I/O module

The I/O module is built as a general board for various sensor inputs and outputs. It is run by an STM32F103.

The module features 4 output connectors, with each being usable both as a servo output or 2 switchable outputs, powered by one of a variety of power sources. They also feature a variety of communication ports, allowing the connection to UART, I2C systems as well as the use of the STM32's ADC.

The outputs of the I/O module can be powered straight from the FC battery, a 5v line powered by a linear regulator, an external source like the charge bus or an auxiliary battery, or an onboard, programmable boost converter.

Components

• STM32F103
• 4x output connector
• 2x switchable outputs
• see schematics for complete list

Firmware

The firmware for the IO-board is written in rust, uses embassy and can be found in the frimware folder.

Getting started

• clone the repository

• install STLink drivers

  • Linux: Install via package manager if possible, e.g. pacman -S stlink

  • Windows:

    • Download drivers from ST's website (requires account)
    • Extract .zip and run dpinst_amd64.exe for 64-bit systems, and dpinst_x86.exe on 32-bit systems.

    After installation, it may be necessary to unplug the STLink and plug it back in, or even reboot (or reload udev rules on Linux).

• install Rustup

  • A tool used to manage different Rust versions and targets (e.g. x86, ARM, etc.). Download and run installer: follow the instructions on https://rustup.rs/ (Use rustup-init.exe for Windows, defaults are fine)

• Rust

  • Using rustup, we can download the target needed for the STM32 and some other tools we need.

    • rustup target add thumbv7em-none-eabi (Add ARM toolchain)

    • cargo install probe-rs-tools --locked

    • cargo install flip-link (Needed for cargo run)

• Compiling & Flashing

  • run cargo run --release