Please note that the Chinese and Japanese versions are currently being updated and are not yet complete. Stay tuned for the final versions!

leaps_anchor_list_get

Read list of surrounding anchors. Works for anchors only. Anchors in the list can be from the same network or from neighbor network as well.


Input
  • offset: 8-bit unsigned integer (Offset on anchor list, used when there are more than 8 anchors in the list; 0 - no offset)

Output
  • Status Code, timestamp, flags, count, [anchor_0, anchor_1, …]

  • timestamp: 32-bit unsigned integer (* up-time in microseconds*)

  • count: 1 byte (element count, 8 is the maximum number of elements in the list that 1 TLV response could carry)

  • anchor_1, anchor_2, …, anchor_N: (list of anchors)

  • anchor_N: node_id, position, rssi, seat, neighbor_network (anchor list element where N can be from 1 to 8)

  • node_id: 2 bytes (anchor ID)

  • position: 12 bytes

  • rssi: 1 byte signed (signal strength indicator)

  • rx_rate: 1 byte unsigned (packet error rate)

  • seat: 5 bits (seat number occupied by the anchor)

  • neighbor_network: 1 bit (status flags that indicates if anchor is from current network or if it is from neighbor network)

  • seens: 1 byte (Number of BCN frames received from the anchor. This counter overflows at 255)

  • rx_coll: 16-bit unsigned integer (Number of seat collisions with this anchor)

  • rx_consec: 1 byte (Number of consecutive BCN frames received from the anchor)

  • dist: 32-bit unsigned integer (Distance from the anchor in millimeters)

  • drift_avg: float (4 bytes) (Average clock drift w.r.t the anchor)


Example

TLV Request

Type

Length

0x0B

0x00

Type 0x0B means command leaps_anchor_list_get

TLV response

Type

Length

Value

0x40

0x01

0x00

TLV response (residue of the frame from previous table)

Type

Length

Value

0x56

0xE1

uint32 - timestamp (little endian)

uint8 - flags

uint8 - number of elements encoded in the list

anchor nr. 1

anchors nr. 2 … nr. 8

uint16 - UWB address in little endian

3 x int32 - position coordinates x,y,z in little endian

int8 - RSSI

uint8 - rx_rate

uint8 - flags
(bits 0-4) seat number
(bit 5) neighbor_network
(bits 6-7) reserved

uint8 - seens

uint16 - rx_coll

uint8 - rx_consec

uint32 - dist

float - drift_avg

0xe8 0x03 0x00 0x00

0x00

0x08

0xab 0xbc …

Type 0x40 means status code

Type 0x56 means anchor list