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® Low Energy over SPI

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

Supported Features

The steval_fcu001v1 board supports the hardware features listed below.

on-chip / on-board
Feature integrated in the SoC / present on the board.
2 / 2
Number of instances that are enabled / disabled.
Click on the label to see the first instance of this feature in the board/SoC DTS files.
vnd,foo
Compatible string for the Devicetree binding matching the feature.
Click on the link to view the binding documentation.

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

The steval_fcu001v1 board supports the runners and associated west commands listed below.

flash debug

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