Overview

A 480MHz Swiss Army knife of the embedded team☮️ 
 Table of Contents 
 Page 1 : Table of Contents & Overview Page 2 : GNSS (GPS) Sensor Page 3 : pH Sensor Page 4 : IMU (Inertial Measurement Unit) Page 5 : Load Cell Sensor Page 6 : Pressure Sensor Page 7: Sensor Basics Utility Library Page 8 : System Architecture & Integration Page 9 : Testin g Page 10 : Configuration Page 11 : Reference 
 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: STM32H753ZI (Nucleo board) Real-Time OS: FreeRTOS with CMSIS-RTOS V2 Communication: Ethernet (LAN8742 PHY) UART (Multiple sensor connections) I2C/SPI (IMU, pressure sensors) Memory: 64KB heap allocated for FreeRTOS Clock: 480 MHz ARM Cortex-M7 
 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 
 GPS (GNSS) - Global positioning and velocity IMU - 3-axis acceleration, rotation, magnetic field pH Sensor - Water quality measurement Load Cells - Force measurement (×2) Pressure Sensors - Pressure measurement (×2)