From dfe0b26b6d7221a12b78a6af520a29e0d1c7705e Mon Sep 17 00:00:00 2001 From: Pat Pannuto Date: Tue, 30 Jul 2024 00:50:25 -0700 Subject: [PATCH] doc: remove old/now-wrong info; start new doc Lots more to do, but this is a minimal set of the critical bits for the project writ large and the hardware --- README.md | 107 ++++++++++++++---- hardware/README.md | 73 +++++++++--- hardware/cad/README.md | 24 +++- .../backplate_hexagon.SLDPRT | Bin .../backplate_hexagon.STL | Bin .../polypoint_backplate_hexagon.STL | Bin .../{mount => polypoint-mount}/staff.SLDPRT | Bin .../cad/{mount => polypoint-mount}/staff.STL | Bin hardware/tottag/README.md | 48 ++++++-- 9 files changed, 204 insertions(+), 48 deletions(-) rename hardware/cad/{mount => polypoint-mount}/backplate_hexagon.SLDPRT (100%) rename hardware/cad/{mount => polypoint-mount}/backplate_hexagon.STL (100%) rename hardware/cad/{mount => polypoint-mount}/polypoint_backplate_hexagon.STL (100%) rename hardware/cad/{mount => polypoint-mount}/staff.SLDPRT (100%) rename hardware/cad/{mount => polypoint-mount}/staff.STL (100%) diff --git a/README.md b/README.md index 0eb01dc9..d651e33b 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,70 @@ +TotTag +====== + +If you are interested in incorporating TotTag devices into your future +research, please fill out this [Interest Form](https://forms.gle/SqWca9DrKpcx9rBL6). + +> **Note: This system is currently under heavy development. At the moment, it +> is provided as-is with no mechanism for external support, technical or +> otherwise. In the future, once the project has reached a steady state and +> staffing has ramped up, we may begin providing limited support. We will post +> any updates on that front here. Thank you for your understanding!** + +The TotTag is a self-contained PCB which utilizes a hybrid ultra wideband (UWB) +and Bluetooth Low Energy (BLE) radio design to enable high-fidelity interaction +tracking between devices _without_ requiring any supporting infrastructure. + + + +TotTag saw a major plaform refresh in 2023 with a largely new hardware and +software design. Please bear with us as documentation and guidance throughout +this repositority updates to match the latest state of the TotTag project. + +- [Documentation & Getting Started Guide](doc/) +- [Hardware details](hardware/) +- [Software details](software/) + + + +History, Related Projects, & Relevant Publications +================================================== + +This current effort builds on a long line of work exploring the capabilities of +ultra wideband under resource-constrained settings. This repository is an +evolution of projects exploring COTS-based solutions; some others linked below +explore more custom ultra wideband as well. + +SociTrack and TotTag Gen 1 +-------------------------- + +- Salo, V. C., Pannuto, P., Hedgecock, W., Biri, A., Russo, D. A., Piersiak, H. A., & Humphreys, K. L. (2022). Measuring naturalistic proximity as a window into caregiver-child interaction patterns. Behavior research methods, 54(4), 1580–1594. https://doi.org/10.3758/s13428-021-01681-8 + +- Andreas Biri, Neal Jackson, Lothar Thiele, Pat Pannuto, and Prabal Dutta. 2020. +*SociTrack: Infrastructure-Free Interaction Tracking through Mobile Sensor Networks.* +In The 26th Annual International Conference on Mobile Computing and Networking +(MobiCom ’20), September 21–25, 2020, London, United Kingdom. ACM, New York, NY, +USA, 14 pages. https://doi.org/10.1145/3372224.3419190 + + + +
+Legacy documentation from SociTrack / TotTag Gen 1 + + SociTrack ========= @@ -7,15 +74,6 @@ module, containing a DecaWave DW1000 radio for UWB packet transmission and timestamping. This module provides node-to-node ranges over an I2C interface which can then be stored locally or transmitted externally. -If you would be interested in incorporating the SociTrack system or TotTag -devices into your future research, please fill out this -[Interest Form](https://forms.gle/SqWca9DrKpcx9rBL6) - -**Note: This system is currently under heavy development. At the moment, it is -provided as-is with no mechanism for external support, technical or otherwise. -In the future, once the project has reached a steady state and staffing has -ramped up, we may begin providing limited support. We will post any updates -on that front here. Thank you for your understanding!** Hardware -------- @@ -55,8 +113,7 @@ to worry about any underlying implementation details. The TotTag is a self-contained PCB which utilizes SquarePoint to provide ranging data for human interaction tracking. It includes: -- The SquarePoint module -- 3 UWB antennas +- The SquarePoint module - 3 UWB antennas - Nordic Semiconductors nRF52840 BLE radio - 3.3V LDO designed to be used with 4.2V LiPo batteries - Battery charge management controller @@ -131,30 +188,30 @@ Please be aware that the some Linux distros provide out-of-date versions of this tool; as such, we strongly recommend that you install the newest version directly from ARM. +
-Related Publications --------------------- -- Andreas Biri, Neal Jackson, Lothar Thiele, Pat Pannuto, and Prabal Dutta. 2020. -*SociTrack: Infrastructure-Free Interaction Tracking through Mobile Sensor Networks.* -In The 26th Annual International Conference on Mobile Computing and Networking -(MobiCom ’20), September 21–25, 2020, London, United Kingdom. ACM, New York, NY, -USA, 14 pages. https://doi.org/10.1145/3372224.3419190 +SurePoint +--------- -- Andreas Biri, Pat Pannuto, and Prabal Dutta. 2019. -*Demo Abstract: Tot-Ternary - A Wearable Platform for Social Interaction Tracking.* -In The 18th International Conference on Information Processing in Sensor Networks -(co-located with CPS-IoT Week 2019) (IPSN ’19), April 16-18, 2019, Montreal, QC, -Canada. ACM, New York, NY, USA, 2 pages. https://doi.org/10.1145/3302506.3312486 +The original projects exploring COTS UWB technology. + +PolyPoint introduced the concept of antenna diversity, and demonstrated its +efficacy by finishing as the best-performing UWB-based system at the 2015 +Microsoft Indoor Localization competition. + +SurePoint expanded on the PolyPoint concepts and built a complete system around +efficient channel diversity, and showed how to scale up robust ranging with +COTS UWB. - Benjamin Kempke, Pat Pannuto, Bradford Campbell, and Prabal Dutta. 2016. -*Surepoint: Exploiting ultra wideband flooding and diversity to provide robust, scalable, high-fidelity indoor localization.* +*SurePoint: Exploiting ultra wideband flooding and diversity to provide robust, scalable, high-fidelity indoor localization.* In Proceedings of the 14th ACM Conference on Embedded Network Sensor Systems (SenSys ’16), November 14-16, 2016, Stanford, CA, USA. ACM, New York, NY, USA, 13 pages. https://doi.org/10.1145/2994551.2994570 - Benjamin Kempke, Pat Pannuto, and Prabal Dutta. 2015. -*Polypoint: Guiding indoor quadrotors with ultra-wideband localization.* +*PolyPoint: Guiding indoor quadrotors with ultra-wideband localization.* In Proceedings of the 2nd International Workshop on Hot Topics in Wireless (HotWireless ’15), September 11, 2015, Paris, France. ACM, New York, NY, USA, 5 pages. https://doi.org/10.1145/2799650.2799651 diff --git a/hardware/README.md b/hardware/README.md index bd2aa7f6..49b65165 100644 --- a/hardware/README.md +++ b/hardware/README.md @@ -1,29 +1,72 @@ Hardware ======== -PolyPoint ---------- +TotTag Gen 2 (2023-present) +--------------------------- -The PolyPoint system consists of several PCBs centered around TriPoint, the core -UWB ranging module. +`rev_i` is a fairly complete overhaul of the TotTag platform, shedding +many of the legacy IC selections from the long design history here +(some traced back to the original 2015 PolyPoint board). -1. **TriPoint**: A triangular module which contains all of the necessary hardware -for utilizing a DecaWave DW1000 UWB radio. It has castellated headers so it can -be soldered onto a carrier board to add indoor localization functionality to any -device. +The most significant changes are moving from a dual-MCU design to a single MCU, +based around the Ambiq Apollo4 family of chips, and upgrading to the newer +generation UWB transciever, ~~Decawave~~ Qorvo's DW3000 family. -2. **TriTag**: A portable carrier board designed to be used as an indoor -localization tag. Contains TriPoint on one side and a BLE radio on the other. +`rev_i` is in many ways a first revision of a new board. + +`rev_k` fixed most of the major flaws in from `rev_i`, but introduced new +problems around the DW3000. + +`rev_l` hedged around continued DW3000 issues and replaced the integrated +design with three copies of Qorvo's pre-fab module. This is a temporary +patch to get working systems with the new transciever more quickly to enable +scale-up. + +`rev_m` has only trivial, cosmetic fixes over `rev_l`. + +`rev_n` (in progress) removes the pre-fab UWB modules, and returns to the +integrated UWB design, which re-opens access to antenna diversity and the +improved robustness of ranging performance. + + +TotTag Gen 1 (2020-2023) +------------------------ + +More recent revisions have focused on the deployability, scaling, and +robustness of the caregiver-infant interaction tracking application. +This has resulted in a more tightly integrated design as well as one +more aggressively geared towards a "wireless only" approach to ease +device management at-scale. -SociTrack ---------- +For more details, see the documentation in the [tottag folder](tottag/). + + +SociTrack (2017-2020) +--------------------- The SociTrack system consists of a single PCB which integrates both an application board and a SquarePoint module. SquarePoint is available from the [*Lab11 EAGLE* library](https://github.com/lab11/eagle) as a design block (check version number). -- **TotTag**: A single PCB featuring dual microcontrollers and enhanced -functionality such as SD card logging, accelerometer information, USB connectivity, -wireless charging, debugging ports, and LEDs, as well as battery voltage sensing. +The original tottags (i.e., rev_c and rev_d) follow this more modularized +design, keeping SociTrack's components as cleanly separable features, but +integrating into a single PCB dual microcontrollers and enhanced functionality +such as SD card logging, accelerometer information, USB connectivity, wireless +charging, debugging ports, and LEDs, as well as battery voltage sensing. + + +PolyPoint (2015) and SurePoint (2016-2017) +------------------------------------------ + +The PolyPoint system consists of several PCBs centered around TriPoint, the core +UWB ranging module. + +1. **TriPoint**: A triangular module which contains all of the necessary hardware +for utilizing a DecaWave DW1000 UWB radio. It has castellated headers so it can +be soldered onto a carrier board to add indoor localization functionality to any +device. + +2. **TriTag**: A portable carrier board designed to be used as an indoor +localization tag. Contains TriPoint on one side and a BLE radio on the other. diff --git a/hardware/cad/README.md b/hardware/cad/README.md index ddf25826..97b24c21 100644 --- a/hardware/cad/README.md +++ b/hardware/cad/README.md @@ -1,4 +1,26 @@ CAD Models ========== -A few designs including a case for TriTag and TotTag. +A few designs of various cases and mounts used for different iterations of +hardware over the course of this project. + +--------------------------------------------------------------------------- + +**Note:** As of this writing (July 2024), none of these designs are relevant to +the recent generations of TotTag PCBs. For the last few years, the board has +been designed to fit in the OKW Minitec case, specifically the +[B9006856](https://www.okwenclosures.com/en/Minitec/B9006856.htm). +You will also need the plastic ring which sits between the two halves of the +case, e.g. [B9006782](https://www.okwenclosures.com/en/Minitec/B9006782.htm) +(n.b., color doesn't affect anything; our original order bought 30 cases and 5 +each of B9006782-B9006888). + +**If you will be opening and closing the cases often,** we had OKW install +metal receptacles in the posts for the screws in our larger order. This widens +the plastic post width slightly (the PCB does not rely on the screw posts for +alignment or mounting in either case, so this should not affect things +generally). The new posts accept a `M2,5` screw. The product number for our +final case is `B9006A30`, which I believe is an internal code for the +customization they did for our design, and not a publicly available model. +However, hopefully their sales team can look up the old design by this +reference for your order if-needed, and do the same modification. diff --git a/hardware/cad/mount/backplate_hexagon.SLDPRT b/hardware/cad/polypoint-mount/backplate_hexagon.SLDPRT similarity index 100% rename from hardware/cad/mount/backplate_hexagon.SLDPRT rename to hardware/cad/polypoint-mount/backplate_hexagon.SLDPRT diff --git a/hardware/cad/mount/backplate_hexagon.STL b/hardware/cad/polypoint-mount/backplate_hexagon.STL similarity index 100% rename from hardware/cad/mount/backplate_hexagon.STL rename to hardware/cad/polypoint-mount/backplate_hexagon.STL diff --git a/hardware/cad/mount/polypoint_backplate_hexagon.STL b/hardware/cad/polypoint-mount/polypoint_backplate_hexagon.STL similarity index 100% rename from hardware/cad/mount/polypoint_backplate_hexagon.STL rename to hardware/cad/polypoint-mount/polypoint_backplate_hexagon.STL diff --git a/hardware/cad/mount/staff.SLDPRT b/hardware/cad/polypoint-mount/staff.SLDPRT similarity index 100% rename from hardware/cad/mount/staff.SLDPRT rename to hardware/cad/polypoint-mount/staff.SLDPRT diff --git a/hardware/cad/mount/staff.STL b/hardware/cad/polypoint-mount/staff.STL similarity index 100% rename from hardware/cad/mount/staff.STL rename to hardware/cad/polypoint-mount/staff.STL diff --git a/hardware/tottag/README.md b/hardware/tottag/README.md index 1449dd25..df182d34 100644 --- a/hardware/tottag/README.md +++ b/hardware/tottag/README.md @@ -1,26 +1,60 @@ -Hardware Revision History -========================= +TotTag Revision History +======================= The original localization platform was developed by the Lab11 research group, primarily by @bpkempke, @bradjc, and @ppannuto. -The TotTag hardware was developed @abiri during his Master's Thesis work when -he was a visiting scholar with the Lab11 research group. +The original TotTag hardware (rev_c, rev_d) was developed @abiri during his +Master's Thesis work when he was a visiting scholar with the Lab11 research +group. + +Current TotTag hardware is maintained by @ppannuto and @corruptbear. + +## Rev M + AP4BP Rev-B +[Rev L Issues / Rev M updates](https://github.com/lab11/socitrack/issues/49) + - Fix silkscreen error on switch label + +## Rev L + AP4BP Rev-B +[Prior rev's issues / updates](https://github.com/lab11/socitrack/issues/46) + - Fixes first-rev issues from the AP4BP module. + - Rips out our UWB in favor of DWM3000 pre-fab modules for Qorvo as a hedge + to facilitate more certain-to-work UWB in the short term (but sacrificing + diversity and robustness [and adding cost]). + +## Rev K + AP4BP Rev-A +[Rev I Issues / Rev K Updates](https://github.com/lab11/socitrack/issues/44) + - (n.b., there is no Rev J to avoid I/J confusion) + - Move to Apollo4 Blue Plus (Blue has too many silicon bugs) + - Split this to a castellated module for separation of hw design concerns + - Move to TCXO for DW3000 (bad idea; will be removed next rev) + +## Rev I -- **Major Revision** + - Refresh part selection to replace 2015 parts with improved modern versions + - Major change: Apollo4 Blue as sole MCU + - Major change: DW3000 replaces DW1000 as UWB transceiver + - Really, most stuff changed except the wireless charging + +## Rev H +[Rev G Issues / Rev H Updates](https://github.com/lab11/socitrack/issues/9) + - Isolates high-bandwidth accelerometer to dedicated SPI bus + - Revises wireless charging design for robustness + - Resolve RTC design issues + - DFM cleanups ## Rev G -[Rev G Issue.](https://github.com/lab11/totternary/issues/7) +[Rev F Issues / Rev G Updates](https://github.com/lab11/totternary/issues/7) - Add detachable battery connector - Add power switch - Adapt PCB shape for mass-production case ## Rev F -[Rev F Issue.](https://github.com/lab11/totternary/issues/4) +[Rev E Issues / Rev F Updates.](https://github.com/lab11/totternary/issues/4) - Add RTC ## Rev E -[Rev E Issue.](https://github.com/lab11/totternary/issues/3) +[Rev D Issues / Rev E Updates.](https://github.com/lab11/totternary/issues/3) Rev E updates: - Major performance improvements