firmware: add XIAO C6 sensor node

2026-07-17 01:46:37 -06:00
parent 22a6d77be8
commit a701059378
15 changed files with 239 additions and 0 deletions
@@ -0,0 +1,30 @@
+#include <ArduinoJson.h>
+#include "rs485_transport.h"
+#include "sensor_node_config.h"
+
+void initRs485(HardwareSerial& serial) {
+    pinMode(RS485_DE_PIN, OUTPUT); digitalWrite(RS485_DE_PIN, LOW);
+    serial.begin(RS485_BAUD, SERIAL_8N1, RS485_RX_PIN, RS485_TX_PIN);
+}
+
+void publishSensorStatus(HardwareSerial& serial, const ImuState& imu, const GpsState& gps) {
+    StaticJsonDocument<1024> doc;
+    doc["type"] = "sensor_status"; doc["schema_version"] = SENSOR_NODE_SCHEMA_VERSION;
+    doc["node_id"] = SENSOR_NODE_NAME; doc["firmware_version"] = SENSOR_NODE_FIRMWARE_VERSION;
+    doc["uptime_ms"] = millis();
+    JsonObject i = doc.createNestedObject("imu");
+    i["online"] = imu.online; i["valid"] = imu.valid && millis() - imu.lastUpdateMs <= SENSOR_STALE_MS;
+    i["accuracy"] = imu.accuracy;
+    JsonObject q = i.createNestedObject("quaternion"); q["i"] = imu.i; q["j"] = imu.j; q["k"] = imu.k; q["real"] = imu.real;
+    i["yaw_degrees"] = imu.yawDegrees; i["pitch_degrees"] = imu.pitchDegrees; i["roll_degrees"] = imu.rollDegrees;
+    JsonObject g = doc.createNestedObject("gps");
+    g["online"] = gps.online; g["fix"] = gps.fix; g["satellites"] = gps.satellites;
+    g["latitude"] = gps.latitude; g["longitude"] = gps.longitude; g["altitude_meters"] = gps.altitudeMeters;
+    g["speed_kph"] = gps.speedKph; g["course_degrees"] = gps.courseDegrees;
+    JsonObject utc = g.createNestedObject("utc"); utc["year"] = gps.year; utc["month"] = gps.month; utc["day"] = gps.day;
+    utc["hour"] = gps.hour; utc["minute"] = gps.minute; utc["second"] = gps.second;
+    digitalWrite(RS485_DE_PIN, HIGH); delayMicroseconds(20);
+    serializeJson(doc, serial); serial.write('\n'); serial.flush();
+    digitalWrite(RS485_DE_PIN, LOW);
+}
+