File content as of revision 24:6f25ba679490:

// 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"

PC          pc(USBTX, USBRX, 921600);   // USB UART Terminal
DW1000      dw(PA_7, PA_6, PA_5, PB_6, PB_9);     // SPI1 on Nucleo Board (MOSI, MISO, SCLK, CS, IRQ)

const float timeunit = 1/(128*499.2);
int i=0;
char message[1021] = "";
char messageRX[1021] = "";

uint64_t TX_timestamp;
uint64_t RX_timestamp;

int event_i = 0;
char event[10][20];
uint64_t eventtimes[10];

void callbackRX(int framelength) {
    TX_timestamp = dw.readRegister40(DW1000_TX_TIME, 0);
    RX_timestamp = dw.readRegister40(DW1000_RX_TIME, 0);
    dw.receiveString(messageRX);                             // receive a string
#if 0
    message[0] = 'A';
    for(int i = 0; i < 10; i++)
        message[i+1] = messageRX[i];
    dw.sendString(message);
#endif
    eventtimes[event_i] = RX_timestamp - TX_timestamp;                      // TODO: gives some wrong values because of timer overflow  
    event[event_i][0] = '!';
    event[event_i][1] = 'R';
    event[event_i][2] = ' ';
    for(int i = 0; i < 10; i++)
        event[event_i][i+3] = messageRX[i];
    if (event_i == 8)
        event_i = 0;
    else
        event_i++;
    dw.startRX();
}

void callbackTX() {
    //TX_timestamp = dw.readRegister40(DW1000_TX_TIME, 0);
    //dw.readRegister(DW1000_TX_BUFFER, 0, (uint8_t*)messagecheck, 1021);
    //pc.printf("! %d Sent: \"%s\" %d\r\n", i, message, strlen(message)+1);
    eventtimes[event_i] = 0;
    event[event_i][0] = '!';
    event[event_i][1] = 'S';
    event[event_i][2] = ' ';
    for(int i = 0; i < 10; i++)
        event[event_i][i+3] = message[i];
    if (event_i == 8)
        event_i = 0;
    else
        event_i++;
}

int main() {
    pc.printf("DecaWave 0.1\r\nup and running!\r\n");  
    dw.setEUI(0xFAEDCD01FAEDCD01);                  // basic methods called to check if we have a working SPI connection
    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());
    
    dw.callbackRX = &callbackRX;        // TODO: must not jump to NULL & setter
    dw.callbackTX = &callbackTX;
    
    // Receiver initialisation
    dw.writeRegister16(DW1000_SYS_MASK, 0, 0x4000); //| 0x0080); // TODO: RX only good frame 0x4000, RX all frames 0x2000, TX done 0x0080
    dw.startRX();
    
    while(1) {
        for(int i = 0; i < 10; i++)
            if(event[i][0] == '!') {
                pc.printf("%s Time: %fus\r\n", event[i], eventtimes[i]*timeunit);
                event[i][0] = 'X';
            }    
#if 1
        sprintf(message, "%d", i);
        //if ((i % 10) > 5) {
            dw.sendString(message);
            //pc.printf("%d Sent: \"%s\" %d \r\n", i, message, strlen(message)+1);
        //}
#endif
#if 0
        pc.printf("%d Waiting... %d %d ", i, dw.receiving, dw.sending);
        wait(5);
#endif
        wait(1);
        //pc.printf("Status: %010llX\r\n", dw.getStatus());
        //pc.printf("State: %010llX\r\n", dw.readRegister40(DW1000_SYS_STATE, 0));
        i++;
    }
}