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@25:d58b0595b300, 2014-11-27 (annotated)

Committer:
manumaet
Date:
Thu Nov 27 17:51:54 2014 +0000
Revision:
25:d58b0595b300
Parent:
24:6f25ba679490
Child:
26:a65c6f26c458
cleaned up API, beginning with first ranging attempt

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 0:f50e671ffff7 3 #include "PC.h" // Serial Port via USB for debugging with Terminal
manumaet 0:f50e671ffff7 4 #include "DW1000.h"
manumaet 0:f50e671ffff7 5
manumaet 0:f50e671ffff7 6 PC pc(USBTX, USBRX, 921600); // USB UART Terminal
manumaet 22:576ee999b004 7 DW1000 dw(PA_7, PA_6, PA_5, PB_6, PB_9); // SPI1 on Nucleo Board (MOSI, MISO, SCLK, CS, IRQ)
manumaet 22:576ee999b004 8
manumaet 24:6f25ba679490 9 const float timeunit = 1/(128*499.2);
manumaet 14:8041c9b68406 10 int i=0;
manumaet 24:6f25ba679490 11 char message[1021] = "";
manumaet 24:6f25ba679490 12 char messageRX[1021] = "";
manumaet 24:6f25ba679490 13
manumaet 24:6f25ba679490 14 uint64_t TX_timestamp;
manumaet 24:6f25ba679490 15 uint64_t RX_timestamp;
manumaet 24:6f25ba679490 16
manumaet 24:6f25ba679490 17 int event_i = 0;
manumaet 24:6f25ba679490 18 char event[10][20];
manumaet 24:6f25ba679490 19 uint64_t eventtimes[10];
manumaet 14:8041c9b68406 20
manumaet 18:bbc7ca7d3a95 21 void callbackRX(int framelength) {
manumaet 24:6f25ba679490 22 TX_timestamp = dw.readRegister40(DW1000_TX_TIME, 0);
manumaet 21:23bf4399020d 23 RX_timestamp = dw.readRegister40(DW1000_RX_TIME, 0);
manumaet 24:6f25ba679490 24 dw.receiveString(messageRX); // receive a string
manumaet 25:d58b0595b300 25 #if 1
manumaet 24:6f25ba679490 26 message[0] = 'A';
manumaet 24:6f25ba679490 27 for(int i = 0; i < 10; i++)
manumaet 24:6f25ba679490 28 message[i+1] = messageRX[i];
manumaet 24:6f25ba679490 29 dw.sendString(message);
manumaet 21:23bf4399020d 30 #endif
manumaet 24:6f25ba679490 31 eventtimes[event_i] = RX_timestamp - TX_timestamp; // TODO: gives some wrong values because of timer overflow
manumaet 24:6f25ba679490 32 event[event_i][0] = '!';
manumaet 24:6f25ba679490 33 event[event_i][1] = 'R';
manumaet 24:6f25ba679490 34 event[event_i][2] = ' ';
manumaet 24:6f25ba679490 35 for(int i = 0; i < 10; i++)
manumaet 24:6f25ba679490 36 event[event_i][i+3] = messageRX[i];
manumaet 24:6f25ba679490 37 if (event_i == 8)
manumaet 24:6f25ba679490 38 event_i = 0;
manumaet 24:6f25ba679490 39 else
manumaet 24:6f25ba679490 40 event_i++;
manumaet 17:8afa5f9122da 41 dw.startRX();
manumaet 6:d5864a1b9e17 42 }
manumaet 6:d5864a1b9e17 43
manumaet 18:bbc7ca7d3a95 44 void callbackTX() {
manumaet 22:576ee999b004 45 //TX_timestamp = dw.readRegister40(DW1000_TX_TIME, 0);
manumaet 24:6f25ba679490 46 //dw.readRegister(DW1000_TX_BUFFER, 0, (uint8_t*)messagecheck, 1021);
manumaet 24:6f25ba679490 47 //pc.printf("! %d Sent: \"%s\" %d\r\n", i, message, strlen(message)+1);
manumaet 24:6f25ba679490 48 eventtimes[event_i] = 0;
manumaet 24:6f25ba679490 49 event[event_i][0] = '!';
manumaet 24:6f25ba679490 50 event[event_i][1] = 'S';
manumaet 24:6f25ba679490 51 event[event_i][2] = ' ';
manumaet 24:6f25ba679490 52 for(int i = 0; i < 10; i++)
manumaet 24:6f25ba679490 53 event[event_i][i+3] = message[i];
manumaet 24:6f25ba679490 54 if (event_i == 8)
manumaet 24:6f25ba679490 55 event_i = 0;
manumaet 18:bbc7ca7d3a95 56 else
manumaet 24:6f25ba679490 57 event_i++;
manumaet 18:bbc7ca7d3a95 58 }
manumaet 18:bbc7ca7d3a95 59
manumaet 0:f50e671ffff7 60 int main() {
manumaet 20:257d56530ae1 61 pc.printf("DecaWave 0.1\r\nup and running!\r\n");
manumaet 20:257d56530ae1 62 dw.setEUI(0xFAEDCD01FAEDCD01); // basic methods called to check if we have a working SPI connection
manumaet 4:6240b9c7a033 63 pc.printf("%d DEVICE_ID register: 0x%X\r\n", i, dw.getDeviceID());
manumaet 4:6240b9c7a033 64 pc.printf("%d EUI register: %016llX\r\n", i, dw.getEUI());
manumaet 4:6240b9c7a033 65 pc.printf("%d Voltage: %f\r\n", i, dw.getVoltage());
manumaet 0:f50e671ffff7 66
manumaet 18:bbc7ca7d3a95 67 dw.callbackRX = &callbackRX; // TODO: must not jump to NULL & setter
manumaet 18:bbc7ca7d3a95 68 dw.callbackTX = &callbackTX;
manumaet 14:8041c9b68406 69
manumaet 14:8041c9b68406 70 // Receiver initialisation
manumaet 25:d58b0595b300 71 dw.writeRegister16(DW1000_SYS_MASK, 0, 0x4080); //| 0x0080); // TODO: RX only good frame 0x4000, RX all frames 0x2000, TX done 0x0080
manumaet 17:8afa5f9122da 72 dw.startRX();
manumaet 5:111f11c95d27 73
manumaet 0:f50e671ffff7 74 while(1) {
manumaet 24:6f25ba679490 75 for(int i = 0; i < 10; i++)
manumaet 24:6f25ba679490 76 if(event[i][0] == '!') {
manumaet 24:6f25ba679490 77 pc.printf("%s Time: %fus\r\n", event[i], eventtimes[i]*timeunit);
manumaet 24:6f25ba679490 78 event[i][0] = 'X';
manumaet 24:6f25ba679490 79 }
manumaet 25:d58b0595b300 80 #if 0
manumaet 24:6f25ba679490 81 sprintf(message, "%d", i);
manumaet 24:6f25ba679490 82 //if ((i % 10) > 5) {
manumaet 22:576ee999b004 83 dw.sendString(message);
manumaet 23:661a79e56208 84 //pc.printf("%d Sent: \"%s\" %d \r\n", i, message, strlen(message)+1);
manumaet 24:6f25ba679490 85 //}
manumaet 17:8afa5f9122da 86 #endif
manumaet 15:e1fea7e2aff1 87 #if 0
manumaet 21:23bf4399020d 88 pc.printf("%d Waiting... %d %d ", i, dw.receiving, dw.sending);
manumaet 15:e1fea7e2aff1 89 wait(5);
manumaet 15:e1fea7e2aff1 90 #endif
manumaet 24:6f25ba679490 91 wait(1);
manumaet 22:576ee999b004 92 //pc.printf("Status: %010llX\r\n", dw.getStatus());
manumaet 24:6f25ba679490 93 //pc.printf("State: %010llX\r\n", dw.readRegister40(DW1000_SYS_STATE, 0));
manumaet 15:e1fea7e2aff1 94 i++;
manumaet 0:f50e671ffff7 95 }
manumaet 0:f50e671ffff7 96 }