Raspberry Pi Integration
In This guide
This guide explains how to connect the GrowSpace UWB developer tag to a Raspberry Pi 4 Model B and receive real-time location data using the lec and lep commands.
It focuses on a hands-on example where you use Python to handle serial communication and directly analyze the location data.
Required Materials
Raspberry Pi 4 Model B
USB-C power adapter (5V 3A or higher)
GrowSpace UWBdeveloper tag
Jumper wires (TX, RX, GND, 3.3V)
Python 3.9.2 or higher (based on Debian GNU/Linux 11)
pyserial package installed
Raspberry Pi Serial Port Setup
Enter the following command in the terminal:
sudo raspi-configNavigate through the menu:
Interface Options → Serial Port
Login shell via serial: No
Enable serial port hardware: Yes
After completing the setup, reboot using
sudo reboot
Serial Pin Connection (UART)
Connect the pins as shown below, using the 3.3V connector on the left side of the GrowSpace developer tag as the reference:
TX
Pin 10 (RXD)
GPIO15
RX
Pin 8 (TXD)
GPIO14
3.3V
Pin 1
-
GND
Pin 6
-
⚠️ Make sure to cross-connect TX and RX: (Tag TX → Pi RX, Tag RX → Pi TX)
Note: Raspberry Pi GPIO Pinout
Below is the full pin map of the 40-pin header on the Raspberry Pi. Use the pin numbers shown to make accurate connections.
TX0: GPIO14 (Pin 8)
RX0: GPIO15 (Pin 10)
3.3V: Pin 1
GND: Pin 6
This diagram helps you better understand how to connect the developer tag via serial communication.
To view the full GPIO layout and circuit details, visit the official documentation: See official Raspberry Pi pinout and schematics
Caution! Serial Port Types on the GrowSpace Tag
The GrowSpace developer tag has two serial ports, one on each side, with different voltage levels. These are not just different pin positions—they use completely different electrical levels, so it's important to use the correct port for your device.
Port 1 (Left Connector)
Pins: TX, RX, 3.3V, GND
Voltage Level: 3.3V Level
Use Case: For devices that use 3.3V logic, such as Raspberry Pi or ESP32
Port 2 (Right Connector)
Pins: TX, RX, 5V, GND
Voltage Level: 5V Level
Use Case: For devices that use 5V logic, such as Arduino UNO
Check Before You Connect
The GPIO pins on the Raspberry Pi only support 3.3
If you connect the 5V port (right-side connector) by mistake, it may damage the Raspberry Pi's UART circuit.
For this manual, always use the **left connector (3.3V port)** on the GrowSpace tag.
Python-Based Serial Communication Code
import serial
import threading
uwb = serial.Serial('/dev/serial0', baudrate=115200, timeout=0.5)
def read_from_uwb():
while True:
if uwb.in_waiting:
data = uwb.readline().decode(errors='ignore').strip()
if data:
print(f"[UWB Response] {data}")
def write_to_uwb():
while True:
try:
cmd = input(">>> ")
if cmd.strip():
uwb.write((cmd + '\r').encode())
except KeyboardInterrupt:
print("\nExiting.")
break
if __name__ == "__main__":
print("Starting UWB Serial Relay (/dev/serial0)")
threading.Thread(target=read_from_uwb, daemon=True).start()
write_to_uwb()read_from_uwb()prints real-time data received from the UWB tag.write_to_uwb()sends a command input (includes\rat the end).
Example: If the si command returns device information, the communication is working correctly.
Location Data Parsing Example (lep, lec commands)
lep, lec commands)LEP(For location data only)
def parse_lep(line):
print("\n[LEP location result]")
parts = line.strip().split(',')
if len(parts) >= 5:
print(f"X: {parts[1]}")
print(f"Y: {parts[2]}")
print(f"Z: {parts[3]}")
print(f"Quality(QF): {parts[4]}")
else:
print("→ Invalid LEP format")LEC (For distance + location data)
def parse_lec(line):
print("\n[LEC distance + location result]")
try:
pos_idx = line.index("POS,")
dist_part = line[:pos_idx].strip()
pos_part = line[pos_idx:].strip()
anchors = []
tokens = dist_part.split(',')
i = 2
while i < len(tokens):
if tokens[i].startswith("AN"):
anchor_id = tokens[i+1]
x = float(tokens[i+2])
y = float(tokens[i+3])
z = float(tokens[i+4])
d = float(tokens[i+5])
anchors.append((anchor_id, x, y, z, d))
i += 6
else:
i += 1
for idx, (aid, x, y, z, d) in enumerate(anchors):
print(f"AN{idx} (ID {aid}): x={x}, y={y}, z={z}, Distance={d}m")
parse_lep(pos_part)
except Exception as e:
print(f"lec Parsing failed: {e}")Full Receiving Loop Structure (Auto Parsing)
input_buffer = ""
def read_from_uwb():
global input_buffer
while True:
if uwb.in_waiting:
data = uwb.read().decode(errors='ignore')
if data == '\n':
line = input_buffer.strip()
if line.startswith("POS,"):
parse_lep(line)
elif line.startswith("DIST,"):
parse_lec(line)
else:
print(f"[Other responses] {line}")
input_buffer = ""
else:
input_buffer += dataIf the response starts with
POS,parse it as LEPIf the response starts with
DIST,parse it as LECPrint all other responses as well
Conclusion
In this manual, we explained how to set up serial communication between the GrowSpace developer tag and a Raspberry Pi, and how to receive and parse real-time location data using the lep and lec commands in Python.
Through this process, you can:
Establish stable communication using the Raspberry Pi’s
/dev/serial0portParse and view real-time location data with Python
Use it as a testbed for RTLS experiments and prototyping
If you encounter any issues during testing, make sure to check the TX/RX wiring and verify that the serial port is enabled.
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