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feat: massive hardware config expansion - 50+ board configs across 11 platform families
- Arduino: Nano, MKR WiFi 1010, Due, Nano 33 IoT (+ existing Uno/Mega) - ESP: ESP8266 (NodeMCU/D1 Mini), ESP32-C3, ESP32-H2 (+ existing S3/C6) - Jetson: TX2, Xavier NX, Orin NX (+ existing Nano/Orin Nano/AGX Orin) - BeagleBone: Black, AI-64 (NEW platform) - STM32: F7, G0, L4, WL, MP1 (+ existing F4/H7) - Teensy: 4.0, 4.1, 3.6 (NEW platform) - Raspberry Pi: 3B+, 400, CM4, Pico 2 (+ existing 4B/5/Zero W) - NRF52: 52832, 52810, 5340, Mesh config (+ existing 52840) - i.MX RT: 1050, 1060, 1064, 1170 (NEW platform) All 2091 hardware tests passing. SEO-optimized READMEs for all platforms. Board registries for runtime discovery.
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‎hardware/__init__.py‎

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# NEXUS Marine Robotics - Hardware Configuration Package
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#
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# Supported platforms:
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# - Arduino: Uno R3, Mega 2560, Nano, Due, MKR WiFi 1010, Nano 33 IoT
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# - ESP32: Classic, S3, C3, C6, H2
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# - ESP8266: NodeMCU, Wemos D1 Mini
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# - Raspberry Pi
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# - NVIDIA Jetson Nano
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# - nRF52
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# - RP2040
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# - STM32

‎hardware/arduino/README.md‎

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@@ -12,13 +12,23 @@ Arduino boards serve as the primary I/O bridge in the NEXUS architecture, interf
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## Supported Arduino Boards
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| Board | CPU | Clock | Flash | RAM | UARTs | Digital Pins | Analog Pins |
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|---|---|---|---|---|---|---|---|
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| **Uno R3** | ATmega328P | 16 MHz | 32 KB | 2 KB | 1 | 14 | 6 |
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| **Mega 2560** | ATmega2560 | 16 MHz | 256 KB | 8 KB | 4 | 54 | 16 |
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| **Nano** | ATmega328P | 16 MHz | 32 KB | 2 KB | 1 | 22 | 8 |
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| **Due** | AT91SAM3X8E | 84 MHz | 512 KB | 96 KB | 4 | 54 | 12 |
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| **Leonardo** | ATmega32U4 | 16 MHz | 32 KB | 2.5 KB | 1 (+USB) | 20 | 12 |
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| Board | CPU | Architecture | Clock | Flash | RAM | UARTs | Digital Pins | Analog Pins | Voltage | Config Module |
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|---|---|---|---|---|---|---|---|---|---|---|
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| **Uno R3** | ATmega328P | AVR 8-bit | 16 MHz | 32 KB | 2 KB | 1 | 14 | 6 | 5.0 V | `config_uno.py` |
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| **Mega 2560** | ATmega2560 | AVR 8-bit | 16 MHz | 256 KB | 8 KB | 4 | 54 | 16 | 5.0 V | `config_mega.py` |
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| **Nano** | ATmega328P | AVR 8-bit | 16 MHz | 32 KB | 2 KB | 1 | 22 | 8 | 5.0 V | `config_nano.py` |
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| **Due** | AT91SAM3X8E | ARM Cortex-M3 | 84 MHz | 512 KB | 96 KB | 4 | 54 | 12 | 3.3 V | `config_due.py` |
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| **MKR WiFi 1010** | SAMD21G18A | ARM Cortex-M0+ | 48 MHz | 256 KB | 32 KB | 1 | 22 | 7 | 3.3 V | `config_mkr_wifi.py` |
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| **Nano 33 IoT** | SAMD21G18A | ARM Cortex-M0+ | 48 MHz | 256 KB | 32 KB | 1 | 20 | 8 | 3.3 V | `config_nano33_iot.py` |
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### Board Selection Guide
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- **Uno R3** — Best for simple single-sensor experiments and prototyping
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- **Mega 2560** — Ideal for multi-sensor arrays requiring 4 UARTs and 54 GPIO
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- **Nano** — Compact breadboard-friendly form factor with extended analog inputs (A0–A7)
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- **Due** — High-performance ARM Cortex-M3 for edge computing, sensor fusion, PID control
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- **MKR WiFi 1010** — WiFi/BLE connectivity for wireless sensor gateway applications
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- **Nano 33 IoT** — Ultra-compact WiFi/BLE mesh node for distributed sensor fleets
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---
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@@ -42,8 +52,8 @@ print(f"GPS : TX=D{cfg.pin_mapping.GPS_TX} RX=D{cfg.pin_mapping.GPS_RX}")
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```
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- **Preamble**: `0xAA 0x55` (configurable)
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- **Max frame size**: 256 bytes
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- **Heartbeat interval**: 500 ms (configurable per board)
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- **Max frame size**: 256 bytes (Uno/Nano), 512 bytes (Due/MKR)
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- **Heartbeat interval**: 250–500 ms (configurable per board)
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---
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@@ -92,6 +102,64 @@ print(f"GPS : TX=D{cfg.pin_mapping.GPS_TX} RX=D{cfg.pin_mapping.GPS_RX}")
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| ESP / Companion | D16 (TX2) / D17 (RX2) | Serial2 | NEXUS backbone link |
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| Aux Serial | D14 (TX3) / D15 (RX3) | Serial3 | Payload comms |
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### Arduino Due — High-Performance Edge Layout
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| Function | Pin | Interface | Notes |
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|---|---|---|---|
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| GPS | D19/D18 | Serial1 | Dedicated UART |
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| IMU #1 | D20/D21 | I2C (Wire) | Primary IMU |
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| IMU #2 | SDA1/SCL1 | I2C (Wire1) | Extended I2C header |
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| Sonar Array | D22–D29 | GPIO | Up to 4 sonar modules |
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| Temperature ×4 | A0–A3 | Analog / 1-Wire | Multi-zone monitoring |
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| Pressure | A4 | Analog / I2C | Depth sensor |
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| Water Quality | A5 | Analog | Turbidity / dissolved O2 |
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| DAC0 / DAC1 | DAC0/DAC1 | Analog Out | Direct analog control |
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| Thrusters ×4 | D34–D37 | PWM | 4-axis thruster control |
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| Companion | D16/D17 | Serial2 | NEXUS backbone |
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| Aux Serial | D14/D15 | Serial3 | Payload comms |
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| Relays | D30–D31 | GPIO | Power management |
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### Arduino Nano — Compact Sensor Node Layout
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| Function | Pin | Interface | Notes |
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|---|---|---|---|
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| GPS | D0/D1 | UART | Shared with USB (SoftwareSerial) |
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| IMU | A4/A5 | I2C | Default I2C pins |
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| Sonar | D7/D8 | GPIO | HC-SR04 |
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| Temperature | A0 | Analog | NTC / DS18B20 |
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| Pressure | A1 | Analog / I2C | Depth sensor |
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| Extra ADC | A2–A3 | Analog | Extended analog inputs |
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| Servo | D9 | PWM | Rudder control |
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| Thruster | D10 | PWM | ESC / thruster driver |
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| LED | D13 | GPIO | Onboard LED |
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### Arduino MKR WiFi 1010 — Wireless Sensor Gateway
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| Function | Pin | Interface | Notes |
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|---|---|---|---|
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| GPS | D13/D14 | Serial1 | Dedicated UART |
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| IMU | D11/D12 | I2C | Standard I2C |
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| Sonar | D6/D7 | GPIO | HC-SR04 |
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| Temperature | A0 | Analog / 1-Wire | NTC / DS18B20 |
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| Pressure | A1 | I2C | MS5837 |
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| Servos | D4/D5 | PWM | Dual servo control |
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| SPI | D5/D8-D10 | SPI | External peripherals |
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| WiFi | NINA-W102 | WiFi/BLE | u-blox module |
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### Arduino Nano 33 IoT — Wireless Mesh Sensor Node
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| Function | Pin | Interface | Notes |
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|---|---|---|---|
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| GPS | D0/D1 | Serial1 | Hardware UART |
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| IMU | A4/A5 | I2C | External + built-in LSM6DS3 |
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| Sonar | D7/D8 | GPIO | HC-SR04 |
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| Temperature | A0 | Analog / 1-Wire | NTC / DS18B20 |
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| Pressure | A1 | I2C | MS5837 |
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| Servo | D9 | PWM | Single servo |
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| Thruster | D3 | PWM | ESC control |
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| LED | D13 + RGB | GPIO | Status + RGB indicator |
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| WiFi/BLE | NINA-W102 | WiFi/BLE | Mesh networking |
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---
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## Getting Started
@@ -105,22 +173,37 @@ pip install nexus-runtime
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### 2. Import and configure your board
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```python
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from nexus.hardware.arduino import get_board_config, list_supported_boards
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from hardware.arduino import get_board_config, list_supported_boards
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# List all supported boards
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boards = list_supported_boards()
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print(boards) # ['uno', 'mega', 'nano', 'due', 'leonardo']
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print(boards) # ['due', 'leonardo', 'mkr_wifi', 'mega', 'nano', 'nano33_iot', 'uno']
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# Get Uno configuration
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uno = get_board_config("uno")
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print(uno.serial_config) # SerialConfig(baud_rate=115200, ...)
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print(uno.pin_mapping.GPS_TX) # 0
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# Get Due configuration (high-performance edge node)
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due = get_board_config("due")
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print(due.board_config.clock_hz) # 84_000_000
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print(due.nexus_edge.edge_processing_enabled) # True
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# Get MKR WiFi 1010 configuration (wireless gateway)
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mkr = get_board_config("mkr_wifi")
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print(mkr.wifi_config.wifi_enabled) # True
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print(mkr.nexus_bridge.bridge_protocol) # MQTT
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# Get Nano 33 IoT configuration (mesh sensor node)
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nano_iot = get_board_config("nano33_iot")
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print(nano_iot.wifi_config.low_power_mode) # True
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print(nano_iot.nexus_mesh.mesh_enabled) # True
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```
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### 3. Configure sensor drivers
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```python
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from nexus.hardware.arduino.sensor_drivers import (
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from hardware.arduino.sensor_drivers import (
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GPSSensorConfig, IMUSensorConfig, SonarConfig
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)
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@@ -159,21 +242,34 @@ print("NEXUS link established.")
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┌───────────────────────────────────────────────┐
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│ NEXUS Central Hub │
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│ (Raspberry Pi / Jetson / PC) │
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└──────────────┬───────────────────┬────────────┘
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│ 115200 UART │ 115200 UART
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┌──────┴──────┐ ┌───────┴───────┐
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│ Arduino Mega │ │ Arduino Uno │
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│ (Sensors) │ │ (Actuators) │
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│ GPS, IMU, │ │ Servos, │
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│ Sonars, Temp │ │ Thrusters │
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└──────────────┘ └───────────────┘
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└──────────┬───────────────────┬───────────────┘
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│ 115200 UART │ WiFi/MQTT
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┌───────┴──────┐ ┌────────┴─────────┐
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│ Arduino Mega │ │ MKR WiFi 1010 │
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│ (Sensors) │ │ (WiFi Gateway) │
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│ GPS, IMU, │ │ WiFi/BLE Mesh │
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│ Sonars, Temp │ │ OTA Updates │
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└──────────────┘ └─────────────────┘
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│ 115200 UART │ WiFi/BLE Mesh
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┌───────┴──────┐ ┌────────┴─────────┐
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│ Arduino Due │ │ Nano 33 IoT │
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│ (Edge CPU) │ │ (Sensor Node) │
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│ Sensor Fusion│ │ GPS, Temp, │
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│ PID Control │ │ Sonar, IMU │
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└──────────────┘ └─────────────────┘
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│ 115200 UART
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┌───────┴──────┐
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│ Arduino Nano │
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│ (Compact I/O│
264+
│ + Extra ADC)│
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└──────────────┘
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```
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---
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## Keywords
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arduino, marine robotics, NEXUS, AUV, ROV, autonomous vessel, sensor integration, serial protocol, underwater robotics, USV, microcontroller, edge computing, telemetry, ocean engineering.
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arduino, marine robotics, NEXUS, AUV, ROV, autonomous vessel, sensor integration, serial protocol, underwater robotics, USV, microcontroller, edge computing, telemetry, ocean engineering, ESP8266, ESP32, WiFi mesh, BLE.
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---
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‎hardware/arduino/__init__.py‎

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MegaConfig,
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get_mega_config,
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)
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from hardware.arduino.config_nano import (
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BoardConfig as NanoBoardConfig,
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SerialConfig as NanoSerialConfig,
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WireProtocolConfig as NanoWireProtocolConfig,
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PinMapping as NanoPinMapping,
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InterfacePins as NanoInterfacePins,
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NanoConfig,
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get_nano_config,
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)
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from hardware.arduino.config_due import (
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BoardConfig as DueBoardConfig,
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SerialConfig as DueSerialConfig,
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WireProtocolConfig as DueWireProtocolConfig,
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NexusEdgeConfig as DueNexusEdgeConfig,
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PinMapping as DuePinMapping,
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InterfacePins as DueInterfacePins,
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DueConfig,
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get_due_config,
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)
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from hardware.arduino.config_mkr_wifi import (
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BoardConfig as MKRBoardConfig,
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SerialConfig as MKRSerialConfig,
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WireProtocolConfig as MKRWireProtocolConfig,
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WiFiConfig as MKRWiFiNetworkConfig,
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NexusBridgeConfig as MKRNexusBridgeConfig,
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PinMapping as MKRPinMapping,
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InterfacePins as MKRInterfacePins,
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MKRWiFiConfig,
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get_mkr_wifi_config,
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)
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from hardware.arduino.config_nano33_iot import (
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BoardConfig as Nano33IoTBoardConfig,
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SerialConfig as Nano33IoTSerialConfig,
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WireProtocolConfig as Nano33IoTWireProtocolConfig,
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WiFiConfig as Nano33IoTWiFiConfig,
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NexusMeshConfig as Nano33IoTNexusMeshConfig,
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PinMapping as Nano33IoTPinMapping,
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InterfacePins as Nano33IoTInterfacePins,
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Nano33IoTConfig,
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get_nano33_iot_config,
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)
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from hardware.arduino.sensor_drivers import (
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GPSSensorConfig,
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IMUSensorConfig,
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"MegaPinMapping",
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"MegaConfig",
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"get_mega_config",
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# Nano
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"NanoBoardConfig",
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"NanoSerialConfig",
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"NanoWireProtocolConfig",
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"NanoPinMapping",
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"NanoInterfacePins",
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"NanoConfig",
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"get_nano_config",
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# Due
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"DueBoardConfig",
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"DueSerialConfig",
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"DueWireProtocolConfig",
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"DueNexusEdgeConfig",
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"DuePinMapping",
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"DueInterfacePins",
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"DueConfig",
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"get_due_config",
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# MKR WiFi 1010
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"MKRBoardConfig",
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"MKRSerialConfig",
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"MKRWireProtocolConfig",
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"MKRWiFiNetworkConfig",
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"MKRNexusBridgeConfig",
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"MKRPinMapping",
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"MKRInterfacePins",
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"MKRWiFiConfig",
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"get_mkr_wifi_config",
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# Nano 33 IoT
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"Nano33IoTBoardConfig",
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"Nano33IoTSerialConfig",
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"Nano33IoTWireProtocolConfig",
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"Nano33IoTWiFiConfig",
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"Nano33IoTNexusMeshConfig",
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"Nano33IoTPinMapping",
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"Nano33IoTInterfacePins",
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"Nano33IoTConfig",
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"get_nano33_iot_config",
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# Sensors
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"GPSSensorConfig",
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"IMUSensorConfig",
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_BOARD_REGISTRY = {
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"uno": ("Arduino Uno R3", get_uno_config),
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"mega": ("Arduino Mega 2560", get_mega_config),
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"nano": ("Arduino Nano", None), # placeholder — same as Uno
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"due": ("Arduino Due", None), # placeholder
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"nano": ("Arduino Nano", get_nano_config),
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"due": ("Arduino Due", get_due_config),
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"mkr_wifi": ("Arduino MKR WiFi 1010", get_mkr_wifi_config),
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"nano33_iot": ("Arduino Nano 33 IoT", get_nano33_iot_config),
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"leonardo": ("Arduino Leonardo", None), # placeholder
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}
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Parameters
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----------
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board_name : str
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One of ``"uno"``, ``"mega"``, ``"nano"``, ``"due"``, ``"leonardo"``.
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One of ``"uno"``, ``"mega"``, ``"nano"``, ``"due"``,
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``"mkr_wifi"``, ``"nano33_iot"``, or ``"leonardo"``.
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**overrides
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Keyword overrides forwarded to the board's config constructor.
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Returns
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-------
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UnoConfig | MegaConfig
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UnoConfig | MegaConfig | NanoConfig | DueConfig | MKRWiFiConfig | Nano33IoTConfig
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Raises
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------

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