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config.h
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/* 7 bit address on the TWI/I²C bus */
#define TWIADDRESS 0x11
/* query a serial GPS? */
#define USE_GPS 1
/* baud rate of the serial GPS receiver */
#define GPS_BAUD 38400
/* send configuration string to the GPS unit to change baud and/or update rate?
*
* Please note that not all baud rates are possible depending on your
* clock frequency; pay attention to compiler warnings!
*/
//#define GPS_INIT_STRING "$PMTK300,200,0,0,0,0*2F\r\n$PMTK251,115200*1F\r\n"
/* wait a few moments (in ms) before sending the init string? */
//#define GPS_INIT_DELAY 250
/* wait a few moments after sending a linefeed (\n)? */
//#define GPS_INIT_LINEFEED_DELAY 100
/* use a different baud rate for sending the init string? */
//#define GPS_INIT_BAUD 9600
/* query additional sonar device?
*
* The sonar trigger must be connected to PD5, the echo wire to the ICP pin.
*/
#define USE_SONAR 1
/* query optical flow sensor?
*
* The optical flow sensor (A5050) must be connected to PA0 (SCK), PA1 (SDIO)
* and PB6 (CSEL/NCS) pins.
*/
#define USE_OPTICAL 1
/* employ an LED to indicate a GPS fix?
*
* The LED must be connected to PD5 and GND.
*/
#define LED_FIX_INDICATOR 0
/* extract date/time information from the GPS signal?
*
* Disabling this can reduce flash footprint for smaller controllers like the
* ATTiny2313.
*/
#define PARSE_GPS_TIME 1
/* extract altitude information from GPS signal?
*
* Disabling this can reduce flash footprint for smaller controllers like the
* ATTiny2313.
*/
#define PARSE_GPS_ALTITUDE 1
/* only parse specific sentences?
*
* GGA does not carry date information
* RMC does not carry altitude/quality information
*/
#define PARSE_GPS_NMEA_GGA 1
#define PARSE_GPS_NMEA_RMC 1
/* sloppy sonar distance conversion?
*
* When enabled, the echo time of the sonar pulse will be divided by 64 instead
* of 58, reducing the code size, but also introducing a 10% error in absolute
* distance measurement (cm). If you are only interested in relative distances
* regardless of the unit of measurement and running low on flash memory, you
* can safely enable this.
*/
#define SLOPPY_SONAR_CONVERSION 0
/* calculate average over sonar results?
*
* Averaging multiple measurements of the sonar can reduce the effects of false echoes.
* Changing this value to 1 disables the sliding window and reduces the memory footprint.
*/
#define SONAR_AVG_WINDOW_SIZE 5