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

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