alro65
080e47efc0
AR_electronics — AR-Autopilot Project Tarea #3 — firmware/ar_bno085_node_v1/ Nodo compacto ESP32+CAN lee heading y yaw rate del BNO085 via I2C y los publica en el backbone NMEA 2000 como PGN 127250+127251 a 10 Hz. Tarea #4 — firmware/ar_concentrador_v1/ Gateway NMEA2000<->NMEA0183 con 4 puertos OUT (UART1 TX broadcast) y 4 puertos IN (UART2 RX comandos). Parsea sentencias $PARP, gestiona autoridad de mando entre estaciones con timeout 10s y override del puente. Reenvía comandos autopilot como PGN 127237 al backbone. Tarea #5 — nmea2000_consumer (ar_autopilot_v1) Listener PGN 127237 entrante desde concentrador: HeadingControlSnapshot, HandleHeadingControl() con filtro source address, nmea2000_htc() publico, ventana stale 3s para comandos externos.
46 lines
1.3 KiB
INI
46 lines
1.3 KiB
INI
; =============================================================================
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; AR BNO085 Compact Node v1 -- firmware build configuration
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; =============================================================================
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;
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; Target hardware: AR-BNO085-NODE v1.0 (ESP32-DOWD, compact board)
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; Role: NMEA 2000 IMU node -- publishes heading (PGN 127250)
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; and rate-of-turn (PGN 127251) from BNO085 sensor.
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;
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; Pinout:
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; GPIO21 -- I2C SDA (BNO085)
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; GPIO22 -- I2C SCL (BNO085)
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; GPIO34 -- BNO085 INT (data-ready, active low, input-only)
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; GPIO13 -- BNO085 NRST (output, active low, drive LOW to reset)
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; GPIO23 -- CAN TX (MCP2562T)
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; GPIO4 -- CAN RX (MCP2562T)
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; =============================================================================
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[platformio]
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src_dir = src
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default_envs = esp32-dev
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[env]
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platform = espressif32@^6.7.0
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framework = arduino
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monitor_speed = 115200
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monitor_filters = esp32_exception_decoder, time
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build_flags =
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-std=gnu++17
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-DCORE_DEBUG_LEVEL=3
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-DAR_FW_VERSION=\"1.0.0\"
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-Wall
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-Wno-unused-parameter
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build_unflags =
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-std=gnu++11
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lib_deps =
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ttlappalainen/NMEA2000-library@^4.22.0
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ttlappalainen/NMEA2000_esp32@^1.0.3
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sparkfun/SparkFun BNO08x Cortex Based IMU@^1.0.3
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[env:esp32-dev]
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board = esp32dev
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build_type = release
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build_flags =
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${env.build_flags}
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-Os
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