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TREK1000 User Manual

© Decawave 2016

This document is confidential and contains information which is proprietary to

Decawave Limited. No reproduction is permitted without prior express written permission of the
author

Page

10 of 54

Table 2: Kit Contents

– On the Website

Item

Description

Type

Check

Documentation

TREK1000 Quick Start Guide

Quick Setup Instructions

pdf

TREK1000 User Manual

Detailed description of setup,
installation and usage including User
Interface description

pdf

Moving from TREK1000 to a Product

Guidance on how to proceed from
evaluation to product design

pdf

TREK1000 Expansion Options

Options for mixing TREK1000 and
TREK1000 hardware to expand the
system

pdf

PC Application

DecaRangeRTLS PC

PC Application executable

exe

2.3 TREK1000 Source Code

TREK purchasers can get access to the ARM microcontroller source code, the PC
application source code and source code documentation.

If you are interested in accessing this source code and documentation then you should login
to the Decawave website (

www.decawave.com

) and proceed to the TREK1000 registration

page at

http://www.decawave.com/trekreg.

If you attempt to access this registration page

before you are logged in you will be redirected to the login page. Once on the registration
page, you will be asked to enter the serial number of your TREK1000 which can be found on
the outside of the box. Once the serial number has been verified you will be automatically
redirected to the TREK source code download page. Clicking on the download will launch a
disclaimer notice, which you will be asked to accept by ticking a box after which the
download of the source code package will commence.

The downloaded zip-file contains the following items: -

Table 3: TREK1000 Source Code Package

Item

Description

Type

Documentation

TREK1000 Source Code Guide:
DecaRangeRTLS PC

PC Application source code description

pdf

TREK1000 Source Code Guide:
DecaRangeRTLS ARM

ARM firmware source code description

pdf

Firmware

DecaRangeRTLS ARM

ARM firmware binary

bin

Software

DecaRangeRTLS PC

PC Application source code

zip

DecaRangeRTLS ARM

ARM firmware source code

zip

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Summary of Contents for TREK1000

Page 1: ... to Decawave Limited No reproduction is permitted without prior express written permission of the author TREK1000 User Manual HOW TO INSTALL CONFIGURE AND EVALUATE THE DECAWAVE TREK1000 TWO WAY RANGING TWR RTLS IC EVALUATION KIT Version 1 08 This document is subject to change without notice ...

Page 2: ...of the TREK1000 is intended solely for use in future development of devices which may be subject to regulations or other authority governing radio emission This TREK1000 may not be resold by users for any purpose The TREK1000 as supplied by Decawave may not be incorporated directly into user devices or products unless such products undergo the appropriate certification Operation of the TREK1000 in...

Page 3: ...UNTING OPTION FOR THE EVB1000 ANCHORS 13 3 3 POWERING THE EVB1000 15 3 4 CONFIGURING THE EVB1000S 17 3 5 EVB1000 DISPLAY 18 4 ARRANGEMENTS FOR DIFFERENT USE CASES 20 4 1 TRACKING USE CASE 20 4 1 1 Arrangement 21 4 2 GEO FENCING USE CASE 21 4 2 1 Arrangement 22 4 3 NAVIGATION USE CASE 23 5 TREK1000 SOFTWARE PREPARATION AND SETUP 25 5 1 INSTALL THE ST ARM USB DRIVER 25 5 2 DOWNLOAD THE TREK1000 ZIP ...

Page 4: ...R FUNCTIONS 50 9 4 ON BOARD 3 PIN HEADERS WITH JUMPER FUNCTIONS 50 9 4 1 J2 and J3 functions 50 9 4 2 J8 and J9 functions 51 10 REFERENCES 52 10 1 LISTING 52 11 DOCUMENT HISTORY 52 12 MAJOR CHANGES 52 13 FURTHER INFORMATION 54 LIST OF TABLES TABLE 1 KIT CONTENTS IN THE BOX 9 TABLE 2 KIT CONTENTS ON THE WEBSITE 10 TABLE 3 TREK1000 SOURCE CODE PACKAGE 10 TABLE 4 KIT CONTENTS ALSO REQUIRED OR USEFUL ...

Page 5: ...IGURE 19 GEO FENCING USE CASE EXAMPLE TAG SETTINGS 22 FIGURE 20 GEO FENCING USE CASE ARRANGEMENT 22 FIGURE 21 NAVIGATION USE CASE EXAMPLE ANCHOR SETTINGS 23 FIGURE 22 NAVIGATION USE CASE EXAMPLE TAG SETTINGS 23 FIGURE 23 NAVIGATION USE CASE ARRANGEMENT 24 FIGURE 24 USER INTERFACE STARTUP MESSAGE 26 FIGURE 25 USER INTERFACE STARTUP ERROR MESSAGE 26 FIGURE 26 USER INTERFACE STARTUP VIEW 27 FIGURE 27...

Page 6: ...s confidential and contains information which is proprietary to Decawave Limited No reproduction is permitted without prior express written permission of the author Page 6 of 54 FIGURE 47 ADDING A 4TH ANCHOR 44 FIGURE 48 LOGICAL VIEW OF THE EVB1000 47 ...

Page 7: ...tions high power consumption short battery life and costly installations maintenance Decawave provides solutions to these issues by using UWB Ultra Wideband technology in a single IC UWB based RTLS use highly reliable time based measurements to outperform existing solutions in terms of accuracy reliability and cost Decawave supplies key RTLS enabling blocks UWB IC for time of arrival TOA estimatio...

Page 8: ...nual 1 3 Use Cases Applications The TREK1000 can be evaluated in 3 different use cases which are applicable to real life industrial and consumer applications 1 Tracking Use Case Determine location of the Tag relative to fixed Anchors Examples include asset tracking healthcare farming logistics factory automation 2 Geo Fencing Use Case Determine when Tags enter or leave a specific perimeter zone ne...

Page 9: ... mounting These components are detailed below 2 1 Supplied in the TREK1000 Box The following items are delivered in the box when a TREK1000 kit is purchased Table 1 Kit Contents In the Box Description Quantity Image Check EVB1000 PCB 4 UWB Antenna 4 EVB1000 Stands 4 DC Power Leads 4 1 8 m USB Cable 3 60 cm USB Cable 1 Quick Start Guide 1 2 2 Available from the Decawave Website Supporting documenta...

Page 10: ...d documentation then you should login to the Decawave website www decawave com and proceed to the TREK1000 registration page at http www decawave com trekreg If you attempt to access this registration page before you are logged in you will be redirected to the login page Once on the registration page you will be asked to enter the serial number of your TREK1000 which can be found on the outside of...

Page 11: ... required and some are useful These are listed in the table below Table 4 Kit Contents Also Required or Useful Not Provided Description Quantity Image Required PC 1 OS should be Windows 7 or 8 Required STM32 Virtual COM Port Driver 1 STSW STM32102 http www st com web en catalog tools PF257938 Required Tripods 3 4 Useful SMA Torque Wrench 1 Recommended Options for Powering EVB1000 Units USB Battery...

Page 12: ...This document is confidential and contains information which is proprietary to Decawave Limited No reproduction is permitted without prior express written permission of the author Page 12 of 54 Figure 2 Back and Front Views of an EVB1000 ...

Page 13: ...ect the Antenna to the EVB1000 PCB The 4 EVB1000 PCBs come with 4 UWB Ultra Wideband antennas Each antenna must be screwed on to the EVB1000 using the SMA connector It is recommended that an SMA torque wrench is used to tighten the antenna to the EVB1000 Note that poor connections can result in under performance in the system Figure 3 Connect the Antenna to the EVB1000 3 2 Mounting Option for the ...

Page 14: ...pod an office partition or any other flat surface for the stand to sit on It is recommended that the stand be firmly clamped into place or fixed using tape or Velcro tape to ensure the units do not move during testing Figure 5 Mount EVB1000s on Tripods When mounting the EVB1000 units do not place the antennas too close to walls or any other objects as this can interfere with the radiation pattern ...

Page 15: ... considered to be the top of the SMA connector under the antenna Figure 7 Keep Metal Objects below the Antenna 3 3 Powering the EVB1000 The EVB1000 can be powered either via an external DC power supply or battery through jumper J7 on the back of the EVB1000 using the supplied power cable leads or via a standard 5 V 500 mA USB power supply through jumper J5 To change between the two jumper J8 is us...

Page 16: ...to the on board circuitry through an LDO regulator Changes to jumper settings should only be made with the board powered down under no circumstances should jumper settings be changed while power is applied to the board via any of the possible off board connectors or damage to the board may result For the two power source options the positions of the jumpers are shown in Figure 9 Jumpers J2 and J3 ...

Page 17: ...nel Location Rate PRF Preamble Length Preamble Code L2 Long range Chan 2 110 kbps 2 3 993 GHz 3 57 Hz 16 MHz 1024 4 L5 Long range Chan 5 110 kbps 5 6 489 GHz 3 57 Hz 16 MHz 1024 3 S2 Short frame Chan 2 6 8 Mbps 2 3 993 GHz 10 Hz 16 MHz 128 4 S5 Short frame Chan 5 6 8 Mbps 5 6 489 GHz 10 Hz 16 MHz 128 3 Also each EVB1000 unit can be configured as either an Anchor or a Tag The configuration for each...

Page 18: ...OFF Channel 2 4 UNIT ON Anchor OFF Tag 5 UNIT ID 2 Set the ID numbers of the EVB1000 units Switch 7 is the LSB ID 1 UNIT ID 2 0 001 6 UNIT ID 1 7 UNIT ID 0 8 Reserved This switch should be set to OFF The TREK configuration DIP Switches can be found on the front of the EVB1000 unit above the display 3 5 EVB1000 Display When the EVB1000 is powered up there is a start up screen appears containing the...

Page 19: ...tion is permitted without prior express written permission of the author Page 19 of 54 Once the Tag and Anchors start communicating two way ranging the Anchor to Tag measured distances appears on the display The display will cycle through the distances from the unit with the display to the other units Figure 14 EVB1000 Display Ranging Screen ...

Page 20: ...ement of the EVB1000 units when evaluating the 3 different topologies 1 Tracking Use Case 2 Geo Fencing Use Case 3 Navigation Use Case 4 1 Tracking Use Case For evaluating the tracking use case the system is configured as 3 Anchors 1 Tag In this case example below Channel 2 110 kbps is selected as the operating mode The 3 Anchors are configured as shown below Figure 15 Tracking Use Case Example An...

Page 21: ...ith no obstructions between them e g mounting 2 3 m high would ensure they are above people s heads which will help avoid interference Mount the 3 Anchors to create a triangle Ensure the antennas are 15 cm away from the nearest wall or any other objects Connect the PC to one of the Anchors Power the other 2 Anchors and the Tag using an external USB battery or other method Figure 17 Tracking Use Ca...

Page 22: ...ge 22 of 54 The Tag is configured as shown below Figure 19 Geo Fencing Use Case Example Tag Settings 4 2 1 Arrangement To demonstrate this use case the following setup is recommended Mount 1 Anchor on a stand Ensure the antenna is 15 cm away from the nearest wall or any other objects Connect the PC to this Anchor Power the 3 Tags using external USB batteries or other method Figure 20 Geo Fencing U...

Page 23: ...ifference being the PC is connected to the Tag rather than the Anchor For evaluating the tracking use case the system is configured as 3 Anchors 1 Tag In this case example below Channel 2 110 kbps is selected as the operating mode The 3 Anchors are configured as shown below Figure 21 Navigation Use Case Example Anchor Settings The Tag is configured as shown below Figure 22 Navigation Use Case Exam...

Page 24: ...chors high enough where there is good Line of Sight LOS with no obstructions between them e g mounting 2 3 m high would ensure they are above people s heads which will help avoid interference Mount the 3 Anchors to create a triangle Ensure the antennas are 15 cm away from the nearest wall or any other objects Connect the PC to the Tag Power the 3 Anchors using external USB batteries or other metho...

Page 25: ...th the EVB1000 units Note After this driver has been downloaded please ensure to read the included readme txt as it contains further installation instructions 5 2 Download the TREK1000 Zip File The TREK1000 documents and PC application can be downloaded in a zip file from the DecaWave website http www decawave com Once downloaded unzip into a folder on the PC The zip file contains the following fo...

Page 26: ...s required Launch the PC application from DecaRangeRTLS exe This can be found in the DecaRangeRTLS PC folder If there is no USB connection from the PC to Anchor 0 the following error message will appear Figure 25 User Interface Startup Error Message In this case make the connection to the EVB1000 unit wait about 20 s and then click OK If problems persist then it may be necessary to modify the orde...

Page 27: ...he Anchor Table Pane lists the Anchors and the coordinates of the locations where they were placed for the testing session For ease of use it is recommended to put Anchor 0 in the 0 0 x y position The user should then manually enter the X Y locations of the Anchors 1 and 2 relative to 0 0 The user should enter the height z of the Anchors The User Interface only allows a single value to be entered ...

Page 28: ...ane then a table of manual adjustments appears so users can make manual location adjustments to the Tag positions This functionality is not necessary for TREK kits and the user should ensure the values are all 0 Figure 28 User Interface Anchor Table Pane 6 4 Tag Table Pane The Tag Table Pane displays information about the tags that are currently being tracked Figure 29 User Interface Tag Table Pan...

Page 29: ...c 1 range m Measured distance between antennas of Anchor 1 and Tag Anc 2 range m Measured distance between antennas of Anchor 2 and Tag Anc 3 range m Measured distance between antennas of Anchor 3 and Tag A 4th Anchor is not required in the standard TREK setup 6 5 Settings Pane The settings pane appears to the right of the User Interface and has 3 tabs 1 Configuration Tab 2 Floor Plan Tab 3 Grid T...

Page 30: ...ations o While Auto Positioning is enabled the user cannot write x y values into the grid locations of Anchors 0 1 or 2 Some basic filtering options are provided as an example o None No filtering is applied o Moving Average A length 10 moving average filter is applied o Moving Avg Ex A length 10 moving average filter excluding min value and max value before averaging is applied Logging Enable Disa...

Page 31: ...l and contains information which is proprietary to Decawave Limited No reproduction is permitted without prior express written permission of the author Page 31 of 54 Figure 31 User Interface Settings Pane Configuration Tab Figure 32 User Interface Auto Positioning ...

Page 32: ...ntial and contains information which is proprietary to Decawave Limited No reproduction is permitted without prior express written permission of the author Page 32 of 54 Figure 33 User Interface Filtering Options Figure 34 User Interface Enable Location Logging ...

Page 33: ...Interface Hide Anchor and Tag Table Panes The Settings Pane can also be hidden and then the Display Pane will be full screen Click the X in the Settings Pane to remove it To show the Settings Pane again use the View Menu to select Settings Figure 36 User Interface Show Display Pane Only 6 5 2 Floor Plan Tab To upload a floorplan into the User Interface click Open in the Floor Plan Tab The floorpla...

Page 34: ...box to remember the settings Floorplan filename and scaling settings When the GUI application is closed and re opened these settings will be automatically loaded Figure 38 User Interface Settings Pane Floor Plan Tab Clear Save Settings Once the floorplan image has been uploaded it will need to be resized shifted and possibly flipped to align with the 3 Anchor positions in the Display Pane A quick ...

Page 35: ... pixels X Scale Used to relate how many pixels in horizontal in the image correspond to 1m horizontal distance in reality Y Scale Used to relate how many pixels in vertical in the image correspond to 1m vertical distance in reality Flip X Flip the image along a horizontal axis Flip Y Flip the image along a vertical axis Set Origin Set 0 0 coordinate in the floorplan X Scale Measures the x distance...

Page 36: ...etween the dots shown in the Display Pane can be altered The vertical and horizontal distances can be adjusted independently Enter the desired distances in metres The grid can also be hidden or shown using the Show Grid checkbox Figure 41 User Interface Settings Pane Grid Tab 6 6 Display Pane The Display Pane shows the positions of the Anchors and Tags Each Anchor and Tag can be displayed or hidde...

Page 37: ... configured in the Anchor Table Pane and the Tag Table Pane 6 7 Minimap Pane The Minimap Pane can be made visible in the View menu It is only operational if a floorplan has been loaded into the User Interface Using the mouse the user can select different regions of the floorplan to be displayed in the Display Pane beside it Figure 42 User Interface Minimap Pane 6 8 Menu Bar The DecaRangeRTLS menu ...

Page 38: ...ion of the author Page 38 of 54 6 8 1 View Menu The View Menu contains options to enable showing or hiding of DecaRangeRTLS panes Settings Toggle between showing or hiding the Settings Pane Minimap Toggle between showing or hiding the Minimap Pane this is only operational if a floorplan has been uploaded 6 8 2 Help Menu The Help Menu contains an About Us message Figure 44 User Interface About Us ...

Page 39: ...tes of the Anchors3 using a laser pointer or other accurate method Alternatively use the Auto Positioning feature to measure coordinates 4 Power the Anchors and Tags using one of the following methods a USB power supply not provided 2 b USB battery pack not provided c Connect to a PC not provided d Connect to a mobile battery not provided using the DC leads provided 5 Connect the PC a For Tracking...

Page 40: ...witches 5 6 7 000 001 010 h Switch 8 is reserved so can be ON or OFF 2 Mount the Anchor 3 Power the Tags using one of the following methods a USB power supply not provided 2 b USB battery pack not provided c Connect to a PC not provided d Connect to a mobile battery not provided using the DC leads provided 4 Connect the PC to the Anchor 5 Wait for the start message to disappear and then the TREKs ...

Page 41: ...e 2016 This document is confidential and contains information which is proprietary to Decawave Limited No reproduction is permitted without prior express written permission of the author Page 41 of 54 alive during the sleep state ...

Page 42: ...ranges used for tag location and ma anchor to anchor range bias corrected ranges used for anchor auto positioning MID MASK RANGE0 RANGE1 RANGE2 RANGE3 NRANGES RSEQ DEBUG aT A MID this is the message ID as described above mr mc and ma MASK this states which RANGEs are valid if MASK 7 then only RANGE0 RANGE1 and RANGE2 are valid in hex 8 bit number RANGE0 this is tag to anchor ID 0 range if MID mc m...

Page 43: ... for anchor auto positioning For further information on the Range Report Format see ref 5 8 2 Z Height The TREK1000 system estimates x y and z data for the Tag The user should be aware that as there are only 3 Anchors in this system the trilateration location algorithm returns 2 solutions one above the plane of the Anchors and one below the plane of the Anchors The TREK system only selects the low...

Page 44: ...ordinates 2D and the z height is not required 3D A 4th Anchor would be required to resolve the 2 solutions if the Tag can be located above or below the plane of the Anchors If a 4th Anchor is added TREK1000 uses data from that anchor to select the correct solution from the 2 returned solutions Method Add the 4th Anchor on a different plane than the first 3 anchors It is recommended to mount it abo...

Page 45: ...co ordinates and R is the range from the Tag to Anchor A3 Note Any errors in the z height result e g from Two Way Ranging errors could push the solution across the plane of the 3 Anchors and produce an incorrect solution Note This is an example methodology Other methods algorithms may be more suited to the end application this is left up to the system designer to investigate other algorithms and c...

Page 46: ...1 J1 SMA antenna connector External antenna connector Table 8 J1 pin out Pin Function J1 Centre RF signal J1 Body Ground 9 1 2 J4 JTAG connector The JTAG connector is intended for connection to an external ARM debug interface development toolset DIL Header 20 pin 0 1 pitch Table 9 J4 pin out Function Pin Pin Function VCC 1 2 VCC JTRST 3 4 GND J TDI 5 6 GND J TMS 7 8 GND J TCK 9 10 GND Pulled to GN...

Page 47: ...Cheetah series of SPI to USB converters provided by TotalPhaseTM DIL Header 10 pin 0 1 pitch Figure 48 Logical view of the EVB1000 Table 11 J6 Pin out Function Pin Pin Function Not Connected 1 2 GND WAKEUP fit R41 0Ω refer Figure 48 3 4 IRQ fit R43 0Ω refer Figure 48 MISO SPI Data out to PC External Micro 5 6 Not Connected SCK SPI Clock from PC External Micro 7 8 MOSI SPI Data in from PC External ...

Page 48: ...rietary to Decawave Limited No reproduction is permitted without prior express written permission of the author Page 48 of 54 9 1 5 J7 External DC supply Optional external DC power supply pin SIL 2 pin 0 1 pitch Table 12 J7 pin out Pin Function J7 1 GND Ground J7 2 VE DC supply can be from 3 6 V to 5 5 V ...

Page 49: ... turned off to disable ARM SPI connection to the DW1000 9 2 3 S3 S3 is a SPST 4 way switch Its various functions are described in the table below Table 14 S3 switch configuration descriptions Switch Off function On function Description S3 1 Disconnects onboard ARM PA0 GPIO to DW1000 RSTn pin Connects onboard ARM PA0 GPIO to DW1000 RSTn pin If used it allows ARM GPIO PA0 pin to connect to DW1000 RS...

Page 50: ...ons Table 16 J10 function Jumper In Out Description J10 Connects main 3 3V power from DW1000 Disconnects main 3 3V power from DW1000 Enables DW1000 power current measurement 9 4 On board 3 pin headers with jumper functions 9 4 1 J2 and J3 functions Table 17 J2 and J3 functions Jumper In pins 1 2 In pins 2 3 Out Description J2 DW1000 uses 3 3 V supply for VDDLDO DW1000 uses external DC DC 1V8 suppl...

Page 51: ...d J9 functions Table 18 J8 and J9 functions Jumper In pins 1 2 In pins 2 3 Out Description J8 Enables EVB1000 powering from J6 Enables EVB1000 powering from J5 EVB1000 is not powered Enables different power configuration options J9 In this mode the externally applied supply is connected to the onboard circuitry through a 3 3V voltage regulator n a Voltage regulator is disconnected EVB1000 is not p...

Page 52: ...ode Guide DecaRangeRTLS ARM 7 Decawave Current Moving from TREK1000 to a Product 11 DOCUMENT HISTORY Table 20 Document History Revision Date Description 1 08 5th June 2018 New logo update 1 07 30th June 2016 Scheduled update 1 06 9th February 2016 Updated descriptions of modes floorplan GUI 4th anchor usage displayed ranges and EVB1000 connectors 1 05 28th September 2015 Updated to match 2 06 soft...

Page 53: ...Updated description of the usage and limitations of the 4th anchor 43 Added new section describing all board connectors and headers 48 Include this table Revision 1 05 Page Change Description Front page Change revision number to 1 05 17 26 Update display image 27 GUI image updates 29 32 New configuration feature descriptions Auto Positioning Filtering Logging 37 Updated about image 38 Added Auto P...

Page 54: ...awave 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 Decaw...

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