swarm API - wless.ru
Contents
1. swarm API 1 6 1 NA 13 0267 0003 1 6 1 aP JITA N Bij API Specification ananotron swarm API TECHNOLOGIES Version 1 6 1 Author Dr Frank Schlichting Document Information Document Title swarm API Document Version 1 6 1 Current Date 2013 02 21 Print Date 2013 02 21 Document ID NA 13 0267 0003 1 6 1 Document Author Dr Frank Schlichting Disclaimer Nanotron Technologies GmbH believes the information contained herein is correct and accurate at the time of release Nanotron Technologies GmbH reserves the right to make changes without further notice to the product to improve reliability function or design Nanotron Technologies GmbH does not assume any liability or responsibility arising out of this product as well as any application or circuits described herein neither does it convey any license under its patent rights As far as possible significant changes to product specifications and functionality will be provided in product specific Errata sheets or in new versions of this document Customers are encouraged to check the Nanotron website for the most recent updates on products Trademarks All trademarks registered trademarks and product names are the sole property of their respective owners This document and the information contained herein is the subject of copyright and intellectual property rights under international convention All rights reserved No part of this document may be2. 000 255 corresponding to three ASCII values 30 39 hex Description Number of NodelDs in current NodelDList lt NodelDListEntry gt Format 16 bytes Range 000 255 000000000001 F FFFFFFFFFFE Description Time since last seen sorted last seen one first corresponding to three ASCII values 30 39 hex Page 18 Doc ID NA 13 0267 0003 1 6 1 2013 All Rights Reserved ananotron API Specification T E C H N O LOG I Example 2013 All Rights Reserved E S swarm API Version 1 6 1 Author Dr Frank Schlichting T as separator Node ID corresponding to twelve ASCII values O 1 A EI FIP SCOR 4212 ER o aa Loo 1F9523DD322154 21 F3C26041968 pI E cIP SL SCUSZU01A zIFGODD 4Z21EE SR ER Doc ID NA 13 0267 0003 1 6 1 Page 19 API Specification swarm API ananotron T E C H N O LOGIES Version 1 6 1 Author Dr Frank Schlichting 4 4 5 Air Interface Commands SetCSMA lt M gt Description Parameters Format Range Example Return value SetDiversity lt ENABLE gt Description Parameters Format Range Example Return value SetAntenna lt A gt Description Parameters Format Range Example Return value Page 20 Doc ID NA 13 0267 Switches CSMA mode on and off and determines back off factor for CSMA M 0 CSMA off gt ALOHA M 1 255 CSMA on M Back off factor 1 byte D 255 corresponding to ASCII values 0
3. Berlin Germanv Phone 49 30 399 954 0 Fax 49 30 399 954 188 Email sales nanotron com Internet www nanotron com Doc ID NA 13 0267 0003 1 6 1 Page 23
4. 0 432 009 1F56DD322154 0026 34 UOOSTP oC ER EE eh KE EE V9JS7TLF31L90520V1LA 0299 44 d ER DD 441EE e 422 EE E BroadcastRangingResults lt ENABLE gt 2013 All Rights Reserved Doc ID NA 13 0267 0003 1 6 1 Page 13 API Specification swarm API ananotron T E C H N O LOGIES Version 1 6 1 Author Dr Frank Schlichting Description Parameters Format Range Example Return value Enables Disables the broadcast transmission of ranging results after each successful ranging ENABLE 0 broadcast disabled ENABLE 1 broadcast enabled 1 byte 0 1 corresponding to ASCII values O 1 BroadcastRangingResults 1 lt ENABLE gt Format 1 byte Range 0 1 corresponding to ASCII values f r 1 Description returning parameter which has been set ENABLE 0 broadcast disabled ENABLE 1 broadcast enabled DeleteAllRangingResults Description Parameters Example Return values Example Deletes all entries in Ranging Results List none DeleteAllRangingResults lt NumberofDeletedEntries gt Format 3 bytes Range 000 255 Description Number of deleted entries from ranging results list 240 Page 14 Doc ID NA 13 0267 0003 1 6 1 2013 All Rights Reserved ananotron API Specification T E C H N O LOGIES swarm API Version 1 6 1 Author Dr Frank Schlichting 4 4 3 Data Communication Commands EnableDataNotification lt NOTIFY gt Description Par
5. 000000000001 FRFFFFFFFFFFE lt AGE gt AGE 000 Return all entries in Ranging Results List independent of age AGE 001 255 Maximum age for NodelDList entries in seconds 3 bytes 000 255 corresponding to three ASCII values 30 39 hex GetRangingResults 1F3C26041968 240 lt NumLines gt Format 4 bytes first byte fixed Range 000 255 corresponding to three ASCII values 30 39 hex Description Number of Lines after this line lt NodelD gt Format 12 bytes Range 000000000001 FFFFFFFFFFFE Description 6 byte Node ID of selected swarm node lt AGE gt Format 3 bytes Range 000 255 corresponding to three ASCII values 30 39 hex Description returning parameter which has been set AGE Selected maximum age for ranging results lt RangingSets gt Format 3 bytes Range 000 255 corresponding to three ASCII values 30 39 hex Description Number of ranging sets for NodelD in current ranging list lt TargetIDListEntry gt Format 23 bytes Range AGE 000 255 TargetiD 000000000001 F FFFFFFFFFFE Distance m 0000 00 9999 99 Description AGE Time since last seen sorted last seen one first corresponding to three ASCII values 30 39 hex as separator Target ID Target ID node ID corresponding to twelve ASCII values CO Va Ame F Distance Distance between NodelD and TargetID in meters 011 IF 3CZ6041 96s 240 008 dar TP CDL 4214 000L0 24 COCtIPOCERS221307002
6. 9 SetCSMA 0 lt M gt Format 1 byte Range 0 255 corresponding to ASCII values O 9 Description returning parameter which has been set M 0 CSMA off ALOHA M 1 255 CSMA on M Back off factor Switches diversity mode for this node on and off ENABLE 0 diversity off ENABLE 1 diversity on 1 byte 0 1 corresponding to ASCII values O 1 SetDiversity 1 lt ENABLE gt Format 1 byte Range 0 1 corresponding to ASCII values O 1 Description returning parameter which has been set ENABLE 0 diversity off ENABLE 1 diversity on Selects the active antenna to be used for ranging operation if diversity is off A 0 antenna 0 selected A 1 antenna 1 selected 1 byte 0 1 corresponding to ASCII values 0 1 SetAntenna 1 lt A gt Format 1 bvte Range 0 1 corresponding to ASCII values T 1 Description returning parameter which has been set A 0 antenna 0 A 1 antenna 1 0003 1 6 1 2013 All Rights Reserved ananotron API Specification TECHNOLOGIES swarm API Version 1 6 1 Author Dr Frank Schlichting 4 5 Format for Data Notification Messages This chapter describes the communication structure for Data Notifications when data notification has been enabled Notification format Data Notification Flag fixed ID Data Notification Flag Format 3 bytes Content DNO 44 4E 4F HEX ID Format 12 bytes Rang
7. I Expansion for greater No of swarm nodes ID broadcast blink packet communication ID List read out option to deactivate ranging response Streamlined for nanoPAN 5375 Boards product name change text changes functional changes diversity removed GetRangingResults added redefine node types delete SetTaglDListParam command add age to GetTagIDList GetRangingResults some commands renamed DeleteAllRangingResults EnableDataNotification Format for data notification messages added minor definition changes BroadcastData FillRangingData SaveSettings RestoreSettings EnableRangingData added ClearSendBuffer removed default settings added parameter values adjusted rename document title minor typing errors corrected LED settings changed command removed return value for BroadcastData added switch logic changed Text changes Multi line output format changed API command set overview and categories added commands ReadSettings and SetFactorySettings added hardware specific content transferred to separate document parameters changed in SetCSMA FillRangingData SendDataTo GetData BroadcastData 2013 All Rights Reserved ananotron T E C H N O LOGIES Life Support Policy These products are not designed for use in life support appliances devices or systems where malfunction of these products can reasonably be expected to result in personal injury Nanotron Technologies GmbH customers using or selli
8. NumLines gt lt ParameterName gt lt Value gt lt ParameterName gt lt Value gt none ReadSettings lt NumLines gt Format 4 bytes first byte fixed Range 000 255 corresponding to three ASCII values 30 Description Number of lines after this line lt ParameterName gt Format ASCII Description Name of following parameter value lt Value gt Format Depends on parameter 009 FW _VER verl 6 1 MAC 000000000001 RANGING BRDC 1 ID BRC si BRDC_INTERVAL 030 NODE TYPE 1 PRIVACY 0 DNO 0 CSMA 1 Reset device configuration factory settings Default configuration is MAC 000000000001 Ranging broadcast enabled ID broadcast enabled ID broadcast interval 30s Node type gt active 39 hex 2013 All Rights Reserved ananotron API Specification TECHNOLOGIES swarm API Version 1 6 1 Author Dr Frank Schlichting Responds to ranging requests is true Data notification is enabled CSMA is enabled with seed 1 Parameters none Example SetFactorySettings Return value lt errorcode gt Format 1 byte Range 0 1 corresponding to ASCII values O 1 Description Result of writing operation to EEPROM errorcode 0 EEPROM successfully written errorcode 1 Writing parameters to EEPROM failed 2013 All Rights Reserved Doc ID NA 13 0267 0003 1 6 1 Page 11 API Specification ananotron swarm API TECHNOLOGIES Version 1 6 1 Author Dr Frank Schlichti
9. Type 2 lt TYPE gt Format 1 byte Range 0 2 corresponding to ASCII values 0 2 Description returning parameter which has been set TYPE Type of node which has been set Saves all setting including Node ID permanently to EEPROM none SaveSettings Doc ID NA 13 0267 0003 1 6 1 Page 9 API Specification swarm API ananotron T E C H N O LOGIES Version 1 6 1 Author Dr Frank Schlichting Return value RestoreSettings Description Parameters Example Return value ReadSettings Description Parameters Example Return values Example SetFactorySettings Description Page 10 Doc ID NA 13 0267 0003 1 6 1 lt errorcode gt Format 1 byte Range 0 1 corresponding to ASCII values 0 1 Description Result of saving operation errorcode 0 Saving of all parameters successfully verified errorcode 1 Saving of parameters not successful verification failed Restores all parameter settings from EEPROM none RestoreSettings lt errorcode gt Format 1 bvte Range 0 1 corresponding to ASCII values O 1 Description Result of restoring operation errorcode 0 Restoring of all parameters successful errorcode 1 Restoring parameters from EEPROM failed Reads current device configuration First line is the number of following lines All others state the name of parameter separated with and value The value depends on parameter lt
10. ameters Format Range Example Return value Enables and disables data notification NOTIFY 0 Node will not trigger host when data paket has been received NOTIFY 1 Node will trigger host when data paket has been received 1 byte 0 1 corresponding to ASCII values O 1 EnaboleDataNotificatiorn 1 lt NOTIFY gt Format 1 byte Range 0 1 corresponding to ASCII values 0 1 Description returning parameter which has been set NOTIFY Data notification enabled disabled SendDataTo lt ID gt lt len gt lt data gt Description Parameters Format Range Format Range Format Range Example Return value GetData lt void gt Description Parameters Example Return values 2013 All Rights Reserved Sends lt data gt of length lt len gt to node lt ID gt lt ID gt 6 byte Node ID of ranging partner node 12 bytes 000000000001 FFFFFFFFFFFE corresponding to twelve ASCII values 30 39 hex lt len gt length of payload in bytes HEX 2 bytes 01 80 hex corresponding to two ASCII values 0 9 A F lt data gt payload to be transmitted 2 bytes lt len gt times 2 bytes of payload 00 FF corresponding to two ASCII values 0 9 A E SendDataTo 1F318052001A 02 FA13 lt errorcode gt Format 1 byte Range 0 1 corresponding to ASCII values O 1 Description indi
11. by a host platform breaking down the functionality into small functional elements on the embedded part and realizing more complex system functionality on the customers host platform allowing for maximum flexibility for the intended appication a b C d 2 Application The intended application is a multi node peer to peer ranging solution in which every embedded swarm radio is connected to a host platform Transceiver nodes capable of ranging and communicating with other nodes are controlled through their API by a host platform The individual host platform controls the embedded platform to range to one of the remaining other nodes and returns the distance value between the two nodes Three different types of swarm behaviour exist ACTIVE PASSIVE and SNIFFER ACTIVE A node with active behaviour is able to initiate a ranging as well as a communication operation to other nodes with both active and passive behaviour It responds to ranging requests of other nodes and forwards results to the controlling host platform All parameters of an active platform can be controlled via the API A node with active behaviour can also act as a passive node PASSIVE A node with passive behaviour responds to ranging requests of other nodes It cannot initiate a ranging or a communication operation to other swarm radios Since there is no controlling host platform it does not forward ranging results All parameters of a passive platform are fixed and
12. cannot be controlled via an API However an active node behaving as a passive node can be switched back to its active behaviour SNIFFER A node with sniffer behaviour listens to all radio communication between active and passiv as well as between active and active nodes It forwards the received packets to its host platform via the API A sniffer node cannot initiate a ranging or communication operation to other swarm nodes It does not respond to ranging requests of other nodes All nodes with active behaviour are equal and all nodes are independent Therefore all active nodes shall obtain the full ranging information The higher level application layer is not part of the API specification and will be programmed by the customer The host platform will be able to select the NODE ID of the partner node which corresponds to the tag s MAC address it wants to range to A veriety of hardware platforms will be available supporting specific requirements for instance higher precision ranging dedicated development support specific form factors etc All these swarm platforms will support the general functionality of this API supporting hardware independent application development The swarm high precision radios will feature two switchable antennas The host platform is able to select which antenna shall be used on the embedded platform to perform the ranging Alternatively antenna diversity can be switched on by the host Then the embedded node will auto
13. cast of Node ID blink packets disabled ENABLE 1 Broadcast of Node ID blink packets enabled SetBroadcastinterval lt TIME gt Description Parameters Format Range Example Return value GetNodelDList lt AGE gt Description Parameters Format Range Example Return values Sets the broadcast interval in which the Node ID will be sent TIME Blink interval in seconds 2 bytes 01 99 corresponding to two ASCII values 30 39 hex SetBroadcastinterval 02 lt TIME gt Format 2 bytes Range 00 99 corresponding to two ASCII values 30 31 hex Description returning parameter which has been set TIME Time interval for Node ID blink broadcasts Reports the currently valid NodelDList with time stamps that have a maximum age AGE in seconds AGE 000 Delete all entries in NodelDList AGE 001 255 Maximum age for NodelDList entries in seconds 3 bytes 000 255 corresponding to three ASCII values 30 39 hex GetNode IDList 240 lt NumLines gt Format 4 bytes first byte fixed Range 000 255 corresponding to three ASCII values 30 39 hex Description Number of Lines after this line lt AGE gt Format 3 bytes Range 000 255 corresponding to three ASCII values 30 39 hex Description returning parameter which has been set AGE Validity time for NodelDList If set parameter is 000 AGE returns the last set interval lt NumNodelDs gt Format 3 bytes Range
14. cating status of ranging operation Errorcode 0 success gt data communication valid Errorcode 1 error timeout message could not be delivered Reads out transmitted data void GetData Number of bytes ID Payload lt Number of bytes gt Format 2 bytes Range 00 80 hex corresponding to two ASCII values O 9 A F Description returns the number of bytes in pending message Number of bytes 00 no pending message available Number of bytes 01 80 hex number of bytes in message lt ID gt Format 12 bytes Range 000000000001 FRFFFFFFFFFFE Doc ID NA 13 0267 0003 1 6 1 Page 15 API Specification swarm API ananotron T E C H N O LOGIES Version 1 6 1 Author Dr Frank Schlichting corresponding to two ASCII values 0 9 A F Description returns ID of node which sent message lt Payload gt Format 2 bytes lt Number of bytes gt times 2 bytes of payload Range 00 22 FF corresponding to two ASCII values O 9 A F Description payload received BroadcastData lt len gt lt data gt Description Parameters Format Range Format Range Example Return value Broadcasts lt data gt of length lt len gt to all nodes lt len gt length of payload in bytes HEX 2 bytes 01 80 hex corresponding to two ASCII values O 9 A F lt data gt payload to be tran
15. ce in meters Diversity off ranging result with antenna lt active gt Diversity on minimum of 2 ranging results with antenna 0 and 1 If only one valid ranging result exists in diversity mode this result is returned and Errorcode 4 is set lt Antenna gt Format 1 byte Range 0 2 corresponding to ASCII values 0 2 Description returning the antenna used by non initiating ranging partner antenna 0 antenna O has been used for ranging antenna 1 antenna 1 has been used for ranging antenna 2 both antennas have been used for ranging diversity on only Remark The non initiating ranging partner will respond by initially using antenna 0 and after completing the ranging request then switch to antenna 1 and vice versa The used antenna will be transmitted back to the initiator as payload For swarm radios that do not support diversity the return value will be antenna 0 Page 12 Doc ID NA 13 0267 0003 1 6 1 2013 All Rights Reserved ananotron API Specification TECHNOLOGIES swarm API Version 1 6 1 Author Dr Frank Schlichting GetRangingResults lt NodelD gt lt AGE gt Description Parameters Format Range Format Range Example Return values Example Reports the received indirect ranging results between the selected node lt NodelD gt and other nodes with IDs lt TargetID 12 lt TargetID 22 lt TargetID n gt which have a maximum age of AGE in seconds lt NodelD gt 12 bytes
16. dded software code for swarm functionality e Peer to peer ranging 1 to N Addressing Node ID e Low level API based on single ranging e API returns ranging value or error code after timeout e UART interface to host for each unit e Maximum time for one elementary ranging operation lt 12 5 ms e No power down required e Media access mode ALOHA optionally CSMA e Diversitv on off configuration e Diversity switching on initiating unit only 4 2 General Communication Protocol amp Host vs swarm Synchronisation For the general communication protocol the following conventions apply 1 All communication via the interface is done by ASCII characters This implies that e g a 6 byte node ID hexadecimal will be transmitted in the following format Node ID hex ooooBF260468 o o o O B F 2 6 0416 8 ASCII hex 2 Allcommand communication ends with carriage return line feed Command termination pein fA ASCII hex OD OA 3 All command codes and their respective parameters are separated by one space character ASCII 20 Example RangeTo 0000BF260468 4 All commands are transmitted MSB first LSB last 5 Return code for unknown or erroneous command is ERR r n Example WrongCommand xyz ERR lt CR LF gt 2013 All Rights Reserved Doc ID NA 13 0267 0003 1 6 1 Page 7 API Specification ananotron swarm API TECHNOLOGIES Version 1 6 1 Author Dr Frank Schlichting 4 3 API Comma
17. der to prevent permanent damage dential installation and against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio fre quency energy and if not installed and used in accordance with the instructions as provided in the user manual may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation Operation of this equipment in a resi dential area is likely to cause harmful interference in which case the user will be required to correct the interference at his or her own expense If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures 1 reorient or relocate the receiving antenna 2 increase the separation between the equipment and receiver 3 connect the equipment into an outlet on a circuit different from that to the connected equipment and 4 consult the dealer or an experienced technician for help Headquartered in Berlin Germany Nanotron Technologies GmbH was founded in 1991 Further Information For more information about products from Nanotron Technologies GmbH contact a sales representative at the following address Nanotron Technologies GmbH Alt Moabit 60 10555
18. e 000000000001 FRFFFFFFFFFFE corresponding to two ASCII values O 9 A En Description returns ID of node which sent message Example DNO 1F3CFF322133 4 6 API Default Settings When starting the Swarm Radio the following default settings representing an active node are valid Broadcast Ranging Results on ID Broadcast on ID Broadcast Interval 30s Node Type 1 Full Active Node Privacy Mode off respond to ranging requests Data Notification on CSMA on Enable Ranging Data off 4 7 Setting for different Node Behaviours The following parameter values are set when a specific node behaviour is selected O aI A a Node Type LG 1 2013 All Rights Reserved Doc ID NA 13 0267 0003 1 6 1 Page 21 API Specification swarm API Version 1 6 1 Author Dr Frank Schlichting 5 Revision Historv 2012 05 30 E Schlichting 1 0 2012 06 01 F Schlichting 1 1 2012 06 06 E Schlichting 1 2 2012 09 24 F Schlichting 1 3 2012 09 28 F Schlichting 1 4 2012 10 08 F Schlichting 1 5 2012 11 16 F Schlichting 1 5 1 2013 01 18 F Schlichting 1 6 2013 02 19 F Schlichting 1 6 1 End of Document Page 22 Doc ID NA 13 0267 0003 1 6 1 ananotron T E C AWN O LOGIES Initial version Feedback from SW added LED UI specified Customer feedback added API commands added commands format specified communication protocol specified Rename to swarm Ranging Demonstrator AP
19. nd Set Overview This chapter summarizes and catagorizes the API Command Set which is available to interact with the embedded ranging hardware platform 4 3 1 swarm radio Setup Commands SetNodelDAdd Sets the Node ID of swarm node ReadNodelDAdd Readback of configured Node ID of node connected to host SetNodeType Sets the type of node which will also be broadcasted in ID blinks SaveSettings Saves all setting including Node ID permanently to EEPROM RestoreSettings Restores all parameter settings from EEPROM ReadSettings Readback of current Node configuration SetFactorySettings Reset device configuration to factory default settings 4 3 2 Ranging Commands SetPrivacyMode Enables and disables response to a received ranging request RangeTo Initiates an elementary ranging cycle to another swarm node GetRangingResults Reports the received indirect ranging results between the selected node lt NodelD gt and other nodes with IDs lt TargetID 12 lt TargetID 22 lt TargetID n gt which have a maximum age of AGE in seconds BroadcastRangingResults Enables Disables the broadcast transmission of ranging results after each successful ranging DeleteAllRangingResults Deletes all entries in Ranging Results List 4 3 3 Data Communication Commands EnableDataNotification Enables and disables data notification SendDataTo Sends lt data gt of length lt len gt to node lt ID gt GetData Reads out transmitted data BroadcastData Broadcasts lt da
20. ned to provide reasonable protection against harmful interference in a resi About Nanotron Technologies GmbH Nanotron provides reliable loss protection technology and solutions that are used to protect people and animals Energy efficient battery powered wireless nodes are the key building blocks These small devices create a Virtual Safety Zone which protects tagged people and animals Robust wireless Chirp technology underpins nanotron s offering of chips modules and loss protection software for indoor and outdoor environments world wide 2013 All Rights Reserved API Specification swarm API Version 1 6 1 Author Dr Frank Schlichting where posted notices instruct you to do so In aircraft use of any radio frequency devices must be in accordance with applicable regulations Hospitals or health care facilities may be using equipment that is sensitive to external RF energy With medical devices maintain a minimum separation of 15 cm 6 inches between pacemakers and wireless devices and some wireless radios may interfere with some hearing aids If other personal medical devices are being used in the vicinity of wireless devices ensure that the device has been adequately shielded from RF energy In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures CAUTION Electrostatic Sensitive Device Precaution should be used when handling the device in or
21. ng 4 4 2 Ranging Commands SetPrivacyMode cENABLE Description Enables and disables response to a received ranging request Parameters ENABLE 0 Node will respond to ranging requests ENABLE 1 Node will not respond to ranging requests Format 1 byte Range 0 1 corresponding to ASCII values O 1 Example SetPrivacyMode 1 Return value lt ENABLE gt Format 1 byte Range 0 1 corresponding to ASCII values 0 1 Description returning parameter which has been set ENABLE 0 Privacy mode disabled ranging response enabled ENABLE 1 Privacy mode enabled no ranging response RangeTo lt ID gt Description Initiates an elementary ranging cycle to node with node ID lt ID gt Parameters lt ID gt 6 byte Node ID of ranging partner node Format 12 bytes Example RangeTo QOOOBF260468 Return values errorcode ranging result antenna lt Errorcode gt Format 1 byte Range 0 4 corresponding to ASCII values O 4 Description indicating status of ranging operation Errorcode 0 Errorcode 1 Errorcode 2 Errorcode 3 Errorcode 4 success gt ranging result valid ranging to own ID ID out of range no ACK ranging unsuccessful ACK OK then timeout only one ranging operation successful in diversity mode lt Ranging result gt Format 7 bytes Range 0000 00 9999 99 ranging distance in meters Description returning the measured ranging distan
22. ng these products for use in such applications do so at their own risk and agree to fully indemnify Nanotron Technologies GmbH for any damages resulting from such improper use or sale Electromagnetic Interference Compatibility Nearly every electronic device is susceptible to electromagnetic interference EMI if inadequately shielded designed or otherwise configured for electromagnetic compatibility To avoid electromagnetic interference and or compatibility conflicts do not use this device in any facility FCC User Information Statement according to FCC part 15 19 This device complies with Part 15 of the FCC Rules Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation Statement according to FCC part 15 21 Modifications not expressly approved by this company could void the user s authority to operate the equipment RF exposure The internal external antennas used for this mobile transmitter must provide a separation distance of at least 20 cm from all persons and must not be co located or operating in conjunction with any other antenna or transmitter Statement according to FCC part 15 105 This equipment has been tested and found to comply with the limits for a Class A and Class B digital device pursuant to Part 15 of the FCC Rules These limits are desig
23. nomously perform two consecutive ranging operations to the selected partner node one for each node antenna In this case the smaller of the two obtained ranging values will be returned to the host This ensures significant improvement on possible multi path effects Page 4 Doc ID NA 13 0267 0003 1 6 1 2013 All Rights Reserved aenanotron API Specification TECHNOLOGIES swarm API Version 1 6 1 Author Dr Frank Schlichting Fig 1 Principle of a swarm kit here for 5 swarm radios All nodes shall be independent from each other and also be battery operated to allow fully mobile applications It shall be possible to identify new nodes by listening to the node s ID broadcast paket or other ranging operations already performed by this node For this purpose the swarm radio shall be able to perform two tasks 1 Send out ID broadcast information This feature can be deactivated 2 Listening to other broadcast IDs and storing the respective IDs in a swarm ID list which can be read out by the host Furthermore it shall be possible to communicate a data packet of variable length peer to peer from one active swarm radio A to another active swarm radio B Swarm does support active and passive behaviour See above Active nodes can be accessed via the API to control data and ranging operations They do report ranging results as well as received swarm node IDs in an ID list Passive nodes respond to a ranging request and send ou
24. reproduced stored in a retrieval system or transmitted in any form by any means electronic mechanical or optical in whole or in part without the prior written permission of Nanotron Technologies GmbH Copyright 2013 Nanotron Technologies GmbH Page 2 Doc ID NA 13 0267 0003 1 6 1 2013 All Rights Reserved ananotron API Specification TECHNOLOGIES swarm API Version 1 6 1 Author Dr Frank Schlichting Contents ee EEN 4 E ao ec E E 4 3 Hardware Platforms amp Interface to Host RANNER 6 4 Application Programming Interface A 7 4 1 General Requirements n00000000nnoo000000neeooonannnennronnnnnrenronnnnnneerronnnnnrerrrronnnnnnerrennnnnnenrrnnnnnnennennn nnee 7 4 2 General Communication Protocol 8 Host vs swarm Synchronisation se eessnnnzennnznnnzzznnnnnznni 7 4 3 API Command KE de dE 8 4 3 1 swarm radio Setup Commande 8 4 3 2 Ranging Comm NO agenti ir e je ta be See ja lan 8 4 3 3 Data Communication Commande E 8 4 3 4 swarm radio Node Identification sess nn AAAEAA EEA AEEEEKKANENEEEAEEEEZEZEETI 8 4 3 5 Air Interface Commande sennnnseeneannneneneeeensssertntrttttttttttenstttttrrttttttttttEEnSsaEEAEEEEEEEEEEEEEEnnn Ennn EEEE 8 4A APLComMmand Se lsien 9 4 4 1 swarm radio Setup Commande 9 44 2 Rem ma Com nn E Se ea a a a ta 12 4 4 3 Data Communication Commande sssesseseeenttreeeeeeeeessttttrnrtttttrrttenensstnrrnnnn ttrt treennnnnn rnrn reee 15 4 4 4 swarm radio Node Iden
25. scription Parameters Example Return value SetNodeTvpe lt TYPE gt Description Parameters Format Range Example Return value SaveSettings Description Parameters Example 2013 All Rights Reserved Sets the Node ID of swarm node to lt ID gt lt ID gt 12 bytes 000000000000 FFFFFFFFFFFE 000000000000 is not a valid address but resets the original Node ID derived and hashed from the uG s unique MAC address if supported by uC otherwise 000000000001 SetNodeIDAdd QOOOBF260468 lt ID gt Format 12 bytes Range 000000000000 FFFFFFFFFFFE Description configured 6 byte Node ID of swarm node if set ID 000000000000 then default ID is returned Readback of configured Node ID of node connected to host void ReadNodeIDAdd lt ID gt Format 12 bytes Range 000000000001 FFFFFFFFFFFE Description configured 6 byte Node ID of swarm node Sets the type of node which will also be broadcasted in ID blinks TYPE 0 Passive node responds to ranging requests if enabled no data communication no ranging reporting TYPE 1 Full active node responds to ranging requests if enabled initiates ranging requests initiates data communication reports ranging results reports ID tag lists TYPE 2 Sniffer mode only listens to packets and reports packets does not initiate ranging nor responds to ranging requests 1 byte 0 2 corresponding to ASCII values 0 2 SetNode
26. smitted 2 bytes lt len gt times 2 bytes of payload 00 FF corresponding to two ASCII values 0 9 A F BroadcastData 02 FA13 lt len gt Format 2 bytes Range 01 80 hex corresponding to two ASCII values O 9 A F Description length of payload in bytes HEX EnableRangingData lt ENABLE gt Description Parameters Format Range Example Return value Enables and disables the transmission of data from the ranging data buffer along with a ranging operation initiated by RangeTo ENABLE 0 Ranging data will not be transmitted with RangeTo command ENABLE 1 Ranging data will be transmitted with RangeTo command 1 byte 0 1 corresponding to ASCII values O 1 EnableRangingData 1 lt ENABLE gt Format 1 byte Range 0 1 corresponding to ASCII values O 1 hex Description returning parameter which has been set ENABLE 0 Ranging response disabled ENABLE 1 Ranging response enabled FillRangingData lt len gt lt data gt Description Parameters Format Range Format Range Example Return value Fills the ranging data buffer with lt data gt of length lt len gt This data will be transmitted with the next RangeTo operation if EnableRangingData is lt On gt The ranging data lt data gt is contained within the ranging packet itself lt len gt length of ranging data payload in by
27. t their blink ID However passive notes are not able to be controlled via the API and will not report ranging results and communication data Data communication can only be performed between active nodes The node s behaviour active or passive is coded in the node s blink ID packet which is broadcasted to all other nodes The automatic ranging response for active packets can be deactived privacy mode 2013 All Rights Reserved Doc ID NA 13 0267 0003 1 6 1 Page 5 API Specification ananotron swarm API TECHNOLOGIES Version 1 6 1 Author Dr Frank Schlichting 3 Hardware Platforms amp Interface to Host A variety of different Swarm radios exist The description of both the embedded swarm radio hardware and its interface to the host controller is described in a separate document for each type of swarm radio Please refer to the respective manual to learn about the details for the individual radio The API described in this document is valid for all tyoes of swarm radios However not all radios support the full functionality of this API e g antenna diversity is only supported by Swarm radios high precision Page 6 Doc ID NA 13 0267 0003 1 6 1 2013 All Rights Reserved ananotron API Specification TECHNOLOGIES swarm API Version 1 6 1 Author Dr Frank Schlichting 4 Application Programming Interface 4 1 General Requirements The following general software requirements have to be met for implementing the embe
28. ta gt of length lt len gt to all nodes EnableRangingData Enables and disables the transmission of data from the ranging data buffer along with a ranging operation initiated by RangeTo FillRangingData Fills the ranging data buffer with lt data gt of length lt len gt This data will be transmitted with the next RangeTo operation if EnableRangingData is lt On gt The ranging data lt data gt is contained within the ranging packet itself 4 3 4 swarm radio Node Identification SetBroadcastNodelD Enables and disables broadcast of Node ID blink packets SetBroadcastinterval Sets the broadcast interval in which the Node ID will be sent GetNodelDList Reports the currentiv valid NodelDList with time stamps 4 3 5 Air Interface Commands SetCSMA Switches CSMA mode on and off and determines back off factor for CSMA SetDiversity Switches diversity mode for this node on and off SetAntenna Selects the active antenna to be used for ranging operation if diversity is off Page 8 Doc ID NA 13 0267 0003 1 6 1 2013 All Rights Reserved ananotron API Specification T E C H N O L O 4 4 API Command swarm API Version 1 6 1 Author Dr Frank Schlichting G IES Set In order to interact with the embedded ranging hardware platform the following API command set is implemented 4 4 1 swarm radio Setup Commands SetNodelDAdd 4ID Description Parameters Format Range Example Return value ReadNodelDAdd lt void gt De
29. tes HEX 2 bytes 01 74 hex corresponding to two ASCII values O 9 A F lt data gt payload to be transmitted 2 bytes lt len gt times 2 bytes of payload 00 FF corresponding to two ASCII values 0 9 A E FillRangingData OA FA13192F680426AE2345 lt errorcode gt Page 16 Doc ID NA 13 0267 0003 1 6 1 2013 All Rights Reserved anan ot ron API Specification TECHNOLOGIES swarm API Version 1 6 1 Author Dr Frank Schlichting Format 1 bvte Range 0 1 corresponding to ASCII values O 1 Description Status on ranging data buffer fill operation Errorcode 0 successful Errorcode 1 not successful 2013 All Rights Reserved Doc ID NA 13 0267 0003 1 6 1 Page 17 API Specification swarm API ananotron T E C H N O L OGIES Version 1 6 1 Author Dr Frank Schlichting 4 4 4 swarm radio Node Identification SetBroadcastNodelD lt ENABLE gt Description Parameters Format Range Example Return value Enables and disables broadcast of Node ID blink packets ENABLE 0 Broadcast of Node ID blink packets disabled ENABLE 1 Broadcast of Node ID blink packets enabled 1 byte 0 1 corresponding to ASCII values 0 1 SetBroadcastNodeID 1 lt ENABLE gt Format 1 byte Range 0 1 corresponding to ASCII values 0 1 Description returning parameter which has been set ENABLE 0 Broad
30. tification sess nnnnnn nanna nn A nr AAAKEAAEEnAAAAENEKEZENEEEEZEZZZZT 18 4 4 5 Air Interface Commande snnnnennnnnnnnnnneeeeeeesssttrnrnttttttttentssttrtrttttttttttnnn nner ran EEEE EEEEEEeennnne Ennn 20 4 5 Format for Data Notification Messages 21 4 6AP De att SENGS seses eneen R EE E ESEE EREE 21 4 7 Setting for different Node Behavours KKK A EFA KANA EEA EE EKAAEENEEKENEEEZEEZENEEEZZZZEZTI 21 eI VI SNOW Ee de EE 22 2013 All Rights Reserved Doc ID NA 13 0267 0003 1 6 1 Page 3 API Specification ananotron swarm API TECHNOLOGIES Version 1 6 1 Author Dr Frank Schlichting 1 Scope Scope of this document is to define a hardware independent Application Programming Interface API to realize the low level ranging functionality for a swarm radio described in chapter 2 A swarm is defined as a congregation of independent radios or nodes which share a common interest in their relative positioning and communication towards each other for a certain period of time Main focus on creating the API is to minimize effort in order to a implement ultimate mobility of any swarm of nodes b support development of swarm applications c fuel swarm productization a migration to volume solutions with best possible basic ranging performance To easily accomplish these tasks this is supported by using existing Nanotron hardware components and interfaces providing a generally available HW interface that can easily be controlled
Download Pdf Manuals
Related Search