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 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.
steval_fcu001v1/stm32f401xc target
Type |
Location |
Description |
Compatible |
|---|---|---|---|
CPU |
on-chip |
ARM Cortex-M4F CPU1 |
|
ADC |
on-chip |
STM32F4 ADC1 |
|
Clock control |
on-chip |
STM32 RCC (Reset and Clock controller)1 |
|
on-chip |
STM32 HSE Clock1 |
||
on-chip |
|||
on-chip |
STM32F4 Main PLL1 |
||
on-chip |
STM32F4 PLL I2S1 |
||
on-chip |
STM32 Microcontroller Clock Output (MCO)2 |
||
Counter |
on-chip |
STM32 counters7 |
|
DMA |
on-chip |
STM32 DMA controller (V1)2 |
|
Flash controller |
on-chip |
STM32 Family flash controller1 |
|
GPIO & Headers |
on-chip |
STM32 GPIO Controller8 |
|
I2C |
on-chip |
||
I2S |
on-chip |
STM32 I2S controller2 |
|
Interrupt controller |
on-chip |
ARMv7-M NVIC (Nested Vectored Interrupt Controller)1 |
|
on-chip |
STM32 External Interrupt Controller1 |
||
LED |
on-board |
Group of GPIO-controlled LEDs1 |
|
Memory controller |
on-chip |
STM32 Battery Backed RAM1 |
|
MMC |
on-chip |
STM32 SDMMC Disk Access1 |
|
MTD |
on-chip |
STM32F4 flash memory1 |
|
PHY |
on-chip |
This binding is to be used by all the usb transceivers which are built-in with USB IP1 |
|
Pin control |
on-chip |
STM32 Pin controller1 |
|
PWM |
on-chip |
||
Reset controller |
on-chip |
STM32 Reset and Clock Control (RCC) Controller1 |
|
RTC |
on-chip |
STM32 RTC1 |
|
Sensors |
on-chip |
STM32 quadrature decoder5 |
|
on-chip |
STM32 family TEMP node for production calibrated sensors with two calibration temperatures1 |
||
on-chip |
STM32 VREF+1 |
||
on-chip |
STM32 VBAT1 |
||
Serial controller |
on-chip |
||
SMbus |
on-chip |
STM32 SMBus controller3 |
|
SPI |
on-chip |
STM32 SPI controller4 |
|
SRAM |
on-chip |
Generic on-chip SRAM description1 |
|
Timer |
on-chip |
ARMv7-M System Tick1 |
|
on-chip |
|||
USB |
on-chip |
STM32 OTGFS controller1 |
|
Watchdog |
on-chip |
STM32 watchdog1 |
|
on-chip |
STM32 system window watchdog1 |
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