prj.conf

#CONFIG_NCS_SAMPLES_DEFAULTS
CONFIG_ASSERT=y
CONFIG_ASSERT_NO_COND_INFO=y
CONFIG_ASSERT_NO_MSG_INFO=y
CONFIG_RESET_ON_FATAL_ERROR=y

CONFIG_NCS_APPLICATION_BOOT_BANNER_STRING="SlimeVR-Tracker-nRF"
#CONFIG_NCS_BOOT_BANNER=n
CONFIG_BOOT_BANNER=n

CONFIG_LTO=y
CONFIG_ISR_TABLES_LOCAL_DECLARATION=y

CONFIG_ESB=y
#need to enable for nRF54L
#CONFIG_NRFX_DPPI10=y

CONFIG_ADC=y
CONFIG_ADC_NRFX_SAADC=y
CONFIG_FPU=y

# CMSIS-DSP Configuration for VQF optimization
CONFIG_CMSIS_DSP=y
CONFIG_CMSIS_DSP_FASTMATH=y
CONFIG_CMSIS_DSP_BASICMATH=y
CONFIG_CMSIS_DSP_MATRIX=y
CONFIG_CMSIS_DSP_QUATERNIONMATH=y
CONFIG_CMSIS_DSP_SUPPORT=y
CONFIG_CMSIS_DSP_CONTROLLER=y
CONFIG_DSP=y

CONFIG_I2C=y
CONFIG_SPI=y
CONFIG_PINCTRL=y

CONFIG_NVS=y
CONFIG_NVS_LOOKUP_CACHE=y
CONFIG_NVS_INIT_BAD_MEMORY_REGION=y

CONFIG_POWEROFF=y
CONFIG_REBOOT=y

CONFIG_FLASH=y
CONFIG_FLASH_PAGE_LAYOUT=y
CONFIG_FLASH_MAP=y
CONFIG_USE_DT_CODE_PARTITION=y

CONFIG_SETTINGS=y
CONFIG_SETTINGS_RUNTIME=y
CONFIG_SETTINGS_NONE=y

CONFIG_MPU_ALLOW_FLASH_WRITE=y

CONFIG_RETAINED_MEM=y

CONFIG_USE_SEGGER_RTT=y
CONFIG_LOG=y
#CONFIG_PRINTK=y
CONFIG_LOG_MODE_DEFERRED=y
CONFIG_LOG_SPEED=y
CONFIG_LOG_BACKEND_RTT=y
CONFIG_CBPRINTF_FP_SUPPORT=y
CONFIG_ADC_LOG_LEVEL_OFF=y
CONFIG_LOG_FUNC_NAME_PREFIX_ERR=y
CONFIG_LOG_BUFFER_SIZE=4096
CONFIG_LOG_BACKEND_UART_AUTOSTART=n
CONFIG_LOG_PROCESS_THREAD_SLEEP_MS=25
CONFIG_LOG_PROCESS_THREAD_STACK_SIZE=1024

CONFIG_PWM=y
CONFIG_GPIO=y

CONFIG_CRC=y

# Sensor lifecycle waits (suspend / scan) use k_event instead of busy spins
CONFIG_EVENTS=y

CONFIG_NEWLIB_LIBC=y
# CONFIG_NRFX_TIMER1=y

#speed up boot? (use internal rc oscillator)
CONFIG_CLOCK_CONTROL_NRF_K32SRC_RC=y
CONFIG_CLOCK_CONTROL_NRF_K32SRC_20PPM=y

# dont need it
CONFIG_CRYPTO=n

# set timeout for 25ms, sufficient for ~1000 bytes
CONFIG_I2C_NRFX_TRANSFER_TIMEOUT=25

CONFIG_USB_DEVICE_STACK_NEXT=y
CONFIG_USBD_CDC_ACM_CLASS=y
CONFIG_CDC_ACM_SERIAL_INITIALIZE_AT_BOOT=n
CONFIG_SLIMEVR_USB_DEVICE_VID=0x1209
CONFIG_SLIMEVR_USB_DEVICE_PID=0x7692
CONFIG_UART_INTERRUPT_DRIVEN=y

CONFIG_SERIAL=y
CONFIG_CONSOLE=y
CONFIG_RTT_CONSOLE=y
CONFIG_UART_CONSOLE=y
CONFIG_UART_LINE_CTRL=y

CONFIG_LOG=y
CONFIG_USBD_LOG_LEVEL_ERR=y
CONFIG_UDC_DRIVER_LOG_LEVEL_ERR=y
CONFIG_USBD_CDC_ACM_LOG_LEVEL_OFF=y

CONFIG_LOG_BACKEND_UART=y

CONFIG_CONSOLE_SUBSYS=y
CONFIG_CONSOLE_GETLINE=y

CONFIG_NVS_LOG_LEVEL_WRN=y

CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE=1024
CONFIG_MAIN_STACK_SIZE=2048

CONFIG_THREAD_NAME=y

CONFIG_HEAP_MEM_POOL_SIZE=4096
CONFIG_ISR_STACK_SIZE=2048
CONFIG_UDC_BUF_POOL_SIZE=4096

CONFIG_PM_DEVICE=y


CONFIG_USE_ACTIVE_TIMEOUT=y

# 100ms switch delay will be obvious to users, so we choose not to use it by default,
# but it can be enabled for testing or specific use cases
CONFIG_SENSOR_USE_LOW_POWER_2=n

# control low power mode
# due to current mag reading is process in sensor loop,
# low power mode will cause mag reading isn't at target odr,
# so currently it should be disabled by default
CONFIG_USE_IMU_TIMEOUT=n
# a very large low power timeout (1h) to prevent it from triggering
CONFIG_SENSOR_LP_TIMEOUT=3600000

# 10 minutes timeout with wake on motion
CONFIG_ACTIVE_TIMEOUT_DELAY=600000

# dynamic low-activity sleep timeout is 90 seconds, repeat wake timeout is 90 seconds by default
CONFIG_ACTIVE_TIMEOUT_IDLE_WAKE_DELAY=90000
CONFIG_DYNAMIC_ACTIVE_TIMEOUT=y
CONFIG_USE_IMU_WAKE_UP=y

# or 6 hours timeout
# CONFIG_USE_IMU_WAKE_UP=n
# CONFIG_ACTIVE_TIMEOUT_DELAY=21600000

CONFIG_USER_EXTRA_ACTIONS=y
CONFIG_DISABLE_SENSOR_GPIOS_ON_SHUTDOWN=y

CONFIG_ESB_MAX_PAYLOAD_LENGTH=72
CONFIG_ESB_TX_FIFO_SIZE=8
CONFIG_ESB_RX_FIFO_SIZE=8
CONFIG_RADIO_RF_CHANNEL=84
CONFIG_RADIO_RETRANSMIT_DELAY=310
CONFIG_CONNECTION_ENABLE_ACK=n
CONFIG_RADIO_TX_POWER=8
# 3 minutes timeout after ping continuous failed
CONFIG_CONNECTION_TIMEOUT_DELAY=180000

CONFIG_SENSOR_USE_6_SIDE_CALIBRATION=y
CONFIG_SENSOR_USE_SENS_CALIBRATION=y
CONFIG_SENSOR_SENS_REV=5

CONFIG_SENSOR_USE_TCAL=y

# Boot calibration is disabled by default
# CONFIG_SENSOR_USE_BOOT_CALIBRATION=y

# Range statistics tracking (disabled by default to optimize performance)
# CONFIG_SENSOR_RANGE_STATS=y

# Gyro/accel ODR. Gyro OVERSAMPLING = Δq INT_merge factor.
# Example: GYRO_ODR=1600 + GYRO_OVERSAMPLING=4 → 400 Hz fusion gyro steps.
# icm45 ~1600, dsv ~1920
CONFIG_SENSOR_GYRO_ODR=400
# fusion rate at ~400Hz
CONFIG_SENSOR_GYRO_OVERSAMPLING=1
CONFIG_SENSOR_MAG_ODR=100

# VQF experimental features
# CONFIG_VQF_ADAPTIVE_TAU_ACC=y

# Watchdog Configuration
CONFIG_WATCHDOG=y
CONFIG_WDT_NRFX=y
CONFIG_TASK_WDT=y
CONFIG_TASK_WDT_CHANNELS=9
CONFIG_TASK_WDT_HW_FALLBACK=y
CONFIG_TASK_WDT_HW_FALLBACK_DELAY=5000

# enable tdma on board which don't have lfxo, it can use lf clock synthesized by hf clock,
# but it will increase a lot of power consumption, so if you want to use it, you can enable below config,
# or define it in board level Kconfig file.

# CONFIG_CLOCK_USE_LFXO=n
CONFIG_CONNECTION_TDMA=y

# Enable VQF benchmark mode for performance testing (disabled by default)
# CONFIG_VQF_BENCH=y