Decawave DWM1001 User Manual

UWB

Transceiver

Decawave

DW1000

BLE

Microprocessor

Nordic

nRF52832

64 MHz ARM

Cortex M4

SPI M1*

3-Axis Motion

Detector

STM

LIS2DH12TR

BLE Antenna

UART [1:0]

SPI S2* [3:0]

I2C [1:0]

IRQ

UWB Antenna

VCC

2.8 V – 3.6 V

DC-DC

Converter

1V8

GPIO

RESET

SWD[1:0]

GPIO

BT_WAKE_UP

GND

READY

4

12

*SPI M1 is nRF52 SPI master 1, SPI S2 is SPI slave 2

Product Overview

The DWM1001C module is based on Decawave's DW1000 Ultra Wideband (UWB) transceiver IC, which is an IEEE 802.15.4-2011 UWB implementation. It integrates UWB and Bluetooth® antenna, all RF circuitry, Nordic Semiconductor nRF52832 and a motion sensor.

Key Features

• Ranging accuracy to within 10cm.

• UWB Channel 5 printed PCB antenna (6.5 GHz)

• 6.8 Mbps data rate IEEE 802.15.4-2011 UWB compliant

• Nordic Semiconductor nRF52832

• Bluetooth® connectivity

• Bluetooth® chip antenna

• Motion sensor: 3-axis accelerometer

• Current consumption optimised for low power sleep mode: <15μA

• Supply voltage: 2.8 V to 3.6 V

• Size: 19.1 mm x 26.2 mm x 2.6 mm

• Certified to ETSI, FCC and ISED regulations

o FCC ID: 2AQ33-DWM1001, IC: 23794-DWM1001

Key Benefits

• Enables anchors, tags & gateways to quickly get an entire RTLS system up-and-running

• Accelerates product designs for faster Time-to-Market & reduced development costs

• Low-power hardware design and software architecture for longer battery life

• SPI, UART, I2C and Bluetooth® to interface DWM1001C with an external device

• Ready-to-go embedded downloadable firmware for Two Way Ranging RTLS application:

o User API to DWM1001C firmware (available as a library) for user code customisation o On-board Bluetooth® SMART for connectivity to phones/tablets/PCs o SPI, UART and Bluetooth® APIs to access module firmware from an external device o See MDEK1001 and PANS on www.decawave.com for additional information

相关的中文文档请参考 www.decawave.com/china

High Level Block Diagram

DWM1001C Datasheet

Table of Contents

1 OVERVIEW ................................................... 5

1.1 UWB TRANSCEIVER DW1000 ....................... 5

1.2 BLUETOOTH® MICROPROCESSOR NORDIC

N

RF52832 ........................................................... 5

1.3 POWER SUPPLY AND POWER MANAGEMENT ...... 5

1.4 THREE AXIS MOTION DETECTOR

STMICROELECTRONICS LIS2DH12TR ........................ 5

1.5 SOFTWARE ON BOARD ................................... 5

8.1 MODULE DRAWINGS ................................... 17

8.2 MODULE LAND PATTERN ............................. 18

8.3 MODULE MARKING INFORMATION ................ 18

8.4 MODULE SOLDER PROFILE ............................ 19

9 ORDERING INFORMATION .......................... 20

9.1 TAPE AND REEL INFORMATION ...................... 20

10 REGULATORY INFORMATION .................. 21

2 DWM1001C CALIBRATION ........................... 6

2.1.1 Crystal Oscillator Trim ...................... 6

2.1.2 Transmitter Calibration .................... 6

2.1.3 Antenna Delay Calibration ............... 6

3 DWM1001C PIN CONNECTIONS ................... 7

3.1 PIN NUMBERING .......................................... 7

3.2 PIN DESCRIPTIONS ........................................ 7

4 ELECTRICAL SPECIFICATIONS ...................... 10

4.1 NOMINAL OPERATING CONDITIONS ............... 10

4.2 DC CHARACTERISTICS .................................. 10

4.3 RECEIVER AC CHARACTERISTICS .................... 10

4.4 RECEIVER SENSITIVITY CHARACTERISTICS ......... 11

4.5 TRANSMITTER AC CHARACTERISTICS .............. 11

4.5.1 Absolute Maximum Ratings ........... 12

5 TRANSMIT AND RECEIVE POWER

CONSUMPTION ................................................. 13

6 ANTENNA PERFORMANCE ......................... 14

7 APPLICATION INFORMATION ..................... 16

7.1 APPLICATION BOARD LAYOUT GUIDELINES ...... 16

8 PACKAGE INFORMATION ........................... 17

10.1 AGENCY CERTIFICATIONS .......................... 21

10.1.1 United States (FCC) ..................... 21

10.1.2 Radio and Television Interference 21

10.1.3 European Union (ETSI) ................ 22

10.1.4 Industry Canada (IC) Compliance

Statements .................................................... 23

10.2 REGULATORY MODULE INTEGRATION

INSTRUCTIONS ...................................................... 23

10.3 DEVICE CLASSIFICATIONS .......................... 24

10.4 FCC DEFINITIONS .................................... 24

10.5 SIMULTANEOUS TRANSMISSION EVALUATION24

10.6 OPERATING REQUIREMENTS AND CONDITIONS 25

10.7 MOBILE DEVICE RF EXPOSURE STATEMENT .. 25

11 GLOSSARY ............................................... 26

12 REFERENCES ............................................ 27

13 DOCUMENT HISTORY .............................. 27

14 MAJOR CHANGES .................................... 27

15 FURTHER INFORMATION ......................... 28

List of Figures

FIGURE 1: DWM1001C PIN DIAGRAM ......................... 7

FIGURE 2: POWER CONSUMPTION DURING TWO WAY

RANGING ......................................................... 13

FIGURE 3. ANTENNA RADIATION PATTERN PLANES ......... 14

FIGURE 4: DWM1001C APPLICATION BOARD KEEP-OUT

FIGURE 5: MODULE PACKAGE SIZE (UNITS: MM) ............ 17

FIGURE 6: DWM1001C MODULE LAND PATTERN (UNITS:

MM

)................................................................ 18

FIGURE 7: DWM1001C MODULE SOLDER PROFILE ....... 19

FIGURE 8: DWM1001C TAPE AND REEL DIMENSIONS ... 20

AREAS ............................................................. 16

DWM1001C Datasheet

List of Tables

TABLE 1: DWM1001C PIN FUNCTIONS ......................... 7

TABLE 2: EXPLANATION OF ABBREVIATIONS ..................... 9

TABLE 3: INTERNAL NRF52832 PINS USED AND THEIR

FUNCTION

TABLE 4: I2C SLAVE DEVICES ADDRESS I2C ...................... 9

TABLE 5: DWM1001C OPERATING CONDITIONS .......... 10

TABLE 6: DWM1001C DC CHARACTERISTICS ............... 10

TABLE 7: DWM1001C RECEIVER AC CHARACTERISTICS . 10 TABLE 8: DWM1001C TYPICAL RECEIVER SENSITIVITY

CHARACTERISTICS .............................................. 11

TABLE 9: DWM1001C TRANSMITTER AC CHARACTERISTICS

...................................................................... 11

TABLE 10: DWM1001C ABSOLUTE MAXIMUM RATINGS12

TABLE 11. ANTENNA RADIATION PATTERNS .................. 15

TABLE 12: GLOSSARY OF TERMS .................................. 26

TABLE 13: DOCUMENT HISTORY.................................. 27

.......................................................... 9

DWM1001C Datasheet

functionality and specifications will be issued in product specific errata sheets or in new versions of this

DOCUMENT INFORMATION

Disclaimer

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

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

See Regulatory Information see here

DWM1001C Datasheet

1 OVERVIEW

The block diagram on page 1 of this data sheet shows the major sections of the DWM1001C. An overview of these blocks is given below.

1.1 UWB Transceiver DW1000

The module has a DW1000 UWB transceiver mounted on the PCB. The DW1000 uses a 38.4 MHz reference crystal. The crystal has been trimmed in production to reduce the initial frequency error to approximately 3 ppm, using the DW1000 IC’s internal on-chip crystal trimming circuit.

Always-On (AON) memory can be used to retain DW1000 configuration data during the lowest power operational states when the on-chip voltage regulators are disabled. This data is uploaded and downloaded automatically. Use of DW1000 AON memory is configurable.

The on-chip voltage and temperature monitors allow the host to read the voltage on the VDDAON pin and the internal die temperature information from the DW1000.

See the DW1000 Datasheet [2] for more detailed information on device functionality, electrical specifications and typical performance.

1.2 Bluetooth® Microprocessor Nordic nRF52832

The nRF52832 is an ultra-low power 2.4 GHz wireless system on chip (SoC) integrating the nRF52 Series 2.4 GHz transceiver and an ARM Cortex-M4 CPU with 512kB flash memory and 64kB RAM.

See the nRF52832 Datasheet[1] for more detailed information on device functionality, electrical specifications and typical performance.

1.3 Power Supply and Power management

The power management circuit consists of a switch mode regulator. It is a buck convertor or step down convertor. The input voltage to the DWM1001C can be in the range 2.8V to 3.6V. Outputs from the convertor provides 1.8V which is required by the DW1000[2]

1.4 Three Axis Motion Detector STMicroelectronics LIS2DH12TR

The LIS2DH12 is an ultra-low-power high performance three-axis linear accelerometer with digital I2C/SPI serial interface standard output. The LIS2DH12 has user-selectable full scales of ±2g/±4g/±8g/±16g and is capable of measuring accelerations with output data rates from 1 Hz to 5.3 kHz. The self-test capability allows the user to check the functionality of the sensor in the final application. The device may be configured to generate interrupt signals by detecting two independent inertial wake-up/free-fall events as well as by the position of the device itself. The LIS2DH12 is guaranteed to operate over an extended temperature range from -40 °C to +85 °C.

See the LIS2DH12TR Datasheet[4] for more detailed information on device functionality, electrical specifications and typical performance.

1.5 Software on board

The DWM1001 module comes pre-loaded with embedded firmware which provides two-way ranging (TWR) and real time location system (RTLS) functionality. See the details in the DWM1001 Firmware User Guide [6]. The

module can be configured and controlled via its API, which can be accessed through a number of different interfaces, allowing flexibility to the product designer. The details of the API are described in the DWM1001 Firmware API Guide [5]. Decawave also provides the module firmware in the form of binary libraries and some

source code. A build environment is provided, so that the user can customise the operation and if required add their own functions[6].

DWM1001C Datasheet

2 DWM1001C CALIBRATION

Depending on the end-use applications and the system design, DWM1001C settings may need to be tuned. To help with this tuning several built in functions such as continuous wave transmission and continuous packet transmission can be enabled. See the DW1000 User Manual [3] for further details.

2.1.1 Crystal Oscillator Trim

DWM1001C modules are calibrated at production to minimise initial frequency error to reduce carrier frequency offset between modules and thus improve receiver sensitivity. The calibration carried out at module production will trim the initial frequency offset to less than 3 ppm, typically.

2.1.2 Transmitter Calibration

The DWM1001C is calibrated in module production, the calibrated values is permanently stored in the DW1000 OTP. This module is calibrated to meet the regulatory power spectral density requirement of less than -

41.3 dBm/MHz.

2.1.3 Antenna Delay Calibration

In order to measure range accurately, precise calculation of timestamps is required. To do this the antenna delay must be known. The DWM1001C allows this delay to be calibrated and provides the facility to compensate for delays introduced by PCB, external components, antenna and internal DWM1001C delays.

When using the pre-loaded embedded firmware of the DWM1001C module, the Antenna Delay has been pre- calibrated for this configuration. The antenna delay is stored in OTP memory.

To calibrate the antenna delay, range is measured at a known distance using two DWM1001C systems. Antenna delay is adjusted until the known distance and reported range agree.

Antenna delay calibration must be carried out as a once off measurement for each DWM1001C design implementation. If required, for greater accuracy, antenna delay calibration should be carried out on a per DWM1001C module basis, see DW1000 User Manual [3] for full details. Further details can be found in the Antenna Delay Application Note [8].

DWM1001C Datasheet

GND SWD

_

CLK

SWD

_DIO

GPIO_

10 GPIO_9 GPIO_12 GPIO

_14 GPIO_22 GPIO_31 GPIO_30 GND VCC GPIO_27 I2C_SDA I2C_SCL GPIO_23 GPIO

_13

34

GND

33 RESETn 32 BT_WAKE

_UP 31 GPIO_2 30 GPIO_3 29 SPIS_CSn 28 SPIS_CLK 27 SPIS_MOSI 26 SPIS_MISO 25

GPIO_8 24 GND 23 GPIO_15 22

GPIO_

0

21

GPIO_

1

20 UART

_TX

19

READY

18 UART_RX

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15 16 17

Serial wire debug clock input for debug and programming of Nordic Processor

Serial wire debug I/O for debug and programming of Nordic Processor

3 DWM1001C PIN CONNECTIONS

3.1 Pin Numbering

DWM1001C module pin assignments are as follows (viewed from top): -

3.2 Pin Descriptions

Pin details are given in

SIGNAL NAME

SWD_CLK 2 DI

SWD_DIO 3 DIO

GPIO_10 4 DIO General purpose I/O pin. [N] P0.10

GPIO_9 5 DIO General purpose I/O pin. [N] P0.9

GPIO_12 6 DIO General purpose I/O pin. [N] P0.12

GPIO_14 7 DIO General purpose I/O pin. [N] P0.14

GPIO_22 8 DIO General purpose I/O pin. [N] P0.22

GPIO_31 9 DIO General purpose I/O pin. ADC function of nRF52 [N] P0.31

GPIO_30 10 DIO General purpose I/O pin. ADC function of nRF52 [N] P0.30

GPIO_27 13 DIO General purpose I/O pin. [N] P0.27

I2C_SDA (Master)

PI

N

14 DIO Master I2C Data Line.

Figure 1: DWM1001C Pin Diagram

Table 1: DWM1001C Pin functions

I/O

(Default

)

Digital Interface

DESCRIPTION

REFERENCE (Pin

designation)

[N] SWDCLK

[N] SWDIO

[N] P0.29

DWM1001C Datasheet

GPIO_13

17

DIO

General purpose I/O pin.

[N] P0.13

Configured as a SPI slave this pin is the SPI

designation)

[N] P0.28

SIGNAL NAME

I2C_SCL (Master)

PI

N

I/O

(Default

)

DESCRIPTION

15 DO Master I2C Clock Line

REFERENCE (Pin

GPIO_23 16 DIO General purpose I/O pin. [N] P0.23

UART_RX 18 DI UART_RX [N] P0.11

Generated interrupt from the device.

[N] P0.26

Indicates events such as SPI data ready, or

READY 19 DO

location data ready. See the function dwm_int_cfg() in the DWM1001

Firmware API Guide for details[5].

UART_TX 20 DO

UART_TX, This is also the ADC function of the

nRF52

General purpose I/O pin of the DW1000.

[N] P0.05

[DW] GPIO1

It may be configured for use as a SFDLED

GPIO_1 21 DIO

driving pin that can be used to light a LED when SFD (Start Frame Delimiter) is found by the receiver. Refer to the DW1000 User Manual [1] for details of LED use.

General purpose I/O pin of the DW1000.

[DW] GPIO0

It may be configured for use as a RXOKLED

GPIO_0 22 DIO

driving pin that can be used to light a LED on reception of a good frame. Refer to the DW1000 User Manual [1] for details of LED use.

GPIO_15 23 DIO General purpose I/O pin. [N] P0.15

GPIO_8 25 DIO General purpose I/O pin. [N] P0.08

Configured as a SPI slave this pin is the SPI

SPIS_MISO 26 DI

data output. Refer to Datasheet for more details

[N] P0.07

[1].

Configured as a SPI slave this pin is the SPI

SPIS_MOSI 27 DO

data input. Refer to Datasheet for more details

[N] P0.06

[1].

Configured as a SPI slave this pin is the SPI

SPIS_CLK 28 DI

clock. This is also the ADC function of the

[N] P0.04

nRF52

SPIS_CSn 29 DI

GPIO_3 30 DO

GPIO_2 31 DO

BT_WAKE_UP 32 DI

RESETn 33 DI Reset pin. Active Low Input. [N] P0.21

VCC 12 P External supply for the module. 2.8V - 3.6V

chip select. This is an active low enable input. The high-to-low transition on SPICSn signals the start of a new SPI transaction. This is also the ADC function of the nRF52

This pin is configured for use as a TXLED

[DW] GPIO3 driving pin that can be used to light a LED during transmit mode. Refer to the DW1000 User Manual [2] for details of LED use.

This pin is configured for use as a RXLED

[DW] GPIO2 driving pin that can be used to light a LED during receive mode. Refer to the DW1000 User Manual [2] for details of LED use.

When this pin is asserted to its active low state the Bluetooth device will advertise its availability for 20 seconds by broadcasting advertising packets. This is also the ADC function of the nRF52.

Power Supplies

[N] P0.03

[N] P0.02

DWM1001C Datasheet

Ground

ABBREVIATION

EXPLANATION

G

Ground

nRF52832 Pin

Function

I2C slave device

Address

designation)

SIGNAL NAME

PI

N

I/O

(Default

)

DESCRIPTION

REFERENCE (Pin

GND

1, 11, 24,

G Common ground.

34

Table 2: Explanation of Abbreviations

DI Digital Input

DIO Digital Input / Output

DO Digital Output

P Power Supply

N nRF52832

DW DW1000

Note: Any signal with the suffix ‘n’ indicates an active low signal.

Table 3: Internal nRF52832 pins used and their function

PO.19 DW_IRQ

PO.16 DW_SCK

PO.20 DW_MOSI

PO.18 DW_MISO

PO.17 DW_SPI_CS

PO.24 DW_RST

PO.25 ACC_IRQ

PO.29 I2C_SDA

PO.28 I2C_SCL

DW1000’s GPIOs 5,6 control the DW1000 SPI mode configuration. Within the DWM1001C module, those GPIOs are unconnected and will be internally pulled down. Consequently, SPI will be set to mode 0. For more details, please refer to DW1000 data sheet [2].

Table 4: I2C slave devices address I2C

LIS2DH12 0X19

DWM1001C Datasheet

4 ELECTRICAL SPECIFICATIONS

The following tables give detailed specifications for the DWM1001C module. T

= 25 ˚C for all specifications

amb

given.

4.1 Nominal Operating Conditions

Table 5: DWM1001C Operating Conditions

Parameter Min. Typ. Max. Units Condition/Note

Operating temperature -40 +85 ˚C

Supply voltage VCC 2.8 3.3 3.6 V Normal operation

Note that for programming the OTP in the DWM1001C this

Voltage on VDDIO for programming OTP 3.7 3.8 3.9 V

supply is connected to the VDDIO test point which is underneath the PCB. (See Figure 6)

4.2 DC Characteristics

Table 6: DWM1001C DC Characteristics

Parameter Min. Typ. Max. Units Condition/Note

All peripherals in lowest

power consumption mode

Supply current in DEEP SLEEP mode 4 µA

Supply current in DEEP SLEEP mode 12 µA

Achievable where RTC and accelerometer are disabled

with custom firmware.

RTC and accelerometer

operational, all other

peripherals in lowest power

consumption mode*

Supply current in IDLE mode 13 mA MCU and DW1000 awake

TX peak current

TX mean current 82 mA

RX peak current

RX mean current 134 mA

Current in Bluetooth® discovery mode 6 mA

Digital input voltage high 0.7 x VCC VCC V

Digital input voltage low GND 0.3 x VCC V

Digital output voltage high 0.7 x VCC VCC V

Digital output voltage low GND 0.3 x VCC V

111 mA

154 mA

* Using a ranging update rate of 1 Hz

4.3 Receiver AC Characteristics

Table 7: DWM1001C Receiver AC Characteristics

Parameter Min. Typ. Max. Units Condition/Note

Frequency range 6240 6739.2 MHz Centre Frequency 6489.6 MHz

DWM1001C Datasheet

Packet

Rate

Output Channel Power

-17

dBm/500MHz

4.4 Receiver Sensitivity Characteristics

T

= 25 ˚C, 20 byte payload. These sensitivity figures assume an antenna gain of 0 dBi and should be modified

amb

by the antenna characteristics, depending on the orientation of the DWM1001C.

Table 8: DWM1001C Typical Receiver Sensitivity Characteristics

Error

1% 6.8 Mbps -98*(-92) dBm/500 MHz Preamble 128

10% 6.8 Mbps -99*(-93) dBm/500 MHz Preamble 128

Data Rate

Receiver

Sensitivity

Units Condition/Note

Carrier

frequency

offset

±10 ppm

*equivalent sensitivity with Smart TX Power enabled. This is enabled in the onboard firmware.

4.5 Transmitter AC Characteristics

Table 9: DWM1001C Transmitter AC Characteristics

Parameter Min. Typ. Max. Units Condition/Note

Frequency range 6240 6739.2 MHz

All measurements

performed on

Channel 5, PRF 64

MHz

Output power spectral density -41.3* dBm/MHz See DW1000 Datasheet [1]

Output power variation with temperature*

-1 +1 dB

Using on board compensation.

* When using the Decawave supplied embedded firmware for the DWM1001C module

DWM1001C Datasheet

4.5.1 Absolute Maximum Ratings

Table 10: DWM1001C Absolute Maximum Ratings

Parameter Min. Max. Units

Supply voltage

Receiver power 0 dBm

Temperature - Storage temperature -40 +85 ˚C

Temperature – Operating temperature -40 +85 ˚C

ESD (Human Body Model) 2000 V

DWM1001C pins other than VCC, VDDIO and GND

Stresses beyond those listed in this table may cause permanent damage to the device. This is a stress rating only; functional operation of the device at these or any other conditions beyond those indicated in the operating conditions of the specification is not implied. Exposure to the absolute maximum rating conditions for extended periods may affect device reliability.

2.8 3.9 V

Note that 3.6 V is

the max voltage

3.6

that may be

applied to these

pins

DWM1001C Datasheet

5 TRANSMIT AND RECEIVE POWER CONSUMPTION

The following Figures give power profiles for the DWM1001C on a DWM1001-DEV PCB when used for Two Way Ranging, see Figure 2. Peak values are given.

Figure 2 shows an example of the power consumption of a DWM1001C tag running the factory loaded firmware.

The tag is in low-power mode, and two-way ranging with 3 anchors. The deep-sleep current occurs while the tag is sleeping with only the RTC and accelerometer active.

Once awake, the tag transmits at its allocated time in the TDMA-slotting and awaits the anchors responses. This can be observed as 1 transmission followed by 3 receives, repeated once. After this is completed, the tag spends some time computing its location, before returning to sleep. The total time awake is dependent on the number of anchors within range of the tag. For more details on the system operation, see the DWM1001C System Overview document[9].

Figure 2: power consumption during Two Way Ranging

DWM1001C Datasheet

x

z

y

6 ANTENNA PERFORMANCE

This section details antenna radiation patterns for the DWM1001-Dev board. Figure 3 presents a view of the measurement planes considered in this document.

Table 11 shows antenna radiation patterns for the DWM1001C module mounted on the DWM1001-Dev board. Three planes in the spherical space about the centre of the board are measured, with theta and phi plots representing perpendicular polarisations.

The DWM1001C antenna is vertically polarised, meaning that the module is intended to be positioned vertically

upright when used in an RTLS system. An omnidirectional radiation pattern is seen in the XZ plane when

observed by another antenna which is also vertically polarised. This is shown in the XZ plane antenna patterns, where the vertically polarised plot, phi, has a circular, or omnidirectional shape.

If the antennas are oriented perpendicular relative to each other, then the polarisation changes. In this case, the horizontally polarised pattern, theta, applies and there are nulls at certain angles which can limit range and introduce location inaccuracy.

Figure 3. Antenna Radiation Pattern Planes

DWM1001C Datasheet

-30

-25

-20

-15

-10

-5

0

5

0

8

16

24

32

40

48

56

64

72

80

88

96

104

112

120

128

136

144

152

160

168

176184

192

200

208

216

224

232

240

248

256

264

272

280

288

296

304

312

320

328

336

344

352

-30

-25

-20

-15

-10

-5

0

5

0

8

16

24

32

40

48

56

64

72

80

88

96

104

112

120

128

136

144

152

160

168

176184

192

200

208

216

224

232

240

248

256

264

272

280

288

296

304

312

320

328

336

344

352

0°

90°

270°

180°

Theta

Phi

XZ Plane:

XY Plane:

YZ Plane:

180°

0°

90°

270°

Theta

Phi

270°

180°

0°

90°

Theta

Phi

-30

-25

-20

-15

-10

-5

0

5

0

8

16

24

32

40

48

56

64

72

80

88

96

104

112

120

128

136

144

152

160

168

176184

192

200

208

216

224

232

240

248

256

264

272

280

288

296

304

312

320

328

336

344

352

Table 11. Antenna Radiation Patterns

Planes:

Antenna Gain (dBi) vs. Angle (°)

DWM1001C Datasheet

Application Board

d

Application Board

d

Keep-

Out

Area

Keep

-

Out

Area

7 APPLICATION INFORMATION

7.1 Application Board Layout Guidelines

When designing the PCB onto which the DWM1001C will be soldered, the proximity of the DWM1001C on-board antenna to metal and other non-RF transparent materials needs to considered carefully. Two suggested placement schemes are shown below.

For best RF performance, ground copper should be flooded in all areas of the application board, except in the areas marked “Keep-Out Area”, where there should be no metal either side, above or below (e.g. do not place battery under antenna).

The two placement schemes in Figure 4 show an application board with no metallic material in the keep-out area. The diagram on the right is an application board with the antenna projecting off of the board so that the keep out area is in free-space. The diagram on the left shows an application board which does not have the module in free space but has the pcb copper removed on either side (and behind) the module antenna.

(Note: the rectangular area above the shield on the module is the antenna area)

It is also important to note that the ground plane on the application board affects the DWM1001C antenna radiation pattern. There must be a minimum spacing of 10 mm (d) without metal either side of the module antenna.

Figure 4: DWM1001C Application Board Keep-Out Areas

DWM1001C Datasheet

8 PACKAGE INFORMATION

8.1 Module Drawings

All measurements are given in millimetres.

Figure 5: Module Package Size (units: mm)

DWM1001C Datasheet

8.2 Module Land Pattern

The diagram below shows the DWM1001C module land pattern.

Figure 6: DWM1001C Module Land Pattern (units: mm)

8.3 Module Marking Information

Each module has a label on the shield with a serial number in the following format:

YY WW 0 SSSSS

Where: YY indicates the year WW indicates the week of the year

0 indicates the DWM1001C module SSSSS indicates the module manufacturing number

DWM1001C Datasheet

8.4 Module Solder Profile

Figure 7: DWM1001C Module Solder Profile

DWM1001C Datasheet

9 ORDERING INFORMATION

9.1 Tape and Reel Information

Figure 8: DWM1001C Tape and Reel Dimensions

DWM1001C Datasheet

10 REGULATORY INFORMATION

Model Number: DWM1001 FCC ID: 2AQ33-DWM1001 IC: 23794-DWM1001

10.1 Agency Certifications

10.1.1 United States (FCC)

This device complies with Part 15 of the FCC Rules:

Operation is subject to the following conditions:

1. This device many not cause harmful interference, and

2. This device must accept any interference received, including interference that may cause undesired operation

Changes and Modifications not expressly approved by Decawave Ltd. can void your authority to operate this equipment under Federal Communications Commissions rules.

Warning: Changes or modifications to this unit not expressly approved by the party responsible for compliance could void the user’s authority to operate the equipment.

To fulfill FCC Certification requirements, an OEM manufacturer must comply with the following regulations:

1. The DWM1001C modular transmitter must be labeled with its own FCC ID number, and, if the FCC ID is not visible when the module is installed inside another device, then the outside of the device into which the module is installed must also display a label referring to the enclosed module. This exterior label can use wording such as the following:

IMPORTANT: Contains FCC ID: 2AQ33-DWM1001. This equipment complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation (FCC 15.19).

10.1.2 Radio and Television Interference

This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures:

- Reorient or relocate the receiving antenna.

- Increase the separation between the equipment and the receiver.

- Connect the equipment into an outlet on a circuit different from that to which the receiver is connected.

- Consult the dealer or an experienced radio/TV technician for help.

You may also find helpful the following booklet, prepared by the FCC: "How to Identify and Resolve Radio-TV Interference Problems." This booklet is available from the U.S. Government Printing Office, Washington D.C.

20402.

DWM1001C Datasheet

10.1.3 European Union (ETSI)

The DWM1001C Module has been certified for use in European Union countries. If these modules are incorporated into a product, the manufacturer must ensure compliance of the final product to be European

harmonized EMC and low voltage/safety standards. A declaration of Conformity must be issued for each of these standards and kept on file as described in Annex II of the R&TTE Directive.

Furthermore, the manufacturer must maintain a copy of the modules' documentation and ensure the final product does not exceed the specified power ratings, antenna specifications, and/or installation requirements as specified in the user manual. If any of these specifications are exceeded in the final product, a submission must be made to a notified body for compliance testing to all required standards.

IMPORTANT: The “CE” marking must be affixed to a visible location on the OEM product. The CE mark shall consist of the initials “CE” taking the following form:

The CE marking must have a height of at least 5mm except where this is not possible on account of the nature of the apparatus.

The CE marking must be affixed visibly, legibly, and indelibly.

DWM1001C Datasheet

10.1.4 Industry Canada (IC) Compliance Statements

This device complies with Industry Canada licence-exempt RSS standard(s). Operation is subject to the following two conditions: (1) this device may not cause interference, and (2) this device must accept any interference, including interference that may cause undesired operation of the device.

Le présent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio exempts de licence. L'exploitation est autorisée aux deux conditions suivantes : (1) l'appareil ne doit pas produire de brouillage, et (2) l'utilisateur de l'appareil doit accepter tout brouillage radioélectrique subi, même si le brouillage est susceptible d'en compromettre le fonctionnement.

CAUTION: Any changes or modifications not expressly approved by the party responsible for compliance could void the user’s authority to operate the equipment.

The OEM integrator is still responsible for testing their end-product for any additional compliance requirements required with this module installed (for example, digital device emissions, PC peripheral requirements, etc.). This Module is labelled with its own IC ID. If the IC ID Certification Number is not visible while installed inside another device, then the device should display the label on it referring the enclosed module. In that case, the final end product must be labelled in a visible area with the following:

“Contains Transmitter Module IC: 23794-DWM1001” OR “Contains IC: 23794-DWM1001”

Ce module est étiqueté avec son propre ID IC. Si le numéro de certification IC ID n'est pas visible lorsqu'il est installé à l'intérieur d'un autre appareil, l'appareil doit afficher l'étiquette sur le module de référence ci-joint. Dans ce cas, le produit final doit être étiqueté dans un endroit visible par le texte suivant:

“Contains Transmitter Module IC: 23794-DWM1001” OR “Contains IC: 23794-DWM1001”

10.2 Regulatory Module Integration Instructions

This module has been granted modular approval for mobile applications. OEM integrators for host products may use the module in their final products without additional FCC / ISED (Innovation, Science and Economic Development Canada) certification if they meet the following conditions. Otherwise, additional FCC / ISED approvals must be obtained.

• The host product with the module installed must be evaluated for simultaneous transmission requirements.

• The users manual for the host product must clearly indicate the operating requirements and conditions that must be observed to ensure compliance with current FCC / IC RF exposure guidelines.

• To comply with FCC / ISED regulations limiting both maximum RF output power and human exposure to RF radiation, the maximum antenna gain including cable loss in a mobile-only exposure condition must not exceed:

Peak UWB Antenna Gain: 0.0dBi Peak BLE Antenna Gain: 0.5dBi

• A label must be affixed to the outside of the host product with the following statements:

This device contains FCC ID: 2AQ33-DWM1001 This equipment contains equipment certified under IC: 23794-DWM1001

The final host / module combination may also need to be evaluated against the FCC Part 15B criteria for unintentional radiators in order to be properly authorized for operation as a Part 15 digital device. If the final host / module combination is intended for use as a portable device (see classifications below) the host manufacturer is responsible for separate approvals for the SAR requirements from FCC Part 2.1093 and RSS-

102.

DWM1001C Datasheet

10.3 Device Classifications

Since host devices vary widely with design features and configurations module integrators shall follow the guidelines below regarding device classification and simultaneous transmission, and seek guidance from their preferred regulatory test lab to determine how regulatory guidelines will impact the device compliance. Proactive management of the regulatory process will minimize unexpected schedule delays and costs due to unplanned testing activities.

The module integrator must determine the minimum distance required between their host device and the user’s body. The FCC provides device classification definitions to assist in making the correct determination. Note that these classifications are guidelines only; strict adherence to a device classification may not satisfy the regulatory requirement as near-body device design details may vary widely. Your preferred test lab will be able to assist in

determining the appropriate device category for your host product and if a KDB or PBA must be submitted to the

FCC.

Note, the module you are using has been granted modular approval for mobile applications. Portable

applications may require further RF exposure (SAR) evaluations. It is also likely that the host / module

combination will need to undergo testing for FCC Part 15 regardless of the device classification. Your preferred test lab will be able to assist in determining the exact tests which are required on the host / module combination.

10.4 FCC Definitions

Portable: (§2.1093) — A portable device is defined as a transmitting device designed to be used so that the

radiating structure(s) of the device is / are within 20 centimeters of the body of the user.

Mobile: (§2.1091) (b) — A mobile device is defined as a transmitting device designed to be used in other than fixed locations and to generally be used in such a way that a separation distance of at least 20 centimeters is normally maintained between the transmitter’s radiating structure(s) and the body of the user or nearby persons. Per §2.1091d(d)(4) In some cases (for example, modular or desktop transmitters), the potential conditions of use of a device may not allow easy classification of that device as either Mobile or Portable. In these cases, applicants are responsible for determining minimum distances for compliance for the intended use and

installation of the device based on evaluation of either specific absorption rate (SAR), field strength, or power

density, whichever is most appropriate.

10.5 Simultaneous Transmission Evaluation

This module has not been evaluated or approved for simultaneous transmission as it is impossible to determine the exact multi-transmission scenario that a host manufacturer may choose. Any simultaneous transmission condition established through module integration into a host product must be evaluated per the requirements in KDB447498D01(8) and KDB616217D01,D03 (for laptop, notebook, netbook, and tablet applications).

These requirements include, but are not limited to:

• Transmitters and modules certified for mobile or portable exposure conditions can be incorporated in mobile host devices without further testing or certification when:

• The closest separation among all simultaneous transmitting antennas is >20 cm,

Or

• Antenna separation distance and MPE compliance requirements for ALL simultaneous transmitting antennas have been specified in the application filing of at least one of the certified transmitters within the host device. In addition, when transmitters certified for portable use are incorporated in a mobile host device, the antenna(s) must be >5 cm from all other simultaneous transmitting antennas.

• All antennas in the final product must be at least 20 cm from users and nearby persons.

DWM1001C Datasheet

10.6 Operating Requirements and Conditions

The design of DWM1001C complies with U.S. Federal Communications Commission (FCC) guidelines respecting safety levels of radio frequency (RF) exposure for Mobile or Portable devices.

FCC ID: This product contains FCC ID: 2AQ33-DWM1001

Note: In the case where the Host / Module combination has been re-certified the FCC ID shall appear in the product manual as follows:

FCC ID: 2AQ33-DWM1001

10.7 Mobile Device RF Exposure Statement

RF Exposure - This device is only authorized for use in a mobile application. At least 20 cm of separation distance between the DWM1001C device and the user's body must be maintained at all times.

Caution Statement for Modifications:

CAUTION: Any changes or modifications not expressly approved by Decawave Ltd could void the user’s authority to operate the equipment.

DWM1001C Datasheet

Abbreviation

Full Title

Explanation

11 GLOSSARY

Table 12: Glossary of Terms

EIRP

ETSI

FCC

GPIO

IEEE

LIFS

LNA Low Noise Amplifier

LOS Line of Sight

NLOS Non Line of Sight

PGA

PLL Phase Locked Loop

PPM Parts Per Million

RF Radio Frequency

RTLS

SFD

SPI

TCXO

TWR Two Way Ranging

TDOA

UWB Ultra Wideband A radio scheme employing channel bandwidths of, or in excess of, 500MHz

WSN

BLE

Equivalent Isotropically Radiated Power

European Telecommunication Standards Institute

Federal Communications Commission

General Purpose Input / Output

Institute of Electrical and Electronic Engineers

Long Inter-Frame Spacing

Programmable Gain Amplifier

Real Time Location System

Start of Frame Delimiter

Serial Peripheral Interface

Temperature Controlled Crystal Oscillator

Time Difference of Arrival

Wireless Sensor Network

Bluetooth Low Energy.

The amount of power that a theoretical isotropic antenna (which evenly distributes power in all directions) would emit to produce the peak power density observed in the direction of maximum gain of the antenna being used

Regulatory body in the EU charged with the management of the radio spectrum and the setting of regulations for devices that use it

Regulatory body in the USA charged with the management of the radio spectrum and

the setting of regulations for devices that use it

Pin of an IC that can be configured as an input or output under software control and has no specifically identified function

Is the world’s largest technical professional society. It is designed to serve professionals involved in all aspects of the electrical, electronic and computing fields and related areas of science and technology

Defined in the context of the IEEE 802.15.4-2011 [7] standard

Circuit normally found at the front-end of a radio receiver designed to amplify very low level signals while keeping any added noise to as low a level as possible

Physical radio channel configuration in which there is a direct line of sight between the transmitter and the receiver

Physical radio channel configuration in which there is no direct line of sight between the transmitter and the receiver

Amplifier whose gain can be set / changed via a control mechanism usually by

changing register values

Circuit designed to generate a signal at a particular frequency whose phase is related to an incoming “reference” signal.

Used to quantify very small relative proportions. Just as 1% is one out of a hundred, 1 ppm is one part in a million

Generally used to refer to signals in the range of 3 kHz to 300 GHz. In the context of a radio receiver, the term is generally used to refer to circuits in a receiver before down-conversion takes place and in a transmitter after up-conversion takes place

System intended to provide information on the location of various items in real-time.

Defined in the context of the IEEE 802.15.4-2011 [7] standard.

An industry standard method for interfacing between IC’s using a synchronous serial

scheme first introduced by Motorola

A crystal oscillator whose output frequency is very accurately maintained at its specified value over its specified temperature range of operation.

Method of measuring the physical distance between two radio units by exchanging messages between the units and noting the times of transmission and reception. Refer to Decawave’s website for further information

Method of deriving information on the location of a transmitter. The time of arrival of a transmission at two physically different locations whose clocks are synchronized is noted and the difference in the arrival times provides information on the location of

the transmitter. A number of such TDOA measurements at different locations can be

used to uniquely determine the position of the transmitter. Refer to Decawave’s website for further information.

A network of wireless nodes intended to enable the monitoring and control of the physical environment

A low power means of data communication.

DWM1001 Datasheet

Revision

Date

Description

Page

Change Description

Page

Change Description

12 REFERENCES

[1] nRF52832 Product Specification v1.3 www.nordicsemi.com [2] Decawave DW1000 Datasheet www.decawave.com [3] Decawave DW1000 User Manual www.decawave.com [4] STMicroelectronics LIS2DH12TR www.st.com [5] DWM1001 Firmware API Guide [6] DWM1001 Firmware User Guide [7] IEEE802.15.4-2011 or “IEEE Std 802.15.4™‐2011” (Revision of IEEE Std 802.15.4-2006). IEEE Standard

for Local and metropolitan area networks – Part 15.4: Low-Rate Wireless Personal Area Networks (LR-

WPANs). IEEE Computer Society Sponsored by the LAN/MAN Standards Committee. Available from

http://standards.ieee.org/

[8] APS014 Antenna Delay Calibration of DW1000-based products and systems [9] DWM1001 System Overview

13 DOCUMENT HISTORY

Table 13: Document History

1.40C 26/11/2018 Update

1.30 22/10/2018 Update

1.20 07/08/2018 Update

1.10 27/02/18 Core update

14 MAJOR CHANGES

Revision 1.10

Page Change Description

All Update of version number to 1.10

9 New table detailing internal connections between nRF52 and DW1000

9 Adding I2C slave devices address

9 Specifying that nrF52 to DW1000 SPI interface mode is 0

14,15 New details on Antenna Radiation pattern

18 Adding accurate position of VDDIO test point on figure 6

Revision 1.20

Page Change Description

All Logo Change

Revision 1.30

1 Key benefits update

Revision 1.40C

All Regulatory information added

DWM1001 Datasheet

15 FURTHER INFORMATION

Decawave develops semiconductors solutions, software, modules, reference designs - that enable real-time, ultra-accurate, ultra-reliable local area micro-location services. Decawave’s technology enables an entirely new class of easy to implement, highly secure, intelligent location functionality and services for IoT and smart consumer products and applications.

For further information on this or any other Decawave product, please refer to our website www.decawave.com

.

Decawave DWM1001 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

List of Figures

List of Tables

1 OVERVIEW

1.1 UWB Transceiver DW1000

1.2 Bluetooth® Microprocessor Nordic nRF52832

1.3 Power Supply and Power management

1.4 Three Axis Motion Detector STMicroelectronics LIS2DH12TR

1.5 Software on board

2 DWM1001C CALIBRATION

2.1.1 Crystal Oscillator Trim

2.1.2 Transmitter Calibration

2.1.3 Antenna Delay Calibration

3 DWM1001C PIN CONNECTIONS

3.1 Pin Numbering

3.2 Pin Descriptions

Figure 1: DWM1001C Pin Diagram

4 ELECTRICAL SPECIFICATIONS

4.1 Nominal Operating Conditions

4.2 DC Characteristics

Table 6: DWM1001C DC Characteristics

4.3 Receiver AC Characteristics

4.4 Receiver Sensitivity Characteristics

4.5 Transmitter AC Characteristics

4.5.1 Absolute Maximum Ratings

5 TRANSMIT AND RECEIVE POWER CONSUMPTION

6 ANTENNA PERFORMANCE

7 APPLICATION INFORMATION

7.1 Application Board Layout Guidelines

8 PACKAGE INFORMATION

8.1 Module Drawings

8.2 Module Land Pattern

8.3 Module Marking Information

8.4 Module Solder Profile

9 ORDERING INFORMATION

9.1 Tape and Reel Information

10 REGULATORY INFORMATION

10.1 Agency Certifications

10.1.1 United States (FCC)

10.1.2 Radio and Television Interference

10.1.3 European Union (ETSI)

10.1.4 Industry Canada (IC) Compliance Statements

10.2 Regulatory Module Integration Instructions

10.3 Device Classifications

10.4 FCC Definitions

10.5 Simultaneous Transmission Evaluation

10.6 Operating Requirements and Conditions

10.7 Mobile Device RF Exposure Statement

11 GLOSSARY

12 REFERENCES

13 DOCUMENT HISTORY

14 MAJOR CHANGES

15 FURTHER INFORMATION