Central compute SoM (SerDes deserializer, CSI-2, EtherCAT master, radios, ESC + RC IO) jetson-orin-nx GMSL2 camera module (serializer + imager) WiFi 6 access point BLE teleop pendant FSoE safety servo drive 1 (STO)

FSoE safety servo drive 2 (STO) BLHeli_32 ESC (DShot600 input) RC receiver (inverted-UART SBUS output) APA102C LED 0 (strip head)

APA102C LED 1

APA102C LED 2 (strip tail) GMSL2 camera link with a 6 Gb/s downstream, 187.5 Mb/s back-channel, and power over coax. DShot600 ESC control signal. DShot is a digital control link, not UART framing. Futaba SBUS receiver link using inverted 100 kbaud UART signaling. Bluetooth Low Energy teleoperation link. EtherCAT forwarding chain carrying the FSoE safety black channel. APA102C clocked shift-register cascade driven by the compute module. WiFi infrastructure network with the access point as coordinator.