Data Sheet / User Guide Draft PulsON® 330 TIME DOMAIN ® Cummings Research Park 4955 Corporate Drive Suite 101 Huntsville, AL 35805 USA http://www.timedomain.com Tel: +1 256.922.9229 +1 888.826.8378 Fax: +1.256.922.
P330 Data Sheet / User Guide Copyright All rights reserved. Time Domain® 2001-2017. All rights reserved. Trademarks Time Domain®, PulsON®, and “PulsON Triangle” logo are registered trademarks of Time Domain. Microsoft® and Windows Vista®, Windows 7®, Windows 8®, and Windows 10® are registered trademarks of Microsoft Corporation. MATLAB® is a registered trademark of MathWorks, Inc. Decawave is a registered trademark of Decawave Limited.
P330 Data Sheet / User Guide 3 TABLE OF CONTENTS 1 SUMMARY 5 2 P330 SOFTWARE 8 2.1 P330 Embedded Software....................................................................................................... 8 2.2 Application Programming Interfaces (APIs) ......................................................................... 8 2.3 Graphical User Interfaces (GUIs) and Sample Code ............................................................ 9 2.4 API and GUI as Development Tools ..........
P330 Data Sheet / User Guide 4.8 Indicator Lights ..................................................................................................................... 29 4.9 Heat Management ................................................................................................................. 30 4.10 Accessories ....................................................................................................................... 3130 4.10.1 4.10.
P330 Data Sheet / User Guide 5 1 Summary Time Domain is dedicated to providing industry with a wide variety of UWB platforms for use as ranging radios, radars, multi-static radars and communications devices. The P330 is the latest addition and joins the P400 family of devices. The P400 family is based on Time Domain’s FIFE UWB chip while the P330 uses the Decawave DW1000 UWB chip.
P330 Data Sheet / User Guide It operates in both the low band 3.1-4.8GHz and the high band 6.0-7.0 GHz. It communicates data between two or more P330s. A wide range of settings allow ranging performance to be optimized for high ranging update rates or long range operation. It is provided with a network (RangeNet) which has been optimized for TW-TOF measurement. This network can be operated using either the ALOHA (randomized) or TDMA (Time Division Multiple Access) protocols.
P330 Data Sheet / User Guide 7 Section 8 Regulatory Compliance Section 9 Import/Export Considerations Section 10 Configuration and Ordering Information Additional information including all of the documents referenced in this section can be found on the web at www.timedomain.com. This includes: the API, software manuals, application notes, white papers, examples, published papers, sample C code, sample MATLAB code, and more.
P330 Data Sheet / User Guide 2 P330 Software The P330 software consists of five elements: Embedded software operating on the P330 module The Application Programming Interface (API) which defines the interface between the P330 and a Host processor The RangeNet GUI which (1) illustrates operation of the P330 and (2) provides an analytical tool for characterizing performance Sample C and MATLAB code to assist the user in developing custom applications The RangeNet network and localizer
P330 Data Sheet / User Guide 9 the user to: Define the DW1000 operating properties (RF bands of operation, communications characteristics and preamble code) Generate individual range measurements Collect statistics on those range measurements Define a network based on either the ALOHA or TDMA protocol Define behavior of units in a network. For example, the behavior of a static anchor/reference node could be different from that of a mobile.
P330 Data Sheet / User Guide The RangeNet GUI is provided with a User Guide (320-0338 P300 RangeNet User Guide) and a Quick Start Guide (320-0337 P300 Ranging and Location Quick Start Guide) that illustrate operation of the equipment. Within 1 hour of receiving the equipment, the user will be able to measure range, operate a network and localize. 2.
P330 Data Sheet / User Guide 11 Allow the user to easily enter and transmit data. Allow the user to receive and display data. Log all messages exchanged between the Host and connected P330. Display range measurements taken between other units in the area for which the connected P330 is not a direct participant. The ability to log data also allows the user to plot performance as a function of range. This is an excellent tool for evaluating signal propagation in a given area.
P330 Data Sheet / User Guide The RangeNet API allows the user to define a network and to define the behavior of the radios in the system. Operation of the network is controlled by the P330. In particular, the P330 is responsible for scheduling range requests, maintaining all of the neighbors in a database, and passing data between the Host and the network. The Host computer function is thereby limited to monitoring and supervision, thus significantly offloading its responsibilities.
P330 Data Sheet / User Guide 13 configuration details, ALOHA setup information, neighbor database characteristics), download it to the P330, store that configuration to disk, and recover from disk any given configuration. Monitor the database at whatever update rate the user finds useful. Send, receive, and display data. Display waveform scans, range measurements and location measurements as well as relevant metrics and statistics associated with a particular links.
P330 Data Sheet / User Guide significant software functionality.
P330 Data Sheet / User Guide 15 3 Hardware Block Diagram This section provides and discusses at a high level the P330 functional hardware block diagram shown in Figure 3-1. Additional detail on the various interfaces is provided in Section 4. J9 Ethernet Ethernet Jack Ethernet RMII J5 USB Data Jack USB P330 Regulators 5-48Volts J13 VCC_Main Power Enable Flash and RAM Memory Processor Serial Can 3.
P330 Data Sheet / User Guide The P330 requires less than a Watt of power from a DC supply that provides any voltage between 5.5 and 48 volts. This power can be provided through Time Domain’s standard external power supply, a battery, or a user-supplied power source. Indicator lights provide operating status information.
P330 Data Sheet / User Guide 17 4 Electrical Interfaces This section provides a detailed description of the various P330 electrical interfaces. A standard P330 has the following connections: One antenna port Communications for Low Speed Serial, USB 2.0, Ethernet, CAN, SPI Connections for up to 15 GPIO pins Connections for power (5 to 48V), Ground, and Chassis Ground There are also eight indicator LEDs, six on the board and two on the RJ45 jack.
P330 Data Sheet / User Guide Finally, the physical interface for the Chassis Ground is through the designated mounting screw hole shown in Figure 4-1. (For additional details, see Section 4.3 – Powering and Grounding the Unit). 4.1 Connecting to the P330 The user can connect to the P330 in a number of different ways.
P330 Data Sheet / User Guide 19 Finally, it may be useful to clarify the directions associated with the Serial transmit (TX) and receive (RX) lines. “User Serial TX” means transmitted by the P330 to the Host. “User Serial RX” means received by the P330 from the Host. All user serial lines operate at 3.3v. Pin Name 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 SPI_MOSI SPI_INT SPI_MISO FPGA_GPIO_1_3.3V Digital Ground FPGA_GPIO_2_3.3V SPI_CLK Digital Ground SPI_CS User_Serial_TX ARM_GPIO_0_3.
P330 Data Sheet / User Guide SPI users should take note that the SPI interrupt line is pin 4 on the User Mezzanine and pin 2 on the locking connector. Pin Name 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 Digital_GND E_Rx1 E_Rxer E_TxEn E_Tx0 Digital_GND E_Tx1 E_CrsDv Digital_GND E_TxCk E_Rx0 Digital_GND E_MDIO E_MDC Digital_GND Digital_GND ARM_GPIO_0_1.8V ARM_GPIO_1_1.
P330 Data Sheet / User Guide 21 The Factory Mezzanine connector has a number of GPIO pins and grounds which the user is free to use. However the remaining lines are NOT available for use. All of these lines are active and are used by the factory to test the unit as it moves through production. This connector can be used by the customer but it is critical that the reserved pins should never be connected to any signal, ground, or power lines. This can result in extreme damage to the unit.
P330 Data Sheet / User Guide Fig. 4-9: J7 User Serial pinouts 4.3 Powering and Grounding the Unit 4.3.1 Powering the P330 through the USB Power Jack vs Locking & Mezzanine Connectors The P330 can be powered in three different ways: through the USB power jack, through the Locking Connector or through the mezzanine connectors. The user should select one and only one means of powering the unit.
P330 Data Sheet / User Guide 23 of a 0.01uF capacitor and 1.0 MegOhm resistor. This mounting hole provides the Chassis Ground. The position of this hole is shown in Figure 4-1. 4.4 Host to P330 Interface Options The P330 supports five different host interfaces: USB, Serial, SPI, Ethernet, and CAN. This wide choice of interfaces provides the user with the freedom to experiment with and to optimize for their specific application the means by which the overall system (P330 plus the user Host) communicates.
P330 Data Sheet / User Guide While most users will connect to the serial port through either J11 or J10 doing so requires the construction of a dedicated cable or interface. To use the serial interface directly, the user can connect directly to J7 using a standard cable available from a number of sources including the following: 4.4.3 FTDI (part number TTL-232R-3v3) or Digikey (part number 768-1015-ND www.digikey.com). SPI The SPI interface is designed to operate at a maximum clock rate of 16.
P330 Data Sheet / User Guide 25 CSn CLK MOSI Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Bit 7 MISO 7 6 5 4 3 2 1 0 7 Bit 0 0 Fig. 4-11: Signaling timing diagram The master drives the SPI chip-select low (CSn in above figure) and shifts an 8-bit command, possibly followed by data. The first bit (MSb) of a command is always set. If the second bit is set, then it is a read command, otherwise it is a write command. The commands are listed below in Figure 4-12.
P330 Data Sheet / User Guide End of a SPI transaction t1 t2 Start of next SPI transaction t3 t4 t5 CSn CLK MOSI 1 0 7 MISO 1 0 7 t7 t6 Timing t1 t2 t3 t4 t5 t6 t7 Function CLK high to CLK low (high pulse) CLK low to CLK high (low pulse) CLK rising-edge to CSn rising-edge (inactive) CSn rising-edge (inactive) to CSn falling-edge (active) or time between transactions CSn falling-edge (active) to CLK falling-edge Data setup to CLK rising-edge Data hold from CLK rising-edge Minimum 30 ns
P330 Data Sheet / User Guide 4.4.5 27 CAN The CAN interface is provided with a TI SN65HVD231 CAN line driver. That driver provides a 5 volt differential signal. For additional details on the driver, a link is provided to the TI part. The maximum data rate is 1 Mbps. http://www.ti.com/lit/ds/symlink/sn65hvd231.pdf Time Domain’s application note 320-0326 CAN Interface Application Note provides additional information on the software interface. This document is available on the Time Domain website. 4.4.
P330 Data Sheet / User Guide J11 - Locking 1 2 3 7 9 4 6 11 15 SPI_MOSI SPI_INT SPI_MISO SPI_CLK SPI_CS FPGA_GPIO_1_3.3V FPGA_GPIO_2_3.3V ARM_GPIO_0_3.3V FPGA_GPIO_3_3.3V J10 - User Mezzanine 1 3 4 6 7 8 9 11 15 SPI_MOSI SPI_MISO SPI_INT FPGA_GPIO_1_3.3V SPI_CLK FPGA_GPIO_2_3.3V SPI_CS ARM_GPIO_0_3.3V ARM_GPIO_1_3.3V J8 - Ethernet Mezzanine 17 18 ARM_GPIO_0_1.8V ARM_GPIO_1_1.8V J6 - Factory Mezzanine 12 18 20 FPGA_GPIO_1_1.8V FPGA_GPIO_0_1.8V ARM_GPIO_2_3.3V Fig.
P330 Data Sheet / User Guide 29 designers must add filtering to bring transmissions within legal limits. Furthermore, one of the high band channels overlaps with 5.8 GHz making its use dependent on the absence of ubiquitous 1 watt, 5.8GHz WIFI. Also, the 900MHz bands offer little improvement over the 500MHz channels. Therefore the P330 limits operation of the DW1000 chip to the 20 combinations shown in Table 4-1. Combinations 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 RF Channel 2 (4.
P330 Data Sheet / User Guide Green: Lit indicates operation at 100 Mbps, off means the link is operating at 10 Mbps. Yellow: Lit indicates the link is available, flashing indicates activity, and off means no link. UWB LEDs (located adjacent to the RJ45 connector) Blue (Built in Test – BIT): flashing slowly (approximately 0.5 Hz) indicates that the unit is operating normally. Flashing quickly (approximately 10 Hz) or solidly on or solidly off indicates a failure.
P330 Data Sheet / User Guide 31 4.10 Accessories When the P330 is ordered as part of a Development Kit, it is provided with a number of accessories. These accessories include: a custom plastic enclosure, a power supply, USB battery and cabling and antenna. Units shipped outside the US are typically provided with a power plug adapter to ensure compatibility with the user’s AC power plugs. This is illustrated in Figure 4-16. Fig. 4-16: P330 with full set of accessories 4.10.
P330 Data Sheet / User Guide 4.10.2 Power Supply/Charger with Battery and Cables P330s provided with Kits and Labs are normally powered through the USB Power jack. The easiest (but not most reliable) way to communicate to the P330 is through the USB Data jack. Accordingly, Time Domain provides each P330 with a USB Power Supply/battery charger, two USB cables (1.8 m for communications and 15 cm for supplying power) and at least a 4000mAh USB battery.
P330 Data Sheet / User Guide Charger/supply 33 Anker 10W (2A) Home and Travel USB Wall Charger Adapter Table 4-2: Accessory source information WARNING: In practice, USB devices are not provided with a uniform level of quality. The devices listed above work well and are recommended. The same cannot be said about other USB devices. Some suppliers of cables use undersized wiring that is so small that it is not capable of providing sufficient power to the P330s.
P330 Data Sheet / User Guide 5 Mechanical Interface Figures 5-1, 5-2, 5-3, 5-4 and 5-5 provide the information which defines the board size, the height of key components, as well as the location and dimensions of all connectors. Dimensions are shown in British Imperial units (inches). Dimensions shown in [brackets] are in metric (millimeters). Table 5-1 lists the part numbers of all connectors and their respective mating pair. Fig.
P330 Data Sheet / User Guide 35 Shown in Figures 5-2 and 5-3 are all of the parts which extend out beyond the board dimensions. This includes the RF SMA connectors, the Locking connector, the USB micro connectors, and the RJ45 jack. Fig. 5-3: Components which limit vertical height When the P330 is mounted on a carrier board, the designer should be careful not to place any components within 0.125” (3.17 mm) of the bottom of the board.
P330 Data Sheet / User Guide The part numbers for the P330 connectors and their mating pair are shown in Table 5-1. Name and Number J2 - SMA Port A P330 Connector Part Number Mating Connector Part Number Cinch Connectivity# 142-0701-871, Digikey# J610-ND FCI# 10103594-0001LF, Digikey# 6094050-1-ND FCI# 91931-31121LF, Digikey# 6093520-2-ND Many different choices. * 3M# 961106-6404-AR, Digikey# 3M9451-ND FCI# 91931-31121LF, Digikey# 6093520-2-ND Many different choices.
P330 Data Sheet / User Guide 6 37 Technical Specifications 6.1 Summary of Key Performance Parameters Table 6-1 summarizes the P330 specifications and key performance parameters. For additional detail on the performance of the DW1000 UWB chip see Decawave’s DW1000 User Manual and Data Sheet. Note that the P330 uses a subset of the DW1000 RF channels. For a discussion on which channels were implemented see Section 4.7 RF Transmit and Receive.
- P330 Data Sheet / User Guide circulation In Time Domain standard enclosure User Interfaces/Devices USB: Serial: Ethernet: SPI: CAN: GPIO available: On Board Temperature Sensor: RF Characteristics Transmit Operating Band: Average Transmit Power: 38oC (15o over ambient) USB 2.0 Client – Micro-B connector Maximum rate: 480 Mbps See Section 4.4.2 for more details 3.3V TTL Serial UART (8, n, 1) 115.2kbps (typical) 921.6kbps (over short, ~15cm cable) See Section 4.4.
P330 Data Sheet / User Guide Two-Way Time-of-Flight Max Range: Precision (3 Standard Deviations) Unit to Unit bias error (uncalibrated): Bias error (-40 to 85) (uncalibrated): Bias error (if fully calibrated): Range Measurement Rate 39 30-400 meters (See Section 6.2) 10.0 cm (See Section 6.4) ~30 cm (See Section 6.4) ~20 cm (See Section 6.4) +/-2cm (See Section 6.4) 20-182 Hz (See Section 6.3) Table 6-1: P330 performance characteristics From time to time changes will be made to the P330 design.
P330 Data Sheet / User Guide There are several items to note. First, the received signal has serrated look. Every 5-10 meters the signal strength diminishes. As the separation distance increases the spacing between minima increases. At the same time the depth of the minima also increases. These serrations are destructive cancellation due to the Fresnel effect. Second, at some point the received signal strength will drop to the point that the receiver will not be able to acquire.
P330 Data Sheet / User Guide 41 very short value, in this case, to less than 30 meters. Another approach would be to add a significant number of references to the system. Intermediate solutions are also possible. But failing to consider propagation performance in the system design will result in a very unhappy customer. 6.2.2 Examples of Operational Range The figures in this section illustrate operational performance of distance of 4 standard radio configurations for each of three deployment scenarios.
P330 Data Sheet / User Guide 1.7 – 2.3 m 1.7 – 1.7 m 1.0 – 1.0 m 60-100m / 230m Fig. 6-3: RF Channel 5 (Low Ranging Rate) Received Signal Strength vs Range for 3 scenarios 1.7 – 2.3 m 1.7 – 1.7 m 1.0 – 1.0 m 40-60m / 120m Fig.
P330 Data Sheet / User Guide 43 1.7 – 2.3 m 1.7 – 1.7 m 1.0 – 1.0 m 60-100m / 300m Fig. 6-5: RF Channel 2 (High Ranging Rate) Received Signal Strength vs Range for 3 scenarios These results are summarized in the following table. RF Channel Low Rate (Max Range) High Rate Chan 2 (Low band) 60-100/300 40-60/120 Chan 5 (High band) 60-100/230 30-60/120 Table 6-2: Maximum Operational Range for 4 radio configurations 6.
P330 Data Sheet / User Guide Configuration: Chan 2 (low band) or 5 (high band), PRF=64MHz, Preample (128 or 1024), Data Rate = (110KHz or 6.8Mbps) Chan 2: High Rate (64MHz, 128, 6.8MHz) Chan 2: Low Rate (64MHz, 1024, 110KHz) Chan 5: High Rate (64MHz, 128, 6.8MHz) Chan 5: Low Rate (64MHz, 1024, 110KHz) Range Conversation Time Maximum Range (milliseconds) Measurement Rate (Hz) 5.5 48.0 5.5 48.0 181.8 20.8 181.8 20.8 Table 6-3: Ranging performance characteristics at maximum legal transmit power 6.
P330 Data Sheet / User Guide 45 approximately 150mm although it is not unusual to find individuals which are different by more than 300mm. It is also important to note that the bias also varies over temperature. Furthermore, this is slightly nonlinear and even with a single order compensation, the user can expect residual bias errors on the order of +/- 2 to 3 cm. An example of bias performance over temperature of nine units is provided in Figure 6-6 below. 15.8000 15.7000 Meters 15.6000 15.5000 15.
6.5 P330 Data Sheet / User Guide P330 Revisions and Differences From time to time slight changes or improvements are made to the P330 design. This section explains how the user can identify the revision level of any P330 device and provides a location for listing the differences between one revision level and another. This is also where any documentation errors will be reported.
P330 Data Sheet / User Guide 7 47 Broadspec Antenna The P330 is designed to operate with the Broadspec antennas shown in Figure 7-1. While this is the antenna provided with the P330, the unit can accommodate a wide variety of standard and custom antennas. The only electrical requirement is that the antenna used has a 50 ohm SMA connection. Using a different antenna will likely change the beam pattern and gain, either of which will affect certification.
8 P330 Data Sheet / User Guide Regulatory Compliance The P330 with the Broadspec antenna has been designed to be in compliance with both the U.S. FCC Part 15 subpart F regulations, sections 15.519 and 15.521 and with the European Union ETSI EN 302 065 standards. Integration of the P330 into other user equipment will require certification of the resultant system. While that certification is the responsibility of the end user, Time Domain will be happy to assist in this process.
P330 Data Sheet / User Guide 49 FCC ID This label will be located on the back or bottom side of the P330. See Figure 8-2. FCC Label Position Fig. 8-2: Planned location for certification number If the P330 is incorporated into a different enclosure it is possible that the enclosure can alter the unintentional and intentional emissions respectively. The P330 is capable of transmitting at power levels in excess of the FCC limits for enhanced performance.
P330 Data Sheet / User Guide generated. There are also alternate mitigation strategies which can be used to accomplish the intent of the standard. These strategies need to be considered in the context of the target application. The ETSI regulations also evolve over time with changes being introduced periodically. Product developers need to keep this in mind as they evaluate applications and target products. Finally, the P330 by itself cannot be certified.
P330 Data Sheet / User Guide 9 51 Import/Export Considerations Time Domain has self-certified the P330 in all its variations under Export Commodity Control Number (ECCN) 5A001b.4 pending formal classification from the U.S. Department of Commerce’s Bureau of Industry and Security. This self-certification is based upon the Bureau’s previous assignment of ECCN 5A001b.4 to the company’s P400 modules. Products falling under ECCN 5A001b.
P330 Data Sheet / User Guide 10 Configuration and Ordering Information The P330 is available either as a single board (OEM Module) or as part of a Ranging and Localization Development Kit. When ordered as part of a Kit, the P330 module is provided with a number of hardware and software accessories. The hardware accessories include the following: Enclosure for P330 module: Housing made of damage-resistant plastic with clear polycarbonate cover.
P330 Data Sheet / User Guide 53 OEM Module Series P330 UWB Module Antenna Series Broadspec Antenna (Male SMA Connector) 130RM01 Single P330 Module (board only, no accessories). Integratable printed circuit assembly designed to provide precision ranging and wireless communications with multiband (4 and 6.5 GHz) operation. Supports Ethernet, USB, SPI, Serial, or CAN interface. 100ANR2 UWB Antenna (3-7 GHz) with male SMA connector.