dw1000使用手册

【实例截图】

【核心代码】

Table of Contents
LIST OF FIGURES ........................................................ 2
LIST OF TABLES .......................................................... 3
1 INTRODUCTION ................................................. 6
1.1 A BOUT THE DW1000 ...................................... 6
1.2 A BOUT THIS DOCUMENT .................................... 6
2 OVERVIEW OF THE DW1000 .............................. 9
2.1 I NTRODUCTION ................................................ 9
2.2 I NTERFACING TO THE DW1000 .......................... 9
2.3 DW1000 O PERATIONAL S TATES ...................... 13
2.4 P OWER O N R ESET (POR) ................................ 17
2.5 D EFAULT C ONFIGURATION ON P OWER U P .......... 19
3 MESSAGE TRANSMISSION ................................ 24
3.1 B ASIC T RANSMISSION ...................................... 24
3.2 T RANSMISSION TIMESTAMP .............................. 25
3.3 D ELAYED T RANSMISSION ................................. 25
3.4 E XTENDED L ENGTH D ATA F RAMES ..................... 26
3.5 H IGH S PEED T RANSMISSION ............................. 28
4 MESSAGE RECEPTION ....................................... 31
4.1 B ASIC R ECEPTION ........................................... 31
4.2 D ELAYED R ECEIVE ........................................... 34
4.3 D OUBLE R ECEIVE B UFFER ................................. 34
4.4 L OW -P OWER L ISTENING .................................. 38
4.5 L OW -P OWER SNIFF MODE .............................. 40
4.6 D IAGNOSTICS ................................................ 43
4.7 A SSESSING THE QUALITY OF RECEPTION AND THE RX
TIMESTAMP ................................................................ 43
5 MEDIA ACCESS CONTROL (MAC) HARDWARE
FEATURES ................................................................. 47
5.1 C YCLIC REDUNDANCY CHECK ............................. 47
5.2 F RAME FILTERING ........................................... 47
5.3 A UTOMATIC A CKNOWLEDGEMENT .................... 49
5.4 T RANSMIT AND AUTOMATICALLY WAIT FOR RESPONSE
53
6 OTHER FEATURES OF THE DW1000 ................... 54
6.1 E XTERNAL S YNCHRONISATION ........................... 54
6.2 E XTERNAL P OWER A MPLIFICATION .................... 57
6.3 U SING THE ON - CHIP OTP MEMORY ................... 57
6.4 M EASURING IC TEMPERATURE AND VOLTAGE ...... 61
7 THE DW1000 REGISTER SET .............................. 62
7.1 R EGISTER MAP OVERVIEW ................................ 62
7.2 D ETAILED REGISTER DESCRIPTION ...................... 64
8 DW1000 CALIBRATION ................................... 201
8.1 IC C ALIBRATION – C RYSTAL O SCILLATOR T RIM ... 201
8.2 IC C ALIBRATION – T RANSMIT POWER AND SPECTRUM
203
8.3 IC C ALIBRATION – A NTENNA D ELAY ................. 206
9 OPERATIONAL DESIGN CHOICES WHEN
EMPLOYING THE DW1000....................................... 209
9.1 O PERATING RANGE ....................................... 209
9.2 C HANNEL AND B ANDWIDTH SELECTION ............. 209
9.3 C HOICE OF DATA RATE , PREAMBLE LENGTH AND PRF
209
9.4 P OWER CONSUMPTION .................................. 210
9.5 N ODE DENSITY AND AIR UTILISATION ................ 210
9.6 L OW – DUTY CYCLE – AIR TIME .......................... 211
9.7 L OCATION SCHEMES ...................................... 212
9.8 G ENERAL CONSIDERATIONS ............................. 213
10 APPENDIX 1: THE IEEE 802.15.4 UWB PHYSICAL
LAYER ..................................................................... 215
10.1 F RAME STRUCTURE OVERVIEW ........................ 215
10.2 D ATA MODULATION SCHEME .......................... 215
10.3 S YNCHRONISATION HEADER MODULATION SCHEME
216
10.4 PHY HEADER ............................................... 217
10.5 UWB CHANNELS AND PREAMBLE CODES ........... 218
10.6 A DDITIONAL DETAILS ON THE STANDARD ........... 219
11 APPENDIX 2: THE IEEE 802.15.4 MAC LAYER ... 220
11.1 G ENERAL MAC MESSAGE FORMAT .................. 220
11.2 T HE FRAME CONTROL FIELD IN THE MAC HEADER 221
11.3 T HE S EQUENCE N UMBER FIELD ....................... 223
11.4 MAC LEVEL PROCESSING IN THE DW1000........ 224
12 APPENDIX 3: TWO-WAY RANGING ................. 225
12.1 I NTRODUCTION ............................................ 225
12.2 S INGLE - SIDED T WO - WAY R ANGING .................. 225
12.3 D OUBLE - SIDED T WO - WAY R ANGING ................ 227
13 APPENDIX 4: ABBREVIATIONS AND ACRONYMS
233
14 APPENDIX 5: REFERENCES .............................. 237
15 DOCUMENT HISTORY ..................................... 237
16 CHANGE LOG .................................................. 237
17 FURTHER INFORMATION ................................ 244
DW1000 User Manual
© Decawave Ltd 2017 Version 2.15 Page 2 of 244
List of Figures
F IGURE 1: SPI R EAD AND W RITE T RANSACTIONS ................... 10
F IGURE 2: S INGLE OCTET HEADER OF THE NON - INDEXED SPI
TRANSACTION ......................................................... 11
F IGURE 3: E XAMPLE NON - INDEXED READ OF THE D EVICE ID
REGISTER (0 X 00) .................................................... 11
F IGURE 4: T WO OCTET HEADER OF THE SHORT INDEXED SPI
TRANSACTION ......................................................... 11
F IGURE 5: E XAMPLE SHORT - INDEXED READ OF 3 RD AND 4 TH OCTETS
OF REGISTER 0 X 00 .................................................. 12
F IGURE 6: T HREE OCTET HEADER OF THE LONG INDEXED SPI
TRANSACTION ......................................................... 12
F IGURE 7: E XAMPLE LONG - INDEXED WRITE OF ONE OCTET TO
INDEX 310 OF THE TX BUFFER ................................... 12
F IGURE 8: DW1000 S TATE D IAGRAM ................................ 14
F IGURE 9: T IMING DIAGRAM AND POWER PROFILE FOR COLD
START POR ............................................................ 18
F IGURE 10: T RANSMIT F RAME FORMAT ............................... 24
F IGURE 11: B ASIC T RANSMIT S EQUENCE ............................. 24
F IGURE 12 : PHR E NCODING E XTENDED L ENGTH D ATA F RAMES
........................................................................... 27
F IGURE 13: B ASIC RECEIVE SEQUENCE .................................. 31
F IGURE 14: F LOW CHART FOR USING DOUBLE RX BUFFERING ... 37
F IGURE 15 : TRXOFF IN D OUBLE -B UFFERED M ODE ............. 38
F IGURE 16 L OW POWER LISTENING WITH TWO SLEEP TIMES .... 39
F IGURE 17 P OWER PROFILE FOR LOW POWER LISTENING MODE
WHERE NO FRAME IS RECEIVED ................................... 40
F IGURE 18: S TATE TRANSITIONS DURING SNIFF MODE ........... 41
F IGURE 19 P OWER PROFILE FOR SNIFF WHERE A FRAME IS NOT
RECEIVED ............................................................... 42
F IGURE 20 P OWER PROFILE FOR SNIFF WHERE A FRAME IS
RECEIVED ............................................................... 42
F IGURE 21: P OWER PROFILE FOR L OW DUTY - CYCLE SNIFF WHERE
A FRAME IS NOT RECEIVED ......................................... 43
F IGURE 22: E STIMATED RX LEVEL VERSUS ACTUAL RX LEVEL .... 46
F IGURE 23: DW1000 E XTERNAL S YNCHRONISATION I NTERFACE
............................................................................ 54
F IGURE 24: S YNCHRONISED T RANSMISSION .......................... 56
F IGURE 25: OSRS M ODE R ECEIVE T IMEBASE S YNCHRONISATION
............................................................................ 56
F IGURE 26: T RANSMIT POWER CONTROL OCTET .................. 107
F IGURE 27: C OMBINING EDG1 AND EDV2 TO GIVE AN ED NOISE
FIGURE ................................................................ 125
F IGURE 28: F LOW CHART FOR DIRECT READ OF AON ADDRESS 168
F IGURE 29: PPM VS C RYSTAL T RIM S ETTING , V BATT = 3.3 V . 203
F IGURE 30: T RANSMIT AND R ECEIVE A NTENNA D ELAY ......... 207
F IGURE 31: UWB PHY F RAME STRUCTURE ....................... 215
F IGURE 32:- BPM/BPSK DATA AND PHR MODULATION ...... 215
F IGURE 33: PHR BIT ASSIGNMENT .................................... 218
F IGURE 34: G ENERAL MAC MESSAGE FORMAT ................... 220
F IGURE 35: MAC MESSAGE FRAME CONTROL FIELD .............. 221
F IGURE 36: S INGLE - SIDED T WO - WAY RANGING ................... 225
F IGURE 37: D OUBLE - SIDED TWO - WAY RANGING WITH FOUR
MESSAGES ............................................................ 227
F IGURE 38: D OUBLE - SIDED T WO - WAY RANGING WITH THREE
MESSAGES ............................................................ 227
F IGURE 39: R ANGING TO 3 ANCHORS WITH JUST 5 MESSAGES
WHERE EACH ANCHOR CALCULATES ITS OWN RANGE RESULT
.......................................................................... 231
DW1000 User Manual
© Decawave Ltd 2017 Version 2.15 Page 3 of 244
List of Tables
T ABLE 1: M AIN DW1000 OPERATIONAL STATES / MODES ...... 15
T ABLE 2: M ODE 2 E XCERPT FROM DW1000 D ATA S HEET
O PERATIONAL M ODES T ABLE .................................... 20
T ABLE 3: GPIO D EFAULT F UNCTIONS .................................. 20
T ABLE 4: R EGISTER ACCESSES REQUIRED TO LOAD LDE MICROCODE
........................................................................... 23
T ABLE 5: P REAMBLE D URATION FIELD VALUES IN E XTENDED
L ENGTH D ATA F RAME PHR ...................................... 27
T ABLE 6: R ECOMMENDED PAC SIZE .................................... 31
T ABLE 7: R EGISTERS IN THE RX DOUBLE - BUFFERED SWINGING - SET
........................................................................... 35
T ABLE 8: A UTO -ACK PREAMBLE LENGTH DEPENDING ON RXPSR
AND RXPACC ........................................................ 50
T ABLE 9: A UTO -ACK PREAMBLE LENGTH SELECTION IN EXTENDED
LENGTH FRAMES MODE ............................................ 50
T ABLE 10: OTP MEMORY MAP ........................................... 58
T ABLE 11: OTP_SRDAT R EGISTER .................................... 59
T ABLE 12: R EGISTER ACCESSES REQUIRED TO PROGRAM THE OTP
........................................................................... 59
T ABLE 13: A N EXAMPLE OF REGISTER ACCESSES REQUIRED TO
READ FROM OTP .................................................... 60
T ABLE 14: A N EXAMPLE OF REGISTER ACCESSES TO PERFORM A
READ OF THE TEMPERATURE AND VOLTAGE SENSORS ...... 61
T ABLE 15: R EGISTER MAP OVERVIEW ................................... 62
T ABLE 16: P REAMBLE LENGTH SELECTION ............................. 76
T ABLE 17: PREAMBLE LENGTH REPORTING ............................ 94
T ABLE 18: RXPACC A DJUSTMENTS BY SFD CODE ................. 97
T ABLE 19: R EFERENCE VALUES FOR R EGISTER FILE : 0 X 1E –
T RANSMIT P OWER C ONTROL , FOR S MART T RANSMIT
P OWER C ONTROL ................................................. 111
T ABLE 20: R EFERENCE VALUES R EGISTER FILE : 0 X 1E – T RANSMIT
P OWER C ONTROL FOR M ANUAL T RANSMIT P OWER
C ONTROL (S MART T RANSMIT P OWER C ONTROL DISABLED )
......................................................................... 111
T ABLE 21: R ECOMMENDED SFD SEQUENCE CONFIGURATIONS
FOR BEST PERFORMANCE ........................................ 119
T ABLE 22: O THER POSSIBLE SFD SEQUENCE CONFIGURATIONS
......................................................................... 120
T ABLE 23: R EGISTER FILE : 0 X 23 –AGC CONFIGURATION AND
CONTROL OVERVIEW .............................................. 121
T ABLE 24: S UB -R EGISTER 0 X 23:04 – AGC_TUNE1 VALUES 123
T ABLE 25: S UB -R EGISTER 0 X 23:0C – AGC_TUNE2 VALUES 123
T ABLE 26: S UB -R EGISTER 0 X 23:12 – AGC_TUNE3 VALUES 124
T ABLE 27: S CALING FACTOR FOR CHANNEL NOISE ENERGY
ESTIMATION ......................................................... 125
T ABLE 28: R EGISTER FILE : 0 X 26 – GPIO CONTROL AND STATUS
OVERVIEW ........................................................... 129
T ABLE 29: R EGISTER FILE : 0 X 27 – D IGITAL RECEIVER
CONFIGURATION OVERVIEW ..................................... 142
T ABLE 30: S UB -R EGISTER 0 X 27:02 – DRX_TUNE0 B VALUES 143
T ABLE 31: S UB -R EGISTER 0 X 27:04 – DRX_TUNE1 AVALUES 145
T ABLE 32: S UB -R EGISTER 0 X 27:06 – DRX_TUNE1 B VALUES 145
T ABLE 33: S UB -R EGISTER 0 X 27:08 – DRX_TUNE2 VALUES . 146
T ABLE 34: R EGISTER 0 X 27:26 DRX_TUNE4H VALUES ........ 148
T ABLE 35: C ONSTANTS FOR FREQUENCY OFFSET CALCULATION 149
T ABLE 36: R EGISTER FILE : 0 X 28 – A NALOG RF CONFIGURATION
BLOCK OVERVIEW .................................................. 150
T ABLE 37: S UB -R EGISTER 0 X 28:0B– RF_RXCTRLH VALUES 152
T ABLE 38: S UB -R EGISTER 0 X 28:0C– RF_TXCTRL VALUES ... 152
T ABLE 39: R EGISTER FILE : 0 X 2A – T RANSMITTER C ALIBRATION
BLOCK OVERVIEW .................................................. 155
T ABLE 40: S UB -R EGISTER 0 X 2A:0B – TC_PGDELAY
RECOMMENDED VALUES ......................................... 159
T ABLE 41: .................................................................... 160
T ABLE 42: R EGISTER FILE : 0 X 2B – F REQUENCY SYNTHESISER
CONTROL BLOCK OVERVIEW ..................................... 160
T ABLE 43: S UB -R EGISTER 0 X 2B:07 – FS_PLLCFG VALUES ... 161
T ABLE 44: S UB -R EGISTER 0 X 2B:0B – FS_PLLTUNE VALUES 162
T ABLE 45: R EGISTER FILE : 0 X 2C – A LWAYS - ON SYSTEM CONTROL
OVERVIEW ............................................................ 163
T ABLE 46: C ONFIGURATIONS MAINTAINED IN THE AON M EMORY
A RRAY ................................................................. 167
T ABLE 47: R EGISTER FILE : 0 X 2D – OTP M EMORY I NTERFACE
OVERVIEW ............................................................ 172
T ABLE 48: R ECEIVER OPERATING PARAMETER SETS ............... 177
T ABLE 49: R EGISTER FILE : 0 X 2E – L EADING E DGE D ETECTION
I NTERFACE OVERVIEW ............................................ 178
T ABLE 50: S UB -R EGISTER 0 X 2E:1806– LDE_CFG2 VALUES . 181
T ABLE 51: S UB -R EGISTER 0 X 2E:2804 – LDE_REPC V ALUES 181
T ABLE 52: R EGISTER FILE : 0 X 2F – D IGITAL D IAGNOSTICS
I NTERFACE OVERVIEW ............................................ 182
T ABLE 53: R EGISTER FILE : 0 X 36 – P OWER M ANAGEMENT AND
S YSTEM C ONTROL OVERVIEW .................................. 192
T ABLE 54: R EGISTER ACCESSES REQUIRED FOR TRANSMITTER
CONFIGURATION PROCEDURE ................................... 204
T ABLE 55: R ECOMMENDED RX POWER LEVEL FOR ANTENNA
CALIBRATION ........................................................ 207
T ABLE 56: R ECOMMENDED TX-RX SEPARATION FOR ANTENNA
CALIBRATION ........................................................ 207
T ABLE 57: R ECOMMENDED PREAMBLE LENGTHS .................. 210
T ABLE 58: T RANSMISSIONS PER SECOND USING ALOHA ....... 211
T ABLE 59: T ECHNIQUES TO SAVE POWER IN RECEIVING .......... 213
T ABLE 60: P REAMBLE PARAMETERS ................................... 217
DW1000 User Manual
© Decawave Ltd 2017 Version 2.15 Page 4 of 244
T ABLE 61: DW1000 SUPPORTED UWB CHANNELS AND
RECOMMENDED PREAMBLE CODES ............................ 218
T ABLE 62: F RAME TYPE FIELD VALUES ................................ 221
T ABLE 63: D ESTINATION ADDRESSING MODE FIELD VALUES .... 223
T ABLE 64: S OURCE ADDRESSING MODE FIELD VALUES ........... 223
T ABLE 65: T YPICAL CLOCK INDUCED ERRORS IN SS-TWR TIME OF
FLIGHT ESTIMATION ............................................... 226
T ABLE 66: T YPICAL CLOCK INDUCED ERROR IN SS-TWR TIME - OF -
FLIGHT ESTIMATION USING ACTUAL IEEE80.15.4-2011
UWB FRAME LENGTHS ........................................... 226
T ABLE 67: D OCUMENT H ISTORY ....................................... 237