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Crashout Bringup (#389)
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‎boards/arm/crashout/Kconfig.crashout‎

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# SPDX-License-Identifier: Apache-2.0
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config BOARD_CRASHOUT
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select SOC_STM32F103X8

‎boards/arm/crashout/board.cmake‎

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# SPDX-License-Identifier: Apache-2.0
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# keep first
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board_runner_args(stm32cubeprogrammer "--port=swd" "--reset-mode=hw")
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board_runner_args(jlink "--device=STM32F103C8" "--speed=4000")
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# keep first
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include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)
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include(${ZEPHYR_BASE}/boards/common/stm32cubeprogrammer.board.cmake)
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include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)

‎boards/arm/crashout/board.yml‎

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board:
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name: crashout
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full_name: CRASHOUT
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vendor: Launch Initiative
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socs:
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- name: stm32f103xb #lying voice. this is just to make west happy. memory map and peripherals are x8

‎boards/arm/crashout/crashout.dts‎

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/*
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* Copyright (c) 2026 Launch Initiative
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/dts-v1/;
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#include <st/f1/stm32f103X8.dtsi>
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#include <st/f1/stm32f103c(8-b)tx-pinctrl.dtsi>
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#include <zephyr/dt-bindings/input/input-event-codes.h>
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&pinctrl{
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swj-cfg = "jtag-disable";
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};
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/ {
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model = "CRASHOUT";
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compatible = "launch,crashout";
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chosen {
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zephyr,console = &usart2;
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zephyr,shell-uart = &usart2;
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zephyr,sram = &sram0;
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zephyr,flash = &flash0;
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};
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leds: leds {
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compatible = "gpio-leds";
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led1: led1{
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gpios = <&gpiob 15 GPIO_ACTIVE_HIGH>;
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label = "LED";
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};
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flip_servo_pwr_en: flip_servo_pwr_en {
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// 8.4v buck
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gpios = <&gpioa 15 GPIO_ACTIVE_HIGH>;
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label = "Flip Servo Power Enable";
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};
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wrist_servo_pwr_en: wrist_servo_pwr_en {
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// 5v efuse
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gpios = <&gpioc 13 GPIO_ACTIVE_HIGH>;
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label = "Wrist Servo Power Enable";
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};
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nsleep: nsleep {
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// motor nsleep
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gpios = <&gpioc 15 GPIO_ACTIVE_HIGH>;
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label = "nsleep driver pin";
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};
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};
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aliases {
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led0 = &led1;
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die-temp0 = &die_temp;
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};
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servos: servos{
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status="okay";
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compatible = "pwm-leds";
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// 500 -2500 for wrist servo
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min-pulse = <PWM_USEC(100)>; // 800 maybe
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max-pulse = <PWM_USEC(3000)>; //1700 maybe
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servo1: servo1 {
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// 5v one
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label = "Servo 1 PWM";
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// name of pin
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pwms = <&pwm1 4 PWM_MSEC(3) PWM_POLARITY_NORMAL>;
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};
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servo2: servo2 {
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label = "Servo 2 PWM";
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// name of pin
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pwms = <&pwm1 3 PWM_MSEC(3) PWM_POLARITY_NORMAL>;
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};
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servo3: servo3 {
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label = "Servo 3 PWM";
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// name of pin
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pwms = <&pwm1 2 PWM_MSEC(3) PWM_POLARITY_NORMAL>;
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};
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servo4: servo4 {
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label = "Servo 4 PWM";
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// name of pin
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pwms = <&pwm1 1 PWM_MSEC(3) PWM_POLARITY_NORMAL>;
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};
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};
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};
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&clk_lsi {
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status = "okay";
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};
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&pll {
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mul = <7>;
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clocks = <&clk_hsi>;
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status = "okay";
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};
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&rcc {
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clocks = <&pll>;
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clock-frequency = <DT_FREQ_M(28)>;
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ahb-prescaler = <1>;
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apb1-prescaler = <1>;
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apb2-prescaler = <1>;
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};
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// Debug Header UART
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&usart2 {
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pinctrl-0 = <&usart2_tx_pa2 &usart2_rx_pa3>;
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pinctrl-names = "default";
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current-speed = <115200>;
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status = "okay";
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};
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motor_i2c: &i2c1 {
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// motor i2c
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pinctrl-0 = <&i2c1_scl_remap1_pb8 &i2c1_sda_remap1_pb9>;
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pinctrl-names = "default";
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status = "okay";
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clock-frequency = <I2C_BITRATE_FAST>;
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};
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imu_i2c:&i2c2 {
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// imu i2c
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pinctrl-0 = <&i2c2_scl_pb10 &i2c2_sda_pb11>;
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pinctrl-names = "default";
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status = "okay";
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clock-frequency = <I2C_BITRATE_FAST>;
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link1_imu: lis3dh@18 {
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compatible = "st,lis3dh";
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reg = <0x18>;
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status = "okay";
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};
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link2_imu: lis3dh@19 {
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compatible = "st,lis3dh";
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reg = <0x19>;
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status = "okay";
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};
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};
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&spi1 {
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pinctrl-0 = <&spi1_sck_slave_pa5 &spi1_miso_slave_pa6 &spi1_mosi_slave_pa7>;
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pinctrl-names = "default";
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cs-gpios = <&gpiob 6 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>;
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status = "okay";
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};
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&timers1 {
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st,prescaler = <100>;
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status = "okay";
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pwm1: pwm {
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status = "okay";
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// corresponds to servo 4-1
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pinctrl-0 = <&tim1_ch1_pwm_out_pa8 &tim1_ch2_pwm_out_pa9 &tim1_ch3_pwm_out_pa10 &tim1_ch4_pwm_out_pa11>;
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pinctrl-names = "default";
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};
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};
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&timers2 {
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dcm_enc1: qdec {
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compatible = "st,stm32-qdec";
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status = "okay";
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st,input-filter-level = <NO_FILTER>;
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pinctrl-0 = <&tim2_ch1_pwm_in_pa0 &tim2_ch2_pwm_in_pa1>;
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pinctrl-names = "default";
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// https://docs.zephyrproject.org/latest/build/dts/api/bindings/sensor/st%2Cstm32-qdec.html
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st,counts-per-revolution = <4172>; // 298:1 gearbox 298 rotations of output to 1 input. 7 PPR hall sensor
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};
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};
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&timers3 {
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dcm_enc2: qdec {
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compatible = "st,stm32-qdec";
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status = "okay";
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st,input-filter-level = <NO_FILTER>;
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pinctrl-0 = <&tim3_ch1_remap1_pwm_in_pb4 &tim3_ch2_remap1_pwm_in_pb5>;
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pinctrl-names = "default";
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// https://docs.zephyrproject.org/latest/build/dts/api/bindings/sensor/st%2Cstm32-qdec.html
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st,counts-per-revolution = <4172>; // 298:1 gearbox 298 rotations of output to 1 input. 7 PPR hall sensor
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};
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};
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&timers4 {
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dcm_enc3: qdec {
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compatible = "st,stm32-qdec";
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status = "okay";
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st,input-filter-level = <NO_FILTER>;
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pinctrl-0 = <&tim4_ch1_pwm_in_pb6 &tim4_ch2_pwm_in_pb7>;
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pinctrl-names = "default";
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// https://docs.zephyrproject.org/latest/build/dts/api/bindings/sensor/st%2Cstm32-qdec.html
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st,counts-per-revolution = <4172>; // 298:1 gearbox 298 rotations of output to 1 input. 7 PPR hall sensor
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};
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};
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&die_temp {
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status = "okay";
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};

‎boards/arm/crashout/crashout.yaml‎

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identifier: crashout
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name: CRASHOUT
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type: mcu
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arch: arm
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toolchain:
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- zephyr
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- gnuarmemb
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ram: 20
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flash: 64
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supported:
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- gpio
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- spi
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- pwm
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- watchdog
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- adc
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- dma
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- nvs
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- counter
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vendor: launch

‎boards/arm/crashout/crashout_defconfig‎

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# SPDX-License-Identifier: Apache-2.0
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# enable uart driver
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CONFIG_SERIAL=y
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# enable console
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CONFIG_CONSOLE=y
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CONFIG_UART_CONSOLE=y
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# enable GPIO
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CONFIG_GPIO=y
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CONFIG_SENSOR_ASYNC_API=n
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CONFIG_SENSOR=y
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CONFIG_QDEC_STM32=y
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CONFIG_PWM=y
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CONFIG_I2C=y
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‎boards/arm/crashout/doc/index.rst‎

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Me when i crash out

‎boards/arm/crashout/doc/schematic.pdf‎

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‎boards/arm/crashout/support/openocd.cfg‎

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source [find board/stlink.cfg]
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reset_config connect_assert_srst
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$_TARGETNAME configure -event gdb-attach {
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echo "Debugger attaching: halting execution"
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reset halt
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gdb_breakpoint_override hard
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}
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$_TARGETNAME configure -event gdb-detach {
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echo "Debugger detaching: resuming execution"
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resume
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}
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rename init old_init
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proc init {} {
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old_init
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reset halt
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}

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