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fix: restore verified XIAO RS485 pin direction

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nick
2026-07-26 18:38:14 -06:00
parent 753d13157e
commit ab5424d82e
4 changed files with 6 additions and 6 deletions
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docs/SENSOR_NODE_PROTOCOL.md
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The XIAO sensor node reads the BNO086 and MAX-M10S and publishes vehicle telemetry over half-duplex RS485 at 115200 8-N-1, one JSON object per line at 4 Hz. It owns no control state. Cargo remains the controller, HTTP server, and `/api/v1` source of truth; JBD/NimBLE behavior is unchanged. The XIAO sensor node reads the BNO086 and MAX-M10S and publishes vehicle telemetry over half-duplex RS485 at 115200 8-N-1, one JSON object per line at 4 Hz. It owns no control state. Cargo remains the controller, HTTP server, and `/api/v1` source of truth; JBD/NimBLE behavior is unchanged.
The expansion-board pins are D2 driver enable, D4 RX, and D5 TX, matching Seeed's XIAO RS485 expansion-board wiring. Only physical bus ends should be terminated. Confirm A/B polarity because vendor labels vary. The expansion-board pins are D2 driver enable, D4 TX, and D5 RX. This matches Seeed's working example call `begin(115200, SERIAL_8N1, 7, 6)`: on XIAO, GPIO7 is D5/RX and GPIO6 is D4/TX. Only physical bus ends should be terminated. Confirm A/B polarity because vendor labels vary.
## Schema version 1 ## Schema version 1
firmware/xiao-esp32c6-sensor-node/README.md
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| Function | XIAO pin | | Function | XIAO pin |
| --- | --- | | --- | --- |
| RS485 DE / RX / TX | D2 / D4 / D5 | | RS485 DE / TX / RX | D2 / D4 / D5 |
| BNO086 SDA / SCL | D7 / D8 | | BNO086 SDA / SCL | D7 / D8 |
| GPS TX to XIAO RX | D9 | | GPS TX to XIAO RX | D9 |
| GPS RX from XIAO TX | D10 | | GPS RX from XIAO TX | D10 |
firmware/xiao-esp32c6-sensor-node/sensor_node_config.h
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#include <Arduino.h> #include <Arduino.h>
#define SENSOR_NODE_NAME "xiao_c6_sensor_node" #define SENSOR_NODE_NAME "xiao_c6_sensor_node"
#define SENSOR_NODE_FIRMWARE_VERSION "0.2.1" #define SENSOR_NODE_FIRMWARE_VERSION "0.2.2"
#define SENSOR_NODE_SCHEMA_VERSION 1 #define SENSOR_NODE_SCHEMA_VERSION 1
#define RS485_DE_PIN D2 #define RS485_DE_PIN D2
#define RS485_RX_PIN D4 #define RS485_TX_PIN D4
#define RS485_TX_PIN D5 #define RS485_RX_PIN D5
#define BNO086_SDA_PIN D7 #define BNO086_SDA_PIN D7
#define BNO086_SCL_PIN D8 #define BNO086_SCL_PIN D8
#define GPS_RX_PIN D9 #define GPS_RX_PIN D9
tests/test_xiao_sensor_node_contract.py
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def test_wiring_matches_assembly(): def test_wiring_matches_assembly():
config = source("sensor_node_config.h") config = source("sensor_node_config.h")
expected = {"RS485_DE_PIN":"D2", "RS485_RX_PIN":"D4", "RS485_TX_PIN":"D5", expected = {"RS485_DE_PIN":"D2", "RS485_TX_PIN":"D4", "RS485_RX_PIN":"D5",
"BNO086_SDA_PIN":"D7", "BNO086_SCL_PIN":"D8", "GPS_RX_PIN":"D9", "GPS_TX_PIN":"D10"} "BNO086_SDA_PIN":"D7", "BNO086_SCL_PIN":"D8", "GPS_RX_PIN":"D9", "GPS_TX_PIN":"D10"}
for name, pin in expected.items(): assert re.search(rf"#define\s+{name}\s+{pin}\b", config) for name, pin in expected.items(): assert re.search(rf"#define\s+{name}\s+{pin}\b", config)