anchors are not yet proven in an arena. Enclosure / productized PCB placement is documented here as the target install look. No separate KiCad project yet — same ESP32-C6 + DWM3001C module pattern as the wand. Power is USB 5 V into the DevKit (power bank or wall wart); no 12 V buck on the node.

Also see