- For hardware design see: https://github.com/larus-breeze/hw_sensor
- STM32CubeIDE
- STM32F407VG
- FreeRTOS
- IMU
- GNSS
- Static pressure
- Differential pressure
- CAN interface
- Bluetooth via HM19 (HW-1.0) ESP32 (HW-2.0)
- RS232 NMEA output channels
Some usefull git commands to work with this repository and the included submodule command line:
Clone via https:
git clone --recurse-submodules https://github.com/larus-breeze/sw_sensor
Clone via ssh:
git clone --recurse-submodules git@github.com:larus-breeze/sw_sensor.git
Switch to a branch:
git checkout branch_name --recurse-submodules
Pull latest changes:
git pull --recurse-submodules
- Release used for release versions (Max. optimized, no debug info)
- Debug used for development
- Flash via USB using the STM32CubeProgrammer and a compiled binary sw_sensor.elf file from here: https://github.com/larus-breeze/sw_sensor/releases
Hold the Boot Button on power-on to start the STM32 in the DFU bootloader mode. Use the STM32CubeProgrammer to flash the binary to the STM32 micro-controller.
- Flash the *.ino file in ESP32_Firmware with arduino studio via the esp32 usb connector.
- Optionally: Use the arduino IDE to change the device name and the RF mode (Bluetooth or WLAN).
- put a sensor_config.txt file (template in configuration/) in the sd cards root directory. Adjust the parameters as described in configuration/README.md Initially the heading may be inaccurate as the magnetic calibration algorithm needs some time in the air to find the exact calibration. A 30 minutes flight with some right and left turns should be sufficient to calibrate the compass module.
- Optionally: Create a directory with the name "logger" to enable logging of all measurement data with 100Hz
- Optionally: Create a directory with the name "magnetic" to enable the logging of magnetic calibration events. There should be a few of these events during the calibration process. If you observe frequent additional events you probabely have moving ferromagnetic parts in the vicinity of the magnetometer.
- Put an empty file with the name: "sensor.readings" in order to switch the serial output format from Larus NMEA syntax to pure sensor raw data values.
- Additionally put an empty file with the name "magnetic.calibration" onto the root-directory of the sd-card in order to start a magnetic ground calibration. This is a development feature and is usually not required nor advised for a standard installation.
There are LEDs on the PCBs edge which indicate the following
- SD-CARD (blue)
- Off: No uSD-Card detected
- On: uSD-Card detected
- Flashing: Actively logging (writing) to card
- SYSTEM (blue)
- Off: System not working at all
- Flashing: Indicates that FreeRTOS and the tasks are running.
- GNSS (blue)
- Off: No GNSS fix
- Flashing: GNSS fix
- ERROR (red)
- Flashing: at least one of the sensors IMU, static pressure, dynamic pressure or GNSS is not working.
- Sporadic flashing: DGNSS heading fix is briefly missing.
- ESP (blue)
- Not used currently