Hey @gcielniak
Can you add me (@vigneshrajap) and @Jailander as collaborators here for adding the sensor informations.

@larsgrim We are developing some hardware for Thorvald such as penetrometer and I was thinking about a serial communication standard and protocol that could potentially be shared by all external low-bandwidth devices. Have you had any thoughts on that?
As I see alternatives are as follows:

• RS232: simple hardware and interconnectivity, a bit dated, perhaps not too robust and I am not aware of any good higher-level protocols for I/O devices.
• CAN (CANOpen): open standard, most likely requiring beefier microcontrollers;
• Ethernet/IP: Ethernet-based, automation standard based on CIP protocol. As I understand it typically requires 32bit controllers and is a bit complex, although we managed to interface one of the motor controllers for the old penetrometer.

Physical connections are also important to consider. It might be that there is no universal choice but thought to run that through you and see what you think.