33 lines
1013 B
C
33 lines
1013 B
C
#pragma once
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#include <Arduino.h>
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#define SENSOR_NODE_NAME "xiao_c6_sensor_node"
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#define SENSOR_NODE_FIRMWARE_VERSION "0.2.0"
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#define SENSOR_NODE_SCHEMA_VERSION 1
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#define RS485_DE_PIN D2
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#define RS485_TX_PIN D4
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#define RS485_RX_PIN D5
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#define BNO086_SDA_PIN D7
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#define BNO086_SCL_PIN D8
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#define GPS_RX_PIN D9
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#define GPS_TX_PIN D10
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#define BNO086_I2C_ADDRESS 0x4B
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#define BNO086_I2C_CLOCK_HZ 100000
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#define BNO086_INIT_ATTEMPTS 8
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#define BNO086_INIT_RETRY_DELAY_MS 250
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#define BNO086_RUNTIME_RETRY_MS 5000
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#define GPS_BAUD 38400
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#define RS485_BAUD 115200
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#define RS485_RX_BUFFER_BYTES 512
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#define RS485_MAX_FRAME_BYTES 1900
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#define RS485_DRIVER_ENABLE_SETTLE_US 20
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#define IMU_REPORT_INTERVAL_US 20000
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#define IMU_STABILITY_INTERVAL_US 100000
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#define TELEMETRY_INTERVAL_MS 250
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#define SENSOR_STALE_MS 2000
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#define USB_TELEMETRY_ENABLED 1
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#define LEVEL_CALIBRATION_DURATION_MS 5000
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#define LEVEL_CALIBRATION_MIN_SAMPLES 100
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#define LEVEL_CALIBRATION_MAX_MOVEMENT_DEGREES 2.0f
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#define RS485_COMMAND_MAX_LENGTH 192
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