doc:lps:twr-tdma
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| Both sides previous revision Previous revision Next revision | Previous revision Last revision Both sides next revision | ||
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doc:lps:twr-tdma [2017-07-18 15:41] arnaud [Compiling Crazyflie for TWR-TDMA ranging] |
doc:lps:twr-tdma [2018-10-19 07:24] arnaud |
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| ====== TWR-TDMA ====== | ====== TWR-TDMA ====== | ||
| + | |||
| + | <WRAP center round important> | ||
| + | **Note**: TWR-TDMA is now considered obsolete and replaced by the TDoA modes. TDoA will generally have better performance than TWR-TDMA, TWR might still be useful to you though but if you are setting up a single room system TDoA is most likely the way to go. | ||
| + | </ | ||
| + | |||
| ===== Abstract ===== | ===== Abstract ===== | ||
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| In order to activate TWR-TDMA, you need to recompile the Crazyflie firmware. Add the following to ' | In order to activate TWR-TDMA, you need to recompile the Crazyflie firmware. Add the following to ' | ||
| - | < | + | < |
| LPS_TDMA_ENABLE=1 | LPS_TDMA_ENABLE=1 | ||
| CFLAGS += -DTDMA_NSLOTS_BITS=1 | CFLAGS += -DTDMA_NSLOTS_BITS=1 | ||
| Line 24: | Line 29: | ||
| * **LPS_TDMA_ENABLE=1** Enable the TDMA mode for TWR | * **LPS_TDMA_ENABLE=1** Enable the TDMA mode for TWR | ||
| * **TDMA_NSLOTS_BITS=1** Configures 2 time slot (good for 2 tags) per frame. The number of time slot per frame is 2^TDMA_NSLOTS_BITS | * **TDMA_NSLOTS_BITS=1** Configures 2 time slot (good for 2 tags) per frame. The number of time slot per frame is 2^TDMA_NSLOTS_BITS | ||
| - | * **TDMA_SLOT** Optionally hardcode the time slot. See bellow for time slot auto-configuration. | + | * **TDMA_SLOT** Optionally hardcode the time slot. See bellow for time slot auto-configuration |
| ===== Configuring time slots ===== | ===== Configuring time slots ===== | ||
doc/lps/twr-tdma.txt · Last modified: 2021-06-24 16:54 by kimberly
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