The protobuffers for the sensor\_board are passed between embedded, the network, and other boards for diagnostics and data collection. This page documents the actual message definitions from the ERC-Protobufs repository.
--- ## Common Definitions (sensor.proto) **Location: ERC-Protobufs/components/sensor\_board/sensor.proto** ### SensorState Enum Shared across all sensor types - indicates the current operational state of a sensor. ```protobuf enum SensorState { SENSOR_IDLE = 0; // Sensor is idle/not currently sampling SENSOR_OPERATING = 1; // Sensor is actively sampling/operating normally SENSOR_CALIBRATING = 2; // Sensor is in calibration mode SENSOR_ERROR = 3; // Sensor has encountered an error } ``` --- ## GPS Sensor (gps\_sensor.proto) **Location: ERC-Protobufs/components/sensor\_board/gps\_sensor.proto** **Direction: Sensor Board → Navigation/Localization Systems** ### GPSFixQuality Enum Indicates the type and quality of GPS fix obtained. ```protobuf enum GPSFixQuality { NO_FIX = 0; // No fix available GPS_FIX = 1; // Standard GPS fix DGPS_FIX = 2; // Differential GPS fix PPS_FIX = 3; // PPS (Pulse Per Second) fix RTK_FIX = 4; // Real-Time Kinematic fix RTK_FLOAT = 5; // RTK float solution } ``` ### GPSErrorCode Enum Detailed error codes for GPS/GNSS sensor failures. ```protobuf enum GPSErrorCode { GPS_NO_ERROR = 0; GPS_COMMUNICATION_FAILURE = 1; // UART connection lost GPS_INVALID_DATA = 2; // Data parsing or validation failed GPS_ANTENNA_FAULT = 3; // GPS antenna disconnected or faulty GPS_LOW_SIGNAL_QUALITY = 4; // Signal strength too weak for fix } ``` ### SensorBoardGPSInfo Message Complete GPS positioning and velocity information. ```protobuf message SensorBoardGPSInfo { // GPS coordinates double latitude = 1; // Degrees (positive = North, negative = South) double longitude = 2; // Degrees (positive = East, negative = West) float altitude = 3; // Meters above sea level // Velocity data float speed = 4; // Speed in meters per second float heading = 5; // Course over ground in degrees (0-360) // Position accuracy and quality float hdop = 6; // Horizontal dilution of precision (lower is better) float vdop = 7; // Vertical dilution of precision (lower is better) int32 satellites = 8; // Number of satellites in view (up to 16) GPSFixQuality fix_quality = 9; SensorState state = 10; GPSErrorCode error_code = 11; // Error code if state is SENSOR_ERROR // Timestamp from GPS int64 utc_timestamp = 12; // Unix timestamp in milliseconds } ``` --- ## IMU Sensor (imu\_sensor.proto) **Location: ERC-Protobufs/components/sensor\_board/imu\_sensor.proto** **Direction: Sensor Board → Motion Control/Attitude Systems** ### IMUErrorCode Enum Detailed error codes for IMU sensor failures. ```protobuf enum IMUErrorCode { IMU_NO_ERROR = 0; IMU_COMMUNICATION_FAILURE = 1; // I2C/SPI connection lost IMU_CALIBRATION_REQUIRED = 2; // Sensor needs calibration IMU_CALIBRATION_FAILED = 3; // Calibration procedure failed IMU_INVALID_DATA = 4; // Data out of valid range IMU_SENSOR_FAULT = 5; // Hardware fault detected IMU_GYROSCOPE_ERROR = 6; // Gyroscope component failure IMU_MAGNETOMETER_ERROR = 7; // Magnetometer component failure IMU_ACCELEROMETER_ERROR = 8; // Accelerometer component failure } ``` ### SensorBoardIMUInfo Message 3-axis inertial measurement data (acceleration, angular velocity, magnetic field). ```protobuf message SensorBoardIMUInfo { // 3-Axis Accelerometer data float accel_x = 1; // X-axis acceleration float accel_y = 2; // Y-axis acceleration float accel_z = 3; // Z-axis acceleration // 3-Axis Gyroscope data float gyro_x = 4; // X-axis angular velocity float gyro_y = 5; // Y-axis angular velocity float gyro_z = 6; // Z-axis angular velocity // 3-Axis Magnetometer data (9-axis IMU only) float mag_x = 7; // X-axis magnetic field float mag_y = 8; // Y-axis magnetic field float mag_z = 9; // Z-axis magnetic field bool is_calibrated = 13; // True if IMU has been calibrated on level surface SensorState state = 14; IMUErrorCode error_code = 15; // Error code if state is SENSOR_ERROR } ``` --- ## pH Sensor (ph\_sensor.proto) **Location: ERC-Protobufs/components/sensor\_board/ph\_sensor.proto** **Direction: Sensor Board → Environmental Monitoring Systems** ### PHErrorCode Enum Detailed error codes for pH sensor failures. ```protobuf enum PHErrorCode { PH_NO_ERROR = 0; PH_COMMUNICATION_FAILURE = 1; // ADC connection lost PH_OUT_OF_RANGE = 2; // Reading outside 0-14 range PH_CALIBRATION_REQUIRED = 3; // Sensor needs calibration PH_INVALID_DATA = 4; // Data validation failed PH_PROBE_FAULT = 5; // Electrode fault detected PH_TEMPERATURE_SENSOR_ERROR = 6; // Temperature compensation sensor failed } ``` ### SensorBoardPHInfo Message Water quality measurement with temperature compensation. ```protobuf message SensorBoardPHInfo { float ph_value = 1; // Raw pH measurement (0-14 scale, 7 is neutral) float voltage = 2; // Voltage reading from pH sensor in millivolts float temperature = 3; // Temperature reading in Celsius (if external sensor available) SensorState state = 4; // Current state of the pH sensor PHErrorCode error_code = 5; // Error code if state is SENSOR_ERROR } ``` **Notes:** - pH value is derived from voltage via linear calibration equation - 40-sample moving average applied internally to reduce ADC noise - Temperature used for automatic compensation (default ~25°C) --- ## Load Cell Sensor (load\_cell.proto) **Location: ERC-Protobufs/components/sensor\_board/load\_cell.proto** **Direction: Sensor Board → Arm Control/Gripper Systems** ### LoadCellErrorCode Enum Detailed error codes for load cell sensor failures. ```protobuf enum LoadCellErrorCode { LOAD_CELL_NO_ERROR = 0; LOAD_CELL_COMMUNICATION_FAILURE = 1; // ADC connection lost LOAD_CELL_OUT_OF_RANGE = 2; // Force measurement exceeds limits LOAD_CELL_CALIBRATION_REQUIRED = 3; // Sensor needs calibration LOAD_CELL_INVALID_DATA = 4; // Data validation failed LOAD_CELL_SENSOR_FAULT = 5; // Hardware fault detected } ``` ### SensorBoardLoadCellInfo Message Force measurement for robotic gripper control and load monitoring. ```protobuf message SensorBoardLoadCellInfo { uint32 sensor_index = 1; // 0-based index of the load cell (0 or 1) float force_newtons = 2; // Force in Newtons float mass_grams = 3; // Mass in grams (derived from force) int32 raw_counts = 4; // Raw ADC counts (for debugging) // Calibration status and parameters bool is_calibrated = 5; // True if calibration parameters are valid float scale_newtons_per_count = 6; // Conversion factor (N/count) int32 tare_offset_counts = 7; // Zero-load ADC offset SensorState state = 8; LoadCellErrorCode error_code = 9; // Error code if state is SENSOR_ERROR } ``` **Dual Sensor Support:** - Up to 2 independent load cells (sensor\_index 0 and 1) - Typically used on dual-pad grippers for load distribution feedback - Each sensor maintains independent calibration parameters - Enables slip detection via load imbalance analysis --- ## Pressure Sensor (pressure\_sensor.proto) **Location: ERC-Protobufs/components/sensor\_board/pressure\_sensor.proto** **Direction: Sensor Board → Arm Control/Gripper Systems / Environmental Monitoring** ### PressureErrorCode Enum Detailed error codes for pressure sensor failures. ```protobuf enum PressureErrorCode { PRESSURE_NO_ERROR = 0; PRESSURE_COMMUNICATION_FAILURE = 1; // I2C/ADC connection lost PRESSURE_OUT_OF_RANGE = 2; // Reading exceeds sensor limits PRESSURE_CALIBRATION_REQUIRED = 3; // Sensor needs calibration PRESSURE_INVALID_DATA = 4; // Data validation failed PRESSURE_SENSOR_FAULT = 5; // Hardware fault detected } ``` ### SensorBoardPressureInfo Message Pressure measurement for robotic gripper control and environmental sensing. ```protobuf message SensorBoardPressureInfo { uint32 sensor_index = 1; // 0-based index of the pressure sensor (0 or 1) // Pressure data float pressure_kpa = 2; // Pressure in kilopascals float temperature_c = 3; // Temperature in Celsius (if available) float voltage = 4; // Sensor output voltage (if available) // Calibration status bool is_calibrated = 5; // True if calibration parameters are valid SensorState state = 6; PressureErrorCode error_code = 7; // Error code if state is SENSOR_ERROR } ``` **Dual Sensor Support:** - Up to 2 independent pressure sensors (sensor\_index 0 and 1) - Primary use: gripper pad force feedback for PID control - Enables real-time grip force regulation and slip detection - Secondary uses: depth sensing, altitude sensing, system pressure monitoring --- ## Board Diagnostics (diagnostics.proto) **Location: ERC-Protobufs/components/sensor\_board/diagnostics.proto** **Direction: Sensor Board → Debugging Board / Health Monitoring Systems** ### SensorBoardDiagnostics Message Complete system health and status snapshot sent periodically (5 second default). ```protobuf message SensorBoardDiagnostics { enum State { IDLE = 0; OPERATING = 1; CALIBRATING = 2; ERROR = 3; } State state = 1; // Overall board state SensorBoardPHInfo ph_sensor = 2; // pH sensor status SensorBoardIMUInfo imu_sensor = 3; // IMU sensor status // Overall sensor board health float board_temperature = 4; // Board temperature in Celsius float board_voltage = 5; // System voltage (3.3V supply) SensorBoardGPSInfo gps_sensor_1 = 6; // GPS sensor status } ``` **Board States:** - **IDLE (0)** - Board initialized but not actively polling sensors - **OPERATING (1)** - All sensors functioning normally, data being collected - **CALIBRATING (2)** - Board or sensors in calibration mode - **ERROR (3)** - Critical system failure detected **Health Indicators:** - **board\_temperature** - STM32H753 die temperature; normal range 25-75°C - **board\_voltage** - 3.3V supply input; should be 3.0-3.6V - **Embedded sensor states** - Each sensor's current SensorState (IDLE/OPERATING/CALIBRATING/ERROR) --- ## Error Code Pattern All sensor error codes follow a consistent pattern: ```protobuf enum XXXErrorCode { XXX_NO_ERROR = 0; // No error XXX_COMMUNICATION_FAILURE = 1; // Hardware interface (I2C/SPI/UART/ADC) failure XXX_OUT_OF_RANGE = 2; // Reading outside valid sensor range XXX_CALIBRATION_REQUIRED = 3; // Sensor needs calibration XXX_INVALID_DATA = 4; // Data validation/filtering failed XXX_SENSOR_FAULT = 5; // Hardware fault or component failure // Additional sensor-specific errors... } ``` **Integration into application:** ```c if (gps_result.error_code == GPS_COMMUNICATION_FAILURE) { LOG_ERROR("GPS UART connection lost"); diagnostics.gps_sensor_1.state = SENSOR_ERROR; } else if (gps_result.error_code == GPS_NO_ERROR) { LOG_INFO("GPS position: %f, %f", gps_result.latitude, gps_result.longitude); } ``` --- ## Network Transmission **Main Sensor Data:** - Sent via individual sensor messages - Packaged into SensorBoardState (sensor.proto) - UDP broadcast to 192.168.0.255:7 (configurable) - Interval: 5 seconds default (configurable) - Encoding: Nanopb (lightweight protobuf for embedded) **Diagnostics Data:** - Sent via SensorBoardDiagnostics message - UDP broadcast to 192.168.0.255:7 (same port) - Interval: 5 seconds (synced with main loop) - Contains snapshot of all sensor states + health metrics --- ## Message Composition The SensorBoardDiagnostics message is composed of individual sensor message types: ``` SensorBoardDiagnostics ├── state (Board state) ├── SensorBoardPHInfo │ ├── ph_value │ ├── voltage │ ├── temperature │ ├── state (SensorState) │ └── error_code (PHErrorCode) ├── SensorBoardIMUInfo │ ├── accel_x, accel_y, accel_z │ ├── gyro_x, gyro_y, gyro_z │ ├── mag_x, mag_y, mag_z │ ├── is_calibrated │ ├── state (SensorState) │ └── error_code (IMUErrorCode) ├── board_temperature ├── board_voltage └── SensorBoardGPSInfo ├── latitude, longitude, altitude ├── speed, heading ├── hdop, vdop, satellites ├── fix_quality ├── state (SensorState) ├── error_code (GPSErrorCode) └── utc_timestamp ``` **Note:** Not all proto files define load cells and pressure sensors in diagnostics.proto yet - they are sent as separate messages when available.