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 +1,28 @@
+#include <Arduino.h>
+#include "gps.h"
+#include "imu.h"
+#include "rs485_transport.h"
+#include "sensor_node_config.h"
+
+HardwareSerial gpsSerial(0), rs485Serial(1);
+ImuState imuState;
+GpsState gpsState;
+unsigned long lastTelemetryMs = 0;
+
+void setup() {
+    Serial.begin(115200); delay(250);
+    Serial.println("XIAO ESP32-C6 sensor node booting");
+    initGps(gpsSerial); initRs485(rs485Serial);
+    imuState.online = initImu();
+    Serial.println(imuState.online ? "BNO086 ready" : "BNO086 not detected");
+}
+
+void loop() {
+    updateGps(gpsSerial, gpsState); updateImu(imuState);
+    unsigned long now = millis();
+    if (now - lastTelemetryMs >= TELEMETRY_INTERVAL_MS) {
+        publishSensorStatus(rs485Serial, imuState, gpsState); lastTelemetryMs = now;
+    }
+    delay(1);
+}
+