Info Message

This message contains complex information about the tag.

type	length	value
0x000E	37	tag_information

The tag information contains the following fields:

field	description	length	endianity
battVoltage	Raw value of battery voltage. See battery level page.	1B	N/A
platform	0 – CR_tag ; 1 – Li-Ion tag	1B	N/A
hw_ver	byte_0 – HW_version; byte_1 – HW_revision;	2B	N/A
fw_ver	byte_0 – FW_version; byte_1 – FW_subversion; byte_2 - FW_revision	3B	N/A
channel	UWB channel number	1B	N/A
data_rate	0 – 110 kbps; 1 – 850 kbps; 2 – 6.8 Mbps	1B	N/A
preamble	Preamble length – see Tab. 2	1B	N/A
prf	0 – 16 MHz ; 1 – 64 MHz	1B	N/A
preamCode	Preamble code number	1B	N/A
nSfd	Start frame delimiter: 0 –STD; 1 – NON-STD	1B	N/A
sleep mode	Sleep mode during no motion. See Tab. 3.	1B	N/A
random_dev	Random deviation 0 – disable ; 1 - enable	1B	N/A
refresh_interval	Blink refresh interval in milliseconds	4B	Little-endian
sm_refresh_interval	Blink refresh interval in milliseconds during sleep (when the tag is not moving)	4B	Little-endian
TX_power	See Fig. 1 and Tab. 4	4B	Little-endian
mounted_sensors	See Tab. 5	1B	N/A
active_sensors	See Tab. 6	1B	N/A
acc_threshold	Acceleration threshold for wakeup tag from sleep	2B	Little-endian
IMU_FS_range	Inertial sensors full scale range. See Tab. 7 and Tab. 8	1B	N/A
BARO_setting	0 - disable; 1 - low power; 2 - normal mode; 3 - high precision	1B	N/A
AHRS_representation	0 - disable; 1 - Tait-Bryan angles; 2 - quaternions	1B	N/A
bc_version	Current version of back-channel protocol	1B	N/A
bc_period	Back-channel period during normal operation [every Nth blink is BC]. 0 - disable.	1B	N/A
bc_period_sm	Back-channel period during sleep mode [every Nth blink is BC]. 0 - disable.	1B	N/A
crc	Place holder. Generated by DW1000 hardware	2B	N/A

Tab 1. Info message fields description.

Preamble length [B]	Preamble length field value
4096	0
2048	1
1536	2
1024	3
512	4
256	5
128	6
64	7

Tab 2. Preamble length

Sleep mode	sleep mode field value
Disable	0
Sleep after 15 sec without motion	1
Immediate sleep	2

Tab. 3. Sleep mode

Fig. 1: Transmit power bytes [DW1000 datasheed]

DW 1000 TX power setting.	TX power field bites
DEFAULT_PWR-TX_DATA_PWR	31:24
BOOST_0.5ms_PWR-TX_PHR_PWR	23:16
BOOST_0.25ms_PWR-TX_SHR_PWR	15:8
BOOST_0.125ms_PWR	7:0

Tab. 4: TX power setting fields. See DW1000 user manual.

Mounted and active sensor

The bit is set if the sensor is mounted/active.

bit 7	bit 6	bit 5	bit 4	bit 3	bit 2	bit 1	bit 0
res.	res.	res.	res.	barometer	magnetometer	gyroscope	accelerometer

Tab. 5: Mounted sensors

bit 7	bit 6	bit 5	bit 4	bit 3	bit 2	bit 1	bit 0
AHRS_enable	res.	res.	res.	barometer	magnetometer	gyroscope	accelerometer

Tab. 6: Active sensors

Gyroscope full scale range	IMU_FS_range field [7:4]
± 250 dps	0
± 500 dps	1
± 1000 dps	2
± 2000 dps	3

Tab. 7: IMU_FS_range - gyroscope

Accelerometer full scale range	IMU_FS_range field [3:0]
± 2 g	0
± 4 g	1
± 8 g	2
± 16 g	3

Tab. 8: IMU_FS_range – accelerometer

Structure of value part of TLV in C code:

typedef struct __attribute__((packed, aligned(1))){
	uint8_t battVoltage;				/**<Battery level in RAW form.*/
	uint8_t platform;					/**<Type of tag.*/
	uint8_t hw_ver[2];					/**<Hardware version and revision.*/
	uint8_t fw_ver[3];					/**<Firmware version, subversion and revision.*/
	uint8_t channel;					/**<Used UWB radio channel*/
	uint8_t data_rate;					/**<UWB radio data rate*/
	uint8_t preamble;					/**<UWB radio - preamble code length*/
	uint8_t prf;						/**<UWB radio - pulse repetition frequency*/
	uint8_t preamCode;					/**<UWB radio preamble code*/
	uint8_t nSfd;						/**<Start frame delimiter*/
	uint8_t sleep_mode;					/**<No motion sleep mode*/
	uint8_t random_dev;					/**<Random deviation of TDOA blink refreshrate*/
	uint8_t refresh_interval[4];		/**<TDOA Blink refresh rate*/
    uint8_t sm_refresh_interval[4];     /**<TDOA Blink refresh rate - no motion sleep mode*/
	uint8_t TXpower[4];					/**<UWB radio transmitter power*/
	uint8_t mounted_sensors;			/**<Each bite represent one sensor, if set : concrete sensor is mounted on tag*/
	uint8_t active_sensors;				/**<Each bite represent one sensor, if set : concrete sensor is active*/
	uint8_t acc_threshold[2];			/**<No motion - acceleration threshold*/
	uint8_t IMU_FS_range;				/**<Inertial measurement unit (accelerometer and gyroscope full scale ranges*/
	uint8_t BARO_setting;				/**<Barometer precision setting*/
	uint8_t AHRS_representation;		/**<Spatial rotation representation. 0 - disabled, 1 - Tait-brian angles, 2 - Quaternion */
	uint8_t bc_version;                 /**<Current version of back-channel protocol. */
	uint8_t bc_period_ri;               /**<Back-channel period during normal operation [every Xth refresh interval] */
	uint8_t bc_period_rism;             /**<Back-channel period during sleep mode [every Xth refresh interval in sleep mode] */
} tag_info_msg_t;