Matthias Grob & Manuel Stalder / Mbed 2 deprecated DecaWave

This is the DW1000 driver and our self developed distance measurement application based on it. We do this as a semester thesis at ETH Zürich under the Automatic Control Laboratory in the Department of electrical engineering.

Dependencies:   mbed

main.cpp@5:111f11c95d27, 2014-11-18 (annotated)

Committer:
manumaet
Date:
Tue Nov 18 13:35:48 2014 +0000
Revision:
5:111f11c95d27
Parent:
4:6240b9c7a033
Child:
6:d5864a1b9e17
button tester

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 0:f50e671ffff7 6 DW1000 dw(D11, D12, D13, D10); // SPI1 on Nucleo Board (MOSI, MISO, SCLK, CS)
manumaet 0:f50e671ffff7 7
manumaet 0:f50e671ffff7 8 /*uint32_t read32Bit(uint8_t reg, uint16_t subaddress) {
manumaet 0:f50e671ffff7 9 uint32_t result = 0;
manumaet 0:f50e671ffff7 10
manumaet 0:f50e671ffff7 11 }*/
manumaet 0:f50e671ffff7 12
manumaet 5:111f11c95d27 13 //#define SENDER
manumaet 5:111f11c95d27 14
manumaet 0:f50e671ffff7 15 int main() {
manumaet 4:6240b9c7a033 16 int i=0;
manumaet 0:f50e671ffff7 17 pc.printf("DecaWave 0.1\r\nup and running!\r\n");
manumaet 0:f50e671ffff7 18
manumaet 0:f50e671ffff7 19 dw.setEUI(0xFAEDCD01FAEDCD01);
manumaet 4:6240b9c7a033 20 pc.printf("%d DEVICE_ID register: 0x%X\r\n", i, dw.getDeviceID());
manumaet 4:6240b9c7a033 21 pc.printf("%d EUI register: %016llX\r\n", i, dw.getEUI());
manumaet 4:6240b9c7a033 22 pc.printf("%d Voltage: %f\r\n", i, dw.getVoltage());
manumaet 0:f50e671ffff7 23
manumaet 4:6240b9c7a033 24 // read System Configuration
manumaet 4:6240b9c7a033 25 uint32_t conf = 0;
manumaet 4:6240b9c7a033 26 dw.readRegister(DW1000_SYS_CFG, 0, (uint8_t*)&conf, 4);
manumaet 4:6240b9c7a033 27 pc.printf("%d System Configuration: %X\r\n", i, conf);
manumaet 4:6240b9c7a033 28
manumaet 4:6240b9c7a033 29 wait(5);
manumaet 5:111f11c95d27 30
manumaet 5:111f11c95d27 31 #ifndef SENDR
manumaet 5:111f11c95d27 32 uint8_t dataframereadyinterrupt = 0x20; // only good frame would be 0x40
manumaet 5:111f11c95d27 33 dw.writeRegister(DW1000_SYS_MASK, 1, &dataframereadyinterrupt, 1);
manumaet 5:111f11c95d27 34 DigitalIn button(USER_BUTTON);
manumaet 5:111f11c95d27 35 while(1) {
manumaet 5:111f11c95d27 36 pc.printf("Status: %X\r\n", (int)button);
manumaet 5:111f11c95d27 37 wait(0.1);
manumaet 5:111f11c95d27 38 }
manumaet 5:111f11c95d27 39 #endif
manumaet 5:111f11c95d27 40
manumaet 0:f50e671ffff7 41 while(1) {
manumaet 0:f50e671ffff7 42 i++;
manumaet 0:f50e671ffff7 43
manumaet 5:111f11c95d27 44 # ifdef SENDER // to make one node sender and one receiver
manumaet 0:f50e671ffff7 45 // Send something
manumaet 4:6240b9c7a033 46 char message[20] = "HELLO WORLD!";
manumaet 4:6240b9c7a033 47 sprintf((char*)message, "HELLO WORLD! %d", i);
manumaet 4:6240b9c7a033 48 dw.sendFrame(message, 20);
manumaet 0:f50e671ffff7 49
manumaet 4:6240b9c7a033 50 uint8_t messagecheck[20];
manumaet 4:6240b9c7a033 51 dw.readRegister(DW1000_TX_BUFFER, 0, messagecheck, 20);
manumaet 4:6240b9c7a033 52 pc.printf("Message in buffer: %s\r\n", messagecheck);
manumaet 4:6240b9c7a033 53 wait(2);
manumaet 4:6240b9c7a033 54 # else
manumaet 0:f50e671ffff7 55
manumaet 0:f50e671ffff7 56 // Receive something
manumaet 0:f50e671ffff7 57 uint8_t rxenable = 0x01; // start listening
manumaet 0:f50e671ffff7 58 dw.writeRegister(DW1000_SYS_CTRL, 1, &rxenable, 1);
manumaet 0:f50e671ffff7 59
manumaet 2:16e45ff70baf 60 uint8_t frameready = 0; // check if frame received
manumaet 4:6240b9c7a033 61 while (frameready == 0 /*& 0x20) != 0x20*/) { // while no frame ready
manumaet 2:16e45ff70baf 62 i++;
manumaet 4:6240b9c7a033 63
manumaet 5:111f11c95d27 64 pc.printf("%d Waiting for frame... ", i);
manumaet 2:16e45ff70baf 65 dw.readRegister(DW1000_SYS_STATUS, 1, &frameready, 1);
manumaet 5:111f11c95d27 66 pc.printf("Status: %X ", frameready);
manumaet 4:6240b9c7a033 67 uint8_t receive[20] = "NOTHING IN!!"; // get data from buffer
manumaet 4:6240b9c7a033 68 dw.readRegister(DW1000_RX_BUFFER, 0, receive, 20);
manumaet 4:6240b9c7a033 69 pc.printf("Message would be: %s\r\n", receive);
manumaet 4:6240b9c7a033 70 wait(0.3);
manumaet 2:16e45ff70baf 71 }
manumaet 0:f50e671ffff7 72
manumaet 5:111f11c95d27 73 // get data from buffer
manumaet 5:111f11c95d27 74 uint8_t receive[20] = "NOTHING IN!!";
manumaet 4:6240b9c7a033 75 dw.readRegister(DW1000_RX_BUFFER, 0, receive, 20);
manumaet 4:6240b9c7a033 76 pc.printf("Message received: %s -------------------------\r\n", receive);
manumaet 4:6240b9c7a033 77
manumaet 4:6240b9c7a033 78 dw.readRegister(DW1000_SYS_STATUS, 1, &frameready, 1);
manumaet 4:6240b9c7a033 79 pc.printf("Status: %X\r\n", frameready);
manumaet 4:6240b9c7a033 80
manumaet 4:6240b9c7a033 81 dw.resetRX();
manumaet 4:6240b9c7a033 82 wait(0.5);
manumaet 4:6240b9c7a033 83 continue;
manumaet 4:6240b9c7a033 84
manumaet 0:f50e671ffff7 85 # endif
manumaet 4:6240b9c7a033 86
manumaet 0:f50e671ffff7 87 }
manumaet 0:f50e671ffff7 88 }