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@37:40f94c634c3e, 2015-02-20 (annotated)

Committer:
manumaet
Date:
Fri Feb 20 13:21:06 2015 +0000
Revision:
37:40f94c634c3e
Parent:
36:883de6f9a73b
Child:
38:8ef3b8d8b908
implemented source/destination adresses and filtering

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 36:883de6f9a73b 21 uint16_t setdelay = 32768; // TODO: = 2^15
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 36:883de6f9a73b 25 r.receiver = true;
manumaet 36:883de6f9a73b 26 if (r.receiver)
manumaet 36:883de6f9a73b 27 r.address = 1;
manumaet 36:883de6f9a73b 28 else
manumaet 36:883de6f9a73b 29 r.address = 0; // sender node has address 0
manumaet 36:883de6f9a73b 30 pc.printf("Address: %d\r\n", r.address);
manumaet 36:883de6f9a73b 31 wait(2);
manumaet 32:041dd02e0e3b 32
manumaet 0:f50e671ffff7 33 while(1) {
manumaet 36:883de6f9a73b 34 if (!r.receiver) { // Request ranging
manumaet 36:883de6f9a73b 35 r.requestRanging(1); // TODO: ask all available nodes!
manumaet 36:883de6f9a73b 36 wait(0.005);
manumaet 36:883de6f9a73b 37 }
manumaet 36:883de6f9a73b 38
manumaet 36:883de6f9a73b 39 // Output bar on console
manumaet 35:95d838d33bf5 40 for(int j = 0; j < 1; j++)
manumaet 35:95d838d33bf5 41 //pc.printf("%f ", r.tofs[j]*MMRANGING_TIMEUNIT_NS);
manumaet 37:40f94c634c3e 42 pc.printf("%lld [", r.tofs[1]);
manumaet 37:40f94c634c3e 43 int dots = r.tofs[1]*70/1400;
manumaet 35:95d838d33bf5 44 if (abs(dots) < 100000)
manumaet 35:95d838d33bf5 45 for(int j = 0; j < dots; j++)
manumaet 35:95d838d33bf5 46 pc.printf("=");
manumaet 35:95d838d33bf5 47 pc.printf("]\r\n");
manumaet 36:883de6f9a73b 48
manumaet 36:883de6f9a73b 49 #if 1 // Output events for debugging
manumaet 36:883de6f9a73b 50 for(int j = 0; j < 10; j++)
manumaet 36:883de6f9a73b 51 if(r.event[j][0] == '!') {
manumaet 36:883de6f9a73b 52 pc.printf("%s\r\n", r.event[j]);
manumaet 36:883de6f9a73b 53 r.event[j][0] = 'X';
manumaet 36:883de6f9a73b 54 }
manumaet 36:883de6f9a73b 55 r.event_i = 0;
manumaet 36:883de6f9a73b 56 #endif
manumaet 36:883de6f9a73b 57 pc.printf("Status: %llX\r\n", dw.getStatus());
manumaet 37:40f94c634c3e 58 pc.printf("TX Control: %llX\r\n", dw.readRegister40(DW1000_TX_FCTRL, 0));
manumaet 36:883de6f9a73b 59
manumaet 35:95d838d33bf5 60 wait(0.01);
manumaet 37:40f94c634c3e 61 wait(0.2);
manumaet 0:f50e671ffff7 62 }
manumaet 0:f50e671ffff7 63 }