Sensor Mode RW
0cd7e9d1-638a-4961-8b46-ae55020161a8
| Value | Length | Flags |
|---|---|---|
| uint8 mode; | 1 byte | RW |
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | IMU |
| 2 | Raw Accel, Gyro & Magneto |
1. Overview
Our BLE implementation largely follows Decawave's BLE spec (“PANS”). It allows for device information, receiving distances and positions, performing autopositioning, and more.
Service ID: 680c21d9-c946-4c1f-9c11-baa1c21329e7
The characteristics below are transcribed from the specification table dated 5 October 2019. The original is kept alongside this page as ble-gatt.png, and the full specification is available as a PDF.
2. Characteristics
Sensor Data R (notify)
bd097d0e-5978-49ee-8c82-4d0b861eae75
| Value | Length | Flags |
|---|---|---|
| uint8 mode; payload (depends on mode) | below | R (notify) |
| Mode | Payload | Length |
|---|---|---|
| 1 — IMU | float q0, q1, q2, q3; | 16 bytes |
| 2 — raw AGM | uint32 timestamp; uint16 scale; int16 ax, ay, az; uint32 timestamp; uint16 scale; int16 gx, gy, gz; uint32 timestamp; uint16 scale; int16 mx, my, mz; | 36 bytes |
Device Info RO
0eb2bc59-baf1-4c1c-8535-8a0204c69de5
| Value | Length | Flags |
|---|---|---|
| uint64 uid; uint32 hw_ver; uint32 fwloader_ver; uint32 fw_ver; uint32 fwloader_crc; uint32 fw_crc; uint8 flag; uint16 project | 31 bytes | RO |
Statistics RO
0eb2bc59-baf1-4c1c-8535-8a0204c69de5
| Value | Length | Flags |
|---|---|---|
| uint8 version; uint32 uptime; to be expanded | 5 bytes max (currently) | RO |
Location Data Mode RW
bd097d0e-5978-49ee-8c82-4d0b861eae75
| Value | Length | Flags |
|---|---|---|
| uint8 mode; | 1 byte | RW |
| Value | Meaning |
|---|---|
| 0 | positions (tags) |
| 1 | distances (tags to anchors) |
| 2 | distances + positions |
| 11 | distances (anchors to anchors) |
Location Data R (notify)
003bbdf2-c634-4b3d-ab56-7ec889b89a37
| Value | Length | Flags |
|---|---|---|
| uint8 mode; payload (depends on mode) | below | R (notify) |
| Mode | Payload | Length | Note |
|---|---|---|---|
| 0 — Positions | uint8 mode; uint8 version; uint8 count; count x [uint16 ID, float pos_x, pos_y, pos_z, uint8 quality_factor] | 3 + count x 15 | TAG ONLY |
| 1 — Distances | uint8 mode; uint8 version; uint8 count; count x [uint16 ID, uint16_t dist [cm]] | 3 + count x 4 | TAG ONLY |
| 2 — Position + Distances | uint8 mode; uint8 version; uint16 ID, float pos_x, pos_y, pos_z, uint8 quality_factor; uint8 count; count x [uint16 ID, uint16_t dist [cm]] | 18 + count x 4 | |
| 11 — A2A distances | uint8 mode; uint8 anchors_done; uint8 anchors_total; uint8 count; uint16 reporter_node; uint8 dist_cnt; dist_count x [uint16 ID; uint16 dist] | 7 + (dist_cnt x 4) | ANCHOR ONLY |
Get/Set Anchor Position RW
4f6d4b3c-3322-420f-accb-f34579b85d15
| Value | Length | Flags |
|---|---|---|
| uint8 count; uint8 qf; count x [ uint16 ID, int32 pos_x, pos_y, pos_z] | 1 + (cnt x 14) bytes | RW |
Operation Mode RW
3f0afd88-7770-46b0-b5e7-9fc099598964
| Value | Length | Flags |
|---|---|---|
| uint8 byte1; uint8 byte2 | 2 bytes | RW |
| Bit | byte 1 | byte 2 |
|---|---|---|
| bit0 | reserved | reserved |
| bit1 | reserved | reserved |
| bit2 | 0 = led off 1 = led on | reserved |
| bit3 | 0 = accel off 1 = accel on | 1 = new config (autoresets to 0) |
| bit4 | reserved | 1 = start autopos (autoresets to 0) |
| bit5 | reserved | 0 = loc engine off 1 = loc engine on |
| bit6 | reserved | 0 = low power off 1 = low power on |
| bit7 | 0 = tag 1 = anchor | 0 = initiator off 1 = initiator on |
Specification table last updated 5 October 2019.