18 lines
1.2 KiB
Markdown
18 lines
1.2 KiB
Markdown
# XIAO ESP32-C6 Sensor Node Protocol
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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. It owns no control state. Cargo remains the controller, HTTP server, and `/api/v1` source of truth; JBD/NimBLE behavior is unchanged.
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The expansion-board pins are D2 driver enable, D4 TX, and D5 RX. Only physical bus ends should be terminated. Confirm A/B polarity because vendor labels vary.
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## Schema version 1
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`sensor_status` includes `node_id`, `firmware_version`, `uptime_ms`, and:
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- `imu`: `online`, `valid`, `accuracy`, quaternion, yaw, pitch, and roll in degrees.
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- `gps`: `online`, `fix`, satellites, latitude, longitude, altitude meters, speed kph, course degrees, and structured UTC.
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Consumers must check `valid` or `fix` before displaying measurements and ignore unknown fields. The native breakout coordinate frame is reported initially; installation-specific axis remapping should follow physical calibration.
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This link does not replace dashboard-to-Cargo WiFi/HTTP. A future dashboard receiver may display this telemetry without moving relay, BMS, alarm, or configuration authority away from Cargo.
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