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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.


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

输出
  • 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

类型

长度

0x0B

0x00

类型0x0B表示命令leaps_anchor_list_get

TLV 响应

类型

长度

价值

0x40

0x01

0x00

TLV 响应(上一表格中的帧残留量)

类型

长度

价值

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

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

0xe8 0x03 0x00 0x00

0x00

0x08

0xab 0xbc …

类型 0x40 表示状态代码

类型 0x56 表示锚点列表