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@11:c87d37db2c6f, 2014-11-23 (annotated)

Committer:
manumaet
Date:
Sun Nov 23 11:20:46 2014 +0000
Revision:
11:c87d37db2c6f
Parent:
10:d077bb12d259
Child:
12:985aa9843c3c
LDE fixed, receiver reset no more needed

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 11:c87d37db2c6f 8
manumaet 11:c87d37db2c6f 9 uint64_t timestamp_old = 0;
manumaet 11:c87d37db2c6f 10 //#define SENDER
manumaet 5:111f11c95d27 11
manumaet 6:d5864a1b9e17 12 void Interrupthandler() {
manumaet 10:d077bb12d259 13 /*uint8_t frameready = 0;
manumaet 7:e634eeafc4d2 14 dw.readRegister(DW1000_SYS_STATUS, 1, &frameready, 1);
manumaet 10:d077bb12d259 15 pc.printf("Interrupt status: %X\r\n", frameready);*/
manumaet 10:d077bb12d259 16
manumaet 10:d077bb12d259 17 uint16_t framelength = 0; // get framelength
manumaet 10:d077bb12d259 18 dw.readRegister(DW1000_RX_FINFO, 0, (uint8_t*)&framelength, 2);
manumaet 10:d077bb12d259 19 framelength &= 0x03FF;
manumaet 10:d077bb12d259 20 framelength -= 2;
manumaet 10:d077bb12d259 21
manumaet 10:d077bb12d259 22 char* receive = dw.receiveString();
manumaet 11:c87d37db2c6f 23 pc.printf("Received: %s %d ", receive, framelength);
manumaet 10:d077bb12d259 24 delete[] receive;
manumaet 10:d077bb12d259 25
manumaet 11:c87d37db2c6f 26 uint64_t status;
manumaet 11:c87d37db2c6f 27 dw.readRegister(DW1000_SYS_STATUS, 0, (uint8_t*)&status, 5);
manumaet 11:c87d37db2c6f 28 status &= 0xFFFFFFFFFF; // only 40-Bit
manumaet 11:c87d37db2c6f 29 pc.printf("Status: %010llX ", status);
manumaet 11:c87d37db2c6f 30
manumaet 11:c87d37db2c6f 31 uint64_t timestamp;
manumaet 11:c87d37db2c6f 32 dw.readRegister(DW1000_RX_TIME, 0, (uint8_t*)&timestamp, 5);
manumaet 11:c87d37db2c6f 33 timestamp &= 0xFFFFFFFFFF; // only 40-Bit
manumaet 11:c87d37db2c6f 34 uint64_t difference = timestamp - timestamp_old;
manumaet 11:c87d37db2c6f 35 timestamp_old = timestamp;
manumaet 11:c87d37db2c6f 36 pc.printf("Timestamp: %lld\r\n", difference);
manumaet 11:c87d37db2c6f 37
manumaet 11:c87d37db2c6f 38 /*uint8_t xtalt; // for clock tuning
manumaet 11:c87d37db2c6f 39 dw.readRegister(DW1000_FS_CTRL, 0x0E, (uint8_t*)&xtalt, 1);
manumaet 11:c87d37db2c6f 40 pc.printf("XTALT: %X\r\n", xtalt);*/
manumaet 11:c87d37db2c6f 41
manumaet 11:c87d37db2c6f 42 //dw.resetRX(); // TODO DONE: reset was crucial because otherwise only 1 frame is received correct, cause: LDE crashing because you have to manually initialize
manumaet 8:7a9c61242e2f 43 dw.receiveFrame();
manumaet 6:d5864a1b9e17 44 }
manumaet 6:d5864a1b9e17 45
manumaet 0:f50e671ffff7 46 int main() {
manumaet 4:6240b9c7a033 47 int i=0;
manumaet 10:d077bb12d259 48 char message[1024] = "";
manumaet 0:f50e671ffff7 49 pc.printf("DecaWave 0.1\r\nup and running!\r\n");
manumaet 0:f50e671ffff7 50
manumaet 0:f50e671ffff7 51 dw.setEUI(0xFAEDCD01FAEDCD01);
manumaet 4:6240b9c7a033 52 pc.printf("%d DEVICE_ID register: 0x%X\r\n", i, dw.getDeviceID());
manumaet 4:6240b9c7a033 53 pc.printf("%d EUI register: %016llX\r\n", i, dw.getEUI());
manumaet 4:6240b9c7a033 54 pc.printf("%d Voltage: %f\r\n", i, dw.getVoltage());
manumaet 0:f50e671ffff7 55
manumaet 4:6240b9c7a033 56 // read System Configuration
manumaet 4:6240b9c7a033 57 uint32_t conf = 0;
manumaet 4:6240b9c7a033 58 dw.readRegister(DW1000_SYS_CFG, 0, (uint8_t*)&conf, 4);
manumaet 4:6240b9c7a033 59 pc.printf("%d System Configuration: %X\r\n", i, conf);
manumaet 4:6240b9c7a033 60
manumaet 7:e634eeafc4d2 61 wait(1);
manumaet 5:111f11c95d27 62
manumaet 8:7a9c61242e2f 63 dw.callbackRX = &Interrupthandler;
manumaet 9:c8839de428ac 64 #ifndef SENDER
manumaet 10:d077bb12d259 65 uint8_t dataframereadyinterrupt = 0x40; // only good frame 0x40 all frames 0x20
manumaet 5:111f11c95d27 66 dw.writeRegister(DW1000_SYS_MASK, 1, &dataframereadyinterrupt, 1);
manumaet 7:e634eeafc4d2 67
manumaet 7:e634eeafc4d2 68 // Receive something
manumaet 8:7a9c61242e2f 69 dw.receiveFrame();
manumaet 5:111f11c95d27 70 #endif
manumaet 5:111f11c95d27 71
manumaet 0:f50e671ffff7 72 while(1) {
manumaet 0:f50e671ffff7 73 i++;
manumaet 5:111f11c95d27 74 # ifdef SENDER // to make one node sender and one receiver
manumaet 11:c87d37db2c6f 75 //message[i-1] = 'O';
manumaet 11:c87d37db2c6f 76 //message[i] = '\0';
manumaet 11:c87d37db2c6f 77 sprintf((char*)message, "HELLO WORLD! %d", i);
manumaet 11:c87d37db2c6f 78 //if (i < 200)
manumaet 11:c87d37db2c6f 79 pc.printf("%d Message: \"%s\" %d\r\n", i, message, strlen(message)+1);
manumaet 11:c87d37db2c6f 80 //else
manumaet 11:c87d37db2c6f 81 //pc.printf("%d Message: %d\r\n", i, strlen(message)+1);
manumaet 10:d077bb12d259 82 dw.sendString(message);
manumaet 0:f50e671ffff7 83
manumaet 10:d077bb12d259 84 char messagecheck[1024];
manumaet 10:d077bb12d259 85 dw.readRegister(DW1000_TX_BUFFER, 0, (uint8_t*)messagecheck, strlen(message)+1);
manumaet 11:c87d37db2c6f 86 //if (i < 200)
manumaet 10:d077bb12d259 87 pc.printf("%d Buffer: \"%s\" %d\r\n", i, messagecheck, strlen(messagecheck)+1);
manumaet 11:c87d37db2c6f 88 //else
manumaet 11:c87d37db2c6f 89 //pc.printf("%d Buffer: %d\r\n", i, strlen(messagecheck)+1);
manumaet 9:c8839de428ac 90 /*for(int i=0; i<10; i++) { // to control Voltage
manumaet 9:c8839de428ac 91 pc.printf("%d Voltage: %f\r\n", i, dw.getVoltage());
manumaet 9:c8839de428ac 92 wait(0.2);
manumaet 9:c8839de428ac 93 }*/
manumaet 11:c87d37db2c6f 94 //if (i<27)
manumaet 11:c87d37db2c6f 95 wait(1);
manumaet 11:c87d37db2c6f 96 //else
manumaet 11:c87d37db2c6f 97 //wait(3);
manumaet 8:7a9c61242e2f 98 #else
manumaet 11:c87d37db2c6f 99 pc.printf("%d Waiting... ", i);
manumaet 11:c87d37db2c6f 100
manumaet 11:c87d37db2c6f 101 uint64_t status;
manumaet 11:c87d37db2c6f 102 dw.readRegister(DW1000_SYS_STATUS, 0, (uint8_t*)&status, 5);
manumaet 11:c87d37db2c6f 103 status &= 0xFFFFFFFFFF; // only 40-Bit
manumaet 11:c87d37db2c6f 104 pc.printf("Status: %010llX\r\n", status);
manumaet 11:c87d37db2c6f 105
manumaet 10:d077bb12d259 106 wait(1);
manumaet 0:f50e671ffff7 107 # endif
manumaet 4:6240b9c7a033 108
manumaet 0:f50e671ffff7 109 }
manumaet 0:f50e671ffff7 110 }