Diff: main_slave.cpp

Revision:

1:c070ca30da80

Child:

4:1a2c1e5e5516

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main_slave.cpp	Thu Feb 11 10:49:49 2016 +0000
@@ -0,0 +1,84 @@
+#include "settings.h"
+
+#if BUILD_SLAVE
+
+#include <mbed.h>
+#include <DW1000.h>
+#include <DW1000Utils.h>
+#include <mavlink_bridge/mavlink_bridge.h>
+
+#include "PC.h"
+#include "UWBSlave.h"
+
+using ait::UWBSlave;
+
+using ait::MAVLinkBridge;
+using ait::UART_Mbed;
+
+const int SPI_FREQUENCY = 1000000;
+
+const int SLAVE_ADDRESS = 10;
+
+const bool USE_NLOS_SETTINGS = true;
+
+const PinName DW_RESET_PIN = D15;
+const PinName DW_MOSI_PIN = D11;
+const PinName DW_MISO_PIN = D12;
+const PinName DW_SCLK_PIN = D13;
+const PinName DW_IRQ_PIN = D14;
+const PinName DW_CS_PIN = D10;
+
+PC pc(USBTX, USBRX, 115200);           // USB UART Terminal
+
+int main()
+{
+    UART_Mbed uart(USBTX, USBRX, 115200);
+    MAVLinkBridge mb(&uart);
+
+    pc.printf("==== AIT UWB Multi Range Slave ====\r\n");
+
+    SPI spi(DW_MOSI_PIN, DW_MISO_PIN, DW_SCLK_PIN);
+    spi.format(8, 0);                    // Setup the spi for standard 8 bit data and SPI-Mode 0 (GPIO5, GPIO6 open circuit or ground on DW1000)
+    // NOTE: Minimum Frequency 1MHz. Below it is now working. Could be something with the activation and deactivation of interrupts.
+    spi.frequency(SPI_FREQUENCY);             // with a 1MHz clock rate (worked up to 49MHz in our Test)
+
+    Timer timer;
+    timer.start();
+
+    InterruptIn irq(DW_IRQ_PIN);
+
+    pc.printf("Performing hardware reset of UWB modules\r\n");
+    // == IMPORTANT == Create all DW objects first (this will cause a reset of the DW module)
+    DW1000::hardwareReset(DW_RESET_PIN);
+
+    // Initialize the DW module
+    DW1000 dw(spi, irq, DW_CS_PIN);
+    dw.setEUI(0xFAEDCD01FAEDCD01);                                  // basic methods called to check if we have a working SPI connection
+    pc.printf("\r\nDecaWave 1.0   up and running!\r\n");            // Splashscreen
+    pc.printf("DEVICE_ID register: 0x%X\r\n", dw.getDeviceID());
+    pc.printf("EUI register: %016llX\r\n", dw.getEUI());
+    pc.printf("Voltage: %.2fV\r\n", dw.getVoltage());
+
+    // Set NLOS settings (According to DecaWave Application Note APS006)
+    if (USE_NLOS_SETTINGS)
+    {
+        pc.printf("Setting NLOS configuration\r\n");
+        DW1000Utils::setNLOSSettings(&dw, DATA_RATE_SETTING, PRF_SETTING, PREAMBLE_SETTING);
+    }
+
+    pc.printf("Initializing slave with address %d\r\n", SLAVE_ADDRESS);
+    UWBSlave slave(&dw, SLAVE_ADDRESS);
+
+    pc.printf("Entering main loop\r\n");
+
+    slave.startReceiving();
+    while (true)
+    {
+//        slave.checkForFrame();
+        pc.printf(".");
+        wait_ms(500);
+    }
+
+    //return 0;
+}
+#endif