Ryan Malloy
f218cd468b
RYS352A GPS on UART2 (GPIO5/6) with PPS interrupt (GPIO7), MPU-9250 IMU and BMP388 barometer on shared I2C bus (GPIO8/9). Sensor data exposed via dedicated BLE service with binary notify characteristics alongside the existing NUS serial bridge. Sensors degrade gracefully if not wired.
68 lines
2.3 KiB
C
68 lines
2.3 KiB
C
#pragma once
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// --- GPIO Pin Assignments ---
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// UART1 to RS-422 module via 3.3V<->5V level shifter
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#define PIN_RS422_TX 17 // ESP32 TX -> level shifter -> MAX485₁ DI
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#define PIN_RS422_RX 18 // MAX485₂ RO -> level shifter -> ESP32 RX
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// GPS UART (UART2) — RYS352A
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#define PIN_GPS_RX 5 // ESP32 RX <- GPS TX (NMEA out)
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#define PIN_GPS_TX 6 // ESP32 TX -> GPS RX (config in, optional)
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#define PIN_GPS_PPS 7 // 1Hz PPS rising edge (interrupt)
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#define GPS_BAUD 9600
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// I2C Sensor Bus
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#define PIN_I2C_SDA 8
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#define PIN_I2C_SCL 9
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#define I2C_FREQ 400000 // 400kHz
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// Sensor I2C addresses
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#define MPU9250_ADDR 0x68
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#define BMP388_ADDR 0x76
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// Onboard RGB LED (WS2812, DevKitC-1 V1.1)
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#define PIN_LED 38
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// --- RS-422 UART (UART1) ---
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#define RS422_BAUD 115200
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#define RS422_CONFIG SERIAL_8N1
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// --- BLE Configuration ---
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#define BLE_DEVICE_NAME "Travler-G2"
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#define BLE_MTU 517
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// Max payload per NUS notification (must fit in ATT_MTU - 3)
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#define BLE_NOTIFY_MAX 240
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// Nordic UART Service UUIDs
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#define NUS_SERVICE_UUID "6E400001-B5A3-F393-E0A9-E50E24DCCA9E"
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#define NUS_RX_UUID "6E400002-B5A3-F393-E0A9-E50E24DCCA9E" // Client writes here
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#define NUS_TX_UUID "6E400003-B5A3-F393-E0A9-E50E24DCCA9E" // ESP32 notifies here
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// Sensor Service UUIDs (custom, A0E7xxxx block)
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#define SENSOR_SERVICE_UUID "A0E70001-B5A3-F393-E0A9-E50E24DCCA9E"
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#define SENSOR_GPS_UUID "A0E70002-B5A3-F393-E0A9-E50E24DCCA9E"
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#define SENSOR_ORIENT_UUID "A0E70003-B5A3-F393-E0A9-E50E24DCCA9E"
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#define SENSOR_ENV_UUID "A0E70004-B5A3-F393-E0A9-E50E24DCCA9E"
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#define SENSOR_PPS_UUID "A0E70005-B5A3-F393-E0A9-E50E24DCCA9E"
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// --- Timing ---
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// Inter-byte coalescing window: collect bytes arriving within this
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// gap into one BLE notification instead of sending byte-by-byte
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#define COALESCE_MS 3
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// LED refresh interval
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#define LED_UPDATE_MS 50
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// Sensor read/report intervals
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#define GPS_REPORT_MS 1000 // 1Hz GPS position reports
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#define IMU_REPORT_MS 100 // 10Hz orientation updates
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#define BARO_REPORT_MS 1000 // 1Hz pressure/temperature
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#define STATUS_PRINT_MS 1000 // 1Hz USB serial status line
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// --- LED ---
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#define LED_BRIGHTNESS 30 // 0-255, keep low to avoid blinding in enclosure
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#define LED_COUNT 1
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// --- Buffers ---
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#define UART_RX_BUF_SIZE 512
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