leaps_anchor_list_get
读取周围锚点的列表. 仅适用于锚. 列表中的锚点可以来自同一网络，也可以来自邻居网络.
offset: 8-bit unsigned integer (Offset on anchor list, used when there are more than 8 anchors in the list; 0 - no offset)
状态码, 时间戳, 标志, 计数，[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 字节(锚点 ID)
position: 12 字节
rssi: 1 字节有符号（信号强度指示符）
rx_rate: 1 byte unsigned (packet error rate)
seat: 5 bits (锚占用的座位号)
neighbor_network: 1 bit (状态标志，指示锚点是来自当前网络还是来自邻居网络)
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)
示例
TLV 请求 |
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|---|---|
类型 |
长度 |
0x0B |
0x00 |
类型0x0B表示命令leaps_anchor_list_get
TLV 响应 |
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|---|---|---|
类型 |
长度 |
价值 |
0x40 |
0x01 |
0x00 |
TLV 响应（上一表格中的帧残留量） |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
类型 |
长度 |
价值 |
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0x56 |
0xE1 |
uint32 - 时间戳（小端序） |
uint8 - 标志 |
uint8-列表中编码的元素数 |
锚点nr. 1 |
anchors nr. 2 … nr. 8 |
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uint16 - UWB 地址，小端序 |
3 x int32 - 位置坐标x, y, z的小端序 |
int8 - RSSI |
uint8 - rx_rate |
uint8 - 标志
(0-4 位)座位号
(bit 5) neighbor_network
(6-7位) 保留
|
uint8 - seens |
uint16 - rx_coll |
uint8 - rx_consec |
uint32 - dist |
float - drift_avg |
… |
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0xe8 0x03 0x00 0x00 |
0x00 |
0x08 |
0xab 0xbc … |
… |
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类型 0x40 表示状态代码
类型 0x56 表示锚点列表