dwm_anchor_list_get

Reads the list of surrounding anchors and works for anchors only. Anchors in the list can be from the same network or neighbor network.

void dwm_anchor_list_get(dwm_anchor_list_t *list)

Parameters

• input – (SPI/UART) ‘0’ | ‘1’(page number (only on SPI/UART, the user application reads whole list in 1 call), valid numbers are 0,1)

• input – (user application) (none)

• output – Status code, cnt, {node_id, position, rssi, seat, neighbor_network}

• cnt – ? 1 byte? (element count, 15 is maximum for SPI/UART, 30 is maximum for user application)

• node_id – ? 2 bytes ? (anchor ID)

• position – ? 12 bytes ?

• rssi – ? 1 byte signed? (signal strength indicator)

• 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)

C code example

dwm_anchor_list_t list;
int i;
dwm_anchor_list_get(&list);
for (i:0; i < list.cnt; ++i) {
     printf("%d. id=0x%04X pos=[%ld,%ld,%ld] rssi=%d seat=%u neighbor=%d\n", i,
                     list.v[i].node_id,
                     list.v[i].x,
                     list.v[i].y,
                     list.v[i].z,
                     list.v[i].rssi,
                     list.v[i].seat,
                     list.v[i].neighbor_network);
}

SPI/UART example 1

TLV Request
Type	Length	Value
0x0B	0x01	0x00

Type 0x0B means command dwm_an_list_get

TLV response
Type	Length	Value	Type	Length	Value
		uint8 - error code			uint8 - number of elements encoded	uint16 - UWB address in little endian	anchor nr.1			anchors nr. 2 … nr.15
							3 x int32 - position coordinates x, y, z in little endian	int8 - RSSI	uint8 - flags (bits 0-4) seat number (bit 5) neighbour network (bits 6-7) reserved	…
0x40	0x01	0x00	0x56	0xE1	0x0F	0xAB 0x1E …				…

Type 0x40 means err_code of the previous command

Type 0x56 means anchor list

SPI/UART example 2

TLV Request
Type	Length	Value
0x0B	0x01	0x01

Type 0x0B means command dwm_an_list_get

TLV Response (anchor list is empty)
Type	Length	Value	Type	Length	Value
0x40	0x01	0x00	0x56	0x01	uint8 - number of elements encoded in the Value
					0x00

Type 0x40 means err_code of the previous command

Type 0x56 means anchor list