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