////////////////////////////////

// Default Logging Parameters //

////////////////////////////////

#define ENABLE_TIME_LOG true

#define ENABLE_CALCULATED_LOG true

#define ENABLE_ACCEL_LOG true

#define ENABLE_GYRO_LOG true

#define ENABLE_MAG_LOG true

#define ENABLE_QUAT_LOG false

#define ENABLE_EULER_LOG false

#define ENABLE_HEADING_LOG false

////////////////////////////////////////

// Enable Non-Volatile Memory Storage //

////////////////////////////////////////

// If defined, FlashStorage library must be installed

#define ENABLE_NVRAM_STORAGE

////////////////////////

// Serial Port Config //

////////////////////////

#define ENABLE_UART_LOGGING true

// Select the Serial port to log to. Either SERIAL_PORT_USBVIRTUAL

// or LOG_PORT SERIAL_PORT_HARDWARE (SerialUSB or Serial1)

#define LOG_PORT SERIAL_PORT_USBVIRTUAL

#define SERIAL_BAUD_RATE 115200 // Serial port baud

////////////////

// LED Config //

////////////////

#define HW_LED_PIN 13 // LED attached to pin 13

#define UART_BLINK_RATE 1000 // Blink rate when only UART logging

/////////////////////////

// IMU Default Configs //

/////////////////////////

// Note: Some of these params can be overwritten using serial

// commands. These are just defaults on initial programming

#define DMP_SAMPLE_RATE 100 // Logging/DMP sample rate(4-200 Hz)

#define IMU_COMPASS_SAMPLE_RATE 100 // Compass sample rate (4-100 Hz)

#define IMU_AG_SAMPLE_RATE 100 // Accel/gyro sample rate Must be between 4Hz and 1kHz

#define IMU_GYRO_FSR 2000 // Gyro full-scale range (250, 500, 1000, or 2000)

#define IMU_ACCEL_FSR 2 // Accel full-scale range (2, 4, 8, or 16)

#define IMU_AG_LPF 5 // Accel/Gyro LPF corner frequency (5, 10, 20, 42, 98, or 188 Hz)

#define ENABLE_GYRO_CALIBRATION true

///////////////////////

// SD Logging Config //

///////////////////////

#define ENABLE_SD_LOGGING true // Default SD logging (can be changed via serial menu)

#define LOG_FILE_INDEX_MAX 999 // Max number of "logXXX.txt" files

#define LOG_FILE_PREFIX "log" // Prefix name for log files

#define LOG_FILE_SUFFIX "txt" // Suffix name for log files

#define SD_MAX_FILE_SIZE 5000000 // 5MB max file size, increment to next file before surpassing

#define SD_LOG_WRITE_BUFFER_SIZE 1024 // Experimentally tested to produce 100Hz logs

/////////////////////

// Serial Commands //

/////////////////////

#define PAUSE_LOGGING ' ' // Space - Pause SD/UART logging

#define ENABLE_TIME 't' // Enable/disable time log (milliseconds)

#define ENABLE_ACCEL 'a' // Enable/disable accelerometer log (ax, ay, az)

#define ENABLE_GYRO 'g' // Enable/disable gyroscope log (gx, gy, gz)

#define ENABLE_COMPASS 'm' // Enable/disable magnetometer log (mx, my, mz)

#define ENABLE_CALC 'c' // Enable/disable calculated values

#define ENABLE_QUAT 'q' // Enable/disable quaternion logging (qw, qx, qy, qz)

#define ENABLE_EULER 'e' // Enable/disable estimated euler angles (roll, pitch, yaw)

#define ENABLE_HEADING 'h' // Enable/disable estimated heading logging

#define SET_LOG_RATE 'r' // Adjust logging rate from 1-200 Hz (in 10 Hz increments)

#define SET_ACCEL_FSR 'A' // Set accelerometer FSR (2, 4, 8, 16g)

#define SET_GYRO_FSR 'G' // Set gyroscope FSR (250, 500, 1000, 2000 dps)

#define ENABLE_SD_LOGGING 's' // Enable/disable SD-card logging

//////////////////////////

// Hardware Definitions //

//////////////////////////

// Danger - don't change unless using a different platform

#define MPU9250_INT_PIN 4

#define SD_CHIP_SELECT_PIN 38

#define MPU9250_INT_ACTIVE LOW