Tobias Naegeli / Mbed 2 deprecated AIT_UWB_Range

Tobi's ubw test branch

Dependencies:   mavlink_bridge mbed

Fork of AIT_UWB_Range by Benjamin Hepp

main.cpp@31:6f76f3d518ac, 2014-12-01 (annotated)

Committer:
manumaet
Date:
Mon Dec 01 13:04:18 2014 +0000
Revision:
31:6f76f3d518ac
Parent:
30:4ecc69d3cf8d
Child:
32:041dd02e0e3b
ranging draft implemented, not working yet

Who changed what in which revision?

UserRevisionLine numberNew contents of line
manumaet 24:6f25ba679490 1 // by Matthias Grob & Manuel Stalder - ETH Zürich - 2015
manumaet 0:f50e671ffff7 2 #include "mbed.h"
manumaet 26:a65c6f26c458 3 #include "PC.h" // Serial Port via USB for debugging with Terminal
manumaet 27:71178fdb78e1 4 #include "DW1000.h" // our DW1000 device driver
manumaet 27:71178fdb78e1 5 #include "MMRanging.h" // our self developed raning application
manumaet 0:f50e671ffff7 6
manumaet 26:a65c6f26c458 7 PC pc(USBTX, USBRX, 921600); // USB UART Terminal
manumaet 30:4ecc69d3cf8d 8 DW1000 dw(PA_7, PA_6, PA_5, PB_6, PB_9); // Device driver instanceSPI pins: (MOSI, MISO, SCLK, CS, IRQ)
manumaet 28:a830131560e8 9 MMRanging r(dw); // Ranging class for getting distances and later positions
manumaet 14:8041c9b68406 10
manumaet 28:a830131560e8 11 char message[100] = "";
manumaet 6:d5864a1b9e17 12
manumaet 0:f50e671ffff7 13 int main() {
manumaet 27:71178fdb78e1 14 pc.printf("DecaWave 0.2\r\nup and running!\r\n");
manumaet 30:4ecc69d3cf8d 15 dw.setEUI(0xFAEDCD01FAEDCD01); // basic methods called to check if we have a working SPI connection
manumaet 28:a830131560e8 16 pc.printf("DEVICE_ID register: 0x%X\r\n", dw.getDeviceID());
manumaet 28:a830131560e8 17 pc.printf("EUI register: %016llX\r\n", dw.getEUI());
manumaet 28:a830131560e8 18 pc.printf("Voltage: %f\r\n", dw.getVoltage());
manumaet 28:a830131560e8 19
manumaet 31:6f76f3d518ac 20 r.receiver = true;
manumaet 31:6f76f3d518ac 21 bool senderstart = true;
manumaet 0:f50e671ffff7 22 while(1) {
manumaet 26:a65c6f26c458 23 for(int j = 0; j < 10; j++)
manumaet 31:6f76f3d518ac 24 pc.printf("%f ", r.tofs[j]*MMRANGING_TIMEUNIT);
manumaet 31:6f76f3d518ac 25 pc.printf("\r\n");
manumaet 31:6f76f3d518ac 26 for(int j = 0; j < 10; j++)
manumaet 28:a830131560e8 27 if(r.event[j][0] == '!') {
manumaet 28:a830131560e8 28 pc.printf("%s Time: %fus\r\n", r.event[j], r.eventtimes[j]*MMRANGING_TIMEUNIT);
manumaet 28:a830131560e8 29 r.event[j][0] = 'X';
manumaet 24:6f25ba679490 30 }
manumaet 28:a830131560e8 31 if (!r.receiver) {
manumaet 31:6f76f3d518ac 32 if(senderstart)
manumaet 31:6f76f3d518ac 33 r.requestRanging();
manumaet 31:6f76f3d518ac 34 else
manumaet 31:6f76f3d518ac 35 r.requestTime();
manumaet 31:6f76f3d518ac 36 senderstart = !senderstart;
manumaet 28:a830131560e8 37 }
manumaet 31:6f76f3d518ac 38 pc.printf("Status: %llX\r\n", dw.getStatus());
manumaet 31:6f76f3d518ac 39 wait(2);
manumaet 0:f50e671ffff7 40 }
manumaet 0:f50e671ffff7 41 }