Sensors I/O Overview

The node's only local sensor is GPS: everything else about the car arrives over CAN. GPS gives position, speed, and heading, and drives the lap counter.

• GPS: UART + DMA receive, lwGPS parsing, RTC sync, and the RTCM correction sender.
• Lap Tracking: finish-line-crossing detection built entirely on GPS position and heading.

Lap tracking is a consumer of GPS, not a separate sensor: every GPS update notifies the lap thread, which decides whether the car just crossed the finish line.