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@18:bbc7ca7d3a95, 2014-11-24 (annotated)

Committer:
manumaet
Date:
Mon Nov 24 16:48:03 2014 +0000
Revision:
18:bbc7ca7d3a95
Parent:
17:8afa5f9122da
Child:
19:e94bc88c1eb0
many changes, sadly TX interrupt broken

Who changed what in which revision?

UserRevisionLine numberNew contents of line
manumaet 0:f50e671ffff7 1 #include "mbed.h"
manumaet 0:f50e671ffff7 2 #include "PC.h" // Serial Port via USB for debugging with Terminal
manumaet 0:f50e671ffff7 3 #include "DW1000.h"
manumaet 0:f50e671ffff7 4
manumaet 0:f50e671ffff7 5 PC pc(USBTX, USBRX, 921600); // USB UART Terminal
manumaet 7:e634eeafc4d2 6 DW1000 dw(D11, D12, D13, D10, D14); // SPI1 on Nucleo Board (MOSI, MISO, SCLK, CS, IRQ)
manumaet 0:f50e671ffff7 7
manumaet 15:e1fea7e2aff1 8 const float timeunit = 1/(128*499.2e6);
manumaet 14:8041c9b68406 9 int i=0;
manumaet 17:8afa5f9122da 10 char message[1200] = "";
manumaet 11:c87d37db2c6f 11 uint64_t timestamp_old = 0;
manumaet 14:8041c9b68406 12
manumaet 18:bbc7ca7d3a95 13 void callbackRX(int framelength) {
manumaet 16:96879e1c99f2 14 if(framelength<200) {
manumaet 16:96879e1c99f2 15 char* receive = dw.receiveString(); // receive a string
manumaet 16:96879e1c99f2 16 pc.printf("Received: \"%s\" %d ", receive, framelength);
manumaet 16:96879e1c99f2 17 delete[] receive;
manumaet 16:96879e1c99f2 18 } else
manumaet 16:96879e1c99f2 19 pc.printf("Received! %d ", framelength);
manumaet 10:d077bb12d259 20
manumaet 18:bbc7ca7d3a95 21 pc.printf("Status: %010llX ", dw.getStatus());
manumaet 11:c87d37db2c6f 22
manumaet 18:bbc7ca7d3a95 23 uint64_t timestamp = dw.readRegister40(DW1000_RX_TIME, 0);
manumaet 11:c87d37db2c6f 24 uint64_t difference = timestamp - timestamp_old;
manumaet 11:c87d37db2c6f 25 timestamp_old = timestamp;
manumaet 15:e1fea7e2aff1 26 //pc.printf("Timestamp: %lld\r\n", difference);
manumaet 15:e1fea7e2aff1 27 pc.printf("Timestamp: %fs", difference*timeunit); // TODO: gives some wrong values because of timer overflow
manumaet 15:e1fea7e2aff1 28 pc.printf("\r\n");
manumaet 17:8afa5f9122da 29 dw.startRX();
manumaet 6:d5864a1b9e17 30 }
manumaet 6:d5864a1b9e17 31
manumaet 18:bbc7ca7d3a95 32 void callbackTX() {
manumaet 18:bbc7ca7d3a95 33 char messagecheck[1200];
manumaet 18:bbc7ca7d3a95 34 dw.readRegister(DW1000_TX_BUFFER, 0, (uint8_t*)messagecheck, strlen(message)+1);
manumaet 18:bbc7ca7d3a95 35 if (i < 200)
manumaet 18:bbc7ca7d3a95 36 pc.printf("%d Sent: \"%s\" %d ", i, messagecheck, strlen(message)+1);
manumaet 18:bbc7ca7d3a95 37 else
manumaet 18:bbc7ca7d3a95 38 pc.printf("%d Sent! %d ", i, strlen(message)+1);
manumaet 18:bbc7ca7d3a95 39 pc.printf("Status: %010llX\r\n", dw.getStatus());
manumaet 18:bbc7ca7d3a95 40 }
manumaet 18:bbc7ca7d3a95 41
manumaet 0:f50e671ffff7 42 int main() {
manumaet 0:f50e671ffff7 43 pc.printf("DecaWave 0.1\r\nup and running!\r\n");
manumaet 0:f50e671ffff7 44
manumaet 14:8041c9b68406 45 dw.setEUI(0xFAEDCD01FAEDCD01); // basic methods called to check if we have a slave
manumaet 4:6240b9c7a033 46 pc.printf("%d DEVICE_ID register: 0x%X\r\n", i, dw.getDeviceID());
manumaet 4:6240b9c7a033 47 pc.printf("%d EUI register: %016llX\r\n", i, dw.getEUI());
manumaet 4:6240b9c7a033 48 pc.printf("%d Voltage: %f\r\n", i, dw.getVoltage());
manumaet 0:f50e671ffff7 49
manumaet 12:985aa9843c3c 50 uint32_t conf = 0; // read System Configuration
manumaet 4:6240b9c7a033 51 dw.readRegister(DW1000_SYS_CFG, 0, (uint8_t*)&conf, 4);
manumaet 4:6240b9c7a033 52 pc.printf("%d System Configuration: %X\r\n", i, conf);
manumaet 4:6240b9c7a033 53
manumaet 18:bbc7ca7d3a95 54 dw.callbackRX = &callbackRX; // TODO: must not jump to NULL & setter
manumaet 18:bbc7ca7d3a95 55 dw.callbackTX = &callbackTX;
manumaet 14:8041c9b68406 56
manumaet 14:8041c9b68406 57 // Receiver initialisation
manumaet 18:bbc7ca7d3a95 58 dw.writeRegister16(DW1000_SYS_MASK, 0, 0x4080); // RX only good frame 0x4000, RX all frames 0x2000, TX done 0x0080
manumaet 17:8afa5f9122da 59 dw.startRX();
manumaet 5:111f11c95d27 60
manumaet 0:f50e671ffff7 61 while(1) {
manumaet 18:bbc7ca7d3a95 62 #if 0
manumaet 17:8afa5f9122da 63 if(i < 1200) {
manumaet 17:8afa5f9122da 64 message[i] = 48+ (i%10);
manumaet 17:8afa5f9122da 65 message[i+1] = '\0';
manumaet 17:8afa5f9122da 66 }
manumaet 16:96879e1c99f2 67
manumaet 16:96879e1c99f2 68 //wait(0.1);
manumaet 10:d077bb12d259 69 dw.sendString(message);
manumaet 15:e1fea7e2aff1 70
manumaet 17:8afa5f9122da 71 #endif
manumaet 15:e1fea7e2aff1 72 #if 0
manumaet 15:e1fea7e2aff1 73 pc.printf("%d Waiting... ", i);
manumaet 18:bbc7ca7d3a95 74 pc.printf("Status: %010llX ", dw.getStatus());
manumaet 15:e1fea7e2aff1 75 wait(5);
manumaet 15:e1fea7e2aff1 76 #endif
manumaet 15:e1fea7e2aff1 77 i++;
manumaet 0:f50e671ffff7 78 }
manumaet 0:f50e671ffff7 79 }