//////////////////////////////// // Default Logging Parameters // //////////////////////////////// #define ENABLE_TIME_LOG true #define ENABLE_CALCULATED_LOG true #define ENABLE_ACCEL_LOG true #define ENABLE_GYRO_LOG true #define ENABLE_MAG_LOG true #define ENABLE_QUAT_LOG false #define ENABLE_EULER_LOG false #define ENABLE_HEADING_LOG false //////////////////////////////////////// // Enable Non-Volatile Memory Storage // //////////////////////////////////////// // If defined, FlashStorage library must be installed #define ENABLE_NVRAM_STORAGE //////////////////////// // Serial Port Config // //////////////////////// #define ENABLE_UART_LOGGING true // Select the Serial port to log to. Either SERIAL_PORT_USBVIRTUAL // or LOG_PORT SERIAL_PORT_HARDWARE (SerialUSB or Serial1) #define LOG_PORT SERIAL_PORT_USBVIRTUAL #define SERIAL_BAUD_RATE 115200 // Serial port baud //////////////// // LED Config // //////////////// #define HW_LED_PIN 13 // LED attached to pin 13 #define UART_BLINK_RATE 1000 // Blink rate when only UART logging ///////////////////////// // IMU Default Configs // ///////////////////////// // Note: Some of these params can be overwritten using serial // commands. These are just defaults on initial programming #define DMP_SAMPLE_RATE 100 // Logging/DMP sample rate(4-200 Hz) #define IMU_COMPASS_SAMPLE_RATE 100 // Compass sample rate (4-100 Hz) #define IMU_AG_SAMPLE_RATE 100 // Accel/gyro sample rate Must be between 4Hz and 1kHz #define IMU_GYRO_FSR 2000 // Gyro full-scale range (250, 500, 1000, or 2000) #define IMU_ACCEL_FSR 2 // Accel full-scale range (2, 4, 8, or 16) #define IMU_AG_LPF 5 // Accel/Gyro LPF corner frequency (5, 10, 20, 42, 98, or 188 Hz) #define ENABLE_GYRO_CALIBRATION true /////////////////////// // SD Logging Config // /////////////////////// #define ENABLE_SD_LOGGING true // Default SD logging (can be changed via serial menu) #define LOG_FILE_INDEX_MAX 999 // Max number of "logXXX.txt" files #define LOG_FILE_PREFIX "log" // Prefix name for log files #define LOG_FILE_SUFFIX "txt" // Suffix name for log files #define SD_MAX_FILE_SIZE 5000000 // 5MB max file size, increment to next file before surpassing #define SD_LOG_WRITE_BUFFER_SIZE 1024 // Experimentally tested to produce 100Hz logs ///////////////////// // Serial Commands // ///////////////////// #define PAUSE_LOGGING ' ' // Space - Pause SD/UART logging #define ENABLE_TIME 't' // Enable/disable time log (milliseconds) #define ENABLE_ACCEL 'a' // Enable/disable accelerometer log (ax, ay, az) #define ENABLE_GYRO 'g' // Enable/disable gyroscope log (gx, gy, gz) #define ENABLE_COMPASS 'm' // Enable/disable magnetometer log (mx, my, mz) #define ENABLE_CALC 'c' // Enable/disable calculated values #define ENABLE_QUAT 'q' // Enable/disable quaternion logging (qw, qx, qy, qz) #define ENABLE_EULER 'e' // Enable/disable estimated euler angles (roll, pitch, yaw) #define ENABLE_HEADING 'h' // Enable/disable estimated heading logging #define SET_LOG_RATE 'r' // Adjust logging rate from 1-200 Hz (in 10 Hz increments) #define SET_ACCEL_FSR 'A' // Set accelerometer FSR (2, 4, 8, 16g) #define SET_GYRO_FSR 'G' // Set gyroscope FSR (250, 500, 1000, 2000 dps) #define ENABLE_SD_LOGGING 's' // Enable/disable SD-card logging ////////////////////////// // Hardware Definitions // ////////////////////////// // Danger - don't change unless using a different platform #define MPU9250_INT_PIN 4 #define SD_CHIP_SELECT_PIN 38 #define MPU9250_INT_ACTIVE LOW