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projects:lps:index [2016-02-03 18:06] arnaud [DWM Node] |
projects:lps:index [2020-05-12 14:30] kimberly |
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- | <WRAP center round info> | + | <WRAP center round important 60%> |
- | //**Alpha production**// | + | This page has deprecated and moved to the new documentation framework of the main Bitcraze website. Please go to [[https:// |
- | Currently this product is only available as part if our [[https:// | + | |
</ | </ | ||
- | ====== System | + | ====== |
- | The local positioning system is based on the [[http:// | + | |
- | <WRAP group> | + | The loco positioning system |
- | <WRAP half column> | + | |
- | Our testsystem uses the following components: | + | |
- | * 6 anchors | + | |
- | * 1 deck | + | |
- | * Computer running [[http:// | + | |
- | * Crazyflie client with ZMQ to mix manual and automatic control | + | |
- | </ | + | |
- | <WRAP half column> | + | |
- | Here' | + | |
- | {{youtube> | + | |
- | </ | + | |
- | </ | + | |
- | + | ||
- | ====== Hardware description ====== | + | |
- | The hardware | + | |
- | ===== LPS Node ===== | + | |
- | {{: | + | |
- | <WRAP group> | + | |
- | <WRAP half column> | + | |
- | Connects and buttons: | + | |
- | - **uUSB**: Used to power board (and will have command-line interface) | + | |
- | - **DC-jack**: | + | |
- | - **Terminal**: | + | |
- | - **Reset**: Reset the board | + | |
- | - **Exp connector**: | + | |
- | - **USR & DFU**: If pressed and held during reset or power on this will put the board into DFU bootloader mode. When the system | + | |
- | - **SWD**: Connector for programming and debugging MCU. Uses same pin-out as Crazyflie 2.0 and [[http:// | + | |
- | - **FTDI**: Connector designed for the FTDI serial-to-USB cable (TTL-232R-3V3). Except for getting a serial console for debugging it can also be used to power the board. Note that signals are 3V3 and power is 5V. | + | |
- | - **M3 mounting holes** | + | |
- | </ | + | |
- | <WRAP half column> | + | |
- | MCU controlled LEDs: | + | |
- | * **POWER**: On when board is powered | + | |
- | * **RANGING**: | + | |
- | * **SYNC**: TDB | + | |
- | * **MODE**: TDB | + | |
- | DWM1000 controlled LEDs: | + | |
- | * **TX**: Transmitting | + | |
- | * **RX**: Receiving | + | |
- | * **SFD**: Received packet timestamp | + | |
- | * **RXOK**: Packet received without error | + | |
- | </ | + | |
- | </ | + | |
- | + | ||
- | ===== DWM deck ===== | + | |
- | TBD | + | |
- | + | ||
- | ====== Firmware ====== | + | |
- | + | ||
- | ===== DWM Node ===== | + | |
- | + | ||
- | ==== Building and flashing ==== | + | |
- | <WRAP group> | + | |
- | <WRAP half column> | + | |
- | The firmware | + | |
- | < | + | |
- | </ | + | |
- | <WRAP half column> | + | |
- | Flashing via SWD is done by using: | + | |
- | < | + | |
- | + | ||
- | Flashing via DFU need a uUSB connection to the computer and the [[http:// | + | |
- | < | + | |
- | </ | + | |
- | </ | + | |
- | + | ||
- | ===== DWM deck ===== | + | |
- | The firmware for the DWM deck is included in the Crazyflie 2.0 firmware build (recent) and activated when the deck is attached. The deck contains a small memory that holds the address of the board as well as the addresses of the anchors it will use for ranging. | + | |
- | + | ||
- | More information | + | |
- | ====== ROS ====== | + | ===== Hardware description |
+ | The hardware consists multiple parts: | ||
+ | * [[projects: | ||
+ | * [[projects: | ||
+ | * [[projects: | ||