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feat: Merge SaltyTag BLE — GPS/IMU streaming to UWB tag, anchor display, UWB position authority #5

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sl-ios wants to merge 19 commits from sl-ios/saltytag-merge into main
pull from: sl-ios/saltytag-merge
merge into: seb:main
Conversation 0 Commits 19 Files Changed 22 +22 -7
1 changed files with 22 additions and 7 deletions
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Showing only changes of commit 9197371522 - Show all commits

25
SulTee/SulTee/BLEPackets.swift
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@ -87,10 +87,15 @@ enum BLEPackets {
// MARK: - Ranging notification parser
//
// HAL firmware format (8 bytes, 2 fixed anchors):
// HAL firmware format v3.3 (8 bytes, 2 fixed anchors):
// [0-3] Int32 LE front anchor range mm (id=0)
// [4-7] Int32 LE back anchor range mm (id=1)
//
// HAL firmware format v3.4 (12 bytes, adds signal quality):
// [0-3] Int32 LE front anchor range mm (id=0)
// [4-7] Int32 LE back anchor range mm (id=1)
// [8-11] Float32 LE best_rssi dBm (shared; assigned to both anchors)
//
// Legacy multi-anchor format (future):
// [0] Uint8 anchor count N
// Per anchor (9 bytes):
@ -102,15 +107,18 @@ enum BLEPackets {
static func parseRanging(_ data: Data) -> [AnchorInfo] {
let now = Date()
// HAL two-anchor format: exactly 8 bytes, two Int32 LE range values
if data.count == 8 {
// HAL two-anchor format: 8 bytes (v3.3) or 12 bytes (v3.4 + RSSI float)
if data.count == 8 || data.count == 12 {
let frontMM = data.readInt32LE(at: 0)
let backMM = data.readInt32LE(at: 4)
let rssi: Double? = data.count == 12
? Double(data.readFloat32LE(at: 8))
: nil
return [
AnchorInfo(id: 0, rangeMetres: Double(frontMM) / 1000.0,
rssiDBm: nil, ageMs: 0, receivedAt: now),
rssiDBm: rssi, ageMs: 0, receivedAt: now),
AnchorInfo(id: 1, rangeMetres: Double(backMM) / 1000.0,
rssiDBm: nil, ageMs: 0, receivedAt: now)
rssiDBm: rssi, ageMs: 0, receivedAt: now)
]
}
@ -182,5 +190,12 @@ private extension Data {
func readUInt16LE(at offset: Int) -> UInt16 {
UInt16(self[offset]) | (UInt16(self[offset + 1]) << 8)
}
func readFloat32LE(at offset: Int) -> Float {
let bits = UInt32(self[offset])
| (UInt32(self[offset + 1]) << 8)
| (UInt32(self[offset + 2]) << 16)
| (UInt32(self[offset + 3]) << 24)
return Float(bitPattern: bits)
}
}