Localization Hardware - Revision history

S123950: /* Known errors */

2016-06-13T12:01:15Z

Known errors

← Older revision		Revision as of 14:01, 13 June 2016
Line 44:		Line 44:
	The anchor hardware is ''still'' error free, meaning that there is yet to be found errors in the newest electronic design.		The anchor hardware is ''still'' error free, meaning that there is yet to be found errors in the newest electronic design.
	The only thing on the list of changes to come in the next revision is a better power control, courtesy of a switch-mode regulator and the ability to utilize the ultra-low power sleep mode of the DW1000 devices. This means that the DWM1000 modules would have to be powered directly from the battery, through its own 3.3v ''always-on'' regulator, with ''EXTON'' connected to the shutdown of the switch-mode. This would allow the anchors to be powered on and off wirelessly, while still maintaining an ultra low power consumption in ''standby mode''.		The only thing on the list of changes to come in the next revision is a better power control, courtesy of a switch-mode regulator and the ability to utilize the ultra-low power sleep mode of the DW1000 devices. This means that the DWM1000 modules would have to be powered directly from the battery, through its own 3.3v ''always-on'' regulator, with ''EXTON'' connected to the shutdown of the switch-mode. This would allow the anchors to be powered on and off wirelessly, while still maintaining an ultra low power consumption in ''standby mode''.

			Furthermore it would be a very good idea to combine the bootloader jumper with the user switch, to get rid of both the hardware jumper and the bootloader switch software check.

	===The Tags===		===The Tags===

S123950 at 12:19, 1 June 2016

2016-06-01T12:19:18Z

← Older revision		Revision as of 14:19, 1 June 2016
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			[[File:Tag anchor.jpg\|thumb\|right\|500px\|A tag and an anchor]]

	This page describes the hardware design of the [[3D localization]] system.		This page describes the hardware design of the [[3D localization]] system.

S123950 at 13:39, 31 May 2016

2016-05-31T13:39:59Z

← Older revision		Revision as of 15:39, 31 May 2016
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	The anchor schematic can be seen at [[Media:Anchor_sch.jpg\|Anchor schematic]] <br /><br />		The anchor schematic can be seen at [[Media:Anchor_sch.jpg\|Anchor schematic]] <br /><br />

	The anchors can be programmed through either the USB (DFU), or the SWD link that has been broken out to ''J3''. The SWD protocol is an alternative to the full [https://en.wikipedia.org/wiki/JTAG JTAG], that only used 2 data wires for programming and debugging.		The anchors can be programmed through either the USB (DFU), or the SWD link that has been broken out to ''J3''. The SWD protocol is an alternative to the full [https://en.wikipedia.org/wiki/JTAG JTAG], that only used 2 data wires for programming and debugging. See [[Arm compiler environment#OpenOCD Setup]] For more info on how to use SWD.

	====Known errors====		====Known errors====
Line 48:		Line 48:
	The tag schematic can be seen at [[Media:Tag_sch.jpg\|Tag schematic]] <br /><br />		The tag schematic can be seen at [[Media:Tag_sch.jpg\|Tag schematic]] <br /><br />

	The tags can only be programmed through the SWD link that has been broken out to the ''U6'' connector. The SWD protocol is an alternative to the full [https://en.wikipedia.org/wiki/JTAG JTAG], that only used 2 data wires for programming and debugging. <br />		The tags can only be programmed through the SWD link that has been broken out to the ''U6'' connector. The SWD protocol is an alternative to the full [https://en.wikipedia.org/wiki/JTAG JTAG], that only used 2 data wires for programming and debugging. See [[Arm compiler environment#OpenOCD Setup]] For more info on how to use SWD. <br />

	The tags furthermore contain a high precision IMU (MPU9250), to allow for sensor fusion with the result of a better velocity estimate. For more info in the sensor fusion see [[3D localization#Sensor fusion]]		The tags furthermore contain a high precision IMU (MPU9250), to allow for sensor fusion with the result of a better velocity estimate. For more info in the sensor fusion see [[3D localization#Sensor fusion]]

S123950 at 13:37, 31 May 2016

2016-05-31T13:37:49Z

← Older revision		Revision as of 15:37, 31 May 2016
Line 50:		Line 50:
	The tags can only be programmed through the SWD link that has been broken out to the ''U6'' connector. The SWD protocol is an alternative to the full [https://en.wikipedia.org/wiki/JTAG JTAG], that only used 2 data wires for programming and debugging. <br />		The tags can only be programmed through the SWD link that has been broken out to the ''U6'' connector. The SWD protocol is an alternative to the full [https://en.wikipedia.org/wiki/JTAG JTAG], that only used 2 data wires for programming and debugging. <br />

	The tags furthermore contain a high precision IMU (MPU9250), to allow for sensor fusion with the result of a better velocity estimate. For more info in the sensor fusion see [[3D ~~Localization~~#Sensor fusion]]		The tags furthermore contain a high precision IMU (MPU9250), to allow for sensor fusion with the result of a better velocity estimate. For more info in the sensor fusion see [[3D localization#Sensor fusion]]

	====Known errors====		====Known errors====

S123950 at 13:37, 31 May 2016

2016-05-31T13:37:23Z

← Older revision		Revision as of 15:37, 31 May 2016
Line 48:		Line 48:
	The tag schematic can be seen at [[Media:Tag_sch.jpg\|Tag schematic]] <br /><br />		The tag schematic can be seen at [[Media:Tag_sch.jpg\|Tag schematic]] <br /><br />

	The tags can only be programmed through the SWD link that has been broken out to the ''U6'' connector. The SWD protocol is an alternative to the full [https://en.wikipedia.org/wiki/JTAG JTAG], that only used 2 data wires for programming and debugging.		The tags can only be programmed through the SWD link that has been broken out to the ''U6'' connector. The SWD protocol is an alternative to the full [https://en.wikipedia.org/wiki/JTAG JTAG], that only used 2 data wires for programming and debugging. <br />

			The tags furthermore contain a high precision IMU (MPU9250), to allow for sensor fusion with the result of a better velocity estimate. For more info in the sensor fusion see [[3D Localization#Sensor fusion]]

	====Known errors====		====Known errors====
	The tags contains at least two known hardware errors, one is the missing load sharing in the charger design (see the anchors for the proper design), and the other known issue, is the '''regout''' pin being connected to 3.3v instead of bypassed to ground through 100 nF capacitor. As with the anchors, the next hardware revision of the tags should implement a proper power scheme, through a switch-mode regulator. The next revision will probably loose the battery charger entirely, as the system should be powered through the device you want to track (robot), and as such does not need a battery.		The tags contains at least two known hardware errors, one is the missing load sharing in the charger design (see the anchors for the proper design), and the other known issue, is the '''regout''' pin being connected to 3.3v instead of bypassed to ground through 100 nF capacitor. As with the anchors, the next hardware revision of the tags should implement a proper power scheme, through a switch-mode regulator. The next revision will probably loose the battery charger entirely, as the system should be powered through the device you want to track (robot), and as such does not need a battery.

	~~TODO: Add some more content here about the tags, mention ST-Link/V2 and IMU for sensor fusion~~

	==Software==		==Software==
	All the PCB design is done in a software suite called DipTrace, which can be downloaded for free at [http://diptrace.com/ www.diptrace.com]. The software is currently only available in a Windows and Mac OS X version, but runs perfectly through [https://en.wikipedia.org/wiki/Wine_(software) Wine]. DipTrace offers a free student license, allowing a larger design along with some extra features. This student license can be requested by writing an email to the contact address listed at their [http://diptrace.com/buy/academic/ academic] site.		All the PCB design is done in a software suite called DipTrace, which can be downloaded for free at [http://diptrace.com/ www.diptrace.com]. The software is currently only available in a Windows and Mac OS X version, but runs perfectly through [https://en.wikipedia.org/wiki/Wine_(software) Wine]. DipTrace offers a free student license, allowing a larger design along with some extra features. This student license can be requested by writing an email to the contact address listed at their [http://diptrace.com/buy/academic/ academic] site.

S123950: /* The Tags */

2016-05-31T13:36:03Z

The Tags

← Older revision		Revision as of 15:36, 31 May 2016
Line 46:		Line 46:
	[[File:Tag_layout.png\|450px\|thumb\|right\|Tag layout]]		[[File:Tag_layout.png\|450px\|thumb\|right\|Tag layout]]

	The tag schematic can be seen at [[Media:Tag_sch.jpg\|Tag schematic]]		The tag schematic can be seen at [[Media:Tag_sch.jpg\|Tag schematic]] <br /><br />

			The tags can only be programmed through the SWD link that has been broken out to the ''U6'' connector. The SWD protocol is an alternative to the full [https://en.wikipedia.org/wiki/JTAG JTAG], that only used 2 data wires for programming and debugging.

	====Known errors====		====Known errors====

S123950: /* The Tags */

2016-05-31T13:35:08Z

The Tags

← Older revision		Revision as of 15:35, 31 May 2016
Line 45:		Line 45:
	===The Tags===		===The Tags===
	[[File:Tag_layout.png\|450px\|thumb\|right\|Tag layout]]		[[File:Tag_layout.png\|450px\|thumb\|right\|Tag layout]]

	The tag schematic can be seen at [[Media:Tag_sch.jpg\|Tag schematic]]		The tag schematic can be seen at [[Media:Tag_sch.jpg\|Tag schematic]]

S123950: /* The Anchors */

2016-05-31T13:34:42Z

The Anchors

← Older revision		Revision as of 15:34, 31 May 2016
Line 35:		Line 35:
	===The Anchors===		===The Anchors===
	[[File:Anchor layout.png\|450px\|thumb\|right\|Anchor layout]]		[[File:Anchor layout.png\|450px\|thumb\|right\|Anchor layout]]
	The anchor schematic can be seen at [[Media:Anchor_sch.jpg\|Anchor schematic]]		The anchor schematic can be seen at [[Media:Anchor_sch.jpg\|Anchor schematic]] <br /><br />

			The anchors can be programmed through either the USB (DFU), or the SWD link that has been broken out to ''J3''. The SWD protocol is an alternative to the full [https://en.wikipedia.org/wiki/JTAG JTAG], that only used 2 data wires for programming and debugging.

	====Known errors====		====Known errors====
	The anchor hardware is ''still'' error free, meaning that there is yet to be found errors in the newest electronic design.		The anchor hardware is ''still'' error free, meaning that there is yet to be found errors in the newest electronic design.
	The only thing on the list of changes to come in the next revision is a better power control, courtesy of a switch-mode regulator and the ability to utilize the ultra-low power sleep mode of the DW1000 devices. This means that the DWM1000 modules would have to be powered directly from the battery, through its own 3.3v ''always-on'' regulator, with ''EXTON'' connected to the shutdown of the switch-mode. This would allow the anchors to be powered on and off wirelessly, while still maintaining an ultra low power consumption in ''standby mode''.		The only thing on the list of changes to come in the next revision is a better power control, courtesy of a switch-mode regulator and the ability to utilize the ultra-low power sleep mode of the DW1000 devices. This means that the DWM1000 modules would have to be powered directly from the battery, through its own 3.3v ''always-on'' regulator, with ''EXTON'' connected to the shutdown of the switch-mode. This would allow the anchors to be powered on and off wirelessly, while still maintaining an ultra low power consumption in ''standby mode''.

	~~TODO: Add some more content here about the anchors, mention ST-Link/V2~~

	===The Tags===		===The Tags===

S123950: /* Known errors */

2016-05-31T13:31:20Z

Known errors

← Older revision		Revision as of 15:31, 31 May 2016
Line 48:		Line 48:

	====Known errors====		====Known errors====
	The tags contains at least two known hardware errors, one is the missing load sharing in the charger design (see the anchors for the proper design), and the other known issue, is the '''regout''' pin being connected to 3.3v instead of bypassed to ground through 100 nF capacitor. As with the anchors, the next hardware revision of the tags should implement a proper power scheme, through switch-mode ~~regulators~~. The next revision will probably loose the battery charger entirely, as the system should be powered through the device you want to track (robot), and as such does not need a battery.		The tags contains at least two known hardware errors, one is the missing load sharing in the charger design (see the anchors for the proper design), and the other known issue, is the '''regout''' pin being connected to 3.3v instead of bypassed to ground through 100 nF capacitor. As with the anchors, the next hardware revision of the tags should implement a proper power scheme, through a switch-mode regulator. The next revision will probably loose the battery charger entirely, as the system should be powered through the device you want to track (robot), and as such does not need a battery.

	TODO: Add some more content here about the tags, mention ST-Link/V2 and IMU for sensor fusion		TODO: Add some more content here about the tags, mention ST-Link/V2 and IMU for sensor fusion

S123950: /* Known errors */

2016-05-31T13:30:29Z

Known errors

← Older revision		Revision as of 15:30, 31 May 2016
Line 48:		Line 48:

	====Known errors====		====Known errors====
	The tags contains at least two known hardware errors, one is the missing load sharing in the charger design (see the anchors for the proper design), and the other known issue, is the '''regout''' pin being connected to 3.3v instead of bypassed to ground through 100 nF capacitor. As with the anchors, the next hardware revision of the tags should implement a proper power scheme, through switch-mode regulators.		The tags contains at least two known hardware errors, one is the missing load sharing in the charger design (see the anchors for the proper design), and the other known issue, is the '''regout''' pin being connected to 3.3v instead of bypassed to ground through 100 nF capacitor. As with the anchors, the next hardware revision of the tags should implement a proper power scheme, through switch-mode regulators. The next revision will probably loose the battery charger entirely, as the system should be powered through the device you want to track (robot), and as such does not need a battery.

	TODO: Add some more content here about the tags, mention ST-Link/V2 and IMU for sensor fusion		TODO: Add some more content here about the tags, mention ST-Link/V2 and IMU for sensor fusion