Kconfig

#
# Copyright (c) 2023 Nordic Semiconductor
#
# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
#

config USE_SLIMENRF_CONSOLE
    bool "Use basic console"
    default y
    help
        Use basic console for commands.

choice
	prompt "Battery voltage mapping"
    default BATTERY_USE_REG_LDO_MAPPING

config BATTERY_USE_REG_BUCK_MAPPING
    bool "Use buck regulator mapping (3.7V battery, DCDC)"
    help
      Use a constant power mapping for battery voltage.
      Preffered for systems with a buck regulator.
      Measured at a system voltage of 3.0V.

config BATTERY_USE_REG_LDO_MAPPING
    bool "Use LDO linear regulator mapping (3.7V battery, LDO)"
    help
      Use a constant current mapping for battery voltage.
      Preferred for systems with a linear regulator.

config BATTERY_NO_MAPPING
    bool "Disable battery voltage mapping"
    help
      Always map to 100% battery. Disables battery monitoring.

endchoice

choice
	prompt "Status LED color mapping"
    default LED_TRI_COLOR

config LED_RGB_COLOR
    bool "Use RGB color mapping"
    help
        Use RGB or RG color mapping for LED status if available.

config LED_TRI_COLOR
    bool "Use default color mapping"
    help
        Use the default color mapping for LED status.

endchoice

menu "Status LED default status color"
    depends on LED_RGB_COLOR

config LED_DEFAULT_COLOR_R
    int "Red value"
    range 0 10000
    default 4000
    depends on LED_RGB_COLOR
    help
        Red color for default status.
        Valid range is 0 to 10000.

config LED_DEFAULT_COLOR_G
    int "Green value"
    range 0 10000
    default 6000
    depends on LED_RGB_COLOR
    help
        Green color for default status.
        Valid range is 0 to 10000.

config LED_DEFAULT_COLOR_B
    int "Blue value"
    range 0 10000
    default 0
    depends on LED_RGB_COLOR
    help
        Blue color for default status.
        Valid range is 0 to 10000.

endmenu

config USER_EXTRA_ACTIONS
    bool "Multiple press actions"
    help
        Allow user to use multiple presses to calibrate, pair, or enter DFU.
        When enabled, sw0 long-hold pairing reset is disabled; use the
        multiple-press pairing action instead.
        By default, DFU is available when holding down sw0 and plugging in a USB cable.

config IGNORE_RESET
    bool "Ignore reset"
    default y
    help
        If sw0 is available, don't perform any extra actions on reset.

config USER_SHUTDOWN
    bool "User shutdown support"
    default y
    help
        Allow user to use reset or sw0 to shutdown.

config IGNORE_CHARGE_WAKE_ON_VBUS
    bool "Ignore charge wake on VBUS"
    default n
    depends on USER_SHUTDOWN
    help
        When VBUS is present, do not configure charge status pins as wake
        sources during system shutdown. This keeps charge state transitions
        from waking the device while USB power is already connected.

config USE_IMU_WAKE_UP
    bool "IMU wake up support"
    default n
    help
        Use IMU wake up state if IMU wake up is present.

config DELAY_SLEEP_ON_STATUS
    bool "Delay IMU wake up mode on status flags"
    default y
    depends on USE_IMU_WAKE_UP
    help
        Delay IMU wake up state if there is an active status flag or in pairing mode.

config WOM_USE_DCDC
    bool "Use DCDC in IMU wake up mode"
    depends on USE_IMU_WAKE_UP
    help
        Use DCDC instead of LDO in IMU wake up state if it is more efficient.

config CONNECTION_TIMEOUT_DELAY
    int "Connection timeout delay (ms)"
    default 300000
    depends on USER_SHUTDOWN
    help
        Connection timeout duration when receiver is not detected.

choice
    prompt "Sensor rotation"
    default SENSOR_ROTATION_90

config SENSOR_ROTATION_0
    bool "0 degrees"

config SENSOR_ROTATION_90
    bool "90 degrees"

config SENSOR_ROTATION_180
    bool "180 degrees"

config SENSOR_ROTATION_270
    bool "270 degrees"

config SENSOR_ROTATION_0_FLIPPED
    bool "0 degrees flipped"

config SENSOR_ROTATION_90_FLIPPED
    bool "90 degrees flipped"

config SENSOR_ROTATION_180_FLIPPED
    bool "180 degrees flipped"

config SENSOR_ROTATION_270_FLIPPED
    bool "270 degrees flipped"

endchoice

menu "Sensor power saving"

config SENSOR_LP_TIMEOUT
    int "Sensor low power delay (ms)"
    default 500
    help
        Low power timeout during no motion.

config SENSOR_USE_LOW_POWER_2
    bool "Use additional low power modes"
    help
        Use a higher latency sensor mode during no motion.

config USE_IMU_TIMEOUT
    bool "Use IMU wake up state"
    default y
    depends on USE_IMU_WAKE_UP
    help
        Use IMU wake up state during no motion.

config IMU_TIMEOUT_RAMP_MIN
    int "Sensor timeout minimum delay (ms)"
    default 5000
    depends on USE_IMU_TIMEOUT || SENSOR_USE_LOW_POWER_2
    help
        Minimum timeout during no motion. Initial period on wake up.

config IMU_TIMEOUT_RAMP_MAX
    int "Sensor timeout maximum delay (ms)"
    default 15000
    depends on USE_IMU_TIMEOUT || SENSOR_USE_LOW_POWER_2
    help
        Maximum timeout during no motion.

config USE_ACTIVE_TIMEOUT
    bool "Use activity timeout"
    default y
    depends on USE_IMU_WAKE_UP || USER_SHUTDOWN
    help
        Delay IMU wake up state or user shutdown during activity.

choice
    prompt "Activity timeout mode"
    default SLEEP_ON_ACTIVE_TIMEOUT
    depends on USE_ACTIVE_TIMEOUT

config SLEEP_ON_ACTIVE_TIMEOUT
    bool "IMU wake up"
    depends on USE_IMU_WAKE_UP
    help
        Use IMU wake up state when activity timeout elapses.

config SHUTDOWN_ON_ACTIVE_TIMEOUT
    bool "User shutdown"
    depends on USER_SHUTDOWN
    help
        Use user shutdown when activity timeout elapses.

endchoice

config ACTIVE_TIMEOUT_THRESHOLD
    int "Activity timeout threshold (ms)"
    default 15000
    depends on USE_ACTIVE_TIMEOUT
    help
        Trigger activity timeout after a certain threshold of activity.

config ACTIVE_TIMEOUT_DELAY
    int "Activity timeout delay (ms)"
    default 1800000
    depends on USE_ACTIVE_TIMEOUT
    help
        Activity timeout duration when triggered.

config DYNAMIC_ACTIVE_TIMEOUT
    bool "Adapt activity timeout after wake-on-motion"
    default y
    depends on USE_ACTIVE_TIMEOUT && SLEEP_ON_ACTIVE_TIMEOUT
    help
        Shorten the activity timeout after low-activity wake-on-motion cycles.
        Meaningful activity restores ACTIVE_TIMEOUT_DELAY.

config ACTIVE_TIMEOUT_IDLE_WAKE_DELAY
    int "Low-activity wake timeout (ms)"
    default 90000
    range 1000 3600000
    depends on DYNAMIC_ACTIVE_TIMEOUT

config ACTIVE_TIMEOUT_REPEAT_WAKE_DELAY
    int "Repeated low-activity wake timeout (ms)"
    default 90000
    range 1000 3600000
    depends on DYNAMIC_ACTIVE_TIMEOUT

config ACTIVE_TIMEOUT_REPEAT_WAKE_COUNT
    int "Low-activity wakes before shortest timeout"
    default 2
    range 1 255
    depends on DYNAMIC_ACTIVE_TIMEOUT

config ACTIVE_TIMEOUT_MEANINGFUL_MOTION_MS
    int "Weighted motion score needed to restore normal timeout"
    default 15000
    range 1000 600000
    depends on DYNAMIC_ACTIVE_TIMEOUT
    help
        Integer motion score threshold. Strong motion adds three points per
        millisecond, moderate motion adds one, and weak motion subtracts one.

config DISABLE_SENSOR_GPIOS_ON_SHUTDOWN
    bool "Disable Sensor GPIOs on shutdown"
    default y
    help
        Disable all sensor related GPIOs when system shutdown.
        May reduce power consumption.

config SENSOR_FAST_WOM_WAKE
    bool "Fast wake-on-motion sensor resume"
    default n
    depends on USE_IMU_WAKE_UP
    help
        Mark IMU wake-on-motion poweroff entries so the next boot can use a
        narrower sensor resume path. Supported IMU drivers may skip their
        pre-init soft reset after a real WoM wake and rebuild runtime FIFO/ODR
        state directly from the known WOM configuration.

endmenu

config SENSOR_RETAINED_SCAN_POWER_UP_DELAY_MS
    int "Sensor scan delay with retained sensor identity (ms)"
    default 5
    range 0 50
    help
        Delay before probing sensors when retained memory already names the IMU.
        Cold scans still wait 50 ms, and failed fast scans wait the remaining
        time before retrying, so this mainly reduces normal wake-from-WOM boot
        latency without removing the conservative cold-start fallback.

config SENSOR_ACCEL_ODR
    int "Accelerometer output data rate (Hz)"
    default 100
    help
        Requested accelerometer output data rate. Actual rate will be raised to the nearest supported rate.
        A higher rate will increase the time to read and process sensor data.

config SENSOR_GYRO_ODR
    int "Gyrometer output data rate (Hz)"
    default 200
    help
        Requested gyrometer output data rate. Actual rate will be raised to the nearest supported rate.
        A higher rate will increase the time to read and process sensor data.
        A lower rate is recommended for IMUs with poor gyrometer rate noise density. (Ex. BMI270, LSM6DS3TR-C)

config SENSOR_GYRO_OVERSAMPLING
    int "Gyroscope Δq-merge factor (INT_merge)"
    default 1
    range 1 16
    help
        Number of high-rate gyroscope samples to merge via quaternion increments
        (Δq product / INT_merge) before one fusion gyro update.
        Preserves coning that plain ω averaging destroys.
        Pipeline per sample: firmware compensation (TCal/ZRO/D_offset + sens)
        first, then Δq built with frozen fusion residual bias, then one
        update_gyro of the equivalent rate (fusion bias re-added so the
        filter's internal subtract matches N×update_gyro strapdown).
        Set to 1 to disable (one fusion update per gyro sample).
        Example: SENSOR_GYRO_ODR=1600 and SENSOR_GYRO_OVERSAMPLING=4 →
        1600 Hz strapdown Δq merged into one 400 Hz fusion gyro step.
        Effective fusion gyro rate = ODR / oversampling factor.
        On I2C IMU hosts, firmware forces N=1 and requests chip ODR at that
        fusion rate (I2C cannot sustain hi-res FIFO at high ODR). SPI unchanged.
        Raw data-collection gyrQuat TX uses the same N: uncalibrated Δq
        every N chip samples; raw meta gyro_odr advertises that TX/fusion
        rate, with chip Hz in the trailing fields.
        Accelerometer oversampling (if enabled) stays separate and still averages.

config SENSOR_ACCEL_OVERSAMPLING
    int "Accelerometer oversampling factor"
    default 1
    range 1 16
    help
        Number of accelerometer samples to average before fusion.
        Set to 1 to disable oversampling.
        For example, set SENSOR_ACCEL_ODR=1000 and SENSOR_ACCEL_OVERSAMPLING=10
        to achieve effective 100Hz with noise reduction from 10x oversampling.
        The effective accel rate for fusion will be ODR / oversampling factor.

config SENSOR_ACCEL_FS
    int "Accelerometer full scale (g)"
    default 16
    help
        Requested accelerometer full scale. Actual scale will be raised to the nearest supported scale.
        A lower scale may improve noise performance, but is more likely to saturate.

config SENSOR_GYRO_FS
    int "Gyrometer full scale (dps)"
    default 4000
    help
        Requested gyrometer full scale. Actual scale will be raised to the nearest supported scale.
        A lower scale may improve noise performance, but is more likely to saturate.

config SENSOR_MAG_ODR
    int "Magnetometer ODR (Hz)"
    default 200
    help
        Requested magnetometer output data rate in Hz.
        Fixed at magnetometer init for the session (nearest supported continuous rate).
        Common values: 100, 200. Higher rates may not be supported by all sensors.

choice
	prompt "Sensor fusion"
    default SENSOR_USE_VQF
    help
        Select the sensor fusion method.

config SENSOR_USE_VQF
    bool "Use VQF"
    help
        Use VQF for sensor fusion.
        Based on Kalman filter.

config SENSOR_USE_EQF
    bool "Use EqF"
    help
        Use ABC-EqF n=0 (Equivariant Filter) for sensor fusion.
        Kalman filter on SO(3)×R³ with constant magnetometer trust.
        Lower heading drift than VQF under low magnetic disturbance,
        but does not perform as well as the VQF on 6D.

endchoice

config VQF_ADAPTIVE_TAU_ACC
    bool "VQF adaptive tauAcc (experimental)"
    default n
    depends on SENSOR_USE_VQF
    help
        Enable adaptive tauAcc adjustment based on motion intensity.
        Uses a three-regime strategy (rest / gentle / aggressive) with
        smoothed transitions to avoid Butterworth LP filter transients.
        This feature is experimental and may affect heading stability.

config VQF_BENCH
    bool "Enable VQF benchmark console command"
    default n
    depends on SENSOR_USE_VQF && USE_SLIMENRF_CONSOLE
    help
        Compile in the `vqfbench` console command and its benchmark working
        storage. Keep this disabled for normal firmware builds to avoid the
        extra RAM cost from static benchmark buffers.

config SENSOR_USE_6_SIDE_CALIBRATION
    bool "Use 6-side calibration"
    default y
    depends on USE_SLIMENRF_CONSOLE
    help
        Use 6-side calibration for accelerometer.
        Calibration can be completed through the basic console.

config SENSOR_USE_SENS_CALIBRATION
    bool "Use gyro sensitivity calibration"
    default y
    depends on USE_SLIMENRF_CONSOLE
    help
        Use sensitivity calibration for gyroscope.
        There are two ways to calibrate from the console:
        - Manual: rotate the tracker a number of times around each axis, note the
          resulting yaw drift in degrees, and enter the three observed values with
          'sens <x>,<y>,<z>'.
        - Automated: run 'sens auto <x|y|z> [revolutions]' and spin the tracker the
          requested number of full turns about one axis; the firmware integrates the
          gyro rate and computes the scale factor for that axis automatically.

config SENSOR_SENS_REV
    int "Number of rotations (rev)"
    default 2
    depends on SENSOR_USE_SENS_CALIBRATION
    help
       Number of rotations used in calculating sensitivity calibration.

config SENSOR_USE_TCAL
    bool "Enable temperature calibration (T-Cal)"
    default y
    help
        Enable temperature calibration (T-Cal) support.
        This controls whether the firmware collects/uses temperature-related
        calibration data to compensate gyroscope bias drift.

menu "Temperature Calibration Settings"
depends on SENSOR_USE_TCAL

config SENSOR_POLY_DEGREE
    int "Polynomial degree"
    default 3
    help
        The degree of the polynomial to fit (e.g., 3 for a cubic curve).

config SENSOR_POLY_TEMP_MIN
    int "Calibration minimum temperature (C)"
    default 10

config SENSOR_POLY_TEMP_MAX
    int "Calibration maximum temperature (C)"
    default 45

config SENSOR_POLY_STEPS_PER_DEGREE
    int "Calibration steps per degree C"
    default 2
    help
        Enter the number of calibration points to take per degree Celsius.
        For 0.5 C steps, enter 2.
        For 1.0 C steps, enter 1.

config SENSOR_USE_BOOT_CALIBRATION
    bool "Enable automatic boot calibration"
    default n
    depends on SENSOR_USE_TCAL
    help
        Automatically perform boot calibration after device startup.
        When enabled, the device will measure gyroscope bias at boot time
        and calculate D_offset correction based on the temperature calibration
        curve. This helps compensate for run-to-run bias drift.
        Boot calibration occurs within 15-50 seconds after boot when the
        device is stationary and requires at least 4 temperature calibration
        points to be effective.

endmenu

config RADIO_TX_POWER
    int "Radio output power (dBm)"
    default 8
    help
        Radio output power level.
        A lower value may reduce power consumption.

config RADIO_RF_CHANNEL
    int "Radio RF channel"
    default 2
    help
        Radio RF channel (0-100).
        Must match the receiver channel.

config RADIO_RETRANSMIT_DELAY
    int "Radio retransmit delay (µs)"
    default 600
    help
        Radio retransmit delay.

config CONNECTION_ENABLE_ACK
    bool "Enable connection ACK"
    default y
    help
        Enable connection ACK for reliable data transfer.

config CONNECTION_OVER_HID
    bool "Use HID for data output"
    depends on USB_DEVICE_STACK_NEXT && USBD_HID_SUPPORT && UART_CONSOLE
    default n
    help
        Use HID if available.
        Otherwise, use ESB only.

config SLIMEVR_USB_DEVICE_VID
    hex "SlimeVR USB vendor ID"
    default 0x1209
    help
        USB vendor ID used by the SlimeVR USBD_NEXT device.

config SLIMEVR_USB_DEVICE_PID
    hex "SlimeVR USB product ID"
    default 0x7692
    help
        USB product ID used by the SlimeVR tracker firmware.

config SLIMEVR_USB_DEVICE_MANUFACTURER
    string "SlimeVR USB manufacturer"
    default "SlimeVR"
    help
        USB manufacturer string and console banner prefix.

config SLIMEVR_USB_DEVICE_PRODUCT
    string "SlimeVR USB product"
    default "SlimeNRF Tracker"
    help
        USB product string and console banner name.

config SLIMEVR_USB_DEVICE_MAX_POWER
    int "SlimeVR USB max power"
    range 0 250
    default 100
    help
        USB bMaxPower value in 2 mA units.

config CLOCK_USE_LFXO
    bool "Use external low-frequency crystal oscillator (LFXO)"
    default y
    help
        Enable external 32.768 kHz crystal oscillator for LF clock.
        This provides better TDMA timing precision.

        Disable this option if your board does not have an external
        LFXO crystal. Using LFXO without a crystal will cause the
        system to hang or IMU detection to fail.

config CONNECTION_TDMA
    bool "Enable TDMA transmit scheduling"
    default n if !CLOCK_USE_LFXO
    default y if CLOCK_USE_LFXO
    help
        Enable Time Division Multiple Access scheduling for ESB radio.
        When enabled, each tracker transmits only within its assigned
        time slot to avoid collisions with other trackers.
        Requires server time synchronization via PING/PONG.
        Can also be toggled at runtime via console command.

config CLOCK_USE_LF_SYNTH
    bool "Use LF synthesizer for low-frequency clock"
    default y if CONNECTION_TDMA && !CLOCK_USE_LFXO
    default n
    help
        Use the LF synthesizer (derived from HFXO) for the low-frequency
        clock instead of LFXO or LFRC.

config CLOCK_CONTROL_NRF_K32SRC_RC_CALIBRATION
    bool "Enable RC oscillator calibration for K32SRC"
    default y if CLOCK_USE_LF_SYNTH && CONNECTION_TDMA
    default n

rsource "Kconfig.sensors_drivers"

source "Kconfig.zephyr"