# Overview

A 480MHz Swiss Army knife of the embedded team☮️

## Table of Contents

- **Page 1**<span style="white-space: pre-wrap;">: </span>[Table of Contents &amp; Overview](https://bookstack.roboteamtwente.nl/books/pcb-box/page/overview "Table of Contents & Overview")
- **Page 2**<span style="white-space: pre-wrap;">: </span>[GNSS (GPS) Sensor](https://bookstack.roboteamtwente.nl/books/pcb-box/page/gnss "GNSS (GPS) Sensor")
- **Page 3**<span style="white-space: pre-wrap;">: </span>[pH Sensor](https://bookstack.roboteamtwente.nl/books/pcb-box/page/ph-sensor "pH Sensor")
- **Page 4**<span style="white-space: pre-wrap;">: </span>[IMU (Inertial Measurement Unit)](https://bookstack.roboteamtwente.nl/books/pcb-box/page/imu "IMU (Inertial Measurement Unit)")
- **Page 5**<span style="white-space: pre-wrap;">: </span>[Load Cell Sensor](https://bookstack.roboteamtwente.nl/books/pcb-box/page/load-cell "Load Cell Sensor")
- **Page 6**<span style="white-space: pre-wrap;">: </span>[Pressure Sensor](https://bookstack.roboteamtwente.nl/books/pcb-box/page/pressure-sensor "Pressure Sensor")
- **Page 7:** [Sensor Basics Utility Library](https://bookstack.roboteamtwente.nl/books/pcb-box/page/sensor-basics-utility-library "Sensor Basics Utility Library")
- **Page 8**<span style="white-space: pre-wrap;">: </span>[System Architecture &amp; Integration](https://bookstack.roboteamtwente.nl/books/pcb-box/page/architecture "System Architecture & Integration")
- **Page 9**:[<span style="white-space: pre-wrap;"> Testin</span>](https://bookstack.roboteamtwente.nl/books/pcb-box/page/testing " Testing & Validation")g
- **Page 10**<span style="white-space: pre-wrap;">: </span>[Configuration](https://bookstack.roboteamtwente.nl/books/pcb-box/page/configuration "Configuration & Customization")
- **Page 11**<span style="white-space: pre-wrap;">: </span>[Reference](https://bookstack.roboteamtwente.nl/books/pcb-box/page/reference "Reference & Support")

### Purpose

The Sensor Board is a specialized embedded system designed to acquire environmental and motion data from multiple sensors. It integrates position (GNSS), water quality (pH), motion (IMU), force (load cells), and pressure measurements, transmitting all data over Ethernet using Protocol Buffer encoding.

### Hardware Platform

- **Microcontroller:**<span style="white-space: pre-wrap;"> STM32H753ZI (Nucleo board)</span>
- **Real-Time OS:**<span style="white-space: pre-wrap;"> FreeRTOS with CMSIS-RTOS V2</span>
- **Communication:**
    - Ethernet (LAN8742 PHY)
    - UART (Multiple sensor connections)
    - I2C/SPI (IMU, pressure sensors)
- **Memory:**<span style="white-space: pre-wrap;"> 64KB heap allocated for FreeRTOS</span>
- **Clock:**<span style="white-space: pre-wrap;"> 480 MHz ARM Cortex-M7</span>

### Key Board Features

- Multi-sensor fusion with independent sensor threads
- Network integration via UDP/Ethernet with Protobuf
- Real-time logging to UART (115200 baud)
- MAC address filtering for selective communication
- Packet dispatcher for incoming control signals
- LED status indicators (Green, Blue, Red)
- Heap monitoring with critical threshold alerts

### Core Sensors Integrated

1. **GPS (GNSS)**<span style="white-space: pre-wrap;"> - Global positioning and velocity</span>
2. **IMU**<span style="white-space: pre-wrap;"> - 3-axis acceleration, rotation, magnetic field</span>
3. **pH Sensor**<span style="white-space: pre-wrap;"> - Water quality measurement</span>
4. **Load Cells**<span style="white-space: pre-wrap;"> - Force measurement (×2)</span>
5. **Pressure Sensors**<span style="white-space: pre-wrap;"> - Pressure measurement (×2)</span>