Reference

Checkout the embedded simplified from ERC 
 Source Code References 
 If you made it till here, you a true G. Also, this was rather useful, check this out... ERC Embedded Simplified Official 
 Main Application 
 File Purpose src/sensor_board/main.c Main entry point and sensor loop 
 Sensor Drivers 
 Sensor Header Source GPS components/sensor_board/gps/gps_sensor.h gps_sensor.c IMU components/sensor_board/imu/imu_sensor.h imu_sensor.c pH components/sensor_board/ph/ph_sensor.h ph_sensor.c Load Cell components/sensor_board/load_cell/load_cell_sensor.h load_cell_sensor.c Pressure components/sensor_board/pressure/pressure_sensor.h pressure_sensor.c Utilities components/sensor_board/sensor_basics/sensor_basics.h sensor_basics.c 
 Protobuf Definitions 
 For detailed protobuf message format documentation, see: Sensor Board Protobuf 
 ERC-Protobufs/components/sensor_board/
├── diagnostics.proto - Board-level diagnostics and health status
├── sensor.proto - Aggregated sensor state message
├── gps_sensor.proto - GNSS positioning data
├── imu_sensor.proto - Inertial measurement (acceleration, gyro, mag)
├── ph_sensor.proto - Water quality pH measurement
├── load_cell.proto - Force measurement (gripper control)
└── pressure_sensor.proto - Pressure measurement (gripper control) 
 Build Configuration 
 File Purpose platformio.ini Build configuration for all boards .mxproject STM32 CubeMX configuration firmware.ioc CubeMX IOC file (device config) 
 Test References 
 Test Suites 
 test/sensor_board/
├── test_gps_sensor/
├── test_imu_sensor/
├── test_load_sensor/
├── test_ph_sensor/
├── test_pressure_sensor/
└── test_sensor_basics/ 
 Running Tests 
 // Build all tests
pio test -e sensor_board

// Run with verbose output
pio test -e sensor_board -v

// Build only (no run)
pio test -e sensor_board --no-run 
 Hardware References 
 Microcontroller 
 STM32H753ZI - ARM Cortex-M7, 480 MHz, 1 MB Flash Datasheet : ST Microelectronics STM32H7 reference 
 Ethernet 
 LAN8742 - Ethernet PHY Interface : RMII (Reduced Media Independent Interface) Link Speed : 10/100 Mbps auto-negotiation 
 Sensors 
 Sensor Model Protocol Note GPS GY-NEO6MV2 (NEO-6M) UART 9600 Default NMEA config IMU Reference design TBD I2C/SPI Dual IMU planned pH DFRobot SEN0161 ADC Analog 40-sample averaging Load Cell Application specific ADC Dual cells (×2) Pressure Application specific ADC/I2C Dual sensors (×2) 
 Development Workflow 
 Building Firmware 
 // Build for sensor_board
pio run -e sensor_board

// Upload to board
pio run -e sensor_board --target upload

// Monitor serial output
pio device monitor -b 115200 -p COM4 
 Development Cycle 
 // 1. Edit source code
// 2. Build
pio run -e sensor_board

// 3. Upload
pio run -e sensor_board --target upload

// 4. Monitor
pio device monitor

// 5. Run tests
pio test -e sensor_board 
 Useful Commands 
 PlatformIO CLI 
 // List available boards
pio boards

// Show board info
pio boards nucleo_h753zi

// Clean build
pio run -e sensor_board --target clean

// Full rebuild
pio run -e sensor_board --target clean --target upload 
 Troubleshooting Guide 
 Serial Monitor No Output 
 Check USB connection Verify COM port in platformio.ini Check baud rate (115200) Verify UART initialization succeeded 
 Sensor Shows IDLE 
 Check physical connection (UART/I2C/SPI) Verify baud rate (for UART sensors) Check pull-up resistors (for I2C) Verify device address (for I2C/SPI) 
 Network Packets Not Received 
 Check IP address configuration Verify MAC address filtering Check firewall settings Verify UDP port 7 not blocked 
 Low Heap Warning 
 Check for memory leaks in sensor drivers Reduce buffer sizes Verify UDP queue sizes Check for recursive allocations 
 Quick Reference Checklist 
 Before Deployment 
 All sensors connected and responding Network IP/MAC configured correctly Calibration parameters set for pH/load cells Serial monitor showing sensor data Heap usage monitored (>8KB free) UDP packets reaching destination Protobuf encoding verified 
 Monitoring in Production 
 Check sensor status codes Monitor heap usage trend Verify data ranges match expectations Track error rates per sensor Review network packet statistics 
 
 Hope you had fun☮️ 
 END OF DOCUMENTATION FOR SESOR BOARD ☮️ 
 Last Updated: April 14, 2026