STM32 Flight Controller Unit

Overview

The STEVAL-FCU001V1 is a Cortex M4 MCU-based flight controller unit for toy quad-copter drones.

Hardware

STM32 Flight Controller Unit provides the following hardware components:

  • STM32F401CC in UFQFPN48 package

  • ARM® 32-bit Cortex®-M4 MCU with FPU

  • 84MHz max MCU frequency

  • VDD from 1.7 V to 3.6 V

  • 256 KB FLASH

  • 64 KB SRAM

  • General Purpose Timers

  • Watchdog Timers (2)

  • On board sensors:

    • 3D Accelerometer and 3D Gyroscope: LSM6DSL

    • 3D Magnetometer: LIS2MDL

    • MEMS Pressure sensor: LPS22HD

  • 2 User LEDS

  • USART/UART (1)

  • I2C (1)

  • Bluetooth LE over SPI

More information about the STM32 Flight Controller Unit can be found in these documents:

Supported Features

The Zephyr steval_fcu001v1 board configuration supports the following hardware features:

Interface

Controller

Driver/Component

NVIC

on-chip

nested vector interrupt controller

UART

on-chip

serial port-polling; serial port-interrupt

PINMUX

on-chip

pinmux

GPIO

on-chip

gpio

PWM

on-chip

pwm

I2C

on-chip

i2c

The default configuration can be found in boards/st/steval_fcu001v1/steval_fcu001v1_defconfig

Default Zephyr Peripheral Mapping:

  • UART_1 TX/RX : PA9/PA10

  • I2C2 SCL/SDA : PB10/PB3

  • PWM_2_CH1 : PA0

  • LD1 : PB5

  • LD2 : PB4

System Clock

The steval_fcu001v1 system clock can be driven by an internal or external oscillator, as well as by the main PLL clock. By default, the system clock is driven by the PLL clock at 84MHz, driven by a 16MHz high-speed external clock.

Serial Port

The steval_fcu001v1 board has one UART. The Zephyr console output is assigned to UART1. Default settings are 115200 8N1.

I2C

The steval_fcu001v1 board has one I2C. The default I2C mapping for Zephyr is:

  • I2C2_SCL : PB10

  • I2C2_SDA : PB3

Programming and Debugging

Applications for the steval_fcu001v1 board configuration can be built and flashed in the usual way (see Building an Application and Run an Application for more details).

Flashing

Flashing Zephyr onto the steval_fcu001v1 board requires an external ST-LINK/V2-1 programmer. The programmer is attached to the P8 programming header with ARM-JTAG-20-10-Plug-in Adapter.

Flashing an application to STEVAL_FCU001V1

Connect the FT232-to-USB port to host system, and RX, TX, Gnd pins to the P7 header of the steval_fcu001v1 board. Then run a serial host program to connect with your steval_fcu001v1 via the FT232 board:

$ minicom -D /dev/ttyUSB0

Now build and flash an application. Here is an example for Hello World

# From the root of the zephyr repository
west build -b steval_fcu001v1 samples/hello_world
west flash

You should see the following message on the console:

Hello World! steval_fcu001v1

Debugging

You can debug an application in the usual way. Here is an example for the Hello World application.

# From the root of the zephyr repository
west build -b steval_fcu001v1 samples/hello_world
west debug