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This is the DW1000 driver and our self developed distance measurement application based on it. We do this as a semester thesis at ETH Zürich under the Automatic Control Laboratory in the Department of electrical engineering.
main.cpp
- Committer:
- manumaet
- Date:
- 2015-02-22
- Revision:
- 39:bb57aa77b015
- Parent:
- 38:8ef3b8d8b908
- Child:
- 40:5ce51b7e3118
File content as of revision 39:bb57aa77b015:
// by Matthias Grob & Manuel Stalder - ETH Zürich - 2015 #include "mbed.h" #include "PC.h" // Serial Port via USB for debugging with Terminal #include "DW1000.h" // our DW1000 device driver #include "MMRanging.h" // our self developed raning application PC pc(USBTX, USBRX, 921600); // USB UART Terminal DW1000 dw(PA_7, PA_6, PA_5, PB_6, PB_9); // Device driver instanceSPI pins: (MOSI, MISO, SCLK, CS, IRQ) MMRanging r(dw); // Ranging class for getting distances and later positions char message[100] = ""; int main() { pc.printf("DecaWave 0.2\r\nup and running!\r\n"); dw.setEUI(0xFAEDCD01FAEDCD01); // basic methods called to check if we have a working SPI connection pc.printf("DEVICE_ID register: 0x%X\r\n", dw.getDeviceID()); pc.printf("EUI register: %016llX\r\n", dw.getEUI()); pc.printf("Voltage: %fV\r\n", dw.getVoltage()); pc.printf("System Configuration: %llX\r\n", dw.readRegister40(DW1000_SYS_CFG, 0)); pc.printf("Size of Rangingframe: %d\r\n", sizeof(r.TX)); uint16_t setdelay = 32300;//768; // TODO: = 2^15 dw.writeRegister16(DW1000_TX_ANTD, 0, setdelay); pc.printf("Antenna Delay TX: %d\r\n", dw.readRegister16(DW1000_TX_ANTD, 0)); pc.printf("Antenna Delay RX: %d\r\n", dw.readRegister16(DW1000_LDE_CTRL, 0x1804)); //r.receiver = true; if (r.receiver) r.address = 2; else r.address = 0; // sender node has address 0 pc.printf("Address: %d\r\n", r.address); wait(2); while(1) { if (!r.receiver) { // Request ranging r.requestRanging(1); // TODO: ask all available nodes! wait(0.005); r.requestRanging(2); wait(0.005); pc.printf("%lld\r\n", r.tofs[2]); // logging output } else { pc.printf("%lld\r\n", r.rangingtimingsReceiver[0][1] - r.rangingtimingsReceiver[0][0]); } #if 0 // Output bars on console for(int i = 1; i < 3; i++) { //pc.printf("%f ", r.tofs[j]*MMRANGING_TIMEUNIT_NS); pc.printf("%lld [", r.tofs[i]); int dots = r.tofs[i]*70/1400; if (abs(dots) < 10000) for(int j = 0; j < dots; j++) pc.printf("="); pc.printf("]\r\n"); } #endif #if 0 // Output events for debugging for(int j = 0; j < 10; j++) if(r.event[j][0] == '!') { pc.printf("%s\r\n", r.event[j]); r.event[j][0] = 'X'; } r.event_i = 0; #endif //pc.printf("Status: %llX\r\n", dw.getStatus()); //pc.printf("TX Control: %llX\r\n", dw.readRegister40(DW1000_TX_FCTRL, 0)); //pc.printf("\r\n"); wait(0.02); //wait(0.1); } }