File content as of revision 40:5ce51b7e3118:

// by Matthias Grob & Manuel Stalder - ETH Zürich - 2015
#include "mbed.h"
#include "PC.h"                                     // Serial Port via USB for debugging with Terminal
#include "DW1000.h"                                 // our DW1000 device driver
#include "MMRanging.h"                              // our self developed raning application

PC          pc(USBTX, USBRX, 921600);               // USB UART Terminal
DW1000      dw(PA_7, PA_6, PA_5, PB_6, PB_9);       // Device driver instanceSPI pins: (MOSI, MISO, SCLK, CS, IRQ)
MMRanging   r(dw);                                  // Ranging class for getting distances and later positions

Timer LocalTimer;
float time_before;

int average[50];
int average_index = 0;
float averaged;

int main() {
    LocalTimer.start();
    pc.printf("DecaWave 0.2\r\nup and running!\r\n");  
    dw.setEUI(0xFAEDCD01FAEDCD01);                                  // basic methods called to check if we have a working SPI connection
    pc.printf("DEVICE_ID register: 0x%X\r\n", dw.getDeviceID());
    pc.printf("EUI register: %016llX\r\n", dw.getEUI());
    pc.printf("Voltage: %fV\r\n", dw.getVoltage());
    pc.printf("System Configuration: %llX\r\n", dw.readRegister40(DW1000_SYS_CFG, 0));
    pc.printf("Size of Rangingframe: %d\r\n", sizeof(r.TX));
    
    uint16_t setdelay = 32768; // TODO: = 2^15
    dw.writeRegister16(DW1000_TX_ANTD, 0, setdelay);
    pc.printf("Antenna Delay TX: %d\r\n", dw.readRegister16(DW1000_TX_ANTD, 0));
    pc.printf("Antenna Delay RX: %d\r\n", dw.readRegister16(DW1000_LDE_CTRL, 0x1804));
    //r.receiver = true;
    if (r.receiver)
        r.address = 1;
    else
        r.address = 0; // sender node has address 0
    pc.printf("Address: %d\r\n", r.address);
    wait(2);
    
    while(1) {
        if (!r.receiver) {                  // Request ranging
            for (int i = 1; i <= 4; i++) {
                r.acknowledgement[i] = false;
                r.requestRanging(i);            // TODO: ask all available nodes in MMRanging
                time_before = LocalTimer.read();
                while(!r.acknowledgement[i] && LocalTimer.read() < time_before + 0.5);
                pc.printf("%f, ", (r.tofs[i]*300/MMRANGING_TIMEUNIT_US / 2) - 0.5);
                //pc.printf("%2.6fs\r\n", LocalTimer.read() - time_before);
            }
            pc.printf("\r\n"); // logging output
        } else {
            //pc.printf("%lld\r\n", r.timeDifference40Bit(r.rangingtimingsReceiver[0][0], r.rangingtimingsReceiver[0][1]));
        }
        
        #if 0
            pc.printf("Distance: %f\r\n", (r.tofs[2]*300/MMRANGING_TIMEUNIT_US / 2) - 0.5);
            average[average_index] = r.tofs[2];
            average_index++;
            if(average_index == 50)
                average_index = 0;
            for(int i = 0; i < 50; i++)
                averaged += average[i];
            averaged /= 50;
            pc.printf("Distance: %f\r\n", (averaged*300/MMRANGING_TIMEUNIT_US / 2) - 0.5);
        #endif
        
        #if 0 // Output bars on console
            for(int i = 1; i < 3; i++) {
                //pc.printf("%f ", r.tofs[j]*MMRANGING_TIMEUNIT_NS);
                pc.printf("%lld [", r.tofs[i]);
                int dots = r.tofs[i]*70/1400;
                if (abs(dots) < 10000)
                    for(int j = 0; j < dots; j++)
                        pc.printf("=");
                pc.printf("]\r\n");
            }
        #endif
        
        #ifdef EVENTS   // Output interrupt callback events for debugging (defined in MMRanging.h)
            for(int j = 0; j < 10; j++)
                if(r.event[j][0] == '!') {
                    pc.printf("%s\r\n", r.event[j]);
                    r.event[j][0] = 'X';
                }
            r.event_i = 0;
        #endif
        //pc.printf("Status: %llX\r\n", dw.getStatus());
        //pc.printf("TX Control: %llX\r\n", dw.readRegister40(DW1000_TX_FCTRL, 0));
        //pc.printf("\r\n");
        wait(0.02);
        wait(0.2);
    }
}