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_1.0.2.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.

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/)

If you use the Qorvo DWS3000 Shield, you can simply add --shield qorvo_dws3000 to your west build command (you may need to set BOARD_ROOT as well).

For custom boards, you only need to add a decawave,dw3000 compatible device to your .dts file. Here is an example:

Note that using nordic,nrf-spi (SPI without DMA) instead of nordic,nrf-spim (SPI with EasyDMA) may achieve better results (faster read and writes), as most of the SPI transactions to the DW3000 are very short and DMA has some overhead for setting up. If you want to transfer large amounts of data SPIM may be faster though.

&spi0 {
	status = "okay";
	compatible = "nordic,nrf-spi";
	cs-gpios = <&gpio0 29 GPIO_ACTIVE_LOW>;

	pinctrl-0 = <&spi0_default>;
	pinctrl-1 = <&spi0_sleep>;
	pinctrl-names = "default", "sleep";
	dw3000@0 {
		compatible = "decawave,dw3000";
		spi-max-frequency = <32000000>;
		reg = <0>;
		reset-gpios = <&gpio0 30 GPIO_ACTIVE_LOW>;
		irq-gpios = <&gpio0 2 GPIO_ACTIVE_HIGH>;
	};
};

&pinctrl {
		/* DW3000 SPI */
	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 configure it in prj.conf:

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

This is a minimal code fragment to check the basic functionality (reading the device ID).

#include <zephyr/kernel.h>
#include <zephyr/types.h>

#include <deca_device_api.h>
#include <deca_probe_interface.h>
#include <dw3000_hw.h>

#include <stdio.h>

int main() {
    uint32_t dev_id;

    dw3000_hw_init();
    dw3000_hw_reset();

    k_sleep(K_MSEC(2000));

    dwt_probe((struct dwt_probe_s *)&dw3000_probe_interf);

    dev_id = dwt_readdevid();
    printf("Device ID: %x\n", dev_id);

    return 0;
}

You can use this library to write your own code directly using the API provided by decadriver or you could also include my higher level library libdeca which adds some convenient functions, proper IRQ handling, and a simple implementation of two way ranging (TWR).

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.

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.

The driver code from Qorvo is licensed according to their own license: https://github.com/br101/zephyr-dw3000-decadriver/blob/master/dwt_uwb_driver/LICENSES/LicenseRef-QORVO-2.txt.

My own code is under the ISC license: https://github.com/br101/zephyr-dw3000-decadriver/blob/master/LICENSE.txt