NanoLOC Development Kit User Guide

8/20/2019 NanoLOC Development Kit User Guide

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nanoLOC Development

Kit 3.0

User Guide

Version 3.0NA-06-0230-0402-3.0


2/152

Document Information

nanoLOC Development Kit 3.0 User Guide

Page ii NA-06-0230-0402-3.0 © 2010 Nanotron Technologies GmbH.

Document Information

Document Title: nanoLOC Development Kit 3.0 User Guide

Document Version: 3.0

Published (yyyy-mm-dd): 2010-03-22Current Printing: 2010-3-19, 1:00 pm

Document ID: NA-06-0230-0402-3.0

Document Status: Released

Disclaimer

Nanotron Technologies GmbH believes the information contained hereinis correct and accurate at the time of release. Nanotron Technologies

GmbH reserves the right to make changes without further notice to theproduct to improve reliability, function or design. Nanotron Technologies

GmbH does not assume any liability or responsibility arising out of thisproduct, as well as any application or circuits described herein, neither does it convey any license under its patent rights.

As far as possible, significant changes to product specifications andfunctionality will be provided in product specific Errata sheets, or in newversions of this document. Customers are encouraged to check the Nan-

otron website for the most recent updates on products.

Trademarks

All other trademarks, registered trademarks, and product names are thesole property of their respective owners.

This document and the information contained herein is the subject ofcopyright and intellectual property rights under international convention.

All rights reserved. No part of this document may be reproduced, storedin a retrieval system, or transmitted in any form by any means, elec-tronic, mechanical or optical, in whole or in part, without the prior writtenpermission of NanotronTechnologies GmbH.

Copyright © 2010 Nanotron Technologies GmbH .


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Table of Contents


© 2010 Nanotron Technologies GmbH. NA-06-0230-0402-3.0 Page iii

Table of Contents

List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii

List of Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.1 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

1.2 Minimum Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.3 Kit Software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2 nanoLOC DK Board Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2.1 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2.2 Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.3 Voltage Regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.4 nanoLOC TRX Transceiver Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3 Evaluating Wireless Transmissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3.1 Reliability of Radio Frequency (RF) Links. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3.2 Reliable Data Communication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3.3 Ranging Precision. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93.4 Obtainable Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3.5 Receiver Sensitivity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3.6 Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

4 nanoLOC API . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

4.1 nanoLOC nTRX Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

4.2 General Layer Interface – SAP, MESAP and Callback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4.3 General Message Structure – MsgT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4.4 Hardware Adaption Layer – Microcontroller and Hardware Dependent . . . . . . . . . . . . . . . . . . . . 13

4.4.1 SPI Bus Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

4.4.2 Interrupt Service Routine Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

4.5 Chip Initialization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

4.6 PHY Layer (nTRX Driver) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

4.6.1 PHY Layer Data SAP – PDSap (). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

4.6.2 PHY Layer Management Entity SAP – PLMESap () . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

4.6.3 Upstream Callback Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

4.7 Application Layer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

4.7.1 Using PDSap () on the PHY Layer for Data Transmission Requests. . . . . . . . . . . . . . . . . . 15

4.7.2 Using PLMESap () on the PHY Layer Chip Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 16

4.7.3 Upstream Callback Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

5 nanoLOC Ranging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

5.1 Symmetrical Double Sided Two-Way Ranging (SDS-TWR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

5.1.1 SDS-TWR Defined . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

5.1.2 Propagation and Processing Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

5.1.3 Generating First Set of Time Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

5.1.4 Granting Permission to Perform Measurements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205.1.5 Eliminating Clock Errors by a Second Symmetrical Measurement . . . . . . . . . . . . . . . . . . . 20

5.1.6 Collecting the Time Values with a Third Data Packet. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

5.1.7 Calculating the Ranging Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

5.2 Ranging Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

5.2.1 SDS-TWR 3W_A – Providing Ranging Results to Peer A . . . . . . . . . . . . . . . . . . . . . . . . . . 22

5.2.2 SDS-TWR 3W_B – Providing Ranging Results to Peer B . . . . . . . . . . . . . . . . . . . . . . . . . . 24

5.2.3 SDS-TWR 2W_PP – Energy Saving Ranging Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

5.3 Success and Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

5.3.1 Success Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

5.3.2 Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

6 nanoLOC Location Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

6.1 Image Files and the nanoLOC DK Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

6.2 How Tag Locations are Determined . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306.2.1 Initializing and Configuring the Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

6.2.2 Requesting Ranging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

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6.2.3 Calculating the X/Y Coordinates of Tag(s) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

6.3 Location Demo Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

6.4 nanoLOC Location Demo Tutorial. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

6.5 Setting Up the Hardware for the Location Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

6.6 Running the Location Demo with the nanoLOC DK Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

6.7 nanoLOC Location Demo GUI Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

6.7.1 GUI Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

6.7.2 Log Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

6.8 Running the Servers with a Command Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

6.9 Location Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

6.10 Using Hyperterminal to Connect to the Location Server. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

6.11 Adding Anchors and Tags to the Location Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

6.11.1 Anchor and Tag Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

6.11.2 Creating a New Anchor or Tag Image File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

6.11.3 Adding or Deleting Tags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

6.11.4 Deleting an Anchor from the Location Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

6.12 Reflashing the Default Location Demo Image Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

6.13 nanoLOC Location Demo LED and Key Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496.13.1 Obtaining a Log File Using the nanoLOC DK Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

7 nanoLOC Ranging Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

7.1 Image Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

7.2 Flashing the nanoLOC Ranging Demo Image Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

7.3 Using the nanoLOC Ranging Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

7.4 nanoLOC Ranging Demo LED and Key Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

8 nanoLOC Talk Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

8.1 Image Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

8.2 Running the nanoLOC Talk Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

8.3 Running Talk Demo Using HyperTerminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

8.4 nanoLOC Talk Demo LED and Key Usage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

9 nanoLOC Throughput Demo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 699.1 Image Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

9.2 Running the Throughput Demo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

9.3 nanoLOC Throughput Demo LED and Key Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

10 nanoLOC Packet Sniffer Demo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

10.1 Image File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

10.2 Running the nanoLOC Packet Sniffer Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

10.3 Packet Sniffer Demo LED and Key Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

11 nanoLOC Ping Demo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

11.1 Image File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

11.2 Running the nanoLOC Ping Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

12 nanoLOC Light Switch Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

12.1 Image Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8512.2 Running the nanoLOC Light Switch Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

13 Compiling with AVR Studio 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

14 Flashing and Debugging with AVR Studio 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

14.1 Flashing a Hex File to a nanoLOC DK Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

14.2 Debugging the Embedded Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

A1 nanoLOC DK Board Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

A1.1 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

A1.2 Communication Interface (RS-232/UART) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

A1.3 JTAG Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

A1.4 In-System-Programming (ISP) Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

A1.5 Light Sensor (Light to Digital Converter). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

A1.6 Digital I/O Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1001.6.3 PORTC (User-Programmable LEDs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

A1.7 LED Block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105


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A1.8 Function Buttons. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

A2 nanoLOC DK Board Technical Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

A2.1 Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

A2.2 PCB Layout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

A2.3 Bill of Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1122.4 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

A3 nanoLOC USB Stick Technical Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

A3.1 Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

A3.2 PCB Layout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

A3.3 Bill of Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

A4 2.4 GHz Swivel Antenna Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

A4.1 Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

A4.2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

A4.3 Return Loss and V.S.W.R. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

A4.4 Patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

A5 Compiling with WinAVR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

A6 Flashing Hex Files with STK500 Board. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127A7 Glossary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

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Figure 1: nanoLOC Development Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Figure 2: nanoLOC DK Board key features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Figure 3: nanoLOC DK Board components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Figure 4: Power supply to the nanoLOC DK Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Figure 5: Layer structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Figure 6: nTRX Driver API General layer interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Figure 7: MsgT message structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Figure 8: Hardware adaption layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Figure 9: PHY layer SAPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Figure 10: Application layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Figure 11: SDS-TWR (simplified) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Figure 12: First set of measurements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Figure 13: Second set of measurements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Figure 14: Third Data packet to provide Peer B time values to Peer A . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Figure 15: Third Data packet to provide Peer A time values to Peer B . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Figure 16: Third Data packet not required . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Figure 17: Key components of the nanoLOC Development Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Figure 18: Locating tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Figure 19: Request configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Figure 20: Hardware acknowledgements indicate which tags are alive . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Figure 21: Request Ranging using Start command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Figure 22: Ranging performed between each alive tag and each anchor . . . . . . . . . . . . . . . . . . . . . . . . . 31

Figure 23: Ranging data provided to Location application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Figure 24: nanoLOC Location Server - no nanoLOC USB Stick detected . . . . . . . . . . . . . . . . . . . . . . . . . 33

Figure 25: Location Server and Location Engine Server running. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Figure 26: nanoLOC Location Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34Figure 27: nanoLOC Location Demo with Log Area minimized.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Figure 28: nanoLOC Location Demo – Settings dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Figure 29: Common Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Figure 30: Anchors tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Figure 31: Values entered in the Anchors table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Figure 32: Tags tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Figure 33: Saving settings to a configuration file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Figure 34: nanoLOC Location Demo with loaded tutorial.xml file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Figure 35: Warning to remove the existing FTDI Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Figure 36: Placing nanoLOC DK Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Figure 37: Anchors tab - test settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Figure 38: Unsaved changes to configuration file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Figure 39: Raw data in Location Engine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Figure 40: Log data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Figure 41: nanoLOC Location Demo running. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Figure 42: Tag LED and Key usage nanoLOC Location Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Figure 43: Obtaining a log file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Figure 44: nanoLOC Ranging Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Figure 45: nanoLOC Ranging Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Figure 46: Selecting and opening COM port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Figure 47: Ranging measurement results displayed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Figure 48: nanoLOC Ranging Demo - running. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Figure 49: Ranging report. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Figure 50: Saving a log file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56


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Figure 51: Clear report . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Figure 52: Exiting the application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Figure 53: Tag LED and Key usage nanoLOC Ranging Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Figure 54: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Figure 55: nanoLOC Talk Demo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59Figure 56: nanoLOC Talk Demo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Figure 57: nanoLOC Talk Demo - Help screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Figure 58: Open Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Figure 59: Select COM port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Figure 60: nanoLOC Talk Demo Console (maximized) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Figure 61: nn > Prompt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Figure 62: nanoLOC Logical Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Figure 63: Chat mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Figure 64: Sending chat message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Figure 65: Talk transmission and response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Figure 66: Received chat message displayed in red . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Figure 67: End Chat mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Figure 68: Tag LED and Key usage nanoLOC Talk Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Figure 69: Setup of the nanoLOC Throughput Demo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Figure 70: Set Station as Transmitter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Figure 71: nanoLOC Throughput Demo - TX station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Figure 72: Select COM Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Figure 73: TX station transmitting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Figure 74: Set Station as Receiver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Figure 75: nanoLOC Throughput Demo Receiving Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72


Figure 77: Select COM Port RX station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Figure 78: RX station receiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73Figure 79: Tag LED and Key usage nanoLOC Throughput Demo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Figure 80: nanoLOC Packet Sniffer Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Figure 81: nanoLOC Packet Sniffer – open port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Figure 82: nanoLOC Packet Sniffer - console . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Figure 83: nanoLOC Sniffer Demo - prompt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77


Figure 85: Starting promiscuous mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Figure 86: nanoLOC Packet Sniffer Demo reporting packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Figure 87: Example decoded packet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Figure 88: Tag LED and Key usage nanoLOC Packet Sniffer Demo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Figure 89: Ping application running on nanoLOC DK Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Figure 90: Ping application indication LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Figure 91: Light Switch application running on nanoLOC DK Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Figure 92: Light Switch Demo application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Figure 93: AVR Studio 4 - Welcome. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Figure 94: Select project file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Figure 95: Loaded project files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Figure 96: WinAVR not installed error message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Figure 97: nanoLOC Throughput Demo compiled files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Figure 98: project compiled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Figure 99: Select AVR Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Figure 100: Locating HEX file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Figure 101: Begin flashing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Figure 102: Flashing complete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94


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Figure 103: Debugging an embedded application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Figure 104: Debugging complete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Figure 105: nanoLOC DK Board block diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Figure 106: Communication Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Figure 107: Communication Interface schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98Figure 108: JTAG connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Figure 109: ISP connector (SPI). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Figure 110: Light sensor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Figure 111: PORTB pin connector connected to PORTB on the microcontroller. . . . . . . . . . . . . . . . . . . 101

Figure 112: LEDs connected to PORTC on the microcontroller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

Figure 113: PORTD pin connector connected to PORTD on the microcontroller. . . . . . . . . . . . . . . . . . . 102

Figure 114: SPI pin connector and user programmable buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Figure 115: nanoLOC DK Board PORTF (ADC and JTAG) connectors. . . . . . . . . . . . . . . . . . . . . . . . . . 104

Figure 116: nanoLOC DK Board – schematic 1 of 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107




Figure 120: nanoLOC DK Board - top . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Figure 121: nanoLOC DK Board - bottom (inverted) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Figure 122: nanoLOC DK Board - top components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Figure 123: nanoLOC DK Board dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Figure 124: nanoLOC USB Stick - Schematic 1 of 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Figure 125: nanoLOC USB Stick - Schematic 2 of 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Figure 126: nanoLOC USB Stick - top (scale 2X) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Figure 127: nanoLOC USB Stick - bottom (scale 2X and inverted) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Figure 128: nanoLOC USB Stick - top components (scale 2X) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Figure 129: Antenna mechanical dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

Figure 130: Antenna return loss and V.S.W.R. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120Figure 131: Antenna E Plane and H Plane patterns. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

Figure 132: Antenna E Plane and H Plane field patterns. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

Figure 133: WinAVR Programmers Notepad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

Figure 134: Select project file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

Figure 135: Opened Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

Figure 136: Make Clean . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

Figure 137: Make All. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Figure 138: Connecting the STK500 Board to the nanoLOC DK Board. . . . . . . . . . . . . . . . . . . . . . . . . . 127

Figure 139: Completed setup of hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

Figure 140: Select AVR Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

Figure 141: Select AVR Programmer dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

Figure 142: STK500 dialog – program tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

Figure 143: Programming hex file to board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

Figure 144: AVR Studio flashing to nanoLOC DK Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

Figure 145: Flashing completed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131


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List of Tables


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List of Tables

Table 1: nanoLOC Development Kit components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Table 2: nanoLOC DK Board components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Table 3: Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Table 4: Description of MsgT Message structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Table 5: NTRX_LogChannel attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Table 6: NTRX_Channel attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Table 7: Message structure for callback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Table 8: Message structure for callback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Table 9: nanoLOC Location Demo image files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Table 10: Common Settings tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Table 11: Anchor 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Table 12: Anchor tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Table 13: Anchor 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Table 14: Anchor 3 and Anchor 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Table 15: Anchor 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Table 16: Tag tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Table 17: Common Settings tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Table 18: Location Demo GUI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Table 19: Address range for anchors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Table 20: Address range for tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Table 21: NTRX_LogChannel attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Table 22: Hyperterminal connection properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Table 23: Transmit power settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70



Table 26: MAC frame types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80Table 27: JTAG interface pin connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Table 28: Microcontroller to ISP pin connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Table 29: Microcontroller to light sensor pin connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

Table 30: Microcontroller to PORTA pin connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

Table 31: Microcontroller to PORTB pin connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

Table 32: Microcontroller to PORTC pin connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

Table 33: PORTD pin connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Table 34: ATmega128L microcontroller to PORTE pin connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Table 35: ATmega128L microcontroller to PORTF pin connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

Table 36: nanoLOC DK Board Bill of Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

Table 37: nanoLOC USB Stick bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

Table 38: Antenna electrical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

Table 39: Antenna mechanical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

Table 40: Antenna environmental specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

Table 41: Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

http://files/nanoLOC%20DK_chap01-Introduction.pdfhttp://0.0.0.0/http://0.0.0.0/http://0.0.0.0/http://0.0.0.0/http://files/nanoLOC%20DK_chap01-Introduction.pdf


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Introduction


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1

1 Introduction

The nanoLOC Development Kit 3.0 is designed for prototyping and developing ranging and loca-

tion-aware wireless applications based on the nanoLOC TRX Transceiver . The kit includes an

extensive set of applications as both image files and source code as well the development tools

AVR Studio® and WinAVR® to get started immediately developing and testing wireless applica-

tions. This document describes the hardware in the kit and provides instructions for using the

nanoLOC LOCATION DEMO. Additional instructions are provided for flashing the R ANGING DEMO and

other other applications to the nanoLOC DK Boards that demonstrate nanoLOC’s ranging and

robust wireless communication capabilities.

Note: This document assumes the software for the nanoLOC Development Kit 3.0 has been

installed and the nanoLOC DK Boards have been assembled. If not, refer to the nanoLOC

Development Kit 3.0 Quick Start Guide.

1.1 Components

All the hardware and software required for developing and testing applications is provided in the

kit. Figure 1 below shows the hardware components of the nanoLOC Development Kit 3.0.

Figure 1: nanoLOC Development Kit

These components are described in the following tables.Table 1: nanoLOC Development Kit components

Hardware Qty Description

nanoLOC DK Board 5 This versatile board uses the nanoLOC TRX Transceiver and the

ATmega128L microcontroller and is specifically designed for location and

ranging applications.

nanoLOC USB Stick 1 Enables the PC to connect to nanoLOC’s wireless network via USB port.

Required for nanoLOC LOCATION DEMO. FTDI driver for this device is pro-

vided in kit setup file.

USB cable

(type A male/female)

1 For use with the nanoLOC USB Stick .

Atmel AVR® STK 500Development System

1 Used for flashing and debugging under Windows®. Uses the JTAG or ISPinterface on the nanoLOC DK Board .


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1

1.2 Minimum Requirements

The applications included in the nanoLOC Development Kit operate on a PC running Microsoft®

Windows® or XP® or later OS with a 1.8 GHz Pentium 4 processor or equivalent. A minimum

installation of the software requires at least 30 MBs free space, while a full installation requires at

least 210 MBs free space.

The nanoLOC LOCATION DEMO uses only one PC, while other demo programs require two PCs or,

ideally, laptops, all of which need an available USB port.

2.4 GHz omnidirectional

antenna

5 High-quality sleeve dipole omnidirectional antenna. Install in the same

plane for effective transmissions. Recommended antenna electrical polar-

ization is vertical.

Power supply units 5 Provides a regulated 3 V power supply that can be used internationally

(with adapters not included in kit): 100-240 V, 50-60 Hz, 1 A.

JTAG-ICE AVR Adapter 1 Third-party device for flashing and debugging. Uses the JTAG interface on

the nanoLOC DK Board and a USB port on the PC.

USB cable

(type B male/female)

1 For use with the JTAG Adapter.

RS-232 cables 5 Required for applications that use the COM port of the PC.

Software Description

FTDI Driver Required for the nanoLOC USB Stick

Location Server Required for the nanoLOC Location Demo

Location Client Console program for running the Location Demo. Alternative access

to the nanoLOC Location Server

nanoLOC LOCATION DEMO + Windows®-based GUI

+ Set of image files

+ Source code: embedded

application only

nanoLOC R ANGING DEMO + Windows®-based GUI

+ Set of image files

+ Source code: embedded

application only

nanoLOC T ALK DEMO + Windows®-based GUI

+ Set of image files+ Source code: embedded

application only

nanoLOC THROUGHPUT DEMO + One set of image files

+ Source code

nanoLOC P ACKET SNIFFER DEMO + One image file

+ Source code

PING AND LIGHT SWITCH DEMOS + Set of image files

+ Source code for both

nanoLOC DRIVER + Source code

Third Party Software WIN AVR® and AVR STUDIO® 4 are provided for compiling, flashing,

and debugging.

Documentation Description

Nanotron Documentation Documents for application development. Product flyers also included.

Third-Party Documentation Datasheets and user guides for third-party software included in the kit.

Table 1: nanoLOC Development Kit components

Hardware Qty Description


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1

1.3 Kit Software

The nanoLOC Development Kit includes an extensive set of applications that demonstrate the use

of the nanoLOC chip for location-aware, ranging, and robust communication wireless applications.

Most demo programs have both an embedded application and a Windows®-based graphical user

interface. Others are embedded applications only and run on the command line or by key buttonson the nanoLOC DK Boards. Source code (written in ANSI C) of all embedded applications are

provided as examples for starting your own application development.

Note: Windows®-based GUIs are not provided as source code.

+ nanoLOC LOCATION DEMO

Demonstrates nanoLOC’s ranging capabilities using a location algorithm to locate tags in 2D

space. Uses five nanoLOC DK Boards (4 anchor points and 1 tag), the nanoLOC USB Stick ,

and the LOCATION SERVER.

+ nanoLOC R ANGING DEMO

Demonstrates nanoLOC’s ranging capabilities to determine the distance between two nanoLOC

DK Boards (1 tag and 1 anchor). A set of embedded applications for the tag and reader provide

ranging data, while a Windows®-based application displays the ranging data results.

+ nanoLOC TALK DEMO

Demonstrates point-to-point wireless communication between two nanoLOC DK Boards using a

simple chat application.

+ nanoLOC THROUGHPUT DEMO

Measures data throughput and packet error rate between two nanoLOC DK Boards.

+ nanoLOC P ACKET SNIFFER DEMO

Uses a single nanoLOC DK Board to intercept and log any traffic passing over a wireless nano-

LOC network.

+ PING DEMO and LIGHT SWITCH DEMO

Uses two nanoLOC DK Boards to demonstrate sending commands to remote nodes in a nano-LOC network (Ping demo) and operating a simple sensor / actor network (Light Switch demo).

+ nanoLOC nTRX Driver

Provides an API for applications and sends MAC layer messages to the nanoLOC chip over the

SPI interface. Can be integrated into nanoLOC -based wireless applications.


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nanoLOC DK Board Overview



2

2 nanoLOC DK Board Overview

The nanoLOC DK Board includes a nanoLOC EVR Module and the ATmega128L microcontroller.

The EVR Module integrates the nanoLOC TRX Transceiver and required external circuitry.

2.1 Components

Figure 2: nanoLOC DK Board key features

Figure 3: nanoLOC DK Board components

The components of the nanoLOC DK Board are described in table 2 below.Note: Schematics and layout and BOM for the nanoLOC DK Board are provided in Appendix 2:

nanoLOC DK Board Technical Description on page 107.

ProgrammableLEDs

Programmablebuttons

SMA connector

ATmega128Lmicrocontroller

Connector forRS-232 cable

2.1 mm barrel connector

Connector forbattery pack

nanoLOC EVR

Module

TX/RX

jumpers for RS-232

JP2 for Voltage Regulator

On/Off Switch

JTAG connector

Reset

button

DE-9 D-subconnector

RX jumperfor RS-232

TX jumperfor RS-232

2.1 mmbarrel

connector

DC-DC

converter

Connector for

Battery Pack

JP3 for ADC Converter

Port Dconnectors

ADC/IOconnectors

JTAGconnector

ISPconnectors

Port Bconnectors

ATmega128L

microcontroller nanoLOC

EVR Module

ProgrammableLEDs

Resetbutton

TX/RX

LED

Programmablebuttons

SMAconnector for

2.4 GHzantenna

PowerLED

Power On/Offswitch

LightSensor

7.3728 MHz

External Oscillator

32.768 kHzQuartz

Oscillator

JP2 forVoltage

Regulator

Ground

K3 K2 K1L8 L1

1

21

2

2

11

2

2

1

+-


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2

Table 2: nanoLOC DK Board components

Part Description

nanoLOC EVR

Module

Contains the nanoLOC TRX Transceiver along with external circuitry required for its

operation. It provides basic RF functionality including transmission (TX) and recep-

tion (RX) as well as basic digital operations. It also includes an ISM bandpass filterat antenna connector for filtering signal disturbances.

ATmega128L

microcontroller

A low power CMOS 8-bit microcontroller based on the AVR enhanced RISC archi-

tecture with 128 Kb Flash and 4 Kb SRAM. This microcontroller drives the

nanoLOC TRX Transceiver via the SPI interface. Operates between 2.7 V and 5.5

V. See also Atmel ATmega128L datasheet available from Atmel.

Light sensor Light-to-digital converter (part number TSL2561T).

Power supply socket Uses a 2.1 mm barrel connector from a maximum 3.0 V unregulated power supply.

Battery connector pin

(JP1)

Connector for a 3.0 V (max.) battery pack.

Power ON/OFF

switch

Disconnects from either the barrel connector or the JP1 power source but NOT from

the JTAG connector power source.

PWR LED When illuminated, indicates power supply is on.

DC-DC converter

(voltage regulator)

When a power supply of 3.0 V or less is used, the DC-DC converter is required to

provide a constant 3.3 V output to the ATmega128L µc and to the nanoLOC RF

Module. (Input voltage: Between 1.0 V and 3.0 V. Output voltage: 3.3 V)

Note: The voltage regulator jumpers (JP2) need to be connected when the DC-DC

converter is used.

TX/RX LED When illuminated, indicates transmission and reception activity.

Programmable LEDs Eight user-programmable red, orange, and gold activity LEDs. Their anodes and

cathodes are connected to PORTC via 680 Ω resistors and to ground.

DE-9 D-sub connector Connector for serial interface using an RS-232 cable.

Pin access points Used for testing and measurements.

Reset button Used to reset the microcontroller.

Programmable

buttons

The nanoLOC ATmega128L Board provides three user-programmable buttons that

connect some of the I/O pins to ground and a reset switch.

I/O Ports The ATmega128L microcontroller provides six I/O ports – PORTA, PORTB,

PORTC, PORTD, PORTE and PORTF. The pins of these ports are directly con-

nected to the ports of the microcontroller.

+ PORTA is partly connected to the Light Sensor, with the remaining pins extended

to RS232 Force On solder pads.

+ PORTB is a general I/O port.

+ PORTC is connected to the eight user-programmable LEDs.

+ PORTD is a general I/O port.

+ PORTE is partly connected to the ISP and partly to the user-programmable but-

tons.+ PORTF supports the ADC channel inputs and the ATmega128L built-in JTAG

interface.

JTAG connector JTAG interface for debugging and flashing purposes.

Note: If a power supply is provided by the JTAG interface, it must not be higher than

3.0 V or damage may occur to the board.

ISP (In-System

Programming)

connector

SPI Interface for on-chip In-System Programming (ISP).

The ISP port is compatible with the STK500® Evaluation Board .

Note: If a power supply is provided by the ISP connector, it must not be higher than

3.0 V or damage may occur to the board.

32.768 kHz quartz A 32.768 kHz quartz for the timer/counter oscillator.

7.3728 MHz external

oscillator

A 7.3728 MHz quartz crystal as an external oscillator.


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2

2.2 Power Supply

Both the nanoLOC DK Board and the nanoLOC EVR Module mounted on the board operate at

3.3 V. However, since the nanoLOC DK Board uses an up-converter to 3.3 V, a power supply of

between 1.0 V and 3.0 V is required (and should not exceed 3.3 V - see warning below).

Sliding Switch

When a power supply is provided to the nanoLOC DK Board , the power supply LED (labelled PWR)

is illuminated. To switch off the board without having to remove the power supply, a sliding switch

(labelled ON/OFF) has been provided. Figure 4 shows the location of the ON/OFF sliding switch.

Note: The ON/OFF sliding switch does not affect power provided by the JTAG/ISP connectors.

Figure 4: Power supply to the nanoLOC DK Board

2.3 Voltage Regulator

Both the ATmega128L microcontroller and the nanoLOC RF Module require a steady voltage of

3.3 V. Therefore, the board provides a voltage regulator, which is a monolithic micropower step-up

DC-DC converter for powering equipment from battery packs containing either one or two cells.

The voltage regulator starts up with a voltage of 0.8 V and operates down to less than 0.3 V. This

regulator is capable of up to 200 mA of output current at an input voltage of 2.0 V and an outputvoltage of 3.3 V.

Note: The voltage regulator output becomes inaccurate if the input voltage exceeds 3.0 V.

Table 3: Power Supply

Power Supply Units (Included) Battery Packs (Not Included)

A power supply unit with a maximum 3.0 V unregu-

lated supply voltage, which uses the 2.1 mm DC bar-

rel connector (center pin is positive).

Note: The power supply unit included in the kit has

been pre-set for 3.0 V.

A battery pack (not included in kit) with a minimum of

one 1.5 V AA alkaline cell (two 1.5 V AA alkaline cells

are recommended) and with a maximum 3.0 V regu-

lated supply voltage. The battery pack uses the con-

nector labelled BAT.

Note: When using the power supply connectors,

ensure that the battery pack is connected with

the correct polarity as shown in Figure 4 below.

THE BATTERY PACK AND THE POWER SUPPLY UNIT CANNOT BE USED AT THE SAME

TIME. DO NOT LEAVE THE POWER SUPPLY CABLE PLUGGED INTO THE BOARD WHEN

BATTERIES HAVE BEEN INSTALLED IN THE BATTERY PACK. PERSONAL INJURIES OR

EXPLOSIONS CAN OCCUR.

Also, to allow low single battery cell supply voltages down to 1 V, the nanoLOC DK Board does not provide a

diode to protect against reverse polarity. Therefore, the board will be permanently damaged if a power supply

is connected to the board with the wrong polarity, and/or with voltages exceeding 3.3 volts.

Board switched onand PWR LED

illuminated

+-

1 V to 3VpowersupplyORbatterypack

BAT


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2

2.4 nanoLOC TRX Transceiver Features

The key features of the nanoLOC TRX Transceiver include:

Note: For a full technical description, refer to the nanoLOC TRX Transceiver Datasheet .

+ Built-in precise ranging

+ Operates worldwide: 2.45 GHz ISM band

+ Programmable data rates: 250 kbps to

1 Mbps

+ Modulation technique: CSS (Chirp Spread

Spectrum)

+ Programmable output power dynamic

range1: 37.5 dB

+ Receiver sensitivity: -95 dBm @

BER=0.001 at nominal conditions1

(FEC off)

+ Receiver sensitivity: -97 dBm @

BER=0.001 at nominal conditions1

(FEC on)

+ Extended operating temperature range

(industrial): Tambient = -40°C to +85°C

+ FDMA (Frequency Division Multiplex

Access) with 3 non-overlapping frequency

channels and 14 overlapping frequency

channels

+ In-band Carrier to Interference Ratio (C/I):

C/I = 0 … 3 dB @ 250 kbps @ C = -65 dBm+ Allows unregulated 2.3 V…2.7 V supply

voltage

+ Power down mode for increased current

saving

+ Extremely low shut down current ≤ 2 µA1

+ Software controlled power supply for exter-

nal microcontroller allows further energy

saving

+ 32768 Hz clock available for an external

microcontroller and other frequencies are

also available (feature clock)+ Integrated fast SPI interface (27 Mbps,

slave mode only)

+ Integrated frame buffering

+ Integrated microcontroller management

function

+ General purpose 4-bit digital I/Os for easy

connection to sensors and actors

+ Hardware MAC accelerators for time critical

and computation intensive tasks1. See nanoLOC TRX Transceiver (NA5TR1)

Datasheet for nominal conditions.


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3 Evaluating Wireless Transmissions

The quality and range of wireless transmissions are dependent on a number of key factors. These

include, but are not limited to, the physical environment in which the transmissions take place and

the amount of noise or electromagnetic interferers within the vicinity of the transmissions. The fol-lowing provides some general remarks to consider when evaluating the quality and range of wire-

less transmissions.

3.1 Reliability of Radio Frequency (RF) Links

In many applications - especially where wired systems are replaced by wireless systems - often

the wireless system is expected to have the same reliability as the existing cable-based system.

However, wireless systems are affected – sometimes significantly – by signal influencing factors

such as attenuation, reflections, fading, as well as other interfering systems that counteract with a

reliable data communication.

To anticipate these expectations for a wireless system, it is necessary to take in account these

potential influencing factors in the system design.

3.2 Reliable Data Communication

In contrast to existing narrowband data transmission methods, nanoLOC’s Chirp Spread Spectrum

(CSS) technology provides the best possible margin for data communication due to its broadband

time and frequency spreading characteristics.

In adverse RF situations such as in the presence of strong RF interferers or high signal attenuation

(metal enclosures), the RF communication in even the most robust systems can be affected by thephysical constraints of a particular RF environment.

Note: For more details about Chirp Spread Spectrum, see nanoLOC TRX Transceiver User

Guide.

3.3 Ranging Precision

Strong RF interferers and high signal attenuation also affect the obtainable precision for ranging.

The implemented ranging algorithm is based on a Time of Flight (ToF) measurement. For very

reflective RF environments in combination with a blocked direct signal (non-line-of-sight), the mea-

sured signal can actually be a reflected signal. So the measured distance will be longer than the

actual distance (direct line) between the two RF devices.

Note: For more details about ranging, see 5. nanoLOC Ranging on page 19.

3.4 Obtainable Range

In performing ranging, a frequently asked question is “What is the maximum obtainable range?”. In

general, the range is determined by the link budget that is available for a given data link. Link bud-

get is the output power of the transmitter vs. the input sensitivity of the receiver.

For true line-of-sight conditions where no interferers exist, the obtainable distance can be easily

calculated for a given frequency. However, in most cases this ideal environment is not possible due

to reflections by walls, buildings, vegetation or the earth’s ground. These interferers can severelyinfluence the propagation characteristics of the signal. This inevitably leads to shorter communica-

tion ranges compared to ranges calculated for ideal scenarios.


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3.5 Receiver Sensitivity

When interferers are present at the receiver’s end of the wireless link, the receiver’s sensitivity is

degraded by the prevailing amount of RF noise. For a comparison, consider ordinary audio noise

at a radio receiver where a considerable noise floor is present. A person’s ear sensitivity has no

effect on the quality of the audio sound. Likewise, with RF receivers the quality of the received sig-nal is degraded if a considerable noise floor is present. The noise floor determines the receiver’s

sensitivity and, therefore, limits the maximum obtainable communication range.

3.6 Summary

In summary, a communication range can not be stated by considering the RF link alone without

also taking in account the environment in which the communication takes place.

The effects mentioned in this section are generally true for RF links. They have to be taken in con-

sideration during the system design to successfully implement a specified radio application.


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4 nanoLOC API

This section describes how an application accesses chip functionality through the use of the appli-

cation programming interface (API) of the nanoLOC nTRX Driver. The API uses the same naming

convention as IEEE 802.15.4.

4.1 nanoLOC nTRX Driver

Applications access the nanoLOC TRX Transceiver through the API of the nanoLOC nTRX Driver .

Upper layers, including the application layer, communicate with lower layers by sending and

receiving commands. With this API, the application layer has a simple means of accessing the

chip’s functions, including chip-specific settings and performance criteria such as address match-

ing, error checking, modulation methods, and data transmission rates. Hardware adaption layer

messages are sent to the nanoLOC chip over the SPI interface. The nanoLOC API is located

within the phy.c module of the nTRX Driver source code.

Figure 5: Layer structure

The nanoLOC TRX Driver API reads and writes values into the registers of the nanoLOC TRX

Transceiver. Some of the key settings of the nanoLOC TRX Driver include the following:

= Message

= Interface Application Layer

TX RX

Logical Connection

TX RX

Physical Connection

Transmitted Packet

PHY Layer (nTRX Driver)

Event Handler

Hardware AdaptionLayer

nanoLOCTRX Transceiver

Application Layer

Received Packet

PHY Layer (nTRX Driver)

Event Handler

Hardware AdaptionLayer

nanoLOCTRX Transceiver

= SAP

+ Sets the Logical Network ID (which sets the

SyncWord)

+ Enables / disables address matching

+ Enables / disables Broadcast (Brdcast) or

Time Beacon (TimeB) packets

+ Enables / disables receiver CRC2 checking

+ Sets CRC2 method to detect transmission

bit errors

+ Sets CSMA/CA (carrier sense method for

collision avoidance)

+ Enables / disables a backoff scheme for

packet collision avoidance

+ Enables / disables Automatic Repeat

Request (ARQ) on the receiver

+ Sets the transmission output power

+ Calibrates frequency of transmission and

reception oscillators

+ Sets frequency bandwidth

+ Selects frequency channel (for narrowband

transmission)

+ Reads out range (distance) value

+ Manual starting and stopping packet trans-mission

+ Sets the data transmission rate

+ Enables / disables Forward Error Correction

(FEC)


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4.2 General Layer Interface – SAP, MESAP and Callback

All communication between layers is done by sending and receiving messages. Each layer has the

same interface and can be easily exchanged or extended without changing the overall interface.

Service Access Points (SAPs) are implemented as C functions and accepts a single pointer to aC-Struct interpreted as a message. This message contains all the necessary information required

to execute a task from an upper layer. Figure 6 below illustrates the general layer interface (SAP,

MESAP and Callback) of the nanoLOC nTRX Driver .

Figure 6: nTRX Driver API General layer interface

The PHY layer provides two Service Access Points (SAPs) for downstream messages from the

Application Layer: LayernameSAP and LayernameMESAP. The PHY layer also provides one call-

back function for upstream messages from the Hardware Adaption Layer: LayernameCallback.

The general form for these SAPs are:

+ Downstream SAPs:

On the PHY layer, these SAPs are:

+ Upstream Callback Function:

On the PHY layer, this callback function is:

+ In addition to these services, every layer has variables that have to be initialized. This action is

put into a separate function called LayernameInit:

On the PHY layer, this function is:

Application Layer

PHY layer (nTRX Driver)

PDSap PLMESap

PDCallback

Hardware Adaption Layer

nanoLOC Chip

SPI Interface IRQ Reset

APPCallback

µC and HW dependent

µC and HW independent

void LayernameSAP (MsgT *msg);

void LayernameMESAP (MsgT *msg);

void PDSap (MsgT *msg)

void PLMESap (MsgT *msg)

void LayernameCallback (MsgT *msg);

void PDCallback (void)

void LayernameInit (void);

void PHYInit (void)


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4.3 General Message Structure – MsgT

For a layer to provide information to a lower layer, the message structure MsgT is used, which is

located in the file ntrxtypes.h. Return values are also provided with the help of this structure.

Figure 7: MsgT message structure

Table 4 below describes the variables in the message structure MsgT.

4.4 Hardware Adaption Layer – Microcontroller and Hardware Dependent

The Hardware Adaption Layer is used to access the nanoLOC TRX Transceiver and |is dependent

on the microcontroller and hardware.

Figure 8: Hardware adaption layer

Note: This layer must be written for each microcontroller family. The nanoLOC Development Kit uses the Atmel ATmega128L microcontroller, which is part of the AVR family of microcon-

trollers.

Table 4: Description of MsgT Message structure

Variable Description

uint8_t prim; Primitive name (1 byte)

AddrT addr; MAC address of destination station (6 bytes)

uint8_t len; Length of message (1 byte)

uint8_t *pdu; Points to the beginning of the payload in the buffer

uint8_t

data[MAX_PACKET_SIZE];Payload of message (n bytes to a maximum of 128 bytes)

uint8_t status; Status indicator used with LayerCallback function (1 byte)

uint16_t value;Value of requested parameter used for setting or getting chip config-

uration requests (2 bytes)

uint8_t attribute;Selected attribute used with the value parameter for setting or get-

ting chip configuration requests (1 byte)

typedef struct

{

uint8_t prim;

AddrT addr;

uint8_t len;

uint8_t *pdu;

uint8_t data[CONFIG_MAX_PACKET_SIZE];

uint8_t status;

uint16_t value;

uint8_t attribute;

} MsgT;

The primitive of the message.

MAC address of the message.

pointer to beginning of payload in buffer

Payload length

Attribute for setting or getting chip configuration requests

Payload of the message

Status value for confirmations

Configuration value of a layer setting

PDCallback


nanoLOC Chip

SPI Interface IRQ Reset


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4.4.1 SPI Bus Functions

The implementation of the Hardware Adaption Layer for AVR microcontrollers uses four functions

to communicate with the nanoLOC chip over the SPI bus. It also uses an interrupt service routine.

The functions for the SPI bus include:

where:

+ NTRXSPIRead reads multiple bytes to the nanoLOC chip

+ NTRXSPIWrite writes multiple bytes to the nanoLOC chip

+ NTRXSPIReadByte reads single bytes to the nanoLOC chip

+ NTRXSPIWriteByte writes single bytes to the nanoLOC chip

4.4.2 Interrupt Service Routine Function

The function used for interrupt service routines is:

The interrupt service routine will read the IRQ status register and raise a flag for transmission fin-

ished or message reception. The actual processing of the interrupt source is done in normal con-

text through the use of the function PHYPoll().

4.5 Chip Initialization

To prepare the nanoLOC chip for message sending and receiving, the following function is used:

4.6 PHY Layer (nTRX Driver)

The PHY layer provides two downstream SAPs for the Application Layer and an upstream callback

function for the Hardware Adapter Layer, as shown in figure 9 below.

Figure 9: PHY layer SAPS

void NTRXSPIRead(uint8_t address, uint8_t *buffer, uint8_t len);

void NTRXSPIWrite(uint8_t address, uint8_t *buffer, uint8_t len);

void NTRXSPIReadByte(uint8_t address, uint8_t *buffer);

void NTRXSPIWriteByte(uint8_t address, uint8_t buffer);

void NTRXInterrupt (void)

bool_t NtrxInit(void)

Application Layer


PDSap PLMESap

PDCallback


APPCallback


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4.6.1 PHY Layer Data SAP – PDSap ()

PDSap () is used by the Application Layer for downstream data transmission to the PHY layer.

This SAP uses the message structure MsgT.

For details on the structure MsgT and parameters required for the SAP PDSap (), see 4.7.1. Using

PDSap () on the PHY Layer for Data Transmission Requests on page 15:

4.6.2 PHY Layer Management Entity SAP – PLMESap ()

PLMESap() is used by the Application Layer for nanoLOC chip configuration requests and que-

ries.

For details on the structure MsgT and parameters required for the SAP PLMESap (), see 4.7.2.

Using PLMESap () on the PHY Layer Chip Configuration on page 16:

4.6.3 Upstream Callback Function

The PHY layer provides a single upstream Callback function PDCallback.

4.7 Application Layer

The Application Layer accesses the two downstream SAPs on the PHY layer PDSap () and

PLMESap ()and provides to the PHY layer an upstream callback function, as shown in figure 10

below:

Figure 10: Application layer

4.7.1 Using PDSap () on the PHY Layer for Data Transmission Requests

The Application layer uses the PHY layer SAP PDSap () for data transmission.

The Application layer uses MsgT, as described in section 4.3 (unused parameters noted below).

void PDSap (MsgT *msg)

void PLMESap (MsgT *msg)

void PDCallback (void)

Application Layer


PDSap PLMESap

APPCallback

void PDSap (MsgT * msg)

typedef struct

{

uint8_t prim;

AddrT addr;

uint8_t len;

uint8_t *pdu;

uint8_t data[128];

uint8_t status;

uint16_t value;uint8_t attribute;

} MsgT;

Not used for sending messages


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Primitives

The parameter prim uses the following primitives (attribute parameter) to indicate the requested

service:

+ PD_DATA_CONFIRM – Hardware acknowledgement has been received

PURPOSE: Indicates that a PD_DATA_REQUEST message was successfully executed.

Valid parameters include data payload (data), destination address (addr), payload length

(len), and success or failure (status).

+ PD_DATA_INDICATION – Message has been received

PURPOSE: A message has been received from another device.

Valid parameters are data payload (data), source address (addr), and payload length (len).

+ PD_DATA_REQUEST – Transmit a message

PURPOSE: Requests a message to be transmitted to a given destination.

Valid parameters include type of request (prim ), destination address (addr), data payload

(data), and payload length (len).

4.7.2 Using PLMESap () on the PHY Layer Chip Configuration

The Application layer sends configuration requests and queries to the nanoLOC TRX Transceiver

using the SAP PLMESap() on the PHY Layer.

The Application layer uses MsgT, as described in section 4.3 (unused parameters noted below).

Primitives

The parameter prim uses the following primitives (attribute parameter) to indicate the requested

service:

+ PLME_GET_REQUEST

PURPOSE: Queries a setting of the layer parameter. For example, is FEC set to on?

The attribute parameter is used to select one of the supported attributes (see below), while

the value parameter selects the current setting of the attribute. The value field is only valid if

the status field indicates no error.

+ PLME_SET_REQUEST

PURPOSE: Sets a parameter of the layer. For example, set FEC to on.

The attribute parameter is used to select one of the supported attributes (see below), while

the value parameter provides the new value to set.

void PLMESap (MsgT * msg)

typedef struct

{

uint8_t prim;

AddrT addr;

uint8_t len;

uint8_t *pdu;

uint8_t data[128];

uint8_t status;

uint16_t value;

uint8_t attribute;

} MsgT;

Not used


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Attributes

The following attributes are available to be set or queried through the function PLMESap().

+ PHY_LOG_CHANNEL

PURPOSE: Selects or requests a logical channel, which is a predefined set of transmissionmode settings. Table 5 lists the supported logical channels.

+ PHY_CHANNEL

PURPOSE: Sets the center frequency used in the NTRX_Mode. Table 6 lists the available chan-

nels:

+ PHY_ARQ

PURPOSE: Turns on and off automatic retransmissions. When on, it also sets the maximum

number of retransmissions. The range for maximum retransmissions is 0 to 14.

+ PHY_FEC

PURPOSE: This attribute turns on and off Forward Error Correction (FEC). For more details

about FEC, see nanoLOC TRX (NA5TR1) Transceiver User Guide.

+

PHY_TX_POWER PURPOSE: This attribute sets the output power of the transmitter. The programmable output

power of the nanoLOC chip is from -33 dBm to 0 dBm.

Table 5: NTRX_LogChannel attributes

Logical Channel Bandwidth [MHz] Bitrate [ns] FEC Centerfreq ID

NLC_80_1_N_0 80 1000 No 0

NLC_22_4_N_1 22 4000 No 1

NLC_22_4_N_7 22 4000 No 7

NLC_22_4_N_13 22 4000 No 13

Table 6: NTRX_Channel attributes

Channel ID Center Frequency [GHz] Description

0 2.442.175 CSS, 80 MHz

1 2.412 802.11b, CHNL_ID 1

2 2.417 802.11b, CHNL_ID 2

3 2.422 802.11b, CHNL_ID 3

4 2.427 802.11b, CHNL_ID 4

5 2.432 802.11b, CHNL_ID 56 2.437 802.11b, CHNL_ID 6

7 2.442 802.11b, CHNL_ID 7

8 2.447 802.11b, CHNL_ID 8

9 2.

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