#27 Implemented the TDoA3 protocol on top of the TDoA2 implementation…

…. Still 8 anchors with TDMA tx times.

Makefile

@@ -35,7 +35,7 @@ OBJS+=src/main.o
 OBJS+=src/usb_device.o src/usbd_cdc_if.o src/usbd_desc.o src/lps25h.o src/led.o src/button.o
 OBJS+=src/cfg.o src/usbcomm.o src/test_support.o src/production_test.o
 OBJS+=src/uwb.o src/uwb_twr_anchor.o src/uwb_sniffer.o src/uwb_twr_tag.o
-OBJS+=src/lpp.o src/uwb_tdoa_anchor2.o
+OBJS+=src/lpp.o src/uwb_tdoa_anchor2.o src/uwb_tdoa_anchor3.o
 
 HALS+=gpio rcc cortex i2c pcd dma pcd_ex rcc_ex spi uart pwr
 OBJS+=$(foreach mod, $(HALS), $(HAL_ROOT)/Src/stm32$(CPU)xx_hal_$(mod).o)

src/uwb.c

@@ -42,6 +42,7 @@ extern uwbAlgorithm_t uwbTwrTagAlgorithm;
 extern uwbAlgorithm_t uwbSnifferAlgorithm;
 extern uwbAlgorithm_t uwbTdoaAlgorithm;
 extern uwbAlgorithm_t uwbTdoa2Algorithm;
+extern uwbAlgorithm_t uwbTdoa3Algorithm;
 static uwbAlgorithm_t *algorithm = &dummyAlgorithm;
 
 struct {
@@ -52,6 +53,7 @@ struct {
   {.algorithm = &uwbTwrTagAlgorithm,    .name = "TWR Tag"},
   {.algorithm = &uwbSnifferAlgorithm,   .name = "Sniffer"},
   {.algorithm = &uwbTdoa2Algorithm,     .name = "TDoA Anchor V2"},
+  {.algorithm = &uwbTdoa3Algorithm,     .name = "TDoA Anchor V3 (experimental)"},
   {NULL, NULL},
 };