Packet format

+---------------------------+
|        Packet header      |
|         (2 Octets)        |
+---------------------------+
|            RFU            |
|         (1 Octet)         |
+---------------------------+
|       Payload Length      |
|         (1 Octet)         |
+---------------------------+
|          Payload          |
.                           .
.                           .
.                           .

Description

Unless otherwise indicated, the byte ordering for UCI packets is little-endian. The packet header contains the following fields, listed from most most significant to least significant bits:

• Message Type (MT), 3 Bits
  • 0b000 RFU
  • 0b001 Command message
  • 0b010 Response message
  • 0b011 Notification message
  • 0b100 - 0b111 RFU
• Packet Boundary Flag (PBF), 1 Bit
  • 0b0 The packet contains a complete message, or the packet contains the last segment of a segmented message
  • 0b1 The packet contains a segment that is not the last segment of a segmented message
• Group Identifier (GID), 4 Bits
  • 0b0000 Core group
  • 0b0001 Sesion Config group
  • 0b0010 Ranging Session Control group
  • 0b0011 Data Control group
  • 0b1001 - 0b1100Vendor Specific group
  • 0b1101 Test group
  • 0b1110 - 0b1111Vendor Specific group
• RFU, 2 Bits
• Opcode Identifier (OID), 6 Bits