Diff: main.cpp

Revision:

0:99928431bb44

diff -r 000000000000 -r 99928431bb44 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jul 07 09:36:12 2015 +0000
@@ -0,0 +1,94 @@
+/*
+*   Author:     Alex Millane (millanea@ethz.ch)
+*               Matthias Grob
+*               Manuel Stalder
+*   Date:       04/06/2015
+*   Purpose:    Implements nodes which form a localization network.
+*               Localization is performed using Decawave DW1000 ranging
+*               UWB radios. Additionally initial measurements from the
+*               px4 flight controller are used. The project implements
+*               three nodes:
+*               - Beacon:   Initiates message transmissions, calculates
+                            ranges and sends them to the observer node.
+                - Anchor:   Received ranging messages and sends calculated
+                            time of flight values to the Beacon.
+                - Observer: Receives calculated ranges from the beacon and
+                            passes them out over a serial connection to a 
+                            host performing estimation. Additionally passes
+                            mavlink messages out over the same serial connection. 
+*/
+
+// Includes
+#include "mbed.h"
+#include "DW1000.h"
+#include "MM2WayRanging.h"
+#include "Node.h"
+#include "Beacon.h"
+#include "Anchor.h"
+#include "Observer.h"
+#include "debug.h"
+
+// Initializing hardware devices
+Serial          serialUSB(USBTX, USBRX) ;           // UART2
+Serial          serial1(PA_9,PA_10) ;               // UART1
+Serial          serial6(PA_11,PA_12) ;              // UART6
+
+// Observer Defines
+Serial& mavlinkIn = serial6 ;
+Serial& framesOut = serial1 ;
+
+// Ranging related objects
+DW1000          dw(PA_7, PA_6, PA_5, PB_6, PB_9);   // Device driver instanceSPI pins: (MOSI, MISO, SCLK, CS, IRQ)
+MM2WayRanging   ranging(dw);                        // Instance of the two way ranging algorithm
+
+// Node factory function
+Node& createNode( NodeType nodeType ) ;
+
+// Main programm 
+int main() {
+
+    // Setting the baud rates of the serial connections
+    serialUSB.baud(57600) ;
+    serial1.baud(57600) ;
+    serial6.baud(57600) ;
+
+    // Debug start up messages
+    debugprintf("Alex Ranging\r\n") ;
+    dw.setEUI(0xFAEDCD01FAEDCD01);                                  // basic methods called to check if we have a working SPI connection
+    debugprintf("DEVICE_ID register: 0x%X\r\n", dw.getDeviceID());
+    debugprintf("EUI register: %016llX\r\n", dw.getEUI());
+    debugprintf("Voltage: %fV\r\n", dw.getVoltage());
+    
+    // Setting the node parameters
+    NodeType nodeType   = OBSERVER ; //ANCHOR ; BEACON ; OBSERVER ;
+    uint8_t nodeAddress = 5 ;
+    
+    // Creating the node
+    Node& node = createNode( nodeType ) ;
+    node.setAddress(nodeAddress) ;
+    
+    // Executing the application
+    while(1){
+        // Calling the node functionality
+        node.execute() ;
+    }
+    
+}
+
+// Node factory function
+Node& createNode( NodeType nodeType ) {
+ 
+    // Creating different node types dependant on argument
+    if( nodeType == ANCHOR ){
+        Anchor* anchor = new Anchor( ranging, dw ) ;
+        return *anchor ;
+    }
+    else if( nodeType == BEACON ){
+        Beacon* beacon = new Beacon( ranging, dw ) ;
+        return *beacon ;
+    }
+    else { // if( nodeType == OBSERVER ){
+        Observer* observer = new Observer( ranging, dw, framesOut, mavlinkIn ) ;
+        return *observer ;
+    }
+}
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