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@34:f56962030c5c, 2014-12-27 (annotated)

Committer:
manumaet
Date:
Sat Dec 27 14:37:12 2014 +0000
Revision:
34:f56962030c5c
Parent:
33:6ea4c3dd504d
Child:
35:95d838d33bf5
when merging to eclipse & svn

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 34:f56962030c5c 19 pc.printf("Size of Frame: %d\r\n", sizeof(r.TX));
manumaet 34:f56962030c5c 20
manumaet 34:f56962030c5c 21 uint16_t setdelay = 65500;
manumaet 34:f56962030c5c 22 dw.writeRegister16(DW1000_TX_ANTD, 0, setdelay);
manumaet 34:f56962030c5c 23 pc.printf("Antenna Delay TX: %d\r\n", dw.readRegister16(DW1000_TX_ANTD, 0));
manumaet 34:f56962030c5c 24 pc.printf("Antenna Delay RX: %d\r\n", dw.readRegister16(DW1000_LDE_CTRL, 0x1804));
manumaet 34:f56962030c5c 25 r.receiver = true;
manumaet 32:041dd02e0e3b 26
manumaet 31:6f76f3d518ac 27 bool senderstart = true;
manumaet 0:f50e671ffff7 28 while(1) {
manumaet 26:a65c6f26c458 29 for(int j = 0; j < 10; j++)
manumaet 34:f56962030c5c 30 pc.printf("%d ", (unsigned int)r.tofs[j]);
manumaet 31:6f76f3d518ac 31 pc.printf("\r\n");
manumaet 31:6f76f3d518ac 32 for(int j = 0; j < 10; j++)
manumaet 28:a830131560e8 33 if(r.event[j][0] == '!') {
manumaet 34:f56962030c5c 34 pc.printf("%s Time: %lldus\r\n", r.event[j], r.eventtimes[j]);
manumaet 28:a830131560e8 35 r.event[j][0] = 'X';
manumaet 24:6f25ba679490 36 }
manumaet 28:a830131560e8 37 if (!r.receiver) {
manumaet 31:6f76f3d518ac 38 if(senderstart)
manumaet 31:6f76f3d518ac 39 r.requestRanging();
manumaet 31:6f76f3d518ac 40 else
manumaet 31:6f76f3d518ac 41 r.requestTime();
manumaet 31:6f76f3d518ac 42 senderstart = !senderstart;
manumaet 28:a830131560e8 43 }
manumaet 31:6f76f3d518ac 44 pc.printf("Status: %llX\r\n", dw.getStatus());
manumaet 31:6f76f3d518ac 45 wait(2);
manumaet 0:f50e671ffff7 46 }
manumaet 0:f50e671ffff7 47 }