© Decawave Ltd 2016
Version 2.09
Page 1 of 228
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
© Decawave Ltd 2016
Version 2.09
Page 2 of 228
Table of Contents
LIST OF FIGURES ........................................................ 3
LIST OF TABLES .......................................................... 4
1 INTRODUCTION ................................................. 7
1.1 ABOUT THE DW1000 ...................................... 7
1.2 ABOUT THIS DOCUMENT .................................... 7
2 OVERVIEW 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
3 MESSAGE 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
4 MESSAGE 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
5 MEDIA 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
53
6 OTHER FEATURES OF THE DW1000 ................... 54
6.1 EXTERNAL SYNCHRONISATION ........................... 54
6.2 EXTERNAL POWER AMPLIFICATION .................... 57
6.3 USING THE ON-CHIP OTP MEMORY ................... 57
6.4 MEASURING IC TEMPERATURE AND VOLTAGE ...... 61
7 THE DW1000 REGISTER SET .............................. 62
7.1 REGISTER MAP OVERVIEW ................................ 62
7.2 DETAILED REGISTER DESCRIPTION ...................... 64
8 DW1000 CALIBRATION ................................... 189
8.1 IC CALIBRATION – CRYSTAL OSCILLATOR TRIM ... 189
8.2 IC CALIBRATION – TRANSMIT POWER AND SPECTRUM
191
8.3 IC CALIBRATION – ANTENNA DELAY ................. 194
9 OPERATIONAL DESIGN CHOICES WHEN
EMPLOYING THE DW1000....................................... 197
9.1 OPERATING RANGE ....................................... 197
9.2 CHANNEL AND BANDWIDTH SELECTION ............. 197
9.3 CHOICE OF DATA RATE, PREAMBLE LENGTH AND PRF
197
9.4 POWER CONSUMPTION .................................. 198
9.5 NODE DENSITY AND AIR UTILISATION ................ 198
9.6 LOW–DUTY CYCLE – AIR TIME .......................... 199
9.7 LOCATION SCHEMES ...................................... 200
9.8 GENERAL CONSIDERATIONS............................. 201
10 APPENDIX 1: THE IEEE 802.15.4 UWB PHYSICAL
LAYER ..................................................................... 203
10.1 FRAME STRUCTURE OVERVIEW ........................ 203
10.2 DATA MODULATION SCHEME .......................... 203
10.3 SYNCHRONISATION HEADER MODULATION SCHEME
204
10.4 PHY HEADER ............................................... 205
10.5 UWB CHANNELS AND PREAMBLE CODES ........... 206
10.6 ADDITIONAL DETAILS ON THE STANDARD ........... 207
11 APPENDIX 2: THE IEEE 802.15.4 MAC LAYER ... 208
11.1 GENERAL MAC MESSAGE FORMAT .................. 208
11.2 THE FRAME CONTROL FIELD IN THE MAC HEADER 209
11.3 THE SEQUENCE NUMBER FIELD ....................... 211
11.4 MAC LEVEL PROCESSING IN THE DW1000........ 212
12 APPENDIX 3: TWO-WAY RANGING ................. 213
12.1 INTRODUCTION ............................................ 213
12.2 SINGLE-SIDED TWO-WAY RANGING .................. 213
12.3 DOUBLE-SIDED TWO-WAY RANGING ................ 215
13 APPENDIX 4: ABBREVIATIONS AND ACRONYMS
220
14 APPENDIX 5: REFERENCES .............................. 224
15 DOCUMENT HISTORY ..................................... 224
16 CHANGE LOG .................................................. 224
17 ABOUT DECAWAVE ........................................ 228
DW1000 User Manual
© Decawave Ltd 2016
Version 2.09
Page 3 of 228
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
REGISTER (0X00) .................................................... 12
FIGURE 4: TWO OCTET HEADER OF THE SHORT INDEXED SPI
TRANSACTION ......................................................... 12
FIGURE 5: EXAMPLE SHORT-INDEXED READ OF 3
RD
AND 4
TH
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
............................................................................ 54
FIGURE 24: SYNCHRONISED TRANSMISSION .......................... 56
FIGURE 25: OSRS MODE RECEIVE TIMEBASE SYNCHRONISATION
............................................................................ 56
FIGURE 26: TRANSMIT POWER CONTROL OCTET .................. 106
FIGURE 27: COMBINING EDG1 AND EDV2 TO GIVE AN ED NOISE
FIGURE ................................................................ 120
FIGURE 28: FLOW CHART FOR DIRECT READ OF AON ADDRESS 158
FIGURE 29: PPM VS CRYSTAL TRIM SETTING, V
BATT
= 3.3 V . 191
FIGURE 30: TRANSMIT AND RECEIVE ANTENNA DELAY ......... 195
FIGURE 31: UWB PHY FRAME STRUCTURE ....................... 203
FIGURE 32:- BPM/BPSK DATA AND PHR MODULATION ...... 203
FIGURE 33: PHR BIT ASSIGNMENT .................................... 206
FIGURE 34: GENERAL MAC MESSAGE FORMAT ................... 208
FIGURE 35: MAC MESSAGE FRAME CONTROL FIELD .............. 209
FIGURE 36: SINGLE-SIDED TWO-WAY RANGING ................... 213
FIGURE 37: DOUBLE-SIDED TWO-WAY RANGING WITH FOUR
MESSAGES ............................................................ 215
FIGURE 38: DOUBLE-SIDED TWO-WAY RANGING WITH THREE
MESSAGES ............................................................ 215
FIGURE 39: RANGING TO 3 ANCHORS WITH JUST 5 MESSAGES
WHERE EACH ANCHOR CALCULATES ITS OWN RANGE RESULT
.......................................................................... 218
DW1000 User Manual
© Decawave Ltd 2016
Version 2.09
Page 4 of 228
List of Tables
TABLE 1: MAIN DW1000 OPERATIONAL STATES / MODES ...... 16
TABLE 2: MODE 2 EXCERPT 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 ........................................... 58
TABLE 11: OTP_SRDAT REGISTER .................................... 59
TABLE 12: REGISTER ACCESSES REQUIRED TO PROGRAM THE OTP
........................................................................... 59
TABLE 13: AN EXAMPLE OF REGISTER ACCESSES REQUIRED TO
READ FROM OTP .................................................... 60
TABLE 14: AN EXAMPLE OF REGISTER ACCESSES TO PERFORM A
READ OF THE TEMPERATURE AND VOLTAGE SENSORS ...... 61
TABLE 15: REGISTER MAP OVERVIEW ................................... 62
TABLE 16: PREAMBLE LENGTH SELECTION ............................. 75
TABLE 17: PREAMBLE LENGTH REPORTING ............................ 93
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 .............................................. 115
TABLE 22: REGISTER FILE: 0X23 –AGC CONFIGURATION AND
CONTROL OVERVIEW .............................................. 116
TABLE 23: SUB-REGISTER 0X23:04 – AGC_TUNE1 VALUES 118
TABLE 24: SUB-REGISTER 0X23:0C – AGC_TUNE2 VALUES 118
TABLE 25: SUB-REGISTER 0X23:12 – AGC_TUNE3 VALUES 119
TABLE 26: SCALING FACTOR FOR CHANNEL NOISE ENERGY
ESTIMATION ......................................................... 120
TABLE 27: REGISTER FILE: 0X26 – GPIO CONTROL AND STATUS
OVERVIEW ........................................................... 124
TABLE 28: REGISTER FILE: 0X27 – DIGITAL RECEIVER
CONFIGURATION OVERVIEW ..................................... 136
TABLE 29: SUB-REGISTER 0X27:02 – DRX_TUNE0B VALUES137
TABLE 30: SUB-REGISTER 0X27:04 – DRX_TUNE1AVALUES 138
TABLE 31: SUB-REGISTER 0X27:06 – DRX_TUNE1B VALUES138
TABLE 32: SUB-REGISTER 0X27:08 – DRX_TUNE2VALUES . 139
TABLE 33: REGISTER 0X27:26 DRX_TUNE4H VALUES ........ 141
TABLE 34: REGISTER FILE: 0X28 – ANALOG RF CONFIGURATION
BLOCK OVERVIEW .................................................. 142
TABLE 35: SUB-REGISTER 0X28:0B– RF_RXCTRLH VALUES 144
TABLE 36: SUB-REGISTER 0X28:0C– RF_TXCTRL VALUES ... 144
TABLE 37: REGISTER FILE: 0X2A – TRANSMITTER CALIBRATION
BLOCK OVERVIEW .................................................. 147
TABLE 38: SUB-REGISTER 0X2A:0B – TC_PGDELAY
RECOMMENDED VALUES ......................................... 150
TABLE 39: .................................................................... 150
TABLE 40: REGISTER FILE: 0X2B – FREQUENCY SYNTHESISER
CONTROL BLOCK OVERVIEW ..................................... 151
TABLE 41: SUB-REGISTER 0X2B:07 – FS_PLLCFG VALUES ... 151
TABLE 42: SUB-REGISTER 0X2B:0B – FS_PLLTUNE VALUES 152
TABLE 43: REGISTER FILE: 0X2C – ALWAYS-ON SYSTEM CONTROL
OVERVIEW............................................................ 154
TABLE 44: CONFIGURATIONS MAINTAINED IN THE AON MEMORY
ARRAY................................................................. 157
TABLE 45: REGISTER FILE: 0X2D – OTP MEMORY INTERFACE
OVERVIEW............................................................ 162
TABLE 46: RECEIVER OPERATING PARAMETER SETS ............... 167
TABLE 47: REGISTER FILE: 0X2E – LEADING EDGE DETECTION
INTERFACE OVERVIEW ............................................ 168
TABLE 48: SUB-REGISTER 0X2E:1806– LDE_CFG2VALUES . 170
TABLE 49: SUB-REGISTER 0X2E:2804 – LDE_REPC
CONFIGURATIONS FOR (850 KBPS & 6.8 MBPS).......... 171
TABLE 50: REGISTER FILE: 0X2F – DIGITAL DIAGNOSTICS
INTERFACE OVERVIEW ............................................ 172
TABLE 51: REGISTER FILE: 0X36 – POWER MANAGEMENT AND
SYSTEM CONTROL OVERVIEW .................................. 181
TABLE 52: REGISTER ACCESSES REQUIRED FOR TRANSMITTER
CONFIGURATION PROCEDURE ................................... 192
TABLE 53: RECOMMENDED RX POWER LEVEL FOR ANTENNA
CALIBRATION ........................................................ 195
TABLE 54: RECOMMENDED TX-RX SEPARATION FOR ANTENNA
CALIBRATION ........................................................ 195
TABLE 55: RECOMMENDED PREAMBLE LENGTHS .................. 198
TABLE 56: TRANSMISSIONS PER SECOND USING ALOHA ....... 199
TABLE 57: TECHNIQUES TO SAVE POWER IN RECEIVING .......... 201
DW1000 User Manual
© Decawave Ltd 2016
Version 2.09
Page 5 of 228
TABLE 58: PREAMBLE PARAMETERS .................................. 205
TABLE 59: DW1000 SUPPORTED UWB CHANNELS AND
RECOMMENDED PREAMBLE CODES ............................ 206
TABLE 60: FRAME TYPE FIELD VALUES ................................ 209
TABLE 61: DESTINATION ADDRESSING MODE FIELD VALUES .... 211
TABLE 62: SOURCE ADDRESSING MODE FIELD VALUES ........... 211
TABLE 63: TYPICAL CLOCK INDUCED ERRORS IN SS-TWR TIME OF
FLIGHT ESTIMATION ............................................... 214
TABLE 64: TYPICAL CLOCK INDUCED ERROR IN SS-TWR TIME-OF-
FLIGHT ESTIMATION USING ACTUAL IEEE80.15.4-2011
UWB FRAME LENGTHS........................................... 214
TABLE 65: DOCUMENT HISTORY ....................................... 224
