File content as of revision 1:c070ca30da80:

#include "settings.h"

#if not BUILD_SLAVE

#include <mbed.h>
#include <DW1000.h>
#include <DW1000Utils.h>
#include <mavlink_bridge/mavlink_bridge.h>

#include "PC.h"
#include "UWBMultiRange.h"

using ait::UWBMultiRange;

//#define MEASURE_UWB_RANGING_RATE 1

using ait::MAVLinkBridge;
using ait::UART_Mbed;

const int SPI_FREQUENCY = 1000000;

const int TRACKER_ADDRESS = 20;
const int NUM_OF_SLAVES = 1;
const int SLAVE_ADDRESS_OFFSET = 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 int MAX_NUM_OF_DW_UNITS = 4;
#if _DEBUG
    const bool MAVLINK_COMM = false;
//    const int NUM_OF_DW_UNITS = 1;
//    const PinName DW_CS_PINS[NUM_OF_DW_UNITS] = {D10};
    const int NUM_OF_DW_UNITS = 4;
    const PinName DW_CS_PINS[NUM_OF_DW_UNITS] = {D7, D8, D9, D10};
#else
    const bool MAVLINK_COMM = false;
    const int NUM_OF_DW_UNITS = 4;
    const PinName DW_CS_PINS[NUM_OF_DW_UNITS] = {D7, D8, D9, D10};
#endif


PC pc(USBTX, USBRX, 115200);           // USB UART Terminal


void measureTimesOfFlight(UWBMultiRange& tracker, MAVLinkBridge& mb, Timer& timer, float ranging_timeout = 0.2f)
{
#if MEASURE_UWB_RANGING_RATE
    static int32_t range_counter = 0;
    static uint32_t last_stamp_us = timer.read_us();
#endif

    for (int i = 0; i < NUM_OF_SLAVES; i++)
    {
        uint8_t remote_address = SLAVE_ADDRESS_OFFSET + i;
        const UWBMultiRange::RawRangingResult& raw_result = tracker.measureTimesOfFlight(remote_address, ranging_timeout);
        if (raw_result.status == UWBMultiRange::SUCCESS)
        {
            if (MAVLINK_COMM)
            {
                uint64_t timestamp_master_request_1[MAX_NUM_OF_DW_UNITS];
                uint64_t timestamp_slave_reply[MAX_NUM_OF_DW_UNITS];
                uint64_t timestamp_master_request_2[MAX_NUM_OF_DW_UNITS];
                for (int j = 0; j < tracker.getNumOfModules(); ++j)
                {
                    timestamp_master_request_1[j] = raw_result.timestamp_master_request_1[j];
                    timestamp_slave_reply[j] = raw_result.timestamp_slave_reply[j];
                    timestamp_master_request_2[j] = raw_result.timestamp_master_request_2[j];
                }
                for (int j = tracker.getNumOfModules(); j < MAX_NUM_OF_DW_UNITS; ++j)
                {
                    timestamp_master_request_1[j] = 0;
                    timestamp_slave_reply[j] = 0;
                    timestamp_master_request_2[j] = 0;
                }

                // Initialize the required buffers
                mavlink_message_t msg;
                // Pack the message
                mavlink_msg_uwb_tracker_raw_4_pack(
                    mb.getSysId(), mb.getCompId(), &msg,
                    tracker.getNumOfModules(),
                    tracker.getAddress(),
                    remote_address,
                    raw_result.timestamp_master_request_1_recv,
                    raw_result.timestamp_slave_reply_send,
                    raw_result.timestamp_master_request_2_recv,
                    timestamp_master_request_1,
                    timestamp_slave_reply,
                    timestamp_master_request_2
                );
                mb.sendMessage(msg);
            }
            else
            {
                for (int j = 0; j < tracker.getNumOfModules(); ++j)
                {
                    int64_t timediff_slave = raw_result.timestamp_master_request_1_recv + raw_result.timestamp_master_request_2_recv - 2 * raw_result.timestamp_slave_reply_send;
                    // Calculation of the summand on the sending node/beacon
                    int64_t timediff_master = 2 * raw_result.timestamp_slave_reply[j] - raw_result.timestamp_master_request_1[j] - raw_result.timestamp_master_request_2[j];
                    // Calculation of the resulting sum of all four ToFs.
                    int64_t timediff = timediff_master + timediff_slave;
                    float tof = tracker.convertDWTimeunitsToMicroseconds(timediff) / 4.0f;
                    float range = tracker.convertTimeOfFlightToDistance(tof);

                    pc.printf("%d.%d - %d> range = %.2f, tof = %.2e\r\n", tracker.getAddress(), j, remote_address, range, tof);
                }
            }
        }
        else
        {
            if (!MAVLINK_COMM)
            {
                pc.printf("Ranging failed: %s\r\n", UWBMultiRange::RANGING_STATUS_MESSAGES[raw_result.status]);
            }
        }
#if MEASURE_UWB_RANGING_RATE
        ++range_counter;
#endif
    }

#if MEASURE_UWB_RANGING_RATE
    uint32_t now_stamp_us = timer.read_us();
    uint32_t dt_us = now_stamp_us - last_stamp_us;
    if (dt_us > 2 * 1000 * 1000)
    {
        float rate = 1000 * 1000 * range_counter / ((float)dt_us);
        pc.printf("Rate = %f.2Hz\r\n", rate);
        pc.printf("range_counter = %d, stamp_us = %u, last_stamp_us = %u\r\n", range_counter, now_stamp_us, last_stamp_us);
        range_counter = 0;
        last_stamp_us = now_stamp_us;
    }
#endif
}

int main()
{
    UART_Mbed uart(USBTX, USBRX, 115200);
    MAVLinkBridge mb(&uart);

    if (!MAVLINK_COMM)
    {
        pc.printf("==== AIT UWB Multi Range ====\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();

    DW1000* dw_array[NUM_OF_DW_UNITS];
    PinName irq_pin = NC;
    InterruptIn irq(irq_pin);

    if (!MAVLINK_COMM)
    {
        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);

    // Now we can initialize the DW modules
    for (int i = 0; i < NUM_OF_DW_UNITS; ++i)
    {
        dw_array[i] = new DW1000(spi, irq, DW_CS_PINS[i]);   // Device driver instanceSPI pins: (MOSI, MISO, SCLK, CS, IRQ, RESET)

        DW1000& dw = *dw_array[i];
        dw.setEUI(0xFAEDCD01FAEDCD01 + i);                                  // basic methods called to check if we have a working SPI connection

        if (MAVLINK_COMM)
        {
            // TODO
        }
        else
        {
            pc.printf("\r\nUnit %d\r\n", i);
            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)
        {
            if (!MAVLINK_COMM)
            {
                pc.printf("Setting NLOS configuration for Unit %d\r\n", i);
            }
            DW1000Utils::setNLOSSettings(&dw, DATA_RATE_SETTING, PRF_SETTING, PREAMBLE_SETTING);
        }
    }

    pc.printf("Initializing tracker with address %d\r\n", TRACKER_ADDRESS);
    UWBMultiRange tracker(TRACKER_ADDRESS);

    for (int i = 0; i < NUM_OF_DW_UNITS; ++i)
    {
        tracker.addModule(dw_array[i]);
    }

    if (!MAVLINK_COMM)
    {
        pc.printf("Entering main loop\r\n");
    }

    while (true)
    {
        for (int j = 0; j < NUM_OF_DW_UNITS; ++j)
        {
            measureTimesOfFlight(tracker, mb, timer);
        }
    }

//    for (int i = 0; i < NUM_OF_DW_UNITS; ++i)
//    {
//        delete node_array[i];
//        delete dw_array[i];
//    }
}
#endif