FlySky FS-i6S

Board Overview

FlySky FS-i6S

Name:

fs_i6s

Vendor:

FlySky

Status:

Not actively maintained

Architecture:

arm

SoC:

stm32f072xb

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Overview

The FlySky FS-i6s is a 10-channel 2.4GHz remote controller transmitter commonly used for RC multirotors and fixed-wing aircraft. The internal hardware is driven by an ST STM32F072VB microcontroller. It features a capacitive touchscreen, physical gimbals, switches, push buttons, and an integrated RF module.

Hardware

• STM32F072VB in LQFP100 package

• ARM® 32-bit Cortex®-M0 CPU

• 48 MHz max CPU frequency

• VDD from 2.0 V to 3.6 V

• 128 KB Flash

• 16 KB SRAM

• GPIO with external interrupt capability

• 12-bit ADC with 39 channels

• 12-bit D/A converters

• RTC

• General Purpose Timers (12)

• USART/UART (4)

• I2C (2)

• SPI (2)

• CAN

• USB 2.0 full speed interface

• DMA Controller

Supported Features

The fs_i6s 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.

fs_i6s/stm32f072xb target

Type	Location	Description	Compatible
CPU	on-chip	ARM Cortex-M0 CPU1	arm,cortex-m0
ADC	on-chip	STM32 ADC1	st,stm32-adc
CAN	on-chip	STM32 CAN controller1	st,stm32-bxcan
Clock control	on-chip	STM32F0/G0 RCC (Reset and Clock controller)1	st,stm32f0-rcc
	on-chip	STM32 HSE Clock1	st,stm32-hse-clock
	on-chip	Generic fixed-rate clock provider13	fixed-clock
	on-chip	STM32 LSE Clock1	st,stm32-lse-clock
	on-chip	STM32F0/F3 Main PLL1	st,stm32f0-pll-clock
Counter	on-chip	STM32 counters9	st,stm32-counter
CRC	on-chip	STM32 CRC calculation unit1	st,stm32-crc
DAC	on-chip	STM32 family DAC1	st,stm32-dac
DMA	on-chip	STM32 DMA controller (V2bis) for the stm32F0, stm32F1 and stm32L1 soc families1	st,stm32-dma-v2bis
Flash controller	on-chip	STM32 Family flash controller1	st,stm32-flash-controller
GPIO & Headers	on-chip	STM32 GPIO Controller6	st,stm32-gpio
I2C	on-chip	STM32 I2C V2 controller11	st,stm32-i2c-v2
IIO	on-board	Voltage Divider1	voltage-divider
Input	on-board	FT3267/FT5XX6/FT6XX6 capacitive touch panels1	focaltech,ft5336
	on-chip	STM32 Tocuh Sensing Controller (TSC) driver1	st,stm32-tsc
	on-board	ADC based analog axis input device1	analog-axis
	on-board	Group of GPIO-bound input keys1	gpio-keys
	on-board	Input driver for ADC attached resistor ladder buttons4	adc-keys
Interrupt controller	on-chip	ARMv6-M NVIC (Nested Vectored Interrupt Controller) controller1	arm,v6m-nvic
	on-chip	STM32 External Interrupt Controller1	st,stm32-exti
LED	on-board	Group of GPIO-controlled LEDs1	gpio-leds
Memory controller	on-chip	STM32 Battery Backed RAM1	st,stm32-bbram
MTD	on-chip	STM32 flash memory1	st,stm32-nv-flash
NVMEM	on-chip	Fixed layout for Non-Volatile memory1	fixed-layout
OTP memory	on-chip	STM32 embedded NVM OTP1	st,stm32-nvm-otp
PHY	on-chip	This binding is to be used by all the usb transceivers which are built-in with USB IP1	usb-nop-xceiv
Pin control	on-chip	STM32 Pin controller1	st,stm32-pinctrl
PWM	on-chip	STM32 PWM16	st,stm32-pwm
Reset controller	on-chip	STM32 Reset and Clock Control (RCC) Controller1	st,stm32-rcc-rctl
RTC	on-chip	STM32 RTC1	st,stm32-rtc
Sensors	on-chip	STM32 VREF+1	st,stm32-vref
	on-chip	STM32 family TEMP node for production calibrated sensors with two calibration temperatures1	st,stm32-temp-cal
	on-chip	STM32 VBAT1	st,stm32-vbat
Serial controller	on-chip	STM32 USART13	st,stm32-usart
SMbus	on-chip	STM32 SMBus controller2	st,stm32-smbus
SPI	on-chip	STM32 SPI controller with embedded Rx and Tx FIFOs2	st,stm32-spi-fifo
Timer	on-chip	ARMv6-M System Tick1	arm,armv6m-systick
	on-chip	STM32 timers18	st,stm32-timers
USB	on-chip	STM32 USB controller1	st,stm32-usb
Watchdog	on-chip	STM32 watchdog1	st,stm32-watchdog
	on-chip	STM32 system window watchdog1	st,stm32-window-watchdog

Default Zephyr Peripheral Mapping:

LEDs and Audio

• LCD Backlight: PF3 (Screen backlight control)

• Left Power LED: PD10 (Blue LED under the left power button)

• Right Power LED: PD11 (Blue LED under the right power button)

• Buzzer: PA8 (Piezo buzzer, can be driven by TIM1_CH1)

Buttons and Power Management

Note

The two physical power buttons must be pressed simultaneously to trigger the associated GPIO. Single button presses cannot be read independently.

• Power Buttons: PB14 (Both power buttons pressed together)

• Rear Left Button: PA9 (Tactile push button on the back)

• Rear Right Button: PA10 (Tactile push button on the back)

• Powerdown Trigger: PB15 (Used to trigger system power off)

Analog Inputs (ADC)

All gimbals, potentiometers, and toggle switches are read using the STM32’s ADC multiplexer.

• Right Stick L/R: PA0, ADC_CH0 (Right gimbal horizontal axis)

• Right Stick U/D: PA1, ADC_CH1 (Right gimbal vertical axis)

• Left Stick U/D: PA2, ADC_CH2 (Left gimbal vertical axis, throttle)

• Left Stick L/R: PA3, ADC_CH3 (Left gimbal horizontal axis)

• Switch A (Left): PA4, ADC_CH4 (2-way toggle switch)

• Switch B (Left): PA5, ADC_CH5 (3-way toggle switch)

• Jog Wheel Left: PA6, ADC_CH6 (Left proportional shoulder wheel)

• Jog Wheel Right: PA7, ADC_CH7 (Right proportional shoulder wheel)

• Switch C (Right): PB0, ADC_CH8 (3-way toggle switch)

• Switch D (Right): PB1, ADC_CH9 (2-way toggle switch)

• Battery Voltage: PC0, ADC_CH10 (Requires scaling, Divider: R9=10kΩ, R10=5.1kΩ to GND)

Display (Sitronix ST7567)

The LCD uses a Sitronix ST7567 controller and is wired to the MCU using an 8-bit parallel interface.

• LCD_D0 - D7: PE0 - PE7 (8-bit Data Bus)

• LCD_RS: PB3 (Register Select / Data Command)

• LCD_RST: PB4 (Hardware Reset)

• LCD_RW: PB5 (Read/Write)

• LCD_RD: PD7 (Read enable)

• LCD_CS: PD2 (Chip Select)

Touch Controller (Focaltech FT6236)

The capacitive touch overlay is driven by an FT6236 communicating over I2C1.

• TOUCH_SCL: PB8 (I2C1 Clock)

• TOUCH_SDA: PB9 (I2C1 Data)

• TOUCH_INT: PC12 (Interrupt out from FT6236)

• TOUCH_RST: PA15 (Hardware Reset)

USART

• UART_1_TX: PB6

• UART_1_RX: PB7

RF Module (For Reference Only, Not Used)

The internal RF module is labeled FS-HS060. It contains an XL7105 transceiver and PA/LNA chips.

• SPI Lines: PE15 (SDIO), PE13 (SCK), PE12 (SCS)

• Control Lines: PE11 (RF1), PE10 (RF0), PE8 (RX-W), PE9 (TX-W)

• Interrupts: PB2 (GIO2), PE14 (GIO1)

Programming and Debugging

The fs_i6s board supports the runners and associated west commands listed below.

	flash	debug	rtt	attach	debugserver	reset
dfu-util	✅ (default)
jlink	✅	✅	✅	✅	✅	✅
openocd	✅	✅ (default)	✅	✅	✅
stm32cubeprogrammer	✅

SWD Interface

The PCB features labeled test points for the Serial Wire Debug (SWD) interface, making it easy to solder a header for an ST-Link or J-Link programmer. These are also accessible via the small J4 connector on the board:

• SWDIO

• SWCLK

• NRST

• GND

DFU Bootloader

Because the STM32F072 has a built-in USB DFU bootloader, you can flash Zephyr without a dedicated SWD programmer. Depending on your unit, the internal flash may need its write protect bit turned off using ST-Link SWD.

To enter DFU mode:

1. Locate resistors R59 and R60 (connected to the BOOT1 pin).

2. Short R60.

3. Connect the batteries (or USB).

4. Press the two power buttons simultaneously.

5. The device should enumerate on your PC as an “STM32 BOOTLOADER” device, allowing you to flash the Zephyr .bin using dfu-util.

Flashing an Application

The dfu-util runner is supported on this board and so a sample can be built and tested easily.

# From the root of the zephyr repository
west build -b fs_i6s samples/basic/blinky
west flash

References

• Hardware reverse-engineering and pinout source: fishpepper.de - OpenGround