DecaWave DW1000 Manuel utilisateur

Version 2.12

Page 1 of 242

DW1000 USER MANUAL

HOW TO USE, CONFIGURE AND

PROGRAM THE DW1000 UWB

TRANSCEIVER

This document is subject to change without notice

DW1000 USER MANUAL

DW1000 User Manual

Version 2.12

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Table of Contents

LIST OF FIGURES ........................................................ 3

LIST OF TABLES .......................................................... 4

1INTRODUCTION ................................................. 7

1.1 ABOUT THE DW1000 ...................................... 7

1.2 ABOUT THIS DOCUMENT .................................... 7

2OVERVIEW OF THE DW1000 .............................10

2.1 INTRODUCTION .............................................. 10

2.2 INTERFACING TO THE DW1000 ........................ 10

2.3 DW1000 OPERATIONAL STATES ...................... 14

2.4 POWER ON RESET (POR) ................................ 18

2.5 DEFAULT CONFIGURATION ON POWER UP.......... 20

3MESSAGE TRANSMISSION ................................25

3.1 BASIC TRANSMISSION...................................... 25

3.2 TRANSMISSION TIMESTAMP.............................. 26

3.3 DELAYED TRANSMISSION ................................. 26

3.4 EXTENDED LENGTH DATA FRAMES..................... 27

3.5 HIGH SPEED TRANSMISSION ............................. 29

4MESSAGE RECEPTION.......................................32

4.1 BASIC RECEPTION........................................... 32

4.2 DELAYED RECEIVE........................................... 35

4.3 DOUBLE RECEIVE BUFFER................................. 35

4.4 LOW-POWER LISTENING.................................. 39

4.5 LOW-POWER SNIFF MODE.............................. 41

4.6 DIAGNOSTICS ................................................ 44

4.7 ASSESSING THE QUALITY OF RECEPTION AND THE RX

TIMESTAMP ................................................................ 44

5MEDIA ACCESS CONTROL (MAC) HARDWARE

FEATURES .................................................................48

5.1 CYCLIC REDUNDANCY CHECK ............................. 48

5.2 FRAME FILTERING ........................................... 48

5.3 AUTOMATIC ACKNOWLEDGEMENT .................... 50

5.4 TRANSMIT AND AUTOMATICALLY WAIT FOR RESPONSE

6OTHER FEATURES OF THE DW1000...................55

6.1 EXTERNAL SYNCHRONISATION........................... 55

6.2 EXTERNAL POWER AMPLIFICATION .................... 58

6.3 USING THE ON-CHIP OTP MEMORY ................... 58

6.4 MEASURING IC TEMPERATURE AND VOLTAGE ...... 61

7THE DW1000 REGISTER SET ..............................63

7.1 REGISTER MAP OVERVIEW ................................ 63

7.2 DETAILED REGISTER DESCRIPTION ...................... 65

8DW1000 CALIBRATION ...................................198

8.1 IC CALIBRATION –CRYSTAL OSCILLATOR TRIM ... 198

8.2 IC CALIBRATION –TRANSMIT POWER AND SPECTRUM

200

8.3 IC CALIBRATION –ANTENNA DELAY ................. 203

9OPERATIONAL DESIGN CHOICES WHEN

EMPLOYING THE DW1000.......................................206

9.1 OPERATING RANGE ....................................... 206

9.2 CHANNEL AND BANDWIDTH SELECTION............. 206

9.3 CHOICE OF DATA RATE,PREAMBLE LENGTH AND PRF

206

9.4 POWER CONSUMPTION.................................. 207

9.5 NODE DENSITY AND AIR UTILISATION ................ 207

9.6 LOW–DUTY CYCLE –AIR TIME.......................... 208

9.7 LOCATION SCHEMES ...................................... 209

9.8 GENERAL CONSIDERATIONS............................. 210

10 APPENDIX 1: THE IEEE 802.15.4 UWB PHYSICAL

LAYER .....................................................................212

10.1 FRAME STRUCTURE OVERVIEW ........................ 212

10.2 DATA MODULATION SCHEME .......................... 212

10.3 SYNCHRONISATION HEADER MODULATION SCHEME

213

10.4 PHY HEADER ............................................... 214

10.5 UWB CHANNELS AND PREAMBLE CODES ........... 215

10.6 ADDITIONAL DETAILS ON THE STANDARD ........... 216

11 APPENDIX 2: THE IEEE 802.15.4 MAC LAYER...217

11.1 GENERAL MAC MESSAGE FORMAT .................. 217

11.2 THE FRAME CONTROL FIELD IN THE MAC HEADER218

11.3 THE SEQUENCE NUMBER FIELD ....................... 220

11.4 MAC LEVEL PROCESSING IN THE DW1000........ 221

12 APPENDIX 3: TWO-WAY RANGING .................222

12.1 INTRODUCTION ............................................ 222

12.2 SINGLE-SIDED TWO-WAY RANGING.................. 222

12.3 DOUBLE-SIDED TWO-WAY RANGING ................ 224

13 APPENDIX 4: ABBREVIATIONS AND ACRONYMS

230

14 APPENDIX 5: REFERENCES ..............................233

15 DOCUMENT HISTORY .....................................233

16 CHANGE LOG ..................................................233

17 ABOUT DECAWAVE ........................................239

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List of Figures

FIGURE 1: SPI READ AND WRITE TRANSACTIONS ................... 11

FIGURE 2: SINGLE OCTET HEADER OF THE NON-INDEXED SPI

TRANSACTION......................................................... 12

FIGURE 3: EXAMPLE NON-INDEXED READ OF THE DEVICE ID

FIGURE 4: TWO OCTET HEADER OF THE SHORT INDEXED SPI

TRANSACTION......................................................... 12

FIGURE 5: EXAMPLE SHORT-INDEXED READ OF 3RD AND 4TH OCTETS

OF REGISTER 0X00 .................................................. 13

FIGURE 6: THREE OCTET HEADER OF THE LONG INDEXED SPI

TRANSACTION......................................................... 13

FIGURE 7: EXAMPLE LONG-INDEXED WRITE OF ONE OCTET TO

INDEX 310 OF THE TX BUFFER ................................... 13

FIGURE 8: DW1000 STATE DIAGRAM................................ 15

FIGURE 9: TIMING DIAGRAM AND POWER PROFILE FOR COLD

START POR............................................................ 18

FIGURE 10: TRANSMIT FRAME FORMAT ............................... 25

FIGURE 11: BASIC TRANSMIT SEQUENCE ............................. 25

FIGURE 12 :PHR ENCODING EXTENDED LENGTH DATA FRAMES

........................................................................... 28

FIGURE 13: BASIC RECEIVE SEQUENCE.................................. 32

FIGURE 14: FLOW CHART FOR USING DOUBLE RX BUFFERING ... 38

FIGURE 15 :TRXOFF IN DOUBLE-BUFFERED MODE ............. 39

FIGURE 16: LOW POWER LISTENING WITH TWO SLEEP TIMES ... 40

FIGURE 17: POWER PROFILE FOR LOW POWER LISTENING MODE

WHERE NO FRAME IS RECEIVED................................... 41

FIGURE 18: STATE TRANSITIONS DURING SNIFF MODE ........... 42

FIGURE 19: POWER PROFILE FOR SNIFF WHERE A FRAME IS NOT

RECEIVED............................................................... 43

FIGURE 20: POWER PROFILE FOR SNIFF WHERE A FRAME IS

RECEIVED............................................................... 43

FIGURE 21: POWER PROFILE FOR LOW DUTY-CYCLE SNIFF WHERE

A FRAME IS NOT RECEIVED ......................................... 44

FIGURE 22: ESTIMATED RX LEVEL VERSUS ACTUAL RX LEVEL.... 47

FIGURE 23: DW1000 EXTERNAL SYNCHRONISATION INTERFACE

............................................................................ 55

FIGURE 24: SYNCHRONISED TRANSMISSION .......................... 57

FIGURE 25: OSRS MODE RECEIVE TIMEBASE SYNCHRONISATION

............................................................................ 57

FIGURE 26: TRANSMIT POWER CONTROL OCTET .................. 106

FIGURE 27: COMBINING EDG1 AND EDV2 TO GIVE AN ED NOISE

FIGURE ................................................................ 124

FIGURE 28: FLOW CHART FOR DIRECT READ OF AON ADDRESS 167

FIGURE 29: PPM VS CRYSTAL TRIM SETTING,VBATT=3.3 V . 200

FIGURE 30: TRANSMIT AND RECEIVE ANTENNA DELAY ......... 204

FIGURE 31: UWB PHY FRAME STRUCTURE ....................... 212

FIGURE 32:-BPM/BPSK DATA AND PHR MODULATION ...... 212

FIGURE 33: PHR BIT ASSIGNMENT .................................... 215

FIGURE 34: GENERAL MAC MESSAGE FORMAT ................... 217

FIGURE 35: MAC MESSAGE FRAME CONTROL FIELD.............. 218

FIGURE 36: SINGLE-SIDED TWO-WAY RANGING ................... 222

FIGURE 37: DOUBLE-SIDED TWO-WAY RANGING WITH FOUR

MESSAGES............................................................ 224

FIGURE 38: DOUBLE-SIDED TWO-WAY RANGING WITH THREE

MESSAGES............................................................ 224

FIGURE 39: RANGING TO 3ANCHORS WITH JUST 5MESSAGES

WHERE EACH ANCHOR CALCULATES ITS OWN RANGE RESULT

.......................................................................... 227

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List of Tables

TABLE 1: MAIN DW1000 OPERATIONAL STATES /MODES ...... 16

TABLE 2: MODE 2EXCERPT FROM DW1000 DATA SHEET

OPERATIONAL MODES TABLE .................................... 20

TABLE 3: GPIO DEFAULT FUNCTIONS.................................. 21

TABLE 4: REGISTER ACCESSES REQUIRED TO LOAD LDE MICROCODE

........................................................................... 24

TABLE 5: PREAMBLE DURATION FIELD VALUES IN EXTENDED

LENGTH DATA FRAME PHR ...................................... 28

TABLE 6: RECOMMENDED PAC SIZE .................................... 32

TABLE 7: REGISTERS IN THE RX DOUBLE-BUFFERED SWINGING-SET

........................................................................... 36

TABLE 8: AUTO-ACK PREAMBLE LENGTH DEPENDING ON RXPSR

AND RXPACC ........................................................ 51

TABLE 9: AUTO-ACK PREAMBLE LENGTH SELECTION IN EXTENDED

LENGTH FRAMES MODE ............................................ 51

TABLE 10: OTP MEMORY MAP........................................... 59

TABLE 11: OTP_SRDAT REGISTER .................................... 60

TABLE 12: REGISTER ACCESSES REQUIRED TO PROGRAM THE OTP

........................................................................... 60

TABLE 13: AN EXAMPLE OF REGISTER ACCESSES REQUIRED TO

READ FROM OTP .................................................... 61

TABLE 14: AN EXAMPLE OF REGISTER ACCESSES TO PERFORM A

READ OF THE TEMPERATURE AND VOLTAGE SENSORS ...... 62

TABLE 15: REGISTER MAP OVERVIEW................................... 63

TABLE 16: PREAMBLE LENGTH SELECTION............................. 76

TABLE 17: PREAMBLE LENGTH REPORTING ............................ 94

TABLE 18: RXPACC ADJUSTMENTS BY SFD CODE................. 96

TABLE 19: REFERENCE VALUES FOR REGISTER FILE:0X1E –

TRANSMIT POWER CONTROL,FOR SMART TRANSMIT

POWER CONTROL ................................................. 110

TABLE 20: REFERENCE VALUES REGISTER FILE:0X1E –TRANSMIT

POWER CONTROL FOR MANUAL TRANSMIT POWER

CONTROL (SMART TRANSMIT POWER CONTROL DISABLED)

......................................................................... 110

TABLE 21: RECOMMENDED SFD SEQUENCE CONFIGURATIONS

FOR BEST PERFORMANCE........................................ 118

TABLE 22: OTHER POSSIBLE SFD SEQUENCE CONFIGURATIONS

......................................................................... 119

TABLE 23: REGISTER FILE:0X23 –AGC CONFIGURATION AND

CONTROL OVERVIEW .............................................. 120

TABLE 24: SUB-REGISTER 0X23:04 –AGC_TUNE1 VALUES 122

TABLE 25: SUB-REGISTER 0X23:0C –AGC_TUNE2 VALUES 122

TABLE 26: SUB-REGISTER 0X23:12 –AGC_TUNE3 VALUES 123

TABLE 27: SCALING FACTOR FOR CHANNEL NOISE ENERGY

ESTIMATION ......................................................... 124

TABLE 28: REGISTER FILE:0X26 –GPIO CONTROL AND STATUS

OVERVIEW............................................................ 128

TABLE 29: REGISTER FILE:0X27 –DIGITAL RECEIVER

CONFIGURATION OVERVIEW..................................... 141

TABLE 30: SUB-REGISTER 0X27:02 –DRX_TUNE0B VALUES142

TABLE 31: SUB-REGISTER 0X27:04 –DRX_TUNE1AVALUES 144

TABLE 32: SUB-REGISTER 0X27:06 –DRX_TUNE1B VALUES144

TABLE 33: SUB-REGISTER 0X27:08 –DRX_TUNE2VALUES . 145

TABLE 34: REGISTER 0X27:26 DRX_TUNE4H VALUES........ 147

TABLE 35: CONSTANTS FOR FREQUENCY OFFSET CALCULATION 148

TABLE 36: REGISTER FILE:0X28 –ANALOG RF CONFIGURATION

BLOCK OVERVIEW .................................................. 149

TABLE 37: SUB-REGISTER 0X28:0B–RF_RXCTRLH VALUES 151

TABLE 38: SUB-REGISTER 0X28:0C–RF_TXCTRL VALUES ... 151

TABLE 39: REGISTER FILE:0X2A –TRANSMITTER CALIBRATION

BLOCK OVERVIEW .................................................. 154

TABLE 40: SUB-REGISTER 0X2A:0B –TC_PGDELAY

RECOMMENDED VALUES ......................................... 158

TABLE 41: .................................................................... 159

TABLE 42: REGISTER FILE:0X2B –FREQUENCY SYNTHESISER

CONTROL BLOCK OVERVIEW ..................................... 159

TABLE 43: SUB-REGISTER 0X2B:07 –FS_PLLCFG VALUES... 160

TABLE 44: SUB-REGISTER 0X2B:0B –FS_PLLTUNE VALUES 161

TABLE 45: REGISTER FILE:0X2C –ALWAYS-ON SYSTEM CONTROL

OVERVIEW............................................................ 162

TABLE 46: CONFIGURATIONS MAINTAINED IN THE AON MEMORY

ARRAY................................................................. 166

TABLE 47: REGISTER FILE:0X2D –OTP MEMORY INTERFACE

OVERVIEW............................................................ 171

TABLE 48: RECEIVER OPERATING PARAMETER SETS ............... 176

TABLE 49: REGISTER FILE:0X2E –LEADING EDGE DETECTION

INTERFACE OVERVIEW ............................................ 177

TABLE 50: SUB-REGISTER 0X2E:1806–LDE_CFG2 VALUES. 180

TABLE 51: SUB-REGISTER 0X2E:2804 –LDE_REPC

CONFIGURATIONS FOR (850 KBPS &6.8 MBPS).......... 180

TABLE 52: REGISTER FILE:0X2F –DIGITAL DIAGNOSTICS

INTERFACE OVERVIEW ............................................ 181

TABLE 53: REGISTER FILE:0X36 –POWER MANAGEMENT AND

SYSTEM CONTROL OVERVIEW .................................. 190

TABLE 54: REGISTER ACCESSES REQUIRED FOR TRANSMITTER

CONFIGURATION PROCEDURE................................... 201

TABLE 55: RECOMMENDED RX POWER LEVEL FOR ANTENNA

CALIBRATION ........................................................ 204

TABLE 56: RECOMMENDED TX-RX SEPARATION FOR ANTENNA

CALIBRATION ........................................................ 204

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TABLE 57: RECOMMENDED PREAMBLE LENGTHS.................. 207

TABLE 58: TRANSMISSIONS PER SECOND USING ALOHA ....... 208

TABLE 59: TECHNIQUES TO SAVE POWER IN RECEIVING ......... 210

TABLE 60: PREAMBLE PARAMETERS .................................. 214

TABLE 61: DW1000 SUPPORTED UWB CHANNELS AND

RECOMMENDED PREAMBLE CODES............................ 215

TABLE 62: FRAME TYPE FIELD VALUES ................................ 218

TABLE 63: DESTINATION ADDRESSING MODE FIELD VALUES .... 220

TABLE 64: SOURCE ADDRESSING MODE FIELD VALUES ........... 220

TABLE 65: TYPICAL CLOCK INDUCED ERRORS IN SS-TWR TIME OF

FLIGHT ESTIMATION ............................................... 223

TABLE 66: TYPICAL CLOCK INDUCED ERROR IN SS-TWR TIME-OF-

FLIGHT ESTIMATION USING ACTUAL IEEE80.15.4-2011

UWB FRAME LENGTHS........................................... 223

TABLE 67: DOCUMENT HISTORY....................................... 233

DW1000 User Manual

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DOCUMENT INFORMATION

Disclaimer

Decawave reserves the right to change product specifications without notice. As far as possible changes to functionality and

specifications will be issued in product specific errata sheets or in new versions of this document. Customers are advised to check

with Decawave for the most recent updates on this product.

LIFE SUPPORT POLICY

Decawave products are not authorized for use in safety-critical applications (such as life support) where a failure of the Decawave

product would reasonably be expected to cause severe personal injury or death. Decawave customers using or selling Decawave

products in such a manner do so entirely at their own risk and agree to fully indemnify Decawave and its representatives against any

damages arising out of the use of Decawave products in such safety-critical applications.

Caution! ESD sensitive device. Precaution should be used when handling the device in order to prevent permanent

damage.

REGULATORY APPROVALS

The DW1000, as supplied from Decawave, has not been certified for use in any particular geographic region by the appropriate

regulatory body governing radio emissions in that region although it is capable of such certification depending on the region and

the manner in which it is used.

All products developed by the user incorporating the DW1000 must be approved by the relevant authority governing radio

emissions in any given jurisdiction prior to the marketing or sale of such products in that jurisdiction and user bears all

responsibility for obtaining such approval as needed from the appropriate authorities.

DW1000 User Manual

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1 Introduction

1.1 About the DW1000

The DW1000 is a fully integrated low power, single chip CMOS radio transceiver IC compliant with the

IEEE 802.15.4-2011 ultra-wideband (UWB) standard.

•It facilitates proximity detection to an accuracy of +/- 10 cm using two-way ranging time-of-flight (TOF)

measurements.

•It facilitates real time location of assets in to an accuracy of +/- 10 cm using either two-way ranging (TOF)

measurements or one-way time difference of arrival (TDOA) Time Difference of Arrival schemes

•It spans 6 RF bands from 3.5 GHz to 6.5 GHz

•It supports data rates of 110 kbps, 850 kbps and 6.8 Mbps

•Its high data rates allow it to keep on-air time short and thereby save power and extend battery lifetimes

•Its ability to deal with severe multipath environments makes it ideal for highly reflective RF

environments

1.2 About this document

This user manual describes the operation and programming of the DW1000 and discusses some of the

design choices to be considered when implementing systems using it.

Information already contained in the DW1000 data sheet is not reproduced here and it is intended that the

reader should use this user manual in conjunction with the DW1000 data sheet.

The document is divided into a number of sections each of which deals with a particular aspect of the

DW1000 as follows: -

Section

Section Name

Information covered

Overview of the DW1000

Gives an overview of the DW1000, describes how to interface

to the device and details its various operating modes

Message Transmission

Describes the functionality and use of the DW1000 transmitter

Message Reception

Describes the functionality and use of the DW1000 receiver

Media Access Control (MAC)

hardware features

Describes the MAC level functionality provided in hardware by

the DW1000.

Other features of the DW1000

Describes other features supported by the DW1000

The DW1000 register set

Describes DW1000 user-accessible register set in detail, lists all

user accessible bit fields in each register and their respective

functions.

DW1000 Calibration

Describes the parameters of the DW1000 that require

calibration; the methodology that should be used in calibrating

them and how often they require calibration.

DW1000 User Manual

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Section

Section Name

Information covered

Operational design choices when

employing the DW1000

Discusses some of the issues to be considered and trade-offs to

be made when building systems based on the DW1000

APPENDIX 1: The IEEE 802.15.4

UWB physical layer

Provides background information on the UWB PHY layer of the

IEEE802.15.4 standard

APPENDIX 2: The IEEE 802.15.4

MAC layer

Provides background information on the MAC layer of the

IEEE802.15.4 standard

APPENDIX 3: Two-Way Ranging

Gives an introduction to the use of the DW1000 in two-way

ranging proximity systems

APPENDIX 4: Abbreviations and

acronyms

Provides a list and explanation of abbreviations and acronyms

used in the rest of the document

APPENDIX 5: References

Lists the documents referred to in this user manual

Document History

Gives the revision history of this document

Major changes

Gives the major changes at each revision of this document

Note: Decawave also provides DW1000 device driver software as source code. This source code includes a

set of API functions to initialise, configure and control the DW1000. It provides API functions for

transmission and reception, and for driving the functionalities of the IC. The DW1000 driver source code is

targeted for the ARM cortex M3 but is readily portable to other microprocessor systems. The code comes

with a number of demo/test applications, (including a two-way ranging application), to exercise the API and

the features of the DW1000.

Clock Periods and Frequencies

The chipping rate given by the IEEE 802.15.4-2011 standard [1] is 499.2 MHz. DW1000 system clocks are

referenced to this frequency. Where the system clock frequency is given as 125 MHz, this is an

approximation to the actual system clock frequency of 124.8 MHz. Similarly, where the system clock period

is given as 8 ns, this is an approximation to the actual period of 1/ (124.8×106) seconds.

The 1 GHz PLL clock, where referenced, is an approximation to its actual frequency of 998.4 MHz.

A 63.8976 GHz sampling clock is associated with ranging for the IEEE 802.15.4-2011 standard, where a 15.65

picosecond time period is referred to, it is an approximation to the period of this clock.

PRF

PRF values of 16 MHz and 64 MHz are given in this document. These are approximations to the PRF values

dictated by [1]. PRF mean values are slightly higher for SHR as opposed to the other portions of a frame.

Mean PRF values are 16.1/15.6 MHz and 62.89/62.4 MHz. Refer to [1] for full details of peak and mean

PRFs.

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Data Rate

Where a data rate of 6.8 Mbps is referred to, this is equivalent to the 6.81/6.8 Mbps data rate in [1].

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2 Overview of the DW1000

2.1 Introduction

The DW1000 consists of an analog front-end (both RF and baseband) containing a receiver and transmitter

and a digital back-end that interfaces to a host processor, controls the analog front-end, accepts data from

the host processor for transmission and provides received data to the host processor over an industry

standard SPI interface. A variety of control schemes are implemented to maintain and optimize transceiver

performance.

2.2 Interfacing to the DW1000

2.2.1 The SPI Interface

The DW1000 host communications interface is a slave-only Serial Peripheral Interface (SPI) compliant with

the industry protocol. The host system must include a master SPI bus controller in order to communicate

with the DW1000.The SPI bus signals, their voltage levels and signal timings are described in the DW1000

data sheet.

The host system reads and writes DW1000 registers via the SPI. This section describes the format of the SPI

transactions. For details of the SPI physical circuits, operational mode configuration and timing parameters

please refer to the DW1000 data sheet. The SPI-accessible registers of the DW1000 are detailed in section

7–The DW1000 register set.

2.2.1.1 SPI operating modes

The operating mode of the SPI is determined when the DW1000’s digital control function is initialised as a

result of a device reset or as it is woken up from a sleep state. At this time GPIO lines 5 and 6 are sampled

and their values act to select the SPI mode.

It is possible to set the SPI mode within the DW1000’s one-time programmable configuration block to avoid

needing any external components and leave the GPIO free for alternative use. This is a one-time activity and

cannot be reversed so care must be taken to ensure that the desired SPI mode is set. Please refer to section

6.3–Using the on-chip OTP memory for more details of OTP configuration, and Register file: 0x2D –OTP

Memory Interface.

For full details of the SPI operating modes and their configuration, please refer to the DW1000 data sheet.

2.2.1.2 Transaction formats of the SPI interface

Each SPI transaction starts with a one to three octet transaction header followed by a variable number of

octets making up the transaction data. The number of data bytes allowed in an SPI transfer is not limited.

The transaction header selects whether the transaction is a read or a write and specifies the address to read

from or write to. Physically the SPI interface is full duplex in that every transaction shifts bits both into and

out of the DW1000. Logically however each transaction is either reading data from the DW1000 or writing

data to it. As shown in Figure 1, for a read transaction all octets beyond the transaction header are ignored

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