Sensor Board V2¶

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 clock11 2	`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`
GPIO & Headers	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`
Miscellaneous	on-chip	Raspberry Pi Pico SIO1	`raspberrypi,pico-sio`
MTD	on-chip	Flash node1	`soc-nv-flash`
MTD	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`
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/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 clock11 2	`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`
GPIO & Headers	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`
Miscellaneous	on-chip	Raspberry Pi Pico SIO1	`raspberrypi,pico-sio`
MTD	on-chip	Flash node1	`soc-nv-flash`
MTD	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`

Connections and IOs¶

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

Programming and Debugging¶

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

	flash	debug	attach	debugserver	rtt	reset
blackmagicprobe	✅	✅	✅
jlink	✅	✅	✅	✅	✅	✅
openocd	✅ (default)	✅ (default)	✅	✅	✅
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!