Pk-1000 User Manual Version 1.
Preface Pk-1000 UWB is a positioning / distance measuring product based on IR UWB. This specification introduces PK-1000 and the configuration of it. The following content is included in Preface: - The Readers - The Annotation - Technical Supports The Readers This booklet is prepared for the following people: - Students and teachers - Amateur developers - Engineers The Annotation Please note that the bold text in this booklet requires extra attention.
Table of content 1. Interfaces defination......................................................................................................... 1 1.1 PK-1000 tag WIFI interface...................................................................................... 1 1.2 PK-1000 tag dataOutputSerial interface.............................................................. 3 1.3 PK-1000 tag componentsListSerial interface......................................................3 1.4 PK-1000 tag CAN interface......
PK-1000 User Manual 1. Interfaces definition Figure 1 PK-1000 tag definition Figure 2 PK-1000 anchor definition 1.1 PK-1000 tag WIFI interface As shown in Figure 1, the PK-1000 tag is integrated with WIFI module, it serves as the TCP Server in default setting.
PK-1000 User Manual coordinates, every two bytes represents one value. The unit of the coordinates is CM. Blue coded: every 3 bytes make a section, there are 4 sections in total. The first byte of each section is anchor ID, the next 2 bytes is the distance between this anchor and the tag. The unit of the distance is CM. Purple coded: every 7 bytes make a section, there are 4 sections in total. The first byte of each section is anchor ID, the next 6 bytes are the X, Y, Z coordinates of this anchor.
PK-1000 User Manual Figure 3 Anchors setup 1.2 PK-1000 dataOutputSerial interface As illustrated in Figure 1, the dataOutputSerial interface on PK-1000 is designed to send distance & coordinates data, and receive set up information from host computer. On the other hand, dataOutputSerial receives and sends TTL level signal through RS232 interface.
PK-1000 User Manual (1) The data format that componentsListSerial provides when PK-1000 is powered on: Please connect componentsListSerial to Serial Debugging Assistant on your computer before you power the board. Figure 4 componentsListSerial output You can find tag ID, default anchors ID, coordinates for default anchors in Figure 4. (2) componentsListSerial can also be used as ISP. 1.
PK-1000 User Manual TagY_H: the highBit of y-coordinate in CM. TagY_L: the lowBit of y-coordinate in CM. TagZ_H: the highBit of z-coordinate in CM. TagZ_L: the lowBit of z-coordinate in CM. (3) The data format for switching communicating anchors received by CAN: 1 2 3 4 5 6 7 8 0x38 ID1 ID2 ID3 ID4 0x00 0x00 0x28 IDx (x=0, 1, 2, 3) is the ID for selected anchors, it means that the tag is communicating with these four anchors.
PK-1000 User Manual SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 always ON:1 ON:1 ON:1 ON:1 ON:1 ON:1 ON:1 ON OFF:0 OFF:0 OFF:0 OFF:0 OFF:0 OFF:0 OFF:0 ADDR7 ADDR6 ADDR5 ADDR4 ADDR3 ADDR2 ADDR1 For example, if you want to set the address of an anchor to 3, it should be: SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 ON OFF OFF OFF OFF OFF ON ON 2. Hardware module code upgrade 2.1 PK-1000 tag code upgrade 2.1.
PK-1000 User Manual Figure 7 Upgrade succeed (4) Cut the power. Please make sure that BOOT0 is set as LOW voltage when you want to re-power PK-1000 tag. If you need to set up anchor ID, please use our host computer RLKit. 2.1.2 SWD upgrade We don’t recommend you to upgrade through this method. 2.2 PK-1000 anchor code upgrade 2.2.1 SWD upgrade We don’t recommend you to upgrade through this method. Attention: 1.
PK-1000 User Manual Figure 8 Serial connection (2) As illustrated in Figure 9, open RLKit, select correct serial port, and click ”Open”. Figure 9 connect host computer through serial port 3.1.2 TCP (1) Powered up PK-1000. Select the correct WIFI ”BeiLa”. The password is 12345678. Figure 10 Connect to BeiLa WIFI (2) Once connected to WIFI, set the value of IP address and PORT name as following figure, and then click on “Connect” button. When “Connect” changes into “Disconnect”, the connection is done.
PK-1000 User Manual (3) If connection failed, cut your WIFI and repeat step 1 and 2. 3.2 Set up information (1) As illustrated in Figure 12, select the ID of the anchors you want to communicate with, their coordinates and tag ID. (If you don’t need coordinates from PK-1000, you can leave the box unchecked. Attention: new tag ID only works after re-powered up.) Figure 12 Setting up anchors and tags (2) Click on “Set” to send set up information. 3.
PK-1000 User Manual Figure 13 Sample interface - 10 -
