Zephyr Driver for Qorvo/Decawave DW3000

This is a Zephyr module with a driver for Qorvo/Decawave DW3000. It contains the official source release of the "dwt_uwb_driver" driver from Qorvo (version 08.02.02 from DW3_QM33_SDK_1.0.1.zip) and adds the necessary Zephyr bindings for GPIO, SPI and DTS. We tried to add only the minimal code to drive the DW3000, so it can be used in different projects and keep it as clean as possible from Decawave example code, port abstractions and the general mess around there. The driver files released from Qorvo have been modified to support only one DW3000 chip per board and we removed the big IOCTL function which is a unnecessary huge waste of space on embedded platforms.

There is a similar project https://github.com/br101/dw3000-decadriver-source which contains the same driver and Zephyr support but also supports other platforms such as ESP32 and the old NRF SDK. Most of the development will go there first.

The driver can be used by adding this repository as a zephyr module in west.yml, or by adding the module to CMakeLists.txt, e.g.:

list(APPEND ZEPHYR_EXTRA_MODULES ${CMAKE_CURRENT_SOURCE_DIR}/dw3000-decadriver/)

Then you only need to add a decawave,dw3000 compatible device to your .dts, e.g.:

&spi0 {
	status = "okay";
	compatible = "nordic,nrf-spim";
	cs-gpios = <&gpio0 17 GPIO_ACTIVE_LOW>;

	pinctrl-0 = <&spi0_default>;
	pinctrl-1 = <&spi0_sleep>;
	pinctrl-names = "default", "sleep";

	dw3000@0 {
		compatible = "decawave,dw3000";
		spi-max-frequency = <1000000>;
		reg = <0>;
		reset-gpios = <&gpio0 9 GPIO_ACTIVE_LOW>;
		irq-gpios = <&gpio0 15 GPIO_ACTIVE_HIGH>;
		wakeup-gpios = <&gpio0 8 GPIO_ACTIVE_HIGH>;
		//spi-pol-gpios = <&gpio0 0 GPIO_ACTIVE_LOW>;
		//spi-pha-gpios = <&gpio0 0 GPIO_ACTIVE_LOW>;
	};
};

&pinctrl {
	spi0_default: spi0_default {
		group1 {
			psels = <NRF_PSEL(SPIM_SCK, 0, 28)>,
				<NRF_PSEL(SPIM_MOSI, 0, 31)>,
				<NRF_PSEL(SPIM_MISO, 0, 3)>;
		};
	};

	spi0_sleep: spi0_sleep {
		group1 {
			psels = <NRF_PSEL(SPIM_SCK, 0, 28)>,
				<NRF_PSEL(SPIM_MOSI, 0, 31)>,
				<NRF_PSEL(SPIM_MISO, 0, 3)>;
			low-power-enable;
		};
	};
};

And

CONFIG_DW3000=y
CONFIG_DW3000_CHIP_DW3000=y
CONFIG_SPI=y
CONFIG_GPIO=y

After that you can use the functions defined in dw3000.h and deca_device_api.h, which would usually be like:

#include <dw3000.h>
...
dw3000_hw_init();
dw3000_hw_reset();
dw3000_hw_init_interrupt();
dw3000_spi_speed_fast();

int ret = dwt_probe((struct dwt_probe_s*)&dw3000_probe_interf);
if (ret < 0) {
	LOG_ERR("DWT Probe failed");
	return;
}

ret = dwt_initialise(DWT_READ_OTP_PID | DWT_READ_OTP_LID | DWT_READ_OTP_BAT
					 | DWT_READ_OTP_TMP);

There is a separate project which uses this driver for the Qorvo/Decawave DWS3000 examples here: https://github.com/br101/zephyr-dw3000-examples (may be out of date).

Thanks to https://github.com/foldedtoad/dwm3000 for an earlier Zephyr version of the driver + example code.