Alex Millane / Mbed 2 deprecated IFARanging

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Dependencies:   mbed

main.cpp@0:99928431bb44, 2015-07-07 (annotated)

Committer:
millanea
Date:
Tue Jul 07 09:36:12 2015 +0000
Revision:
0:99928431bb44
First commit. Committing the entire project such that it can be published.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
millanea 0:99928431bb44 1 /*
millanea 0:99928431bb44 2 * Author: Alex Millane (millanea@ethz.ch)
millanea 0:99928431bb44 3 * Matthias Grob
millanea 0:99928431bb44 4 * Manuel Stalder
millanea 0:99928431bb44 5 * Date: 04/06/2015
millanea 0:99928431bb44 6 * Purpose: Implements nodes which form a localization network.
millanea 0:99928431bb44 7 * Localization is performed using Decawave DW1000 ranging
millanea 0:99928431bb44 8 * UWB radios. Additionally initial measurements from the
millanea 0:99928431bb44 9 * px4 flight controller are used. The project implements
millanea 0:99928431bb44 10 * three nodes:
millanea 0:99928431bb44 11 * - Beacon: Initiates message transmissions, calculates
millanea 0:99928431bb44 12 ranges and sends them to the observer node.
millanea 0:99928431bb44 13 - Anchor: Received ranging messages and sends calculated
millanea 0:99928431bb44 14 time of flight values to the Beacon.
millanea 0:99928431bb44 15 - Observer: Receives calculated ranges from the beacon and
millanea 0:99928431bb44 16 passes them out over a serial connection to a
millanea 0:99928431bb44 17 host performing estimation. Additionally passes
millanea 0:99928431bb44 18 mavlink messages out over the same serial connection.
millanea 0:99928431bb44 19 */
millanea 0:99928431bb44 20
millanea 0:99928431bb44 21 // Includes
millanea 0:99928431bb44 22 #include "mbed.h"
millanea 0:99928431bb44 23 #include "DW1000.h"
millanea 0:99928431bb44 24 #include "MM2WayRanging.h"
millanea 0:99928431bb44 25 #include "Node.h"
millanea 0:99928431bb44 26 #include "Beacon.h"
millanea 0:99928431bb44 27 #include "Anchor.h"
millanea 0:99928431bb44 28 #include "Observer.h"
millanea 0:99928431bb44 29 #include "debug.h"
millanea 0:99928431bb44 30
millanea 0:99928431bb44 31 // Initializing hardware devices
millanea 0:99928431bb44 32 Serial serialUSB(USBTX, USBRX) ; // UART2
millanea 0:99928431bb44 33 Serial serial1(PA_9,PA_10) ; // UART1
millanea 0:99928431bb44 34 Serial serial6(PA_11,PA_12) ; // UART6
millanea 0:99928431bb44 35
millanea 0:99928431bb44 36 // Observer Defines
millanea 0:99928431bb44 37 Serial& mavlinkIn = serial6 ;
millanea 0:99928431bb44 38 Serial& framesOut = serial1 ;
millanea 0:99928431bb44 39
millanea 0:99928431bb44 40 // Ranging related objects
millanea 0:99928431bb44 41 DW1000 dw(PA_7, PA_6, PA_5, PB_6, PB_9); // Device driver instanceSPI pins: (MOSI, MISO, SCLK, CS, IRQ)
millanea 0:99928431bb44 42 MM2WayRanging ranging(dw); // Instance of the two way ranging algorithm
millanea 0:99928431bb44 43
millanea 0:99928431bb44 44 // Node factory function
millanea 0:99928431bb44 45 Node& createNode( NodeType nodeType ) ;
millanea 0:99928431bb44 46
millanea 0:99928431bb44 47 // Main programm
millanea 0:99928431bb44 48 int main() {
millanea 0:99928431bb44 49
millanea 0:99928431bb44 50 // Setting the baud rates of the serial connections
millanea 0:99928431bb44 51 serialUSB.baud(57600) ;
millanea 0:99928431bb44 52 serial1.baud(57600) ;
millanea 0:99928431bb44 53 serial6.baud(57600) ;
millanea 0:99928431bb44 54
millanea 0:99928431bb44 55 // Debug start up messages
millanea 0:99928431bb44 56 debugprintf("Alex Ranging\r\n") ;
millanea 0:99928431bb44 57 dw.setEUI(0xFAEDCD01FAEDCD01); // basic methods called to check if we have a working SPI connection
millanea 0:99928431bb44 58 debugprintf("DEVICE_ID register: 0x%X\r\n", dw.getDeviceID());
millanea 0:99928431bb44 59 debugprintf("EUI register: %016llX\r\n", dw.getEUI());
millanea 0:99928431bb44 60 debugprintf("Voltage: %fV\r\n", dw.getVoltage());
millanea 0:99928431bb44 61
millanea 0:99928431bb44 62 // Setting the node parameters
millanea 0:99928431bb44 63 NodeType nodeType = OBSERVER ; //ANCHOR ; BEACON ; OBSERVER ;
millanea 0:99928431bb44 64 uint8_t nodeAddress = 5 ;
millanea 0:99928431bb44 65
millanea 0:99928431bb44 66 // Creating the node
millanea 0:99928431bb44 67 Node& node = createNode( nodeType ) ;
millanea 0:99928431bb44 68 node.setAddress(nodeAddress) ;
millanea 0:99928431bb44 69
millanea 0:99928431bb44 70 // Executing the application
millanea 0:99928431bb44 71 while(1){
millanea 0:99928431bb44 72 // Calling the node functionality
millanea 0:99928431bb44 73 node.execute() ;
millanea 0:99928431bb44 74 }
millanea 0:99928431bb44 75
millanea 0:99928431bb44 76 }
millanea 0:99928431bb44 77
millanea 0:99928431bb44 78 // Node factory function
millanea 0:99928431bb44 79 Node& createNode( NodeType nodeType ) {
millanea 0:99928431bb44 80
millanea 0:99928431bb44 81 // Creating different node types dependant on argument
millanea 0:99928431bb44 82 if( nodeType == ANCHOR ){
millanea 0:99928431bb44 83 Anchor* anchor = new Anchor( ranging, dw ) ;
millanea 0:99928431bb44 84 return *anchor ;
millanea 0:99928431bb44 85 }
millanea 0:99928431bb44 86 else if( nodeType == BEACON ){
millanea 0:99928431bb44 87 Beacon* beacon = new Beacon( ranging, dw ) ;
millanea 0:99928431bb44 88 return *beacon ;
millanea 0:99928431bb44 89 }
millanea 0:99928431bb44 90 else { // if( nodeType == OBSERVER ){
millanea 0:99928431bb44 91 Observer* observer = new Observer( ranging, dw, framesOut, mavlinkIn ) ;
millanea 0:99928431bb44 92 return *observer ;
millanea 0:99928431bb44 93 }
millanea 0:99928431bb44 94 }