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

Committer:
manumaet
Date:
2014-11-21
Revision:
10:d077bb12d259
Parent:
9:c8839de428ac
Child:
11:c87d37db2c6f

File content as of revision 10:d077bb12d259:

#include "mbed.h"
#include "PC.h"                         // Serial Port via USB for debugging with Terminal
#include "DW1000.h"

PC          pc(USBTX, USBRX, 921600);   // USB UART Terminal
DW1000      dw(D11, D12, D13, D10, D14);     // SPI1 on Nucleo Board (MOSI, MISO, SCLK, CS, IRQ)

#define SENDER

void Interrupthandler() {
    /*uint8_t frameready = 0;
    dw.readRegister(DW1000_SYS_STATUS, 1, &frameready, 1);
    pc.printf("Interrupt status: %X\r\n", frameready);*/
    
    uint16_t framelength = 0;                                       // get framelength
    dw.readRegister(DW1000_RX_FINFO, 0, (uint8_t*)&framelength, 2);
    framelength &= 0x03FF;
    framelength -= 2;
    
    char* receive = dw.receiveString();
    pc.printf("Message Received: %s %d\r\n", receive, framelength);
    delete[] receive;
    
    dw.resetRX();                                                   // TODO: is crucial because otherwise only 1 frame is received correct
    dw.receiveFrame();
}

int main() {
    int i=0;
    char message[1024] = "";
    pc.printf("DecaWave 0.1\r\nup and running!\r\n");
    
    dw.setEUI(0xFAEDCD01FAEDCD01);
    pc.printf("%d DEVICE_ID register: 0x%X\r\n", i, dw.getDeviceID());
    pc.printf("%d EUI register: %016llX\r\n", i, dw.getEUI());
    pc.printf("%d Voltage: %f\r\n", i, dw.getVoltage());
    
    // read System Configuration
    uint32_t conf = 0;
    dw.readRegister(DW1000_SYS_CFG, 0, (uint8_t*)&conf, 4);
    pc.printf("%d System Configuration: %X\r\n", i, conf);
    
    wait(1);
    
    dw.callbackRX = &Interrupthandler;
#ifndef SENDER
    uint8_t dataframereadyinterrupt = 0x40; // only good frame 0x40 all frames 0x20
    dw.writeRegister(DW1000_SYS_MASK, 1, &dataframereadyinterrupt, 1);
    
    // Receive something
    dw.receiveFrame();
#endif
    
    while(1) {
        i++;
# ifdef SENDER                      // to make one node sender and one receiver
        // Send something
        message[i-1] = 'O';
        message[i] = '\0';
        //sprintf((char*)message, "HELLO WORLD! %d", i);
        if (i < 200)
            pc.printf("%d Message: \"%s\" %d\r\n", i, message, strlen(message));
        else
            pc.printf("%d Message: %d\r\n", i, strlen(message));
        dw.sendString(message);
        
        char messagecheck[1024];
        dw.readRegister(DW1000_TX_BUFFER, 0, (uint8_t*)messagecheck, strlen(message)+1);
        messagecheck[1] = '\0';
        if (i < 200)
            pc.printf("%d  Buffer: \"%s\" %d\r\n", i, messagecheck, strlen(messagecheck)+1);
        else
            pc.printf("%d  Buffer: %d\r\n", i, strlen(messagecheck)+1);
        /*for(int i=0; i<10; i++) {                                 // to control Voltage
            pc.printf("%d Voltage: %f\r\n", i, dw.getVoltage());
            wait(0.2);
        }*/
        wait(1);
#else
        pc.printf("%d Waiting...\r\n", i);
        wait(1);
# endif
        
    }
}