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

Diff: main.cpp

Revision:
46:6398237672a0
Parent:
45:01a33363bc21
Child:
47:b6120c152ad1
--- a/main.cpp	Sun Mar 08 15:59:14 2015 +0000
+++ b/main.cpp	Tue Mar 10 12:11:13 2015 +0000
@@ -72,10 +72,20 @@
 
         else myprintf("%f\r\n", node.distances[destination]);
 
-    }
+    }  
+    
+}    
 
-}
+struct __attribute__((packed, aligned(1))) DistancesFrame {
+        uint8_t source;
+        uint8_t destination;
+        uint8_t type;
+        float dist[4];
+    };
+    
 
+    
+void altCallbackRX();
 // -----------------------------------------------------------------------------------------------
 
 int main() {
@@ -85,16 +95,20 @@
     pc.printf("EUI register: %016llX\r\n", dw.getEUI());
     pc.printf("Voltage: %fV\r\n", dw.getVoltage());
     
-    node.isAnchor = false;
+    node.isAnchor = true;
                                                // declare as anchor or beacon
     if (node.isAnchor) {
-        node.address = 1;
+        node.address = 5;
         myprintf("This node is Anchor node %d \r\n", node.address);
     } else {
         node.address = 0;
         myprintf("This node is a Beacon. ");
     }
     
+    if (node.address == 5){
+            dw.setCallbacks(&altCallbackRX, NULL);   
+        }
+             
     while(1) {
         if (!node.isAnchor){
             rangeAndDisplayAll();
@@ -102,9 +116,33 @@
 
 
             
+
+        
         }else
-            myprintf(".\r");
+            //myprintf(".\r");
             
-            wait(0.3);
+            wait(0.5);
     }
-}
\ No newline at end of file
+}
+
+
+void altCallbackRX(){
+
+   DistancesFrame distFrame;
+   float distances[4];
+   dw.readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)&distFrame, dw.getFramelength());
+       
+    if (distFrame.destination == 5){
+        for (int i = 0; i<4; i++){
+        distances[i] = distFrame.dist[i];  
+        } 
+        
+        for (int i = 0; i < 4; i++) {                  // Output Results
+        myprintf("%f, ", distances[i]);
+        
+        }
+        
+        myprintf("\r\n");
+    }
+    dw.startRX();
+}