SPI communication with arduino

Wireless Connectivity Ultra-Wideband
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1

Hello there,

I am testing the DWM1001-DEV SPI API to communicate with an Arduino Nano. First, I connect the MOSI MISO CLK GND CS and 5V pins to the nano.

I am not sure about the spi setting of DWM1001 so I set the speed to 8000000, the bit order to MSBFIRST(Most Significant bit first), and the SPI_MODE0
[color=#4f4e4e][size=medium][font=TyponineSans Text 16]Mode [color=#4f4e4e][size=medium]Clock Polarity (CPOL) [color=#4f4e4e][size=medium]Clock Phase (CPHA) [color=#4f4e4e][size=medium]Output Edge [color=#4f4e4e][size=medium]Data Capture[/size][/color][/size][/color][/size][/color][/size][/color][/font]
SPI_MODE0 0 0 Falling Rising[/size][/color]

I wanted to get the position data. In each loop, I transfer 0x02 and 0x00 at first, and keep sending 0xFF to dwm1001 until I get the return Size byte != 0x00, and then I keep transfer Size bytes of 0xFF to get the data back. I followed exactly what the SPI Example diagram shows in the dwm1001-api-guide.

However, the data I got back doesn’t look good. I supposed I would get two 0xFF bytes back as I was sending the get_position TLV request (0x02, 0x00), I got random bytes back instead. What’s more, I keep getting 0xFF back from DWM1001. I will post my code below and the Serial monitor result to show what I got back from DWM1001.

Can anyone give me some help? Really appreciate it!

Thanks in advance
Richard

code:

[code]#include <SPI.h>
SPISettings settingsA(8000000,MSBFIRST,SPI_MODE0);
void setup() {
// pinMode(SS,OUTPUT);
Serial.begin(115200);
SPI.begin();
}

void loop() {
Serial.println("request for pos start ");
SPI.beginTransaction(settingsA);
digitalWrite(SS,LOW);
Serial.print("Sending command, getting back these bytes: “);
Serial.print(SPI.transfer(0x02));
Serial.print(” “);
Serial.print(SPI.transfer(0x00));
Serial.println(” ");

// get the SIZE
uint8_t rxSize = 0x00;
while (rxSize == 0x00) {
rxSize = SPI.transfer(0xFF);
}
Serial.print(“Size:”);
Serial.print(rxSize,DEC);
Serial.println("");

Serial.print(“here are the data DWM1001 sent back:”);
for (byte i = 0; i < rxSize; i++) {
Serial.print(SPI.transfer(0xFF),HEX);
Serial.print(" “);
}
Serial.println(”");
Serial.println("------------------");
SPI.endTransaction();
digitalWrite(SS,HIGH);
delay(5000);
}

[/code]

RESULTS:

request for pos start
Sending command, getting back these bytes: 18 1
Size:255
here are the data DWM1001 sent back:FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF

request for pos start
Sending command, getting back these bytes: 64 1
Size:65
here are the data DWM1001 sent back:D 26 FF FF FF 50 1 0 0 1B FF FF FF 0 FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF

request for pos start
Sending command, getting back these bytes: 255 255
Size:255
here are the data DWM1001 sent back:FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF

request for pos start
Sending command, getting back these bytes: 18 1
Size:255
here are the data DWM1001 sent back:FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF

request for pos start
Sending command, getting back these bytes: 64 1
Size:65
here are the data DWM1001 sent back:D 7C FC FF FF 42 1 0 0 BC FF FF FF 0 FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF

request for pos start
Sending command, getting back these bytes: 255 255
Size:255
here are the data DWM1001 sent back:FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF

request for pos start
Sending command, getting back these bytes: 18 1
Size:255
here are the data DWM1001 sent back:FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF

request for pos start
Sending command, getting back these bytes: 64 1
Size:65
here are the data DWM1001 sent back:D 4A 2 0 0 A3 FF FF FF 94 FF FF FF 0 FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF

2

Hi,

Not sure if you solved it already but I made some edits to your code and it seemed to work for me.

I basically just added slave select pulls when you write some packet of bytes.

//https://decawave.com/decaforum/showthread.php?tid=901

#include <SPI.h>
SPISettings settingsA(8000000,MSBFIRST,SPI_MODE0);
//SPISettings settingsA(100000,MSBFIRST,SPI_MODE0);

void setup() {
pinMode(SS,OUTPUT);
Serial.begin(115200);
SPI.begin();
}

void loop() {
Serial.println("request for pos start ");
SPI.beginTransaction(settingsA);
digitalWrite(SS,LOW);
Serial.print("Sending command, getting back these bytes: ");

Serial.print(SPI.transfer(0x02),HEX);
Serial.print(" “);
Serial.print(SPI.transfer(0x00),HEX);
Serial.println(” ");
digitalWrite(SS,HIGH);

// get the SIZE
uint8_t rxSize = 0x00;
while (rxSize == 0x00) {
digitalWrite(SS,LOW);
rxSize = SPI.transfer(0xFF);
digitalWrite(SS,HIGH);
}
Serial.print(“Size:”);
Serial.print(rxSize,HEX);
Serial.println("");

Serial.print(“here are the data DWM1001 sent back:”);
digitalWrite(SS,LOW);
for (byte i = 0; i < rxSize; i++) {
Serial.print(SPI.transfer(0xFF),HEX);
Serial.print(" ");
}
digitalWrite(SS,HIGH);

Serial.println("");
Serial.println("------------------");
SPI.endTransaction();

delay(100);
}

3

Hi
I tried this code but did not get the expected results. However I noticed that right after I send the commands, dwm1001 sends the reply. But correct reply once in three times. Probably because of it is missing the sampling. I know this is not the way the datasheet has mentioned. But no idea why this works only sometimes. Any insights?

example:

SPISettings dwm_1001(8000000, MSBFIRST, SPI_MODE0);
SPI.beginTransaction(dwm_1001);

tx_data[tx_len++] = DWM1001_TLV_TYPE_CMD_BLE_ADDR_GET;
tx_data[tx_len++] = 0;

digitalWrite(_cs, LOW);
SPI.transfer(tx_data[0]);
SPI.transfer(tx_data[1]);

for(int i=0; i<9; ++i){
rx_data[i] = SPI.transfer(0xFF);
}
digitalWrite(_cs, HIGH);

4

Did you get it to work? If yes can you please share the complete code here, Thanks!

5

Yes. Try the following after the initial SPI setup.

SPI.transfer(DWM1001_TLV_TYPE_CMD_BLE_ADDR_GET);

for(int i=0; i < 11; ++i){
rx_data[i] = SPI.transfer(0);
}

6

Thanks, can you please tell me what you have defined as DWM1001_TLV_TYPE_CMD_BLE_ADDR_GET, the value for it, or if its part of API documentation can you please guide me where to find it. Thanks!

7

Hi, Its 0x10.

And yes it is part of the documentation. I have attached the API guide for you. DWM1001-API-Guide.pdf (1.9 MB)

8

Thanks @kasun1992, i am also facing the same issue, getting correct data every third time, were you able to resolve this?

9

I couldn’t get the location with this codes, someone have a good response?

10

I also had problems getting the SPI connection to work.

As I found out the main reason why my code was not working was that I did not released the chip select while waiting for the response.
As in the code example above:

// get the SIZE
uint8_t rxSize = 0x00;
while (rxSize == 0x00) {
digitalWrite(SS,LOW);
rxSize = SPI.transfer(0xFF);
digitalWrite(SS,HIGH);
}

The chip select must be released when the response is not ready.

This is a bit confusing since I could not find any thing about this in the documentation. I would expect that using a single SPI master and slave the chip select should be allowed to be permanently set.

11

Hi. I am using an Arduino Due to connect to the DWM-1001 with SPI. I have tried the code pasted in the first post and I am getting this as a result:

13:23:57.662 -> request for pos start
13:23:57.662 -> Sending command, getting back these bytes: FF FF
13:23:57.662 -> Size:FF
13:23:57.662 -> Here is the data DWM1001 sent back:FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
13:23:57.729 -> ------------------

I am trying to figure out all the changes that have been mentioned throughout the thread, does anyone have some final code that will return something other than FF’s? Does it require 2 boards to communicate with each other or can I get a return with just one board.

Thanks in advance for your help.

12

My first guess would be a hardware problem with the connections. If all you ever get back is FF then it’s as if the DWM1001 isn’t connected, you’re not getting a reply from it.

13

Hi. Thanks for your reply. I have checked my wiring and it is all correct. I have also tried a different board but that didnt seem to work either. I have attached a basic diagram of my circuit. Do I have to have a second DWM-1001 to get communication between the Arduino and the DWM? Any ideas as to what might be the problem. Here is the code I have been using.

#include <SPI.h>
SPISettings settingsA(8000000, MSBFIRST, SPI_MODE0);
//SPISettings settingsA(100000,MSBFIRST,SPI_MODE0);

int rx_data[11];

void setup() {
pinMode(SS, OUTPUT);
Serial.begin(115200);
SPI.begin();

SPI.transfer(0x10);

for (int i = 0; i < 11; ++i) {
rx_data[i] = SPI.transfer(0);
}
}

void loop() {
Serial.print("SS pin = ");
Serial.println(SS);

Serial.println("request for pos start ");
SPI.beginTransaction(settingsA);
digitalWrite(SS, LOW);
Serial.print("Sending command, getting back these bytes: ");

Serial.print(SPI.transfer(0x02), HEX);
Serial.print(" “);
Serial.print(SPI.transfer(0x00), HEX);
Serial.println(” ");
digitalWrite(SS, HIGH);

// get the SIZE
uint8_t rxSize = 0x00;
while (rxSize == 0x00) {
digitalWrite(SS, LOW);
rxSize = SPI.transfer(0xFF);
digitalWrite(SS, HIGH);
}
Serial.print(“Size:”);
Serial.print(rxSize, HEX);
Serial.println("");

Serial.print(“Here is the data DWM1001 sent back:”);
digitalWrite(SS, LOW);
for (byte i = 0; i < rxSize; i++) {
Serial.print(SPI.transfer(0xFF), HEX);
Serial.print(" ");
}
digitalWrite(SS, HIGH);

Serial.println("");
Serial.println("------------------");
SPI.endTransaction();

delay(1000);
}

Cheers,
Macgregor

Circuit diagram SPI1

14

Hi Macgregor,

Did you made any progress? I’m struggling with the same issue… driving me nuts:(
Could you please share your code?

Thanks in advance

15

Hey

I have made progress however, I am now using the J-link to communicate with the board instead of SPI. The reason my boards weren’t responding was because they were not pre-flashed as I was told they would be. I have fixed this and I am now able to communicate with the boards via J-link. I have not yet been able to get the boards to talk to each other but once I get this sorted I will post my solutions on Help getting started with DWM1001-DEV where I have already shown the process of flashing the boards. Once I am able to create a network just via J-link then I will move onto UART and/or SPI.

One question I do have for anyone who might know, what units is the accelerometer reading acceleration in? I am getting readings such as 16000 which is either means the units are not ms^-2 or the boards are faulty or some other unknown reason.

Let me know how you go and I this helps, cheers,

Macgregor