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firmware: expose GPS NMEA diagnostics

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nick
2026-07-17 02:21:59 -06:00
parent 07559da6c0
commit 1bf4530517
5 changed files with 15 additions and 4 deletions
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docs/SENSOR_NODE_PROTOCOL.md
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@@ -9,9 +9,10 @@ The expansion-board pins are D2 driver enable, D4 TX, and D5 RX. Only physical b
`sensor_status` includes `node_id`, `firmware_version`, `uptime_ms`, and:
- `imu`: `online`, `valid`, `accuracy`, quaternion, yaw, pitch, and roll in degrees.
- `gps`: `online`, `fix`, satellites, latitude, longitude, altitude meters, speed kph, course degrees, and structured UTC.
- `gps`: `online`, `fix`, satellites, NMEA character/checksum counters, latitude, longitude, altitude meters, speed kph, course degrees, and structured UTC.
`online` only means UART bytes arrived recently. In `gps.nmea`, a rising `sentences_passed` count proves valid NMEA at the configured baud rate. A rising character count with no passed sentences indicates wrong-baud noise or malformed data. A consistently rising failed count indicates corrupt UART data or a baud mismatch.
Consumers must check `valid` or `fix` before displaying measurements and ignore unknown fields. The native breakout coordinate frame is reported initially; installation-specific axis remapping should follow physical calibration.
This link does not replace dashboard-to-Cargo WiFi/HTTP. A future dashboard receiver may display this telemetry without moving relay, BMS, alarm, or configuration authority away from Cargo.