Close #212: Make LPS number of anchor configurable

bitcraze · May 18, 2017 · ace55eb · ace55eb
1 parent 2452756
commit ace55eb
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Showing 3 changed files with 11 additions and 0 deletions.
diff --git a/src/deck/drivers/interface/locodeck.h b/src/deck/drivers/interface/locodeck.h
@@ -52,7 +52,9 @@ typedef enum uwbEvent_e {
   eventReceiveFailed,
 } uwbEvent_t;
 
+#ifndef LOCODECK_NR_OF_ANCHORS
 #define LOCODECK_NR_OF_ANCHORS 6
+#endif
 
 typedef uint64_t locoAddress_t;
 

diff --git a/src/deck/drivers/src/locodeck.c b/src/deck/drivers/src/locodeck.c
@@ -81,6 +81,12 @@ static lpsAlgoOptions_t algoOptions = {
     0xbccf000000000003,
     0xbccf000000000004,
     0xbccf000000000005,
+#if LOCODECK_NR_OF_ANCHORS > 6
+    0xbccf000000000006,
+#endif
+#if LOCODECK_NR_OF_ANCHORS > 7
+    0xbccf000000000007,
+#endif
   },
   .antennaDelay = (ANTENNA_OFFSET*499.2e6*128)/299792458.0, // In radio tick
   .rangingFailedThreshold = 6,

diff --git a/tools/make/config.mk.example b/tools/make/config.mk.example
@@ -22,3 +22,6 @@
 
 ## Automatically reboot to bootloader before flashing
 # CLOAD_CMDS = -w radio://0/100/2M/E7E7E7E7E7
+
+## Set number of anchor in LocoPositioningSystem
+# CFLAGS += -DLOCODECK_NR_OF_ANCHORS=8