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--- doc:lps:tdoa3:protocol [2018-05-02 13:45]
kristoffer
+++ doc:lps:tdoa3:protocol [2018-05-02 14:41]
kristoffer
@@ Line 7: / Line 7: @@
 </WRAP>
-This page describes the [[doc:lps:tdoa3|TDoA]] anchor protocol V3.
 ===== System architecture =====
@@ Line 26: / Line 24: @@
 There is only one packet format.
-<code c>
+<ditaa>
-typedef struct {
+              +--------+--------------------+
-    uint8_t id;            // The id of the remote anchor
+Packet    :   | Header | Remote anchor data |
-    uint8_t seq;           // Sequence number of latest packet received from the remote anchor
+              +--------+--------------------+
-    uint16_t distance;     // Time of flight between the current anchor and the remote anchor in radio timer ticks
-    uint32_t rxTimeStamp;  // Receive time stamp of latest packet from the remote anchor
+bytes
-} __attribute__((packed)) remoteAnchorData_t;
+               <------------------------------------------->
+bits   8 bits     32 bits       8 bits
+               <------> <------> <-----------> <----------->
+              +--------+--------+-------------+-------------+
+Header    :   |  type  |  seq   | txTimeStamp | remoteCount |
+              +--------+--------+-------------+-------------+
-typedef struct {
-  uint8_t type;            // 0x30
+or 8 bytes
-  uint8_t seq;             // The sequence number of this packet
+                     <---------------------------------------------------------->
-  uint32_t txTimeStamp;    // Transmission time of this packet
+bits      1 bit      7 bits     32 bits     0 or 16 bits
+                     <------> <-----------> <------> <-----------> <------------>
+                    +--------+-------------+--------+-------------+--------------+
+Remote anchor data: |   id   | hasDistance |  seq   | rxTimeStamp |   distance   |
+                    +--------+-------------+--------+-------------+--------------+
+</ditaa>
-  uint8_t remoteCount;     // The number of slots in the following section that are populated with data
+  * **Header**
-  remoteAnchorData_t remoteData[LOCODECK_NR_OF_TDOA3_ANCHORS];
+    * **type:** 0x30
-} __attribute__((packed)) rangePacket3_t;
+    * **seq:** the sequence number of this packet 0 - 127
-</code>
+    * **txTimeStamp:** transmission time of this packet
+    * **remoteCount:** the number of slots in the Remote Anchor Data section that are populated with data, max 8
+  * **Remote anchor data**
+    * **id:** the id of the remote anchor
+    * **hasDistance:** 1 = distance data is included in the remote anchor data, total length is 8 bytes, otherwise it is 6 bytes.
+    * **seq:** sequence number of latest packet received from the remote anchor 0 - 127
+    * **rxTimeStamp:** receive time stamp of latest packet from the remote anchor
+    * **distance:** time of flight between the current anchor and the remote anchor in radio timer ticks
 ===== Tag implementation =====

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