nick/overland-controller
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

firmware: recover slow BNO086 startup

Browse Source
This commit is contained in:
nick
2026-07-17 02:56:45 -06:00
parent dc7a7223fb
commit b1a71e7bd1
7 changed files with 36 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
firmware/xiao-esp32c6-sensor-node/README.md
+1
View File
@@ -12,6 +12,7 @@ This Arduino sketch reads a BNO086 IMU and MAX-M10S GPS and publishes versioned,
Power both sensors from 3.3V with shared ground. Required Arduino libraries are Adafruit BNO08x, TinyGPSPlus, and ArduinoJson 6.x. Enable **USB CDC On Boot** for diagnostics. GPS uses hardware UART0 at the verified 38400 baud; RS485 uses hardware UART1.
The BNO086 uses the verified `0x4B` I2C address on D7/D8. If initialization fails, verify 3.3V/GND, SDA/SCL wiring, and the breakout's PS0/PS1 configuration.
Firmware retries the fixed address during power-up and periodically retries afterward, so a slow BNO086 power-up does not require cycling the XIAO. If the BNO086 resets at runtime, rotation-vector reporting is enabled again automatically.
The node sends `sensor_status` at 115200 baud every 200 ms. See `docs/SENSOR_NODE_PROTOCOL.md`. The initial firmware is transmit-only; add a dashboard receiver after bench-testing the node, RS485 polarity, and sensor axes.