From 7cc4f83ca44f32cd1bff1f05a1c315fff79810d7 Mon Sep 17 00:00:00 2001
From: juppy10 <william.jupp@gmail.com>
Date: Fri, 19 Jun 2026 09:33:49 +0800
Subject: [PATCH 1/3] sunk sensor

---
 Tools/AP_Periph/AP_Periph.cpp                 |    4 +
 Tools/AP_Periph/AP_Periph.h                   |    5 +
 Tools/AP_Periph/sunk_sensor.cpp               |   41 +
 Tools/AP_Periph/sunk_sensor.h                 |   11 +
 .../bootloaders/VM-L431-Periph-Pico-SB_bl.bin |  Bin 0 -> 17172 bytes
 .../bootloaders/VM-L431-Periph-Pico-SB_bl.hex | 1076 +++++++++++++++++
 .../hwdef/VM-L431-Periph-Pico-SB/README.md    |   14 +
 .../hwdef/VM-L431-Periph-Pico-SB/hwdef-bl.dat |    1 +
 .../hwdef/VM-L431-Periph-Pico-SB/hwdef.dat    |   31 +
 9 files changed, 1183 insertions(+)
 create mode 100644 Tools/AP_Periph/sunk_sensor.cpp
 create mode 100644 Tools/AP_Periph/sunk_sensor.h
 create mode 100755 Tools/bootloaders/VM-L431-Periph-Pico-SB_bl.bin
 create mode 100644 Tools/bootloaders/VM-L431-Periph-Pico-SB_bl.hex
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico-SB/README.md
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico-SB/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico-SB/hwdef.dat

diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
index 04cc75ea88..55c6950b0b 100644
--- a/Tools/AP_Periph/AP_Periph.cpp
+++ b/Tools/AP_Periph/AP_Periph.cpp
@@ -472,6 +472,10 @@ void AP_Periph_FW::update()
         dac.update();
 #endif
 
+#if AP_PERIPH_SUNK_SENSOR_ENABLED
+        sunk_sensor.update();
+#endif
+
         GCS_SEND_MESSAGE(MSG_HEARTBEAT);
         GCS_SEND_MESSAGE(MSG_SYS_STATUS);
     }
diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index 0ab36eed6f..6411c3c6ba 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -41,6 +41,7 @@
 #include "rc_in.h"
 #include "batt_balance.h"
 #include "battery_tag.h"
+#include "sunk_sensor.h"
 #include "battery_bms.h"
 #include "actuator_telem.h"
 #include "networking.h"
@@ -415,6 +416,10 @@ class AP_Periph_FW {
     BatteryTag battery_tag;
 #endif
 
+#if AP_PERIPH_SUNK_SENSOR_ENABLED
+    SunkSensor sunk_sensor;
+#endif
+
 #if AP_PERIPH_BATTERY_BMS_ENABLED
     BatteryBMS battery_bms;
 #endif
diff --git a/Tools/AP_Periph/sunk_sensor.cpp b/Tools/AP_Periph/sunk_sensor.cpp
new file mode 100644
index 0000000000..589b4fcfdf
--- /dev/null
+++ b/Tools/AP_Periph/sunk_sensor.cpp
@@ -0,0 +1,41 @@
+#include "AP_Periph.h"
+
+#if AP_PERIPH_SUNK_SENSOR_ENABLED
+
+#include <dronecan_msgs.h>
+
+extern const AP_HAL::HAL &hal;
+
+uint8_t buffer[1];
+
+void SunkSensor::init(void){
+    //keep empty for now
+    hal.gpio->pinMode(HAL_GPIO_SUNK_SENSOR_OUTPUT, HAL_GPIO_OUTPUT);
+    hal.gpio->pinMode(HAL_GPIO_SUNK_SENSOR_INPUT, HAL_GPIO_INPUT);
+
+    hal.gpio->write(HAL_GPIO_SUNK_SENSOR_OUTPUT, 0);
+    hal.gpio->write(HAL_GPIO_SUNK_SENSOR_INPUT, 1); //enable with pullup
+
+}
+
+void SunkSensor::update(void)
+{
+    hal.gpio->toggle(HAL_GPIO_SUNK_SENSOR_OUTPUT);
+
+    bool sunk = false;
+    if(hal.gpio->read(HAL_GPIO_SUNK_SENSOR_INPUT)){
+        sunk = true;
+    }
+
+    if(sunk){
+        can_printf("sunk_sensor_update");
+        buffer[0] = SUNFISH_INDICATION_SUNKSTATE_STATUS_SUNK;
+        periph.canard_broadcast(SUNFISH_INDICATION_SUNKSTATE_SIGNATURE,
+            20069,
+            CANARD_TRANSFER_PRIORITY_LOW,
+            &buffer[0],
+            SUNFISH_INDICATION_SUNKSTATE_MAX_SIZE);
+    }
+}
+
+#endif // AP_PERIPH_SUNK_SENSOR_ENABLED
\ No newline at end of file
diff --git a/Tools/AP_Periph/sunk_sensor.h b/Tools/AP_Periph/sunk_sensor.h
new file mode 100644
index 0000000000..dd7a51638a
--- /dev/null
+++ b/Tools/AP_Periph/sunk_sensor.h
@@ -0,0 +1,11 @@
+#pragma once
+
+#if AP_PERIPH_SUNK_SENSOR_ENABLED
+
+class SunkSensor {
+public:
+    void init(void);
+    void update(void);
+};
+
+#endif // AP_PERIPH_SUNK_SENSOR_ENABLED
\ No newline at end of file
diff --git a/Tools/bootloaders/VM-L431-Periph-Pico-SB_bl.bin b/Tools/bootloaders/VM-L431-Periph-Pico-SB_bl.bin
new file mode 100755
index 0000000000000000000000000000000000000000..2931cd1e2a32d7f9ba2258fea1899701b8d75f16
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/Tools/bootloaders/VM-L431-Periph-Pico-SB_bl.hex b/Tools/bootloaders/VM-L431-Periph-Pico-SB_bl.hex
new file mode 100644
index 0000000000..9ffad2f7be
--- /dev/null
+++ b/Tools/bootloaders/VM-L431-Periph-Pico-SB_bl.hex
@@ -0,0 +1,1076 @@
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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico-SB/README.md b/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico-SB/README.md
new file mode 100644
index 0000000000..bbadb00809
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico-SB/README.md
@@ -0,0 +1,14 @@
+# VM-L431-Periph-Pico
+
+Vimdrones AP_Periph Pico board to convert serial(GPS) and I2C(COMPASS/Air Speed) device in to Dronecan device.
+
+## Hardware Features
+
+- STM32L431 microcontroller
+- CAN bus interface
+- 1 Telem with I2C
+- 1 Telem with Flow Control
+
+## Wiring Diagram
+
+![Vimdrones AP_Periph Pico Wiring Diagram](vimdrones_ap_periph_pico_wiring.png)
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico-SB/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico-SB/hwdef-bl.dat
new file mode 100644
index 0000000000..24b9a0aca7
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico-SB/hwdef-bl.dat
@@ -0,0 +1 @@
+include ../VM-L431/hwdef-bl.inc
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico-SB/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico-SB/hwdef.dat
new file mode 100644
index 0000000000..d089fd0be9
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico-SB/hwdef.dat
@@ -0,0 +1,31 @@
+include ../VM-L431/hwdef.inc
+
+define CAN_APP_NODE_NAME "com.vimdrones.periph_pico"
+SERIAL_ORDER EMPTY USART1 USART2
+PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+PB4 USART1_CTS USART1
+PB3 USART1_RTS USART1
+
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2
+
+# one I2C bus
+#I2C_ORDER I2C1
+#PA9 I2C1_SCL I2C1
+#PA10 I2C1_SDA I2C1
+
+# Output
+PA9 SS_OUT OUTPUT GPIO(1) LOW
+define HAL_GPIO_SUNK_SENSOR_OUTPUT 1
+
+# Input 
+PA10 SS_IN INPUT PULLUP GPIO(2)
+define HAL_GPIO_SUNK_SENSOR_INPUT 2
+
+define HAL_USE_ADC FALSE 
+
+define AP_PERIPH_SUNK_SENSOR_ENABLED 1
+
+# bootloader embedding / bootloader flashing not available
+define AP_BOOTLOADER_FLASHING_ENABLED 0

From fbb6bade775a856e83b9c733ad8572dbc96e0147 Mon Sep 17 00:00:00 2001
From: juppy10 <william.jupp@gmail.com>
Date: Tue, 7 Jul 2026 13:15:24 +0800
Subject: [PATCH 2/3] working proto

---
 Tools/AP_Periph/sunk_sensor.cpp                      | 12 +++++++++---
 .../dsdl/sunfish/indication/20069.SunkState.uavcan   |  7 +++++++
 2 files changed, 16 insertions(+), 3 deletions(-)
 create mode 100644 libraries/AP_DroneCAN/dsdl/sunfish/indication/20069.SunkState.uavcan

diff --git a/Tools/AP_Periph/sunk_sensor.cpp b/Tools/AP_Periph/sunk_sensor.cpp
index 589b4fcfdf..301e8169d0 100644
--- a/Tools/AP_Periph/sunk_sensor.cpp
+++ b/Tools/AP_Periph/sunk_sensor.cpp
@@ -16,7 +16,7 @@ void SunkSensor::init(void){
     hal.gpio->write(HAL_GPIO_SUNK_SENSOR_OUTPUT, 0);
     hal.gpio->write(HAL_GPIO_SUNK_SENSOR_INPUT, 1); //enable with pullup
 
-}
+} 
 
 void SunkSensor::update(void)
 {
@@ -28,10 +28,16 @@ void SunkSensor::update(void)
     }
 
     if(sunk){
-        can_printf("sunk_sensor_update");
         buffer[0] = SUNFISH_INDICATION_SUNKSTATE_STATUS_SUNK;
         periph.canard_broadcast(SUNFISH_INDICATION_SUNKSTATE_SIGNATURE,
-            20069,
+            SUNFISH_INDICATION_SUNKSTATE_ID,
+            CANARD_TRANSFER_PRIORITY_LOW,
+            &buffer[0],
+            SUNFISH_INDICATION_SUNKSTATE_MAX_SIZE);
+    }else{
+        buffer[0] = SUNFISH_INDICATION_SUNKSTATE_STATUS_NOT_SUNK;
+        periph.canard_broadcast(SUNFISH_INDICATION_SUNKSTATE_SIGNATURE,
+            SUNFISH_INDICATION_SUNKSTATE_ID,
             CANARD_TRANSFER_PRIORITY_LOW,
             &buffer[0],
             SUNFISH_INDICATION_SUNKSTATE_MAX_SIZE);
diff --git a/libraries/AP_DroneCAN/dsdl/sunfish/indication/20069.SunkState.uavcan b/libraries/AP_DroneCAN/dsdl/sunfish/indication/20069.SunkState.uavcan
new file mode 100644
index 0000000000..1e6bb9ab5c
--- /dev/null
+++ b/libraries/AP_DroneCAN/dsdl/sunfish/indication/20069.SunkState.uavcan
@@ -0,0 +1,7 @@
+#
+# Indicates whether the vehicle is sunk
+
+uint8 STATUS_NOT_SUNK = 0
+uint8 STATUS_SUNK     = 255
+
+uint8 status
\ No newline at end of file

From 1a494b1052122c7f42ee379b1989b17569d93d3b Mon Sep 17 00:00:00 2001
From: juppy10 <william.jupp@gmail.com>
Date: Thu, 9 Jul 2026 11:23:50 +0800
Subject: [PATCH 3/3] changed SS to 100ms poll & added pressure sensor 2CAN

---
 Tools/AP_Periph/AP_Periph.cpp                 | 20 +++++++++---
 Tools/AP_Periph/sunk_sensor.cpp               |  5 ---
 Tools/AP_Periph/sunk_sensor.h                 |  2 ++
 .../hwdef/VM-L431-Periph-Pico-SB/hwdef.dat    | 31 +++++++++++--------
 4 files changed, 36 insertions(+), 22 deletions(-)

diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
index 55c6950b0b..3ebc7a8256 100644
--- a/Tools/AP_Periph/AP_Periph.cpp
+++ b/Tools/AP_Periph/AP_Periph.cpp
@@ -173,6 +173,11 @@ void AP_Periph_FW::init()
 
 #if AP_PERIPH_BARO_ENABLED
     baro.init();
+    // let sensor settle before reading (copied from ardusub)
+    for (uint8_t i = 0; i < 10; i++) {
+        baro.update();
+        hal.scheduler->delay(100);
+    }
 #endif
 
 #if AP_PERIPH_IMU_ENABLED
@@ -323,6 +328,10 @@ void AP_Periph_FW::init()
     actuator_telem.init();
 #endif
 
+#if AP_PERIPH_SUNK_SENSOR_ENABLED
+    sunk_sensor.init();
+#endif
+
     start_ms = AP_HAL::millis();
 }
 
@@ -472,10 +481,6 @@ void AP_Periph_FW::update()
         dac.update();
 #endif
 
-#if AP_PERIPH_SUNK_SENSOR_ENABLED
-        sunk_sensor.update();
-#endif
-
         GCS_SEND_MESSAGE(MSG_HEARTBEAT);
         GCS_SEND_MESSAGE(MSG_SYS_STATUS);
     }
@@ -513,6 +518,13 @@ void AP_Periph_FW::update()
     }
 #endif
 
+#if AP_PERIPH_SUNK_SENSOR_ENABLED
+    if (now - sunk_sensor.last_update_ms >= 100) {
+        sunk_sensor.last_update_ms = now;
+        sunk_sensor.update();
+    }
+#endif
+
 #if AP_PERIPH_RCIN_ENABLED
     rcin_update();
 #endif
diff --git a/Tools/AP_Periph/sunk_sensor.cpp b/Tools/AP_Periph/sunk_sensor.cpp
index 301e8169d0..59c9065d9e 100644
--- a/Tools/AP_Periph/sunk_sensor.cpp
+++ b/Tools/AP_Periph/sunk_sensor.cpp
@@ -9,19 +9,14 @@ extern const AP_HAL::HAL &hal;
 uint8_t buffer[1];
 
 void SunkSensor::init(void){
-    //keep empty for now
-    hal.gpio->pinMode(HAL_GPIO_SUNK_SENSOR_OUTPUT, HAL_GPIO_OUTPUT);
     hal.gpio->pinMode(HAL_GPIO_SUNK_SENSOR_INPUT, HAL_GPIO_INPUT);
 
-    hal.gpio->write(HAL_GPIO_SUNK_SENSOR_OUTPUT, 0);
     hal.gpio->write(HAL_GPIO_SUNK_SENSOR_INPUT, 1); //enable with pullup
 
 } 
 
 void SunkSensor::update(void)
 {
-    hal.gpio->toggle(HAL_GPIO_SUNK_SENSOR_OUTPUT);
-
     bool sunk = false;
     if(hal.gpio->read(HAL_GPIO_SUNK_SENSOR_INPUT)){
         sunk = true;
diff --git a/Tools/AP_Periph/sunk_sensor.h b/Tools/AP_Periph/sunk_sensor.h
index dd7a51638a..29cc6fecfa 100644
--- a/Tools/AP_Periph/sunk_sensor.h
+++ b/Tools/AP_Periph/sunk_sensor.h
@@ -6,6 +6,8 @@ class SunkSensor {
 public:
     void init(void);
     void update(void);
+
+    uint32_t last_update_ms;
 };
 
 #endif // AP_PERIPH_SUNK_SENSOR_ENABLED
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico-SB/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico-SB/hwdef.dat
index d089fd0be9..95e8c46382 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico-SB/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico-SB/hwdef.dat
@@ -1,31 +1,36 @@
 include ../VM-L431/hwdef.inc
 
 define CAN_APP_NODE_NAME "com.vimdrones.periph_pico"
-SERIAL_ORDER EMPTY USART1 USART2
-PB6 USART1_TX USART1
-PB7 USART1_RX USART1
-PB4 USART1_CTS USART1
-PB3 USART1_RTS USART1
+SERIAL_ORDER USART2 EMPTY #USART1
+#PB6 USART1_TX USART1
+#PB7 USART1_RX USART1
+#PB4 USART1_CTS USART1
+#ZPB3 USART1_RTS USART1
 
 PA2 USART2_TX USART2
 PA3 USART2_RX USART2
 
 # one I2C bus
-#I2C_ORDER I2C1
-#PA9 I2C1_SCL I2C1
-#PA10 I2C1_SDA I2C1
-
-# Output
-PA9 SS_OUT OUTPUT GPIO(1) LOW
-define HAL_GPIO_SUNK_SENSOR_OUTPUT 1
+I2C_ORDER I2C1
+PA9 I2C1_SCL I2C1
+PA10 I2C1_SDA I2C1
 
 # Input 
-PA10 SS_IN INPUT PULLUP GPIO(2)
+PB6 SS_IN INPUT PULLUP GPIO(2)
 define HAL_GPIO_SUNK_SENSOR_INPUT 2
 
 define HAL_USE_ADC FALSE 
 
 define AP_PERIPH_SUNK_SENSOR_ENABLED 1
 
+# BARO - MS5611 on I2C bus 0
+define AP_PERIPH_BARO_ENABLED 1
+define AP_BARO_BACKEND_DEFAULT_ENABLED 0
+define AP_BARO_MS5611_ENABLED 1
+define BARO_MAX_INSTANCES 1
+BARO MS5611 I2C:0:0x76
+
+define AP_BARO_TEST_ENABLED 1
+
 # bootloader embedding / bootloader flashing not available
 define AP_BOOTLOADER_FLASHING_ENABLED 0