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The Sensor Board is an embedded system that acquires environmental and process data from multiple sensors and actuates the sampling hardware (water pump). It integrates water quality (pH), motion (IMU), force (load cells), pressure (FSR pads), and water flow m...

The pH sensor provides water quality measurement critical for environmental monitoring and anomaly detection. Hardware Specifications ParameterValueModelDFRobot SEN0161 (Analog pH meter)InterfaceAnalog ADC (compile gated, see Hardware Status below)Reference Vo...

The Inertial Measurement Unit (IMU) provides three-axis acceleration, angular velocity, and magnetic field measurements for attitude determination and motion analysis. Hardware ParameterValueDeviceXsens Avior (Xbus protocol, MTi-1-series compatible pipe interf...

Load cells measure force/weight to detect object presence, evaluate structural loading, or monitor mechanical stress. The system supports a dual load cell configuration, each read through its own HX711 24-bit ADC using GPIO bit-banging. This is the most comple...

The pressure sensors are analog force sensing resistor (FSR) pads read via ADC, intended primarily for robotic gripper force feedback: grip force sensing, object presence detection, and load distribution across two gripper pads. The system supports a dual sens...

Complete system overview: FreeRTOS task model, the sensor polling loop, protobuf encoding, UDP transmission, inbound packet dispatch, and the memory layout. All application logic lives in a single FreeRTOS task (MainTask) defined in src/sensor_board/main.c. In...

Test organization, the Unity testing framework usage, coverage per suite, manual hardware testing checklists and a debugging/troubleshooting guide. Reminder: the sensor board code was only partially tested; unit tests cover the pure-logic parts of the drivers,...

Compile-time parameters, runtime flags, sensor calibration setup, network addressing, and performance tuning options for the sensor board firmware. Main Loop Timing /* src/sensor_board/main.c */ #define MAIN_TASK_DELAY_MS 5000 /* poll + transmit interval */ ...

Source code references, build configuration, hardware datasheet pointers, useful commands and the pre-deployment checklist. If you made it till here, you a true G.☮️ Source Code References Main Application FilePurposesrc/sensor_board/main.cMain entry point, Ma...

This page: Complete protobuf message definitions for the sensor_board component. The protobuffers for the sensor_board are passed between embedded, the network, and other boards for diagnostics and data collection. This page documents the actual message defini...

The Sensor Basics utility library provides small validation and conversion helpers shared by the sensor drivers and the main application. These are basic features that could be used if required, but were made in "spare time". Source Code Location Files: compon...

This page: the short, concrete workflow for using STM32CubeMX to configure an STM32 project and generate init code without accidentally nuking your work. Download: https://www.st.com/en/development-tools/stm32cubemx.html 1) What is it STM32CubeMX is a graphic...

On this page 1. Why submodules?2. Key concepts3. Cloning a repo with submodules4. Adding ERC-Protobufs as a submodule5. Updating ERC-Protobufs (pinning a new commit)6. Branches, detached HEAD, and what “pinned” means7. Common mistakes8. Command cheat sheet 1) ...

What are protobufs? Protocol Buffers (protobufs) are a way to define structured messages in .proto files. The point is simple: define the message format once, generate code for your language, and now everyone agrees what the bytes mean (without inventing a new...

This page documents the current STM32CubeMX configuration for the Sensor Board firmware and explains how to extend it for the remaining sensor interfaces (ADC, EXTI, I2C device setup) in a way that is safe for code generation. IOC File: components/sensor_board...

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