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/**
* || ____ _ __
* +------+ / __ )(_) /_______________ _____ ___
* | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
* +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
* || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
*
* Crazyflie control firmware
*
* Copyright (C) 2016 Bitcraze AB
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*
* lpsTdma.h: Generic TDMA utility defines for LPS algorithms
*/
#ifndef __LPS_TDMA_H__
#define __LPS_TDMA_H__
#ifndef TDMA_NSLOTS_BITS
#ifdef LPS_TDMA_ENABLE
#warning "Number of slots bits for TDMA not defined! Defaulting to 1 (2 slots)."
#endif
#define TDMA_NSLOTS_BITS 1
#endif
#ifndef TDMA_SLOT
#define TDMA_SLOT -1
#endif
#define TDMA_SLOT_BITS 27
#define TDMA_FRAME_BITS (TDMA_SLOT_BITS + TDMA_NSLOTS_BITS)
#define TDMA_SLOT_LEN (1ull<<(unsigned long long)(TDMA_SLOT_BITS+1))
#define TDMA_FRAME_LEN (1ull<<(unsigned long long)(TDMA_FRAME_BITS+1))
#define TDMA_LAST_FRAME(NOW) ( NOW & ~(TDMA_FRAME_LEN-1) )
#endif //__LPS_TDMA_H__