DW1000用户手册：配置与编程指南

DW1000

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"DW1000开发手册2.10是Decawave Ltd在2016年发布的一份用户手册，旨在指导用户如何使用、配置和编程DW1000超宽带（UWB）收发器。手册涵盖了从基本操作到高级功能的详细信息，包括消息传输、接收、媒体访问控制（MAC）硬件特性等内容。" 《DW1000用户手册》是Decawave Ltd为开发者和工程师提供的一份详细指南，旨在帮助他们理解和有效利用DW1000 UWB收发器。这份手册共227页，内容丰富，涵盖了从设备介绍到具体操作的各个层面。 1. **DW1000简介**：DW1000是一款高性能的UWB芯片，设计用于实现精确的距离测量、定位和无线通信。手册的第一部分介绍了该设备的基本特性和文档的目的。 2. **DW1000概述**：这部分详细阐述了DW1000的工作原理、与外部系统的接口方式，以及其在不同操作状态下的行为。特别提到了电源上电复位（POR）、默认配置以及设备的运行状态。 3. **消息传输**：手册详细描述了如何进行基本传输、传输时间戳的使用、延迟传输、扩展长度数据帧的处理，以及高速传输的实现方法，为开发者提供了实现高效通信的基础。 4. **消息接收**：这一章节涵盖基本接收流程、延迟接收、双接收缓冲的使用、低功耗监听模式和低功耗嗅探模式，这些特性使得DW1000在节能和灵活性方面表现出色。此外，还讨论了诊断工具和评估接收质量及接收时间戳的方法。 5. **媒体访问控制（MAC）硬件特性**：这部分讲解了DW1000的错误检测机制，如循环冗余检查（CRC），以及帧过滤功能，以确保数据包的完整性和正确性。手册还介绍了如何通过MAC层实现更精细的通信控制。 6. **其他重要功能**：手册可能还涉及了其他高级特性，例如链路质量指示、信道管理、能量检测等，这些功能对于构建可靠和高效的无线网络至关重要。 DW1000的开发手册不仅是理解硬件功能的关键资源，也是开发UWB应用时不可或缺的参考材料。开发者可以从中获取详尽的信息，以便在设计和实现基于DW1000的系统时做出明智的决策。

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DW1000 User Manual

Version 2.10

Page 16 of 227

2.3.2 Overview of main operational states

Table 1: Main DW1000 operational states / modes

State Name

State Description

OFF

In the OFF state the DW1000 is completely powered off, with no voltages applied to any

of its input pins. Power consumption = 0 µA. No I/O pins should be driven or power will

leak through the I/O cells.

WAKEUP

During the WAKEUP state the crystal oscillator and the band-gap are enabled. After

approximately 4 ms the digital LDO will be enabled and the RSTn (output) will de-assert

allowing the DW1000 to enter the INIT state.

INIT

In the INIT state the main crystal oscillator is running. The raw 38.4 MHz XTAL oscillator

frequency is divided by 2 to give a 19.2 MHz internal clock called XTI. In the INIT state

digital circuitry of the DW1000 is fed from this 19.2 MHz XTI clock.

If the DW1000 has entered INIT state from a SLEEP or DEEPSLEEP state, (or as a result of

a reset), then the register configurations can be automatically restored from the AON

memory array.

Then the DW1000 turns on the CLKPLL and after 5 µs the CLKPLL will be locked and the

DW1000 will automatically transition into the IDLE state.

SPI accesses from an external microcontroller are possible in the INIT state, but these

are limited to a SPICLK input frequency of no greater than 3 MHz. Care should be taken

not to have an active SPI access in progress at the CLKPLL lock time (i.e. at t = 5 µs) when

the automatic switch from the INIT state to the IDLE state is occurring, because the

switch-over of clock source can cause bit errors in the SPI transactions.

It is possible to return to the INIT state from the IDLE state under register control by

selecting the XTAL as the clock source and by disabling what is known as sequencing so

the device does not automatically transfer into the IDLE state.

IDLE

In the IDLE state the DW1000 internal clock generator CLKPLL is locked running and

ready for use but is gated off to most circuitry to minimize power consumption. In the

IDLE state SPI communications can operate at up to 20 MHz, the maximum SPICLK

frequency. In the IDLE state the analog receive and transmit circuits are powered down.

The external host can control the DW1000 to initiate a transmission or reception and

thus cause the DW1000 to progress into TX state or RX state respectively. If a delayed

TX or RX operation is initiated (see section 3.3 – Delayed Transmission and 4.2 – Delayed

Receive) then the DW1000 will stay in the IDLE state until the delayed time has elapsed,

after which it will enter the TX state or RX state.

SLEEP

In the SLEEP state the IC consumes < 1 µA from the external power supply inputs. All

internal LDOs are turned off. In the SLEEP state the DW1000 internal low powered ring

oscillator is running and is used to clock the sleep counter whose expiry is programmed

to “wake up” the DW1000 and progress into the WAKEUP state. While in SLEEP power

should not be applied to GPIO, SPICLK or SPIMISO pins as this will cause an increase in

leakage current.

DW1000 User Manual

Version 2.10

Page 17 of 227

State Name

State Description

DEEPSLEEP

With the exception of the OFF state, the DEEPSLEEP state is the lowest power state of

the device.

In DEEPSLEEP all internal circuitry is powered down with the exception of the always-on

memory which can be used to hold the device configuration for restoration on wakeup

Once in DEEPSLEEP the DW1000 remains there until the occurrence of a wakeup event.

This can be either:

1. the SPICSn line pulled low or

2. the WAKEUP line driven high

for the duration quoted in the DW1000 data sheet (nominally 500 μs).

It is also recommended to use the SLP2INIT or CPLOCK event status bits (in Register file:

0x0F – System Event Status Register) to drive the IRQ interrupt output line high to

confirm the wake-up.

Once the DW1000 has detected a wakeup event it progresses into the WAKEUP state.

While in DEEPSLEEP power should not be applied to GPIO, SPICLK or SPIMISO pins as this

will cause an increase in leakage current.

TX state

In the TX state the DW1000 actively transmits a frame containing the contents of the

transmit buffer on the configured RF channel with the configured transmit parameters

(PRF, data rate, preamble code etc.)

Once the frame transmission is complete the DW1000 may enter one of three modes

depending on the programmed configuration.

After the frame transmission is complete the DW1000 will return to the IDLE state

unless the ATXSLP bit is set (in Sub-Register 0x36:04 – PMSC_CTRL1) in which case the

DW1000 will enter the SLEEP or DEEPSLEEP state automatically, (as long as no host

interrupts are pending).

Note that it is not possible to be in the TX and RX states simultaneously – the DW1000 is

a half-duplex transceiver device.

RX state

In the RX state, the DW1000 receiver is active, either hunting for preamble or (once it

has detected preamble) actively receiving preamble searching for SFD, and subsequently

receiving the PHR, decoding it and receiving the data part of the frame. In the RX state,

the RF synthesizer and all RX blocks are active. After an event that ends the reception,

(either a good frame RX, or some error or timeout event that aborts reception) the

DW1000 will return to the IDLE state unless the ARXSLP bit is set (in Sub-Register

0x36:04 – PMSC_CTRL1) in which case the DW1000 will enter the SLEEP or DEEPSLEEP

state automatically (as long as no host interrupts are pending).

Note that it is not possible to be in the RX and TX states simultaneously – the DW1000 is

a half-duplex transceiver device.

SNOOZE

The SNOOZE state is similar to the INIT state except that a counter is running to cause

the DW1000 to automatically go to the RX state (via INIT and IDLE) when the counter

expires. The snooze count times are in units of the raw 19.2 MHz XTI clock rate, (since

DW1000 User Manual

Version 2.10

Page 18 of 227

State Name

State Description

the 125 MHz digital PLL clock is not running).

2.4 Power On Reset (POR)

When the external power source is applied to the DW1000 for the first time, the internal Power On Reset

(POR) circuit compares the externally applied supply voltage to an internal power-on threshold

(approximately 1.5 V), and once this threshold is passed the crystal oscillator is enabled and the external

device enable pin EXTON is asserted. An internal counter running off the low power oscillator is used to hold

the DW1000 in reset to ensure that the crystal oscillator is stable before it gets used. Once the digital reset is

de-asserted the digital core wakes up and enters the WAKEUP state. From this state it will automatically turn

on the CLKPLL and wait for it to lock before entering the IDLE state.

Figure 9: Timing diagram and power profile for cold start POR

2.4.1 SLEEP and DEEPSLEEP

In the DW1000 very low power DEEPSLEEP state, the IC is almost completely powered down except for a

small amount of memory necessary to maintain IC configurations. This is the lowest power mode of the IC

where the power drain is < 100 nA. To wake the IC from DEEPSLEEP requires an external agent to assert the

WAKEUP input line or the external host microprocessor to initiate an SPI transaction to assert the SPICSn

input.

The DW1000 also includes a low power SLEEP state where the IC can wake itself from sleeping as a result of

the elapsing of a sleep timer that is running from a low-powered ring oscillator internal to the DW1000 IC.

In this SLEEP state the power drain is < 1 µA. The DW1000 may wake from SLEEP state when the sleep timer

elapses. The WAKEUP or SPICSn inputs may also be used to wake the device.

IDLE

INIT

OFF

WAKEUP

CLKPLL locked

Crystal stable,

RSTn=1

POWERON

VDDBATT

EXTON

XTAL

VDDDIG

RSTn

por

SPI comms

up to 3MHz

SPI comms up

to max SPI frequency

Battery Inserted

VDDBATT switched on

300µs

4ms

5µs

7µs

CLKPLL

Lock

CLKPLL

enabled

SPI comms not advised

as PLL locks

DW1000 User Manual

Version 2.10

Page 19 of 227

The frequency of the low power oscillator is dependent on process variations within the IC, but is generally

somewhere in between 7,000 and 13,000 Hz. There are facilities within the IC to measure the length of an

LP oscillator cycle, in counts of the IC crystal oscillator divided by two, (i.e. this is 38.4 MHz ÷ 2, or 19.2 MHz).

2.4.1.1 Waking from sleep

The return from SLEEP and DEEPSLEEP modes, is via

 Driving the WAKEUP pin high for approximately 500 μs, (assuming the WAKE_PIN configuration bit is

set in Sub-Register 0x2C:06 – AON_CFG0).

 Driving the SPICSn pin low for approximately 500 μs, (assuming the WAKE_SPI configuration bit is set

in Sub-Register 0x2C:06 – AON_CFG0). This can be achieved by doing a dummy SPI read of sufficient

length.

NOTE: When using the SPICSn pin to wake up the device it is important that the SPIMOSI line is

held low for the duration of the SPICSn to ensure that a spurious write operation does not occur.

In addition return from SLEEP also occurs when

 The internal sleep timer counter expires, (assuming the WAKE_CNT configuration is bit is set in Sub-

In all of three wakeup cases the device is returned to the IDLE state by default but additional state

transitions can be automatically enacted thereafter depending on configurations.

2.4.1.2 Configuration register preservation

Prior to entering the SLEEP and DEEPSLEEP states and prior to exiting the WAKEUP state, the main DW1000

configurations are copied to and from an Always-On memory (AON). Power is maintained to AON memory

at all times, even in SLEEP and DEEPSLEEP states. The copying of configuration data (saving or restoring)

takes about 7 µs to complete. The detail of which configurations are saved and restored is given in Table

44: Configurations maintained in the AON. Restoration of configurations during the WAKEUP state is only

done if the ONW_LDC configuration bit is set in 7.2.45.1 – Sub-Register 0x2C:00 – AON_WCFG.

Note: The host system should avoid SPI access to general system registers or OTP Memory during the

copying period to prevent any conflicts occurring. Access to the TX (or RX) buffer is not restricted during this

period.

2.4.1.3 Automatically loading LDO calibration data from the OTP

When waking from SLEEP or DEEPSLEEP it is necessary to load the LDOTUNE_CAL value from the OTP if it has

been programmed during IC production test calibration. To confirm if the LDOTUNE_CAL has been

programmed first read the OTP address 0x4. If this reads back as non-zero (only the first byte needs to be

checked) then the device has been calibrated and the ONW_LLDO bit in Sub-Register 0x2C:00 – AON_WCF

must be set. This will allow the OTP parameter LDOTUNE_CAL to be automatically copied over to the

required register (Sub-Register 0x28:30 – LDOTUNE) each time the DW1000 wakes up. If the OTP address

0x4 reads back as zero, then the ONW_LLDO bit must not be set.

DW1000 User Manual

Version 2.10

Page 20 of 227

2.4.2 Specific state sequences supported by the DW1000

The DW1000 supports a number of state sequences intended to minimize power consumption in certain

applications. These are: -

Mode Name

Mode Description

SNIFF MODE

In SNIFF mode the DW1000 alternates between the RX (on) and the IDLE (off) states.

Further details on this mode are given in section 4.5.1 – SNIFF.

LOW DUTY

CYCLE SNIFF

MODE

In Low duty-cycle SNIFF mode, where the off time is larger, the DW1000 can be

configured to spend this off time in the INIT state which is lower power than the IDLE

state (used for the off period of a SNIFF). Further details of this mode are given in

section 4.5.2 – Low duty-cycle SNIFF.

LOW POWER

LISTENING

Low-Power Listening mode is a special mode where the receiver spends most its time in

a low power (SLEEP or DEEPSLEEP) state only waking up occasionally to sample the air

for a message. This feature is described in detail in section 4.4 – Low-Power Listening

2.5 Default Configuration on Power Up

DW1000 is a highly configurable transceiver with many features. The register reset values have been

selected with the intention of minimising user configuration required. The default configuration may be

summarised as being channel 5, preamble code 4 and mode 2. Channel numbers and preamble codes are as

specified in the standard, IEEE 802.15.4-2011 [1] and mode 2 is as specified in the DW1000 data sheet

modes and comprises the following configurations:

Table 2: Mode 2 Excerpt from DW1000 Data Sheet Operational Modes Table

Mode

Data Rate

PRF

(MHz)

Preamble

(Symbols)

Data

Length

(Bytes)

Packet

Duration (µs)

Typical Use Case

(Refer to DW1000 user manual for further information)

Mode 2

6.8 Mbps

128

152

RTLS, TDOA Scheme, Short Range, High Density

Some further details are given below on the specifics of the default device configuration. For full details the

reader may refer to the register map where the default value of each register is given, section 7 – The

DW1000 register set.

2.5.1 Default System Configuration

Much of the system configuration is configured in the SYS_CFG register, please see section Register file: 0x04

– System Configuration for a full description of the register contents and defaults.

By default, interrupt polarity is active high and all interrupts are disabled, see the SYS_CFG register for

interrupt polarity and the SYS_MASK and SYS_STATUS registers for interrupt configuration and information,

see sections Register file: 0x0E – System Event Mask Register and Register file: 0x0F – System Event Status

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