DW1000 User Manual - Decawave

1 Decawave Ltd 2017 DW1000 user Manual Version DW1000 user Manual HOW TO USE, CONFIGURE AND PROGRAM THE DW1000 UWB transceiver This document is subject to change without notice DW1000 user Manual Decawave Ltd 2017 Subject to change without notice Version Page i Table of Contents LIST OF FIGURES .. II LIST OF TABLES .. III 1 INTRODUCTION .. 1 ABOUT THE DW1000 .. 1 ABOUT THIS DOCUMENT .. 1 2 OVERVIEW OF THE DW1000 .. 4 INTRODUCTION .. 4 INTERFACING TO THE DW1000 .. 4 DW1000 OPERATIONAL STATES .. 8 POWER ON RESET (POR) .. 12 DEFAULT CONFIGURATION ON POWER UP .. 14 3 MESSAGE TRANSMISSION .. 19 BASIC TRANSMISSION .. 19 TRANSMISSION TIMESTAMP .. 20 DELAYED TRANSMISSION .. 20 EXTENDED LENGTH DATA FRAMES .. 21 HIGH SPEED TRANSMISSION .. 23 4 MESSAGE RECEPTION .. 26 BASIC RECEPTION .. 26 DELAYED RECEIVE .. 29 DOUBLE RECEIVE 29 LOW-POWER LISTENING.

2 33 LOW-POWER SNIFF MODE .. 35 DIAGNOSTICS .. 38 ASSESSING THE QUALITY OF RECEPTION AND THE RX TIMESTAMP .. 38 5 MEDIA ACCESS CONTROL (MAC) HARDWARE FEATURES .. 42 CYCLIC REDUNDANCY CHECK .. 42 FRAME FILTERING .. 42 AUTOMATIC ACKNOWLEDGEMENT .. 44 TRANSMIT AND AUTOMATICALLY WAIT FOR RESPONSE 48 6 OTHER FEATURES OF THE DW1000 .. 49 EXTERNAL SYNCHRONISATION .. 49 EXTERNAL POWER AMPLIFICATION .. 52 USING THE ON-CHIP OTP MEMORY .. 52 MEASURING IC TEMPERATURE AND VOLTAGE .. 55 7 THE DW1000 REGISTER SET .. 57 REGISTER MAP OVERVIEW .. 57 DETAILED REGISTER DESCRIPTION .. 59 8 DW1000 CALIBRATION .. 197 IC CALIBRATION CRYSTAL OSCILLATOR TRIM .. 197 IC CALIBRATION TRANSMIT POWER AND SPECTRUM 199 IC CALIBRATION ANTENNA DELAY .. 202 9 OPERATIONAL DESIGN CHOICES WHEN EMPLOYING THE 205 OPERATING RANGE .. 205 CHANNEL AND BANDWIDTH SELECTION .. 205 CHOICE OF DATA RATE, PREAMBLE LENGTH AND PRF 205 POWER CONSUMPTION.

3 206 NODE DENSITY AND AIR UTILISATION .. 206 LOW DUTY CYCLE AIR TIME .. 207 LOCATION SCHEMES .. 208 GENERAL 209 10 APPENDIX 1: THE IEEE UWB PHYSICAL LAYER .. 211 FRAME STRUCTURE OVERVIEW .. 211 DATA MODULATION SCHEME .. 211 SYNCHRONISATION HEADER MODULATION SCHEME 212 PHY HEADER .. 213 UWB CHANNELS AND PREAMBLE CODES .. 214 ADDITIONAL DETAILS ON THE STANDARD .. 215 11 APPENDIX 2: THE IEEE MAC LAYER .. 216 GENERAL MAC MESSAGE FORMAT .. 216 THE FRAME CONTROL FIELD IN THE MAC HEADER 217 THE SEQUENCE NUMBER FIELD .. 219 MAC LEVEL PROCESSING IN THE 220 12 APPENDIX 3: TWO-WAY RANGING .. 221 INTRODUCTION .. 221 SINGLE-SIDED TWO-WAY RANGING .. 221 DOUBLE-SIDED TWO-WAY RANGING .. 223 13 APPENDIX 4: DECODING PART/CHIP AND LOT ID IN DW1000 OTP .. 229 14 APPENDIX 5: ABBREVIATIONS AND ACRONYMS 231 15 APPENDIX 6: REFERENCES .. 235 16 DOCUMENT HISTORY .. 235 17 CHANGE LOG.

4 235 18 FURTHER INFORMATION .. 243 DW1000 user Manual Decawave Ltd 2017 Subject to change without notice Version Page ii List of Figures FIGURE 1: SPI READ AND WRITE TRANSACTIONS .. 5 FIGURE 2: SINGLE OCTET HEADER OF THE NON-INDEXED SPI TRANSACTION .. 6 FIGURE 3: EXAMPLE NON-INDEXED READ OF THE DEVICE ID REGISTER (0X00) .. 6 FIGURE 4: TWO OCTET HEADER OF THE SHORT INDEXED SPI TRANSACTION .. 6 FIGURE 5: EXAMPLE SHORT-INDEXED READ OF 3RD AND 4TH OCTETS OF REGISTER 0X00 .. 7 FIGURE 6: THREE OCTET HEADER OF THE LONG INDEXED SPI TRANSACTION .. 7 FIGURE 7: EXAMPLE LONG-INDEXED WRITE OF ONE OCTET TO INDEX 310 OF THE TX BUFFER .. 7 FIGURE 8: DW1000 STATE DIAGRAM .. 9 FIGURE 9: TIMING DIAGRAM AND POWER PROFILE FOR COLD START POR .. 13 FIGURE 10: TRANSMIT FRAME FORMAT .. 19 FIGURE 11: BASIC TRANSMIT SEQUENCE .. 19 FIGURE 12 : PHR ENCODING EXTENDED LENGTH DATA FRAMES .. 22 FIGURE 13: BASIC RECEIVE SEQUENCE.

5 26 FIGURE 14: FLOW CHART FOR USING DOUBLE RX BUFFERING .. 32 FIGURE 15 : TRXOFF IN DOUBLE-BUFFERED MODE .. 33 FIGURE 16 LOW POWER LISTENING WITH TWO SLEEP TIMES .. 34 FIGURE 17 POWER PROFILE FOR LOW POWER LISTENING MODE WHERE NO FRAME IS RECEIVED .. 35 FIGURE 18: STATE TRANSITIONS DURING SNIFF MODE .. 36 FIGURE 19 POWER PROFILE FOR SNIFF WHERE A FRAME IS NOT RECEIVED .. 37 FIGURE 20 POWER PROFILE FOR SNIFF WHERE A FRAME IS RECEIVED .. 37 FIGURE 21: POWER PROFILE FOR LOW DUTY-CYCLE SNIFF WHERE A FRAME IS NOT RECEIVED .. 38 FIGURE 22: ESTIMATED RX LEVEL VERSUS ACTUAL RX LEVEL .. 41 FIGURE 23: DW1000 EXTERNAL SYNCHRONISATION INTERFACE .. 49 FIGURE 24: SYNCHRONISED TRANSMISSION .. 50 FIGURE 25: OSRS MODE RECEIVE TIMEBASE SYNCHRONISATION .. 51 FIGURE 26: TRANSMIT POWER CONTROL OCTET .. 103 FIGURE 27: COMBINING EDG1 AND EDV2 TO GIVE AN ED NOISE FIGURE .. 121 FIGURE 28: FLOW CHART FOR DIRECT READ OF AON ADDRESS 164 FIGURE 29: PPM VS CRYSTAL TRIM SETTING, VBATT= V.

6 199 FIGURE 30: TRANSMIT AND RECEIVE ANTENNA DELAY .. 203 FIGURE 31: UWB PHY FRAME STRUCTURE .. 211 FIGURE 32:- BPM/BPSK DATA AND PHR MODULATION .. 211 FIGURE 33: PHR BIT ASSIGNMENT .. 214 FIGURE 34: GENERAL MAC MESSAGE FORMAT .. 216 FIGURE 35: MAC MESSAGE FRAME CONTROL FIELD .. 217 FIGURE 36: SINGLE-SIDED TWO-WAY RANGING .. 221 FIGURE 37: DOUBLE-SIDED TWO-WAY RANGING WITH FOUR MESSAGES .. 223 FIGURE 38: DOUBLE-SIDED TWO-WAY RANGING WITH THREE MESSAGES .. 223 FIGURE 39: RANGING TO 3 ANCHORS WITH JUST 5 MESSAGES WHERE EACH ANCHOR CALCULATES ITS OWN RANGE RESULT .. 227 FIGURE 40 CONVERSION 229 FIGURE 41 CONVERSION EXAMPLE LOT ID .. 230 FIGURE 42 CONVERSION PART ID / CHIP ID .. 230 DW1000 user Manual Decawave Ltd 2017 Subject to change without notice Version Page iii List of Tables TABLE 1: MAIN DW1000 OPERATIONAL STATES / MODES .. 10 TABLE 2: MODE 2 EXCERPT FROM DW1000 DATA SHEET OPERATIONAL MODES TABLE.

7 15 TABLE 3: GPIO DEFAULT FUNCTIONS .. 15 TABLE 4: REGISTER ACCESSES REQUIRED TO LOAD LDE MICROCODE .. 18 TABLE 5: PREAMBLE DURATION FIELD VALUES IN EXTENDED LENGTH DATA FRAME PHR .. 22 TABLE 6: RECOMMENDED PAC SIZE .. 26 TABLE 7: REGISTERS IN THE RX DOUBLE-BUFFERED SWINGING-SET .. 30 TABLE 8: AUTO-ACK PREAMBLE LENGTH DEPENDING ON RXPSR AND RXPACC .. 45 TABLE 9: AUTO-ACK PREAMBLE LENGTH SELECTION IN EXTENDED LENGTH FRAMES MODE .. 45 TABLE 10: OTP MEMORY MAP .. 53 TABLE 11: OTP_SRDAT REGISTER .. 54 TABLE 12: REGISTER ACCESSES REQUIRED TO PROGRAM THE OTP .. 54 TABLE 13: AN EXAMPLE OF REGISTER ACCESSES REQUIRED TO READ FROM OTP .. 55 TABLE 14: AN EXAMPLE OF REGISTER ACCESSES TO PERFORM A READ OF THE TEMPERATURE AND VOLTAGE SENSORS .. 56 TABLE 15: REGISTER MAP OVERVIEW .. 57 TABLE 16: PREAMBLE LENGTH SELECTION .. 71 TABLE 17: PREAMBLE LENGTH REPORTING .. 89 TABLE 18: RXPACC ADJUSTMENTS BY SFD 92 TABLE 19: REFERENCE VALUES FOR REGISTER FILE: 0X1E TRANSMIT POWER CONTROL, FOR SMART TRANSMIT POWER CONTROL.

8 107 TABLE 20: REFERENCE VALUES REGISTER FILE: 0X1E TRANSMIT POWER CONTROL FOR Manual TRANSMIT POWER CONTROL (SMART TRANSMIT POWER CONTROL DISABLED) .. 107 TABLE 21: RECOMMENDED SFD SEQUENCE CONFIGURATIONS FOR BEST PERFORMANCE .. 115 TABLE 22: OTHER POSSIBLE SFD SEQUENCE CONFIGURATIONS .. 116 TABLE 23: REGISTER FILE: 0X23 AGC CONFIGURATION AND CONTROL OVERVIEW .. 117 TABLE 24: SUB-REGISTER 0X23:04 AGC_TUNE1 VALUES 119 TABLE 25: SUB-REGISTER 0X23:0C AGC_TUNE2 VALUES 119 TABLE 26: SUB-REGISTER 0X23:12 AGC_TUNE3 VALUES 120 TABLE 27: SCALING FACTOR FOR CHANNEL NOISE ENERGY ESTIMATION .. 121 TABLE 28: REGISTER FILE: 0X26 GPIO CONTROL AND STATUS OVERVIEW .. 125 TABLE 29: REGISTER FILE: 0X27 DIGITAL RECEIVER CONFIGURATION OVERVIEW .. 138 TABLE 30: SUB-REGISTER 0X27:02 DRX_TUNE0B VALUES139 TABLE 31: SUB-REGISTER 0X27:04 DRX_TUNE1 AVALUES 141 TABLE 32: SUB-REGISTER 0X27:06 DRX_TUNE1B VALUES141 TABLE 33: SUB-REGISTER 0X27:08 DRX_TUNE2 VALUES.

9 142 TABLE 34: REGISTER 0X27:26 DRX_TUNE4H VALUES .. 144 TABLE 35: CONSTANTS FOR FREQUENCY OFFSET CALCULATION 145 TABLE 36: REGISTER FILE: 0X28 ANALOG RF CONFIGURATION BLOCK OVERVIEW .. 146 TABLE 37: SUB-REGISTER 0X28:0B RF_RXCTRLH VALUES 148 TABLE 38: SUB-REGISTER 0X28:0C RF_TXCTRL VALUES .. 148 TABLE 39: REGISTER FILE: 0X2A TRANSMITTER CALIBRATION BLOCK OVERVIEW .. 151 TABLE 40: SUB-REGISTER 0X2A:0B TC_PGDELAY RECOMMENDED VALUES .. 155 TABLE 41: SUB-REGISTER 0X2A:0C TC_PGTEST .. 156 TABLE 42: REGISTER FILE: 0X2B FREQUENCY SYNTHESISER CONTROL BLOCK OVERVIEW .. 156 TABLE 43: SUB-REGISTER 0X2B:07 FS_PLLCFG VALUES .. 157 TABLE 44: SUB-REGISTER 0X2B:0B FS_PLLTUNE VALUES 158 TABLE 45: REGISTER FILE: 0X2C ALWAYS-ON SYSTEM CONTROL 159 TABLE 46: CONFIGURATIONS MAINTAINED IN THE AON MEMORY 163 TABLE 47: REGISTER FILE: 0X2D OTP MEMORY INTERFACE 168 TABLE 48: RECEIVER OPERATING PARAMETER SETS.

10 173 TABLE 49: REGISTER FILE: 0X2E LEADING EDGE DETECTION INTERFACE OVERVIEW .. 174 TABLE 50: SUB-REGISTER 0X2E:1806 LDE_CFG2 VALUES. 177 TABLE 51: SUB-REGISTER 0X2E:2804 LDE_REPC VALUES 177 TABLE 52: REGISTER FILE: 0X2F DIGITAL DIAGNOSTICS INTERFACE OVERVIEW .. 178 TABLE 53: REGISTER FILE: 0X36 POWER MANAGEMENT AND SYSTEM CONTROL OVERVIEW .. 188 TABLE 54: REGISTER ACCESSES REQUIRED FOR TRANSMITTER CONFIGURATION PROCEDURE .. 200 TABLE 55: RECOMMENDED RX POWER LEVEL FOR ANTENNA CALIBRATION .. 203 TABLE 56: RECOMMENDED TX-RX SEPARATION FOR ANTENNA CALIBRATION .. 203 TABLE 57: RECOMMENDED PREAMBLE LENGTHS .. 206 TABLE 58: TRANSMISSIONS PER SECOND USING ALOHA .. 207 TABLE 59: TECHNIQUES TO SAVE POWER IN RECEIVING .. 209 TABLE 60: PREAMBLE PARAMETERS .. 213 DW1000 user Manual Decawave Ltd 2017 Subject to change without notice Version Page iv TABLE 61: DW1000 SUPPORTED UWB CHANNELS AND RECOMMENDED PREAMBLE CODES.