57 lines
1.9 KiB
Markdown
57 lines
1.9 KiB
Markdown
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# Arduino-Pi Communication Protocol
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Telemetry protocol for Arduino → Pi communication over UART at 115200 baud.
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## Design Rationale
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- **ASCII-based**: Human-debuggable, digits are self-bounding (no accidental header spoofing)
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- **TSV format**: Tab delimiter, predictable field count, trivial to parse, survives floating decimals
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- **Null-terminated**: `\0` (0x00) is unambiguous end-of-line, avoids CRLF headaches
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- **10Hz rate**: ~50 bytes/line × 10Hz = 500 B/s, well under 115200 baud capacity (~4% utilization)
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## Telemetry Frame (Arduino → Pi)
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```
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field0\tfield1\tfield2\t...\tfieldN\0
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```
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### Fields
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| Index | Name | Unit | Description |
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|-------|--------|---------|--------------------------------|
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| 0 | V_bat | V | Battery voltage |
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| 1 | Ax | g | Acceleration X |
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| 2 | Ay | g | Acceleration Y |
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| 3 | Az | g | Acceleration Z |
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| 4 | Gx | deg/s | Angular velocity X |
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| 5 | Gy | deg/s | Angular velocity Y |
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| 6 | Gz | deg/s | Angular velocity Z |
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| 7 | Roll | deg | Euler angle roll |
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| 8 | Pitch | deg | Euler angle pitch |
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| 9 | Yaw | deg | Euler angle yaw |
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| 10 | RPM | RPM | Engine RPM |
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| 11 | Gear | - | Gear position (0=N, 1-6) |
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### Example
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```
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12.45\t0.02\t-0.01\t1.00\t0.50\t-0.25\t0.10\t2.35\t-1.20\t45.80\t3500\t3\0
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```
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## Stale Data Handling
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When IMU data is stale, empty fields are sent to preserve field count:
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```
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12.45\t\t\t\t\t\t\t\t\t\0
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```
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Backend parses empty fields as null/NaN.
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## Commands (Pi → Arduino)
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TBD: Command structure for configuration, calibration triggers, etc.
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## Versioning
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Protocol changes should bump a version field or use a different frame header.
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Currently unversioned (v0 / development).
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