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DW1000用户手册

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  • 日期: 2018-09-12
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标签: DW1000UWBRTLSTDOATOF

DW1000是一块符合IEEE 802.15.4标准的UWB芯片,工作频率3.5GHz--6.5GHz,主要应用于TDOA、TOF、AOA等应用场景

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DW1000 USER MANUAL DW1000 USER MANUAL HOW TO USE CONFIGURE AND PROGRAM THE DW1000 UWB TRANSCEIVER This document is subject to change without notice Decawave Ltd 2016 Version 210 Page 1 of 227 DW1000 User Manual Table of Contents LIST OF FIGURES 3 LIST OF TABLES 4 1 INTRODUCTION 7 11 12 ABOUT THE DW1000 7 ABOUT THIS DOCUMENT 7 OVERVIEW OF THE DW1000 10 2 21 22 23 24 25 INTRODUCTION 10 INTERFACING TO THE DW1000 10 DW1000 OP......

DW1000 USER MANUAL DW1000 USER MANUAL HOW TO USE, CONFIGURE AND PROGRAM THE DW1000 UWB TRANSCEIVER This document is subject to change without notice © Decawave Ltd 2016 Version 2.10 Page 1 of 227 DW1000 User Manual Table of Contents LIST OF FIGURES ........................................................ 3 LIST OF TABLES .......................................................... 4 1 INTRODUCTION ................................................. 7 1.1 1.2 ABOUT THE DW1000 ...................................... 7 ABOUT THIS DOCUMENT .................................... 7 OVERVIEW OF THE DW1000 ............................. 10 2 2.1 2.2 2.3 2.4 2.5 INTRODUCTION .............................................. 10 INTERFACING TO THE DW1000 ........................ 10 DW1000 OPERATIONAL STATES ...................... 14 POWER ON RESET (POR) ................................ 18 DEFAULT CONFIGURATION ON POWER UP .......... 20 3 MESSAGE TRANSMISSION ................................ 25 3.1 3.2 3.3 3.4 3.5 BASIC TRANSMISSION ...................................... 25 TRANSMISSION TIMESTAMP .............................. 26 DELAYED TRANSMISSION ................................. 26 EXTENDED LENGTH DATA FRAMES ..................... 27 HIGH SPEED TRANSMISSION ............................. 29 4 MESSAGE RECEPTION ....................................... 32 BASIC RECEPTION ........................................... 32 DELAYED RECEIVE ........................................... 35 DOUBLE RECEIVE BUFFER................................. 35 LOW-POWER LISTENING .................................. 39 LOW-POWER SNIFF MODE .............................. 41 DIAGNOSTICS ................................................ 44 ASSESSING THE QUALITY OF RECEPTION AND THE RX 4.1 4.2 4.3 4.4 4.5 4.6 4.7 TIMESTAMP ................................................................ 44 5 MEDIA ACCESS CONTROL (MAC) HARDWARE FEATURES ................................................................. 48 5.1 5.2 5.3 5.4 CYCLIC REDUNDANCY CHECK ............................. 48 FRAME FILTERING ........................................... 48 AUTOMATIC ACKNOWLEDGEMENT .................... 50 TRANSMIT AND AUTOMATICALLY WAIT FOR RESPONSE 53 6 OTHER FEATURES OF THE DW1000 ................... 54 6.1 6.2 6.3 6.4 EXTERNAL SYNCHRONISATION ........................... 54 EXTERNAL POWER AMPLIFICATION .................... 57 USING THE ON-CHIP OTP MEMORY ................... 57 MEASURING IC TEMPERATURE AND VOLTAGE ...... 61 THE DW1000 REGISTER SET .............................. 62 7.1 7.2 REGISTER MAP OVERVIEW ................................ 62 DETAILED REGISTER DESCRIPTION ...................... 64 DW1000 CALIBRATION ................................... 188 7 8 8.1 8.2 8.3 IC CALIBRATION – CRYSTAL OSCILLATOR TRIM ... 188 IC CALIBRATION – TRANSMIT POWER AND SPECTRUM 190 IC CALIBRATION – ANTENNA DELAY ................. 193 OPERATIONAL DESIGN CHOICES WHEN 9 EMPLOYING THE DW1000....................................... 196 9.1 9.2 9.3 9.4 9.5 9.6 9.7 9.8 OPERATING RANGE ....................................... 196 CHANNEL AND BANDWIDTH SELECTION ............. 196 CHOICE OF DATA RATE, PREAMBLE LENGTH AND PRF 196 POWER CONSUMPTION .................................. 197 NODE DENSITY AND AIR UTILISATION ................ 197 LOW–DUTY CYCLE – AIR TIME .......................... 198 LOCATION SCHEMES ...................................... 199 GENERAL CONSIDERATIONS............................. 200 10 APPENDIX 1: THE IEEE 802.15.4 UWB PHYSICAL LAYER ..................................................................... 202 FRAME STRUCTURE OVERVIEW ........................ 202 10.1 DATA MODULATION SCHEME .......................... 202 10.2 10.3 SYNCHRONISATION HEADER MODULATION SCHEME 203 PHY HEADER ............................................... 204 10.4 10.5 UWB CHANNELS AND PREAMBLE CODES ........... 205 10.6 ADDITIONAL DETAILS ON THE STANDARD ........... 206 11 APPENDIX 2: THE IEEE 802.15.4 MAC LAYER ... 207 GENERAL MAC MESSAGE FORMAT .................. 207 11.1 THE FRAME CONTROL FIELD IN THE MAC HEADER 208 11.2 11.3 THE SEQUENCE NUMBER FIELD ....................... 210 11.4 MAC LEVEL PROCESSING IN THE DW1000........ 211 12 APPENDIX 3: TWO-WAY RANGING ................. 212 12.1 12.2 12.3 INTRODUCTION ............................................ 212 SINGLE-SIDED TWO-WAY RANGING .................. 212 DOUBLE-SIDED TWO-WAY RANGING ................ 214 13 APPENDIX 4: ABBREVIATIONS AND ACRONYMS 219 14 APPENDIX 5: REFERENCES .............................. 222 15 DOCUMENT HISTORY ..................................... 222 16 CHANGE LOG .................................................. 222 17 ABOUT DECAWAVE ........................................ 227 © Decawave Ltd 2016 Version 2.10 Page 2 of 227 DW1000 User Manual 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 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 ............................................................................ 54 FIGURE 24: SYNCHRONISED TRANSMISSION .......................... 56 FIGURE 25: OSRS MODE RECEIVE TIMEBASE SYNCHRONISATION ............................................................................ 56 FIGURE 26: TRANSMIT POWER CONTROL OCTET .................. 105 FIGURE 27: COMBINING EDG1 AND EDV2 TO GIVE AN ED NOISE FIGURE ................................................................ 119 FIGURE 28: FLOW CHART FOR DIRECT READ OF AON ADDRESS 157 FIGURE 29: PPM VS CRYSTAL TRIM SETTING, VBATT= 3.3 V . 190 FIGURE 30: TRANSMIT AND RECEIVE ANTENNA DELAY ......... 194 FIGURE 31: UWB PHY FRAME STRUCTURE ....................... 202 FIGURE 32:- BPM/BPSK DATA AND PHR MODULATION ...... 202 FIGURE 33: PHR BIT ASSIGNMENT .................................... 205 FIGURE 34: GENERAL MAC MESSAGE FORMAT ................... 207 FIGURE 35: MAC MESSAGE FRAME CONTROL FIELD .............. 208 FIGURE 36: SINGLE-SIDED TWO-WAY RANGING ................... 212 FIGURE 37: DOUBLE-SIDED TWO-WAY RANGING WITH FOUR MESSAGES ............................................................ 214 FIGURE 38: DOUBLE-SIDED TWO-WAY RANGING WITH THREE MESSAGES ............................................................ 214 FIGURE 39: RANGING TO 3 ANCHORS WITH JUST 5 MESSAGES WHERE EACH ANCHOR CALCULATES ITS OWN RANGE RESULT .......................................................................... 217 © Decawave Ltd 2016 Version 2.10 Page 3 of 227 DW1000 User Manual 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 TABLE 28: REGISTER FILE: 0X27 – DIGITAL RECEIVER CONFIGURATION OVERVIEW ..................................... 135 TABLE 29: SUB-REGISTER 0X27:02 – DRX_TUNE0B VALUES136 TABLE 30: SUB-REGISTER 0X27:04 – DRX_TUNE1AVALUES 137 TABLE 31: SUB-REGISTER 0X27:06 – DRX_TUNE1B VALUES137 TABLE 32: SUB-REGISTER 0X27:08 – DRX_TUNE2VALUES . 138 TABLE 33: REGISTER 0X27:26 DRX_TUNE4H VALUES ........ 140 TABLE 34: REGISTER FILE: 0X28 – ANALOG RF CONFIGURATION BLOCK OVERVIEW .................................................. 141 TABLE 35: SUB-REGISTER 0X28:0B– RF_RXCTRLH VALUES 143 TABLE 36: SUB-REGISTER 0X28:0C– RF_TXCTRL VALUES ... 143 TABLE 37: REGISTER FILE: 0X2A – TRANSMITTER CALIBRATION AND RXPACC ........................................................ 51 BLOCK OVERVIEW .................................................. 146 TABLE 9: AUTO-ACK PREAMBLE LENGTH SELECTION IN EXTENDED TABLE 38: SUB-REGISTER 0X2A:0B – TC_PGDELAY 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................. 95 TABLE 19: REFERENCE VALUES FOR REGISTER FILE: 0X1E – TRANSMIT POWER CONTROL, FOR SMART TRANSMIT POWER CONTROL ................................................. 109 TABLE 20: REFERENCE VALUES REGISTER FILE: 0X1E – TRANSMIT POWER CONTROL FOR MANUAL TRANSMIT POWER CONTROL (SMART TRANSMIT POWER CONTROL DISABLED) ......................................................................... 109 TABLE 21: RECOMMENDED SFD SEQUENCE CONFIGURATIONS FOR BEST PERFORMANCE .............................................. 114 RECOMMENDED VALUES ......................................... 149 TABLE 39: .................................................................... 149 TABLE 40: REGISTER FILE: 0X2B – FREQUENCY SYNTHESISER CONTROL BLOCK OVERVIEW ..................................... 150 TABLE 41: SUB-REGISTER 0X2B:07 – FS_PLLCFG VALUES ... 150 TABLE 42: SUB-REGISTER 0X2B:0B – FS_PLLTUNE VALUES 151 TABLE 43: REGISTER FILE: 0X2C – ALWAYS-ON SYSTEM CONTROL OVERVIEW............................................................ 153 TABLE 44: CONFIGURATIONS MAINTAINED IN THE AON MEMORY ARRAY................................................................. 156 TABLE 45: REGISTER FILE: 0X2D – OTP MEMORY INTERFACE OVERVIEW............................................................ 161 TABLE 46: RECEIVER OPERATING PARAMETER SETS ............... 166 TABLE 47: REGISTER FILE: 0X2E – LEADING EDGE DETECTION INTERFACE OVERVIEW ............................................ 167 TABLE 48: SUB-REGISTER 0X2E:1806– LDE_CFG2VALUES . 169 TABLE 49: SUB-REGISTER 0X2E:2804 – LDE_REPC CONFIGURATIONS FOR (850 KBPS & 6.8 MBPS).......... 170 TABLE 50: REGISTER FILE: 0X2F – DIGITAL DIAGNOSTICS INTERFACE OVERVIEW ............................................ 171 TABLE 51: REGISTER FILE: 0X36 – POWER MANAGEMENT AND SYSTEM CONTROL OVERVIEW .................................. 180 TABLE 22: REGISTER FILE: 0X23 –AGC CONFIGURATION AND TABLE 52: REGISTER ACCESSES REQUIRED FOR TRANSMITTER CONTROL OVERVIEW .............................................. 115 TABLE 23: SUB-REGISTER 0X23:04 – AGC_TUNE1 VALUES 117 TABLE 24: SUB-REGISTER 0X23:0C – AGC_TUNE2 VALUES 117 TABLE 25: SUB-REGISTER 0X23:12 – AGC_TUNE3 VALUES 118 TABLE 26: SCALING FACTOR FOR CHANNEL NOISE ENERGY ESTIMATION ......................................................... 119 TABLE 27: REGISTER FILE: 0X26 – GPIO CONTROL AND STATUS OVERVIEW ........................................................... 123 CONFIGURATION PROCEDURE ................................... 191 TABLE 53: RECOMMENDED RX POWER LEVEL FOR ANTENNA CALIBRATION ........................................................ 194 TABLE 54: RECOMMENDED TX-RX SEPARATION FOR ANTENNA CALIBRATION ........................................................ 194 TABLE 55: RECOMMENDED PREAMBLE LENGTHS .................. 197 TABLE 56: TRANSMISSIONS PER SECOND USING ALOHA ....... 198 TABLE 57: TECHNIQUES TO SAVE POWER IN RECEIVING .......... 200 © Decawave Ltd 2016 Version 2.10 Page 4 of 227 DW1000 User Manual TABLE 58: PREAMBLE PARAMETERS .................................. 204 TABLE 59: DW1000 SUPPORTED UWB CHANNELS AND RECOMMENDED PREAMBLE CODES ............................ 205 TABLE 60: FRAME TYPE FIELD VALUES ................................ 208 TABLE 61: DESTINATION ADDRESSING MODE FIELD VALUES .... 210 TABLE 62: SOURCE ADDRESSING MODE FIELD VALUES ........... 210 TABLE 63: TYPICAL CLOCK INDUCED ERRORS IN SS-TWR TIME OF FLIGHT ESTIMATION ............................................... 213 TABLE 64: TYPICAL CLOCK INDUCED ERROR IN SS-TWR TIME-OF- FLIGHT ESTIMATION USING ACTUAL IEEE80.15.4-2011 UWB FRAME LENGTHS........................................... 213 TABLE 65: DOCUMENT HISTORY ....................................... 222 © Decawave Ltd 2016 Version 2.10 Page 5 of 227
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