Sensor Board V2

Board Overview

Sensor Board V2

Name:

sensor_board_v2

Vendor:

Auxspace e.V.

Status:

Maintained

Architecture:

riscv, arm

SoC:

rp2040, rp2350a

Browse board sources

Overview

The Auxspace e.V. sensor_board_v2 PCB is built around the idea to support interchangeable hardware in a stackable rocket avionics system. This version contains a Raspberry Pi Pico with the RP2040 dual core Arm Cortex-M0+ or a Raspberry Pi Pico 2 with the RP2350 dual core RISC-V Hazard3.

Hardware

Raspberry Pi Pico variant:

• Dual core Arm Cortex-M0+ processor running up to 133MHz

• 264KB on-chip SRAM

• 2MB on-board QSPI flash with XIP capabilities

• 26 GPIO pins

• 3 Analog inputs

• 2 UART peripherals

• 2 SPI controllers

• 2 I2C controllers

• 16 PWM channels

• USB 1.1 controller (host/device)

• 8 Programmable I/O (PIO) for custom peripherals

• On-board LED

• 1 Watchdog timer peripheral

• Infineon CYW43439 2.4 GHz Wi-Fi chip (Pico W only)

Raspberry Pi Pico 2 variant:

• Dual Cortex-M33 or Hazard3 processors at up to 150MHz

• 520KB of SRAM, and 4MB of on-board flash memory

• USB 1.1 with device and host support

• Low-power sleep and dormant modes

• Drag-and-drop programming using mass storage over USB

• 26 multi-function GPIO pins including 3 that can be used for ADC

• 2 SPI, 2 I2C, 2 UART, 3 12-bit 500ksps Analogue to Digital - Converter (ADC), 24 controllable PWM channels

• 2 Timer with 4 alarms, 1 AON Timer

• Temperature sensor

• 3 Programmable IO (PIO) blocks, 12 state machines total for custom peripheral support

• Infineon CYW43439 2.4 GHz Wi-Fi chip (Pico 2W only)

  • Flexible, user-programmable high-speed IO

  • Can emulate interfaces such as SD Card and VGA

Supported Features

The sensor_board_v2 board supports the hardware features listed below.

on-chip / on-board

Feature integrated in the SoC / present on the board.

2 / 2

Number of instances that are enabled / disabled.
Click on the label to see the first instance of this feature in the board/SoC DTS files.

vnd,foo

Compatible string for the Devicetree binding matching the feature.
Click on the link to view the binding documentation.

sensor_board_v2/rp2040 target

Type	Location	Description	Compatible
CPU	on-chip	ARM Cortex-M0+ CPU2	arm,cortex-m0+
ADC	on-chip	Raspberry Pi Pico ADC1	raspberrypi,pico-adc
Clock control	on-chip	Raspberry Pi Pico clock controller node1	raspberrypi,pico-clock-controller
	on-chip	The representation of Raspberry Pi Pico’s clock112	raspberrypi,pico-clock
	on-chip	The representation of Raspberry Pi Pico’s PLL2	raspberrypi,pico-pll
	on-chip	The representation of Raspberry Pi Pico ring oscillator1	raspberrypi,pico-rosc
	on-chip	The representation of Raspberry Pi Pico external oscillator1	raspberrypi,pico-xosc
Counter	on-chip	Raspberry Pi Pico timer1	raspberrypi,pico-timer
DMA	on-chip	Raspberry Pi Pico DMA1	raspberrypi,pico-dma
Flash controller	on-chip	Raspberry Pi Pico flash controller1	raspberrypi,pico-flash-controller
GPIO & Headers	on-chip	Raspberry Pi Pico GPIO1	raspberrypi,pico-gpio
	on-chip	Raspberry Pi Pico GPIO Port1	raspberrypi,pico-gpio-port
I2C	on-chip	Raspberry Pi Pico I2C2	raspberrypi,pico-i2c
Interrupt controller	on-chip	ARMv6-M NVIC (Nested Vectored Interrupt Controller) controller1	arm,v6m-nvic
Mailbox	on-chip	Raspberry Pi Pico interprocessor mailbox1	raspberrypi,pico-mbox
Miscellaneous	on-chip	Raspberry Pi Pico PIO2	raspberrypi,pico-pio
	on-chip	Raspberry Pi Pico SIO1	raspberrypi,pico-sio
MTD	on-chip	Flash node1	soc-nv-flash
	on-chip	Fixed partitions of a flash (or other non-volatile storage) memory1	fixed-partitions
Pin control	on-chip	Raspberry Pi Pico Pin Controller1	raspberrypi,pico-pinctrl
PWM	on-chip	Raspberry Pi Pico PWM1	raspberrypi,pico-pwm
Regulator	on-chip	Raspberry Pi Pico core supply regurator1	raspberrypi,core-supply-regulator
Reset controller	on-chip	Raspberry Pi Pico Reset Controller1	raspberrypi,pico-reset
RTC	on-chip	Raspberry Pi Pico RTC1	raspberrypi,pico-rtc
Sensors	on-board	STMicroelectronics LSM6DSO32 6-axis IMU (Inertial Measurement Unit) sensor accessed through I2C bus1	st,lsm6dso32
	on-board	TE Connectivity MS5607 digital pressure and temperature sensor1	meas,ms5607
	on-chip	Raspberry Pi Pico family temperature sensor node1	raspberrypi,pico-temp
Serial controller	on-chip	Raspberry Pi Pico UART2	raspberrypi,pico-uart
SPI	on-chip	Raspberry Pi Pico SPI2	raspberrypi,pico-spi
SRAM	on-chip	Generic on-chip SRAM1	mmio-sram
Timer	on-chip	ARMv6-M System Tick1	arm,armv6m-systick
USB	on-chip	Raspberry Pi Pico USB Device Controller1	raspberrypi,pico-usbd
Watchdog	on-chip	Raspberry Pi Pico Watchdog1	raspberrypi,pico-watchdog

sensor_board_v2/rp2040/w target

Type	Location	Description	Compatible
CPU	on-chip	ARM Cortex-M0+ CPU2	arm,cortex-m0+
ADC	on-chip	Raspberry Pi Pico ADC1	raspberrypi,pico-adc
Clock control	on-chip	Raspberry Pi Pico clock controller node1	raspberrypi,pico-clock-controller
	on-chip	The representation of Raspberry Pi Pico’s clock112	raspberrypi,pico-clock
	on-chip	The representation of Raspberry Pi Pico’s PLL2	raspberrypi,pico-pll
	on-chip	The representation of Raspberry Pi Pico ring oscillator1	raspberrypi,pico-rosc
	on-chip	The representation of Raspberry Pi Pico external oscillator1	raspberrypi,pico-xosc
Counter	on-chip	Raspberry Pi Pico timer1	raspberrypi,pico-timer
DMA	on-chip	Raspberry Pi Pico DMA1	raspberrypi,pico-dma
Flash controller	on-chip	Raspberry Pi Pico flash controller1	raspberrypi,pico-flash-controller
GPIO & Headers	on-chip	Raspberry Pi Pico GPIO1	raspberrypi,pico-gpio
	on-chip	Raspberry Pi Pico GPIO Port1	raspberrypi,pico-gpio-port
	on-board	Infineon CYW43 GPIO controller1	infineon,cyw43-gpio
I2C	on-chip	Raspberry Pi Pico I2C2	raspberrypi,pico-i2c
Interrupt controller	on-chip	ARMv6-M NVIC (Nested Vectored Interrupt Controller) controller1	arm,v6m-nvic
Mailbox	on-chip	Raspberry Pi Pico interprocessor mailbox1	raspberrypi,pico-mbox
Miscellaneous	on-chip	Raspberry Pi Pico PIO11	raspberrypi,pico-pio
	on-chip	Raspberry Pi Pico SIO1	raspberrypi,pico-sio
MTD	on-chip	Flash node1	soc-nv-flash
	on-chip	Fixed partitions of a flash (or other non-volatile storage) memory1	fixed-partitions
Pin control	on-chip	Raspberry Pi Pico Pin Controller1	raspberrypi,pico-pinctrl
PWM	on-chip	Raspberry Pi Pico PWM1	raspberrypi,pico-pwm
Regulator	on-chip	Raspberry Pi Pico core supply regurator1	raspberrypi,core-supply-regulator
Reset controller	on-chip	Raspberry Pi Pico Reset Controller1	raspberrypi,pico-reset
RTC	on-chip	Raspberry Pi Pico RTC1	raspberrypi,pico-rtc
Sensors	on-board	STMicroelectronics LSM6DSO32 6-axis IMU (Inertial Measurement Unit) sensor accessed through I2C bus1	st,lsm6dso32
	on-board	TE Connectivity MS5607 digital pressure and temperature sensor1	meas,ms5607
	on-chip	Raspberry Pi Pico family temperature sensor node1	raspberrypi,pico-temp
Serial controller	on-chip	Raspberry Pi Pico UART2	raspberrypi,pico-uart
SPI	on-chip	Raspberry Pi Pico SPI2	raspberrypi,pico-spi
	on-board	Raspberry Pi Pico SPI via PIO1	raspberrypi,pico-spi-pio
SRAM	on-chip	Generic on-chip SRAM1	mmio-sram
Timer	on-chip	ARMv6-M System Tick1	arm,armv6m-systick
USB	on-chip	Raspberry Pi Pico USB Device Controller1	raspberrypi,pico-usbd
Watchdog	on-chip	Raspberry Pi Pico Watchdog1	raspberrypi,pico-watchdog
Wi-Fi	on-board	AIROC Wi-Fi Connectivity over SPI1	infineon,airoc-wifi

sensor_board_v2/rp2350a/hazard3 target

Type	Location	Description	Compatible
CPU	on-chip	Generic RISC-V CPU2	riscv
ADC	on-chip	Raspberry Pi Pico ADC1	raspberrypi,pico-adc
Clock control	on-chip	The representation of Raspberry Pi Pico’s clock112	raspberrypi,pico-clock
	on-chip	The representation of Raspberry Pi Pico’s PLL2	raspberrypi,pico-pll
	on-chip	The representation of Raspberry Pi Pico ring oscillator1	raspberrypi,pico-rosc
	on-chip	The representation of Raspberry Pi Pico external oscillator1	raspberrypi,pico-xosc
	on-chip	Raspberry Pi Pico clock controller node1	raspberrypi,pico-clock-controller
Counter	on-chip	Raspberry Pi Pico timer2	raspberrypi,pico-timer
Cryptographic accelerator	on-chip	Raspberry Pi Pico SHA-256 accelerator1	raspberrypi,pico-sha256
DMA	on-chip	Raspberry Pi Pico DMA1	raspberrypi,pico-dma
Flash controller	on-chip	Raspberry Pi Pico flash controller1	raspberrypi,pico-flash-controller
GPIO & Headers	on-chip	Raspberry Pi Pico GPIO1	raspberrypi,pico-gpio
	on-chip	Raspberry Pi Pico GPIO Port2	raspberrypi,pico-gpio-port
I2C	on-chip	Raspberry Pi Pico I2C2	raspberrypi,pico-i2c
Interrupt controller	on-chip	Hazard3 interrupt controller1	hazard3,hazard3-intc
Mailbox	on-chip	Raspberry Pi Pico interprocessor mailbox1	raspberrypi,pico-mbox
Miscellaneous	on-chip	Raspberry Pi Pico PIO3	raspberrypi,pico-pio
	on-chip	Raspberry Pi Pico SIO1	raspberrypi,pico-sio
MTD	on-chip	Flash node1	soc-nv-flash
	on-board	Fixed partitions of a flash (or other non-volatile storage) memory1	fixed-partitions
Pin control	on-chip	Raspberry Pi Pico Pin Controller1	raspberrypi,pico-pinctrl
PWM	on-chip	Raspberry Pi Pico PWM1	raspberrypi,pico-pwm
Regulator	on-chip	Raspberry Pi Pico core supply regurator1	raspberrypi,core-supply-regulator
Reset controller	on-chip	Raspberry Pi Pico Reset Controller1	raspberrypi,pico-reset
RNG	on-chip	Raspberry Pi Pico RNG/Entropy1	raspberrypi,pico-rng
Sensors	on-board	STMicroelectronics LSM6DSO32 6-axis IMU (Inertial Measurement Unit) sensor accessed through I2C bus1	st,lsm6dso32
	on-board	TE Connectivity MS5607 digital pressure and temperature sensor1	meas,ms5607
	on-chip	Raspberry Pi Pico family temperature sensor node1	raspberrypi,pico-temp
Serial controller	on-chip	Raspberry Pi Pico UART2	raspberrypi,pico-uart
SPI	on-chip	Raspberry Pi Pico SPI2	raspberrypi,pico-spi
SRAM	on-chip	Generic on-chip SRAM1	mmio-sram
Timer	on-chip	RISC-V Machine Timer1	riscv,machine-timer
USB	on-chip	Raspberry Pi Pico USB Device Controller1	raspberrypi,pico-usbd
Watchdog	on-chip	Raspberry Pi Pico Watchdog1	raspberrypi,pico-watchdog

sensor_board_v2/rp2350a/m33 target

Type	Location	Description	Compatible
CPU	on-chip	ARM Cortex-M33 CPU2	arm,cortex-m33
ADC	on-chip	Raspberry Pi Pico ADC1	raspberrypi,pico-adc
Clock control	on-chip	The representation of Raspberry Pi Pico’s clock112	raspberrypi,pico-clock
	on-chip	The representation of Raspberry Pi Pico’s PLL2	raspberrypi,pico-pll
	on-chip	The representation of Raspberry Pi Pico ring oscillator1	raspberrypi,pico-rosc
	on-chip	The representation of Raspberry Pi Pico external oscillator1	raspberrypi,pico-xosc
	on-chip	Raspberry Pi Pico clock controller node1	raspberrypi,pico-clock-controller
Counter	on-chip	Raspberry Pi Pico timer2	raspberrypi,pico-timer
Cryptographic accelerator	on-chip	Raspberry Pi Pico SHA-256 accelerator1	raspberrypi,pico-sha256
DMA	on-chip	Raspberry Pi Pico DMA1	raspberrypi,pico-dma
Flash controller	on-chip	Raspberry Pi Pico flash controller1	raspberrypi,pico-flash-controller
GPIO & Headers	on-chip	Raspberry Pi Pico GPIO1	raspberrypi,pico-gpio
	on-chip	Raspberry Pi Pico GPIO Port2	raspberrypi,pico-gpio-port
I2C	on-chip	Raspberry Pi Pico I2C2	raspberrypi,pico-i2c
Interrupt controller	on-chip	ARMv8-M NVIC (Nested Vectored Interrupt Controller)1	arm,v8m-nvic
Mailbox	on-chip	Raspberry Pi Pico interprocessor mailbox1	raspberrypi,pico-mbox
Miscellaneous	on-chip	Raspberry Pi Pico PIO3	raspberrypi,pico-pio
	on-chip	Raspberry Pi Pico SIO1	raspberrypi,pico-sio
MTD	on-chip	Flash node1	soc-nv-flash
	on-board	Fixed partitions of a flash (or other non-volatile storage) memory1	fixed-partitions
Pin control	on-chip	Raspberry Pi Pico Pin Controller1	raspberrypi,pico-pinctrl
PWM	on-chip	Raspberry Pi Pico PWM1	raspberrypi,pico-pwm
Regulator	on-chip	Raspberry Pi Pico core supply regurator1	raspberrypi,core-supply-regulator
Reset controller	on-chip	Raspberry Pi Pico Reset Controller1	raspberrypi,pico-reset
RNG	on-chip	Raspberry Pi Pico RNG/Entropy1	raspberrypi,pico-rng
Sensors	on-board	STMicroelectronics LSM6DSO32 6-axis IMU (Inertial Measurement Unit) sensor accessed through I2C bus1	st,lsm6dso32
	on-board	TE Connectivity MS5607 digital pressure and temperature sensor1	meas,ms5607
	on-chip	Raspberry Pi Pico family temperature sensor node1	raspberrypi,pico-temp
Serial controller	on-chip	Raspberry Pi Pico UART2	raspberrypi,pico-uart
SPI	on-chip	Raspberry Pi Pico SPI2	raspberrypi,pico-spi
SRAM	on-chip	Generic on-chip SRAM1	mmio-sram
Timer	on-chip	ARMv8-M System Tick1	arm,armv8m-systick
USB	on-chip	Raspberry Pi Pico USB Device Controller1	raspberrypi,pico-usbd
Watchdog	on-chip	Raspberry Pi Pico Watchdog1	raspberrypi,pico-watchdog

sensor_board_v2/rp2350a/m33/w target

Type	Location	Description	Compatible
CPU	on-chip	ARM Cortex-M33 CPU2	arm,cortex-m33
ADC	on-chip	Raspberry Pi Pico ADC1	raspberrypi,pico-adc
Clock control	on-chip	The representation of Raspberry Pi Pico’s clock112	raspberrypi,pico-clock
	on-chip	The representation of Raspberry Pi Pico’s PLL2	raspberrypi,pico-pll
	on-chip	The representation of Raspberry Pi Pico ring oscillator1	raspberrypi,pico-rosc
	on-chip	The representation of Raspberry Pi Pico external oscillator1	raspberrypi,pico-xosc
	on-chip	Raspberry Pi Pico clock controller node1	raspberrypi,pico-clock-controller
Counter	on-chip	Raspberry Pi Pico timer2	raspberrypi,pico-timer
Cryptographic accelerator	on-chip	Raspberry Pi Pico SHA-256 accelerator1	raspberrypi,pico-sha256
DMA	on-chip	Raspberry Pi Pico DMA1	raspberrypi,pico-dma
Flash controller	on-chip	Raspberry Pi Pico flash controller1	raspberrypi,pico-flash-controller
GPIO & Headers	on-chip	Raspberry Pi Pico GPIO1	raspberrypi,pico-gpio
	on-chip	Raspberry Pi Pico GPIO Port2	raspberrypi,pico-gpio-port
	on-board	Infineon CYW43 GPIO controller1	infineon,cyw43-gpio
I2C	on-chip	Raspberry Pi Pico I2C2	raspberrypi,pico-i2c
Interrupt controller	on-chip	ARMv8-M NVIC (Nested Vectored Interrupt Controller)1	arm,v8m-nvic
Mailbox	on-chip	Raspberry Pi Pico interprocessor mailbox1	raspberrypi,pico-mbox
Miscellaneous	on-chip	Raspberry Pi Pico PIO12	raspberrypi,pico-pio
	on-chip	Raspberry Pi Pico SIO1	raspberrypi,pico-sio
MTD	on-chip	Flash node1	soc-nv-flash
	on-board	Fixed partitions of a flash (or other non-volatile storage) memory1	fixed-partitions
Pin control	on-chip	Raspberry Pi Pico Pin Controller1	raspberrypi,pico-pinctrl
PWM	on-chip	Raspberry Pi Pico PWM1	raspberrypi,pico-pwm
Regulator	on-chip	Raspberry Pi Pico core supply regurator1	raspberrypi,core-supply-regulator
Reset controller	on-chip	Raspberry Pi Pico Reset Controller1	raspberrypi,pico-reset
RNG	on-chip	Raspberry Pi Pico RNG/Entropy1	raspberrypi,pico-rng
Sensors	on-board	STMicroelectronics LSM6DSO32 6-axis IMU (Inertial Measurement Unit) sensor accessed through I2C bus1	st,lsm6dso32
	on-board	TE Connectivity MS5607 digital pressure and temperature sensor1	meas,ms5607
	on-chip	Raspberry Pi Pico family temperature sensor node1	raspberrypi,pico-temp
Serial controller	on-chip	Raspberry Pi Pico UART2	raspberrypi,pico-uart
SPI	on-chip	Raspberry Pi Pico SPI2	raspberrypi,pico-spi
	on-board	Raspberry Pi Pico SPI via PIO1	raspberrypi,pico-spi-pio
SRAM	on-chip	Generic on-chip SRAM1	mmio-sram
Timer	on-chip	ARMv8-M System Tick1	arm,armv8m-systick
USB	on-chip	Raspberry Pi Pico USB Device Controller1	raspberrypi,pico-usbd
Watchdog	on-chip	Raspberry Pi Pico Watchdog1	raspberrypi,pico-watchdog
Wi-Fi	on-board	AIROC Wi-Fi Connectivity over SPI1	infineon,airoc-wifi

Connections and IOs

The connectors remain undocumented for the time being, since the PCB is under active development.

Wireless connectivity (_w variants)

The _w board variants are fitted with the Infineon CYW43439 combo radio (as on the Raspberry Pi Pico W / Pico 2 W). It hangs off a PIO-SPI (“gSPI”) bus on GPIO 23/24/25/29, defined in sensor_board_v2_wifi.dtsi.

Wi-Fi (supported)

Wi-Fi works through the upstream infineon,airoc-wifi driver. Enable it with CONFIG_WIFI=y / CONFIG_WIFI_AIROC=y plus the module selection (CONFIG_CYW43439=y, CONFIG_CYW43439_MURATA_1YN=y).

Bluetooth / BLE (NOT supported)

Warning

There is currently no way to enable Bluetooth on the _w boards through configuration alone. The CYW43439’s Bluetooth shares the same PIO-SPI bus as Wi-Fi, and Zephyr has no HCI transport driver for CYW43439 BT over that shared bus (verified against the Zephyr 4.4 tree).

Why config-only attempts fail:

• The only AIROC Bluetooth HCI driver in Zephyr is hci_uart_infineon.c (compatible = "infineon,bt-hci-uart"), which requires a dedicated BT UART (see the cy8cproto_062_4343w board). Every CYW43439 BT Kconfig option (CONFIG_CYW43439, …) gates on BT_H4 (UART). The Pico W does not route BT out on a UART; its BT is multiplexed on the Wi-Fi PIO SPI bus.

• The Zephyr 4.4 migration guide folded the old combo-chip compatible into the UART driver: infineon,cyw43xxx-bt-hci => infineon,bt-hci-uart, CONFIG_BT_CYW43XX => CONFIG_BT_HCI_UART_INFINEON.

• Upstream rpi_pico_rp2040_w.dts deliberately wires Wi-Fi only — no BT node, no chosen { zephyr,bt-hci }.

Symptom of trying anyway: declaring a bt-hci / infineon,airoc-bt-hci node plus chosen { zephyr,bt-hci = ... } makes the BT host DEVICE_DT_GET() the node, but no driver has a matching DT_DRV_COMPAT, so the link fails with undefined reference to __device_dts_ord_<N> (the node number shifts as the DT is restructured, but the cause is always “no driver behind the compatible”).

The only code that drives CYW43439 BT over the shared bus is the Pico SDK’s BTStack transport (hal_rpi_pico/.../pico_cyw43_driver), which is a separate host stack and is not wired into Zephyr’s Bluetooth subsystem.

Enabling BLE here is therefore a driver-development task (port the BTStack cyw43 transport to a Zephyr bt-hci driver with Wi-Fi/BT bus arbitration), not a configuration task.

Programming and Debugging

The sensor_board_v2 board supports the runners and associated west commands listed below.

	flash	debug	attach	rtt	debugserver	reset
blackmagicprobe	✅	✅	✅
jlink	✅	✅	✅	✅	✅	✅
openocd	✅ (default)	✅ (default)	✅	✅	✅
probe-rs	✅	✅	✅		✅
pyocd	✅	✅	✅	✅	✅
uf2	✅

Warning

If no µSD-Card is inserted, the board will have trouble booting, since the SPI-SDHC driver has no way to detect card presence without a card-detect-pin!

Building

RP2040

The aurora software for the RP2040 is built with sysbuild since it uses the MCUBoot boot loader:

west build -p -b sensor_board_v2/rp2040 --sysbuild sensor_board

RP2350

The aurora software for the RP2350 is built without sysbuild at the moment.

west build -p -b sensor_board_v2/rp2350a/hazard3 sensor_board

Flashing

RP2040

Flashing the MCUBoot bootloader can not be done with west flash since it does not install both binary files in the correct location in the flash. Instead the software can be flashed with picotool allowing flashing via the USB interface. For this the board needs to be put into bootloader mode by holding the BOOTSEL button while plugging the board into the computer. Then the following commands can be used to flash the bootloader and the application:

# Flash the bootloader
picotool load build/mcuboot/zephyr/zephyr.uf2
# Flash the application
picotool load build/sensor_board/zephyr/zephyr.signed.bin --offset 0x10010000
# Reboot the board
picotool reboot

Note

picotool can be obtained either by building it from source following the instructions on the picotool repository or by installing it as a prebuilt binary from the release page of the pico-sdk-tools repository.

RP2350

Flashing the RP2350 can be done by copying the generated zephyr.uf2 located in the build/sensor_board/zephyr directory to the board’s USB mass storage device. The board needs to be put into bootloader mode by holding the BOOTSEL button while plugging the board into the computer.