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firmware: use verified sensor settings

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This commit is contained in:
nick
2026-07-17 02:51:40 -06:00
parent d5578ce796
commit dc7a7223fb
6 changed files with 17 additions and 73 deletions
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firmware/xiao-esp32c6-sensor-node/README.md
+2 -2
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@@ -9,9 +9,9 @@ This Arduino sketch reads a BNO086 IMU and MAX-M10S GPS and publishes versioned,
| GPS TX to XIAO RX | D9 |
| GPS RX from XIAO TX | D10 |
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 and RS485 uses hardware UART1. Startup probes 9600, 38400, 115200, and 4800 baud and reports the first rate producing checksum-valid NMEA.
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.
At startup the firmware scans D7/D8 and accepts either valid BNO08x address, `0x4A` or `0x4B`. If neither appears in the scan, verify 3.3V/GND, swap-check SDA and SCL, and confirm the breakout's PS0/PS1 jumpers are configured for I2C.
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.
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.
firmware/xiao-esp32c6-sensor-node/gps.cpp
+3 -29
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@@ -4,39 +4,13 @@
namespace { TinyGPSPlus parser; }
namespace {
uint32_t activeBaud = GPS_FALLBACK_BAUD;
bool baudHasValidNmea(HardwareSerial& serial, uint32_t baud) {
TinyGPSPlus probe;
serial.end();
serial.begin(baud, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN);
unsigned long started = millis();
while (millis() - started < GPS_BAUD_DETECT_MS) {
while (serial.available()) probe.encode(serial.read());
if (probe.passedChecksum() > 0) return true;
delay(1);
}
return false;
}
uint32_t activeBaud = GPS_BAUD;
}
void initGps(HardwareSerial& serial) {
const uint32_t candidates[] = {9600, 38400, 115200, 4800};
Serial.println("Detecting GPS UART baud...");
for (uint32_t baud : candidates) {
Serial.print("Trying GPS baud ");
Serial.println(baud);
if (!baudHasValidNmea(serial, baud)) continue;
activeBaud = baud;
Serial.print("Valid GPS NMEA detected at ");
Serial.println(activeBaud);
return;
}
activeBaud = GPS_FALLBACK_BAUD;
serial.end();
serial.begin(activeBaud, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN);
Serial.println("No valid GPS NMEA detected; falling back to 9600 baud");
Serial.print("Starting GPS UART at ");
Serial.println(activeBaud);
}
void updateGps(HardwareSerial& serial, GpsState& s) {
firmware/xiao-esp32c6-sensor-node/imu.cpp
+2 -29
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@@ -9,26 +9,6 @@ Adafruit_BNO08x bno086(-1);
sh2_SensorValue_t value;
bool initialized = false;
float radiansToDegrees(float r) { return r * 180.0f / PI; }
bool addressResponds(uint8_t address) {
Wire.beginTransmission(address);
return Wire.endTransmission() == 0;
}
uint8_t findBnoAddress() {
Serial.println("Scanning I2C bus on D7 SDA / D8 SCL...");
uint8_t bnoAddress = 0;
for (uint8_t address = 1; address < 127; address++) {
if (!addressResponds(address)) continue;
Serial.print("I2C device found at 0x");
if (address < 0x10) Serial.print('0');
Serial.println(address, HEX);
if (address == BNO086_I2C_ADDRESS || address == BNO086_I2C_ADDRESS_ALTERNATE) {
bnoAddress = address;
}
}
return bnoAddress;
}
void updateEuler(ImuState& s) {
float sinr = 2 * (s.real * s.i + s.j * s.k);
float cosr = 1 - 2 * (s.i * s.i + s.j * s.j);
@@ -45,16 +25,9 @@ bool initImu() {
Wire.begin(BNO086_SDA_PIN, BNO086_SCL_PIN);
Wire.setClock(BNO086_I2C_CLOCK_HZ);
delay(100);
uint8_t address = findBnoAddress();
if (address == 0) {
Serial.println("No BNO086 found at 0x4A or 0x4B");
return false;
}
Serial.print("Starting BNO086 at 0x");
Serial.println(address, HEX);
initialized = bno086.begin_I2C(address, &Wire);
Serial.println(BNO086_I2C_ADDRESS, HEX);
initialized = bno086.begin_I2C(BNO086_I2C_ADDRESS, &Wire);
if (initialized) initialized = bno086.enableReport(SH2_ROTATION_VECTOR, IMU_REPORT_INTERVAL_US);
return initialized;
}
firmware/xiao-esp32c6-sensor-node/sensor_node_config.h
+2 -4
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@@ -11,11 +11,9 @@
#define BNO086_SCL_PIN D8
#define GPS_RX_PIN D9
#define GPS_TX_PIN D10
#define BNO086_I2C_ADDRESS 0x4A
#define BNO086_I2C_ADDRESS_ALTERNATE 0x4B
#define BNO086_I2C_ADDRESS 0x4B
#define BNO086_I2C_CLOCK_HZ 100000
#define GPS_FALLBACK_BAUD 9600
#define GPS_BAUD_DETECT_MS 2500
#define GPS_BAUD 38400
#define RS485_BAUD 115200
#define IMU_REPORT_INTERVAL_US 20000
#define TELEMETRY_INTERVAL_MS 200