Getting started with the STEVAL-FCU001V1 flight controller ...2 SWDD SWD debugging data line 3 GND 4 SWCLK SWD debugging clock line 5 GND 6 N.C. UM2311 Board connectors UM2311 - Rev

IntroductionThe STEVAL-FCU001V1 evaluation board is designed as a simple platform to develop flight controller unit (FCU) solutions forquadcopters.

A complete sample firmware project allows the designer to begin flying small or medium sized quadcopters equipped with DCmotors (thanks to four 30 V-6 A on-board MOSFETs), and larger quadcopters with external ESCs (i.e., STEVAL-ESC001V1).

The user can control the board via BLE connectivity (using a smartphone or a tablet) or via an RF receiver module connected tothe PWM input port.

The system embeds a high performance ARM® Cortex®-M4 microcontroller unit (STM32F401), an iNEMO inertial module(LSM6DSL), a Bluetooth® low energy module (SPBTLE-RF) and power management circuitry that allows battery fast charge(STC4054) and four STL6N3LLH6-N-channel 30 V, 6 A STripFET H6 Power MOSFET to drive a quadcopter motors.

An additional barometric pressure sensor (LPS22HD) provides altitude estimation and a high performance magnetometer(LIS2MDL) supports e-Compass functionality.

This reference design can be used to develop more sophisticated auto-navigation algorithms thanks to more than 100 DMIPSavailable on the STM32 and the scalability of the board which can be connected to the Teseo-LIV3F GNSS module.

The system passed the RF test for FCC certification, IC certification and ARIB certification.

Figure 1. STEVAL-FCU001V1 evaluation board

Getting started with the STEVAL-FCU001V1 flight controller unit evaluation board for mini drones

UM2311

User manual

UM2311 - Rev 2 - May 2018For further information contact your local STMicroelectronics sales office.

www.st.com

1 Getting started

1.1 Board overviewThe STEVAL-FCU001V1 evaluation board main components are:• STM32F401 – 32-bit MCU with ARM® Cortex®• LSM6DSL – iNEMO intertial module: 3D accelerometer and 3D gyroscope• LIS2MDL – High performance 3D magnetometer• LPS22HD – MEMS pressure sensor: 260-1260 hPa absolute digital output barometer• SPBTLE-RF – Very low power module for Bluetooth Smart v4.1• STL6N3LLH6 - N-channel 30 V, 6 A STripFET H6 Power MOSFET• STC4054 - 800 mA standalone linear Li-Ion battery charger

It features:• Compact flight controller unit (FCU) evaluation board complete with sample firmware for a small or medium

sized quadcopter• On-board lipo 1-cell battery charger• Possibility to directly drive 4 DC brushed motors through the low voltage on-board MOSFET or alternatively

use external ESC for DC brushless motor configuration

1.2 Package contentsThe STEVAL-FCU001V1 evaluation board package contains:• the evaluation board itself• the ST-LINK adapter with its programming cable to be used with the ST-LINK/V2• a blister containing the spare connectors to be mounted on the board

Figure 2. STEVAL-FCU001V1 evaluation board: package contents

UM2311Getting started

UM2311 - Rev 2 page 2/23

1.3 System requirementsTo use the board, the following system specifications are required:• a Windows PC (7, 8, 8.1, 10) with a pre-installed STM32 software development tool (IAR-EWARM, MDK-

ARM-STM32or SW4STM32).• ST-LINK/V2 (or equivalent) in-circuit debugger/programmer, its USB driver (STSW-LINK009) and, optionally,

the STM32 ST-LINK utility for firmware download (STSW-LINK004).• a lipo 1-cell battery to be connected to the battery connector (BT1) for stand-alone operation or a USB type

A to Micro-USB male cable to connect the STEVAL-FCU001V1 evaluation board to the PC for power supply.• four DC motors suitable for 3.7 V operation directly connected to the board, or four DC brushless motors

with four matching electronic speed controllers (such as the ST reference design STEVAL-ESC001V1evaluation board).

• four propellers suitable for the motors chosen

Note: The user must choose the propellers, motors and ESC on the basis of the quadcopter size and weight.

UM2311System requirements

UM2311 - Rev 2 page 3/23

2 System setup guide

The board is provided without a pre-installed firmware, but the firmware (STSW-FCU001) open source code isavailable on Github for download.

Step 1. Connect a lipo 1-cell battery to the battery connector BT1 (see the following picture).

Figure 3. STEVAL-FCU001V1 evaluation board silkscreen and connector positioning

Step 2. Connect the ST-LINK adapter included in the package to the ST-LINK/V2 and the STEVAL-FCU001V1evaluation board.

Step 3. Connect a USB cable to a PC and to the micro-USB connector (CN1) to supply the board.Step 4. Check that the LD3 is switched ON.Step 5. Download from GitHub the STSW-FCU001 firmware package. (Refer to www.st.com for the related

information.)Step 6. Program the board. (Refer to the software user manual.)

Note: It is recommended to connect the USB cable during the programming phase to avoid issues on the powersupply.Step 7. Mount the STEVAL-FCU001V1 on a quadcopter mechanical frame.

Once the firmware fine tuning session finishes, you can remove the connection to the micro-USB cableand the ST-LINK/V2 and fly your drone.

UM2311System setup guide

UM2311 - Rev 2 page 4/23

3 Hardware description

The STEVAL-FCU001V1 main components are:• STM32F401CCU6 - high performance ARM® Cortex®-M4 MCU with 256 Kbytes of Flash memory, 64 kBytes

of RAM in a UFQFPN48 package• SPBTLE-RF - Bluetooth low energy (BLE) module with on-board chip antenna, compliant with Bluetooth

specification core 4.1• LSM6DSL - 3D accelerometer (±2/4/8/16 g) and 3D gyroscope (±125/245/500/1000/2000 dps)• LIS2MDL - MEMS 3D magnetometer (±50 gauss magnetic dynamic range)• LPS22HD - MEMS pressure sensor, 260-1260 mBar absolute digital output barometer• STL6N3LLH6 - 30 V 6 A STripFET H6 Power MOSFET in a PowerFLAT 2x2 package• STC4054 - 800 mA Li-Ion and lipo battery charger directly from USB• LD39015 - low quiescent voltage regulator• USBULC6-2M6 ultra large bandwidth ESD protection

Figure 4. STEVAL-FCU001V1 evaluation board components

3.1 Board connectorsThe STEVAL-FCU0011 evaluation board includes several hardware connectors (see Figure 5. STEVAL-FCU001V1 evaluation board connector description):• USB micro B female plug• Micro SWD connector (1.27 mm pitch)• Battery 2-pin header connector• 4 motor 2-pin header connectors• UART 4-pin header connector• I²C 4-pin header connector• PWM input 6-pin header connector

UM2311Hardware description

UM2311 - Rev 2 page 5/23

Figure 5. STEVAL-FCU001V1 evaluation board connector description

Table 1. Battery 2-pin header connector (BT1)

Pin Signal Description

+ VBAT+ 1-cell lipo battery (3.4 to 4.2 V)

- GND

Note: The + is placed on the board left side (refer to Figure 4. STEVAL-FCU001V1 evaluation board components forboard orientation).

Table 2. Motor 2-pin header connectors (P1, P2, P4, P5)


1 VBAT+ To be connected to motor (+) for DC motors(1)

2 MOTOR- To be connected to motor (-) for DC motors(2)

1. Not connected for external ESC2. To be connected to PWM inputs for external ESC

Note: The + is placed on the board right side (refer to Figure 4. STEVAL-FCU001V1 evaluation board components forboard orientation).

UM2311Board connectors

UM2311 - Rev 2 page 6/23

Table 3. UART 4-pin header connector (P7)


1 VDD 3.3 V of STM32

2 GND

3 USART1_RX RXD for STM32

4 USART1_TX TXD for STM32

Note: Pin 1 is placed on the board top side (refer to Figure 4. STEVAL-FCU001V1 evaluation board components forboard orientation).

Table 4. I2C 4-pin header connector (P3)


1 VDD 3.3 V of STM32

2 I2C2_SDA

3 I2C2_SCL

4 GND


Table 5. PWM inputs 6-pin header connector (P6)


1 VBAT+ Directly connected to battery (+)

2 TIM2_CH1 TIM2_CH1 for RF RX PWM IN signal CH1




6 GND


Table 6. Debugging micro SWD connector (P8)


1 VDD

2 SWDD SWD debugging data line

3 GND

4 SWCLK SWD debugging clock line

5 GND

6 N.C.

UM2311Board connectors

UM2311 - Rev 2 page 7/23


7 GND

8 N.C.

9 GND

10 NRST NReset for STM32

Note: Pin 1 is placed on the board bottom right side (refer to Figure 4. STEVAL-FCU001V1 evaluation boardcomponents for board orientation).

3.2 ST-LINK/V2 connectionTo update the firmware, use the ST-LINK/V2 programmer by plugging the adapter and the cable (provided in theSTEVAL-FCU001V1 package as described in Section 1.2 Package contents) to the board and then to the laptop.

Figure 6. ST-LINK/V2 connected to the STEVAL-FCU001V1 evaluation board via adapter

3.3 Hardware architecture overviewThe whole system can be split in five different subsystems:• Microcontroller• Sensors• Connectivity• Battery management• DC motor drivers

The sensors and the BLUENRG-MS devices are connected to the microcontroller through two separate SPIperipherals.

UM2311ST-LINK/V2 connection

UM2311 - Rev 2 page 8/23

Figure 7. STEVAL-FCU001V1 evaluation board functional block diagram

UM2311Hardware architecture overview

UM2311 - Rev 2 page 9/23

4 Schematic diagrams

Figure 8. STEVAL-FCU001V1 – circuit schematic (1 of 4)

SPBTLE-RF

S1_CLK

S1_MISO

S1_MOSI

BLE_RSTN

BLE_IRQ

BLE_CS

VDD

R147k

SMD 0805

ANT.

U1

SPBTLE-RF

EXT_LPCLK1

NC12

NC23

SPI_IRQ4

VIN5

GND

6

SPI_CLK 7SPI_MISO 8SPI_MOSI 9

SPI_CS 10RESETN 11

C11µF16V

SMD 0402

CLK

MISO

MOSI

RST

CSN

IRQ

UM2311Schematic diagrams

UM2311 - Rev 2 page 10/23


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PB12

25

PB13

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PB14

27

PB15

28

PA8

29

PA9

30

PA10

31

PA11

32

PA12

33

PA13

34

VSS

35

VDD

36

PA14

37

PA15

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PB3

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PB4

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PB5

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PB6

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PB7

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PB8

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PB9

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UM2311 - Rev 2 page 11/23


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6(uQ

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D23

D34

VBus

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6

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C15

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F

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UM2311 - Rev 2 page 12/23


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16

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SDA

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1

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3

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8

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C21

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LK

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2HB_

CS

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LK

S2_S

DA

LIS2

MD

L_C

S

S2_C

LK

S2_S

DA

LSM

6DS3

3_C

S

S2_C

LKS2

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ALP

S22H

B_C

SLS

M6D

S33_

CS

LIS2

MD

L_C

S


UM2311 - Rev 2 page 13/23

5 Bill of materials

Table 7. STEVAL-FCU001V1 bill of materials

Item Q.ty Ref. Part/Value Description Manufacturer Order code

1 1 BT1 Battery Connectorsiptm2002

Strip Linemale 1X2

pitch 2,54mmANY DNM

2 1 CN1 Micro_USB 2,0 FemaleSMt microusb7025481 Molex 47590-0001

3 7C1, C7, C14,

C17, C19,C21, C24

1 µF 16 V ±10%smc0402

Ceramiccapacitor XR7 ANY

4 13

C2, C3, C4,C5, C6, C10,

C12, C15,C18, C20,C22, C23,

C25

100 nF 16 V ±10%smc0402


6 2 C8, C9 15 pF 16 V ±10%smc0402


7 2 C11, C16 4.7 µF 16 V ±10%smc0402


8 1 C13 4.7 nF 16 V ±10%SMC0402


9 4 D1, D2, D3,D4

BAT60JFILM 10v-3Asod323

SignalSchottky

diodeST BAT60J

10 1 D5 ESDA7P60-1U1MSMD1610

VoltageSuppressor ST ESDA7P60-1U1M

11 3 LD1, LD2,LD3 smd0603 Red LED ANY ANY

13 1 P1 Motor_Panel1siptm2002 2.54 mm

Strip Linemale 1X2

pitchANY DNM


Strip Linemale 1X2

pitchANY DNM

15 1 P3 i2Q siptm4004 2.54 mmStrip Linemale 1X4

pitchANY DNM


Strip Linemale 1X2

pitchANY DNM


Strip Linemale 1X2

pitchANY DNM

18 1 P6 FC_Signal siptm60062.54 mm

Strip Linemale 1X6

pitchANY DNM

19 1 P7 USART siptm4004 2.54mm

Strip Linemale 1X4

pitchANY DNM

UM2311Bill of materials

UM2311 - Rev 2 page 14/23


20 1 P8SWD

Ampmode10X1M271.27 mm

Connector2X5 pitch CNC Tech 3220-10-0100-00

21 4 Q1, Q2, Q3,Q4

STL6N3LLH6powerFLAT2X2

PowerMOSFET ST STL6N3LLH6

22 1 R1 47 k 1/16 W ±1%smr0402

SMD ThickFilm Resistor ANY

23 4 R2, R3, R6,R8

100 1/16 W ±1%smr0402


24 7R4, R5, R7,

R9, R10,R23, R24

10 K 1/16 W ±1%smr0402


25 1 R11 20 K 1/16 W ±1%smr0402


26 4R12, R13,R16, R17,

R250 1/16 W ±1% smr0603 SMD Thick

Film Resistor ANY

27 4 R14, R15,R18, R19

NA 1/16 W ±1%smr0402


28 2 R20, R21 2.2 K 1/16 W ±1%smr0402


29 3 R22, R27,R28

100 K 1/16 W ±1%smr0402


30 1 R26 1 M 1/16 W ±1%SMR0402


31 1 R29 510 R 1/16 W ±1%smr0402


32 1 R30 5.1 K 1/16 W ±1%smr0402


33 1 S1 Reset PushKMR22 Push button C&K KMR231GLFS

34 1 U1 SPBTLE-RF spbtrfle

Very lowpower modulefor Bluetooth

v4.1

ST SPBTLE-RF

35 1 U2 STM32F401CCU6TRUFQFPN48X7X7

High-performance

ARM®Cortex® -M4

coreaccelerator

ST STM32F401CCU

36 1 U3 USBULC6-2M6(uQFN)uQFN6X145X1

Ultra largebandwidth

ESDprotection

ST USBULC6-2M6

37 1 U4 STC4054GR SOT23L5 Li-Ion batterycharger ST STC4054

39 1 U6 LD39015M33R sot23l5

Low quiescentcurrent andlow noisevoltage

regulator

ST LD39015M33R

40 1 U7 LPS22HDTRHLGA10X2X2X07

MEMS nanopressuresensor

ST LPS22HDTR


UM2311 - Rev 2 page 15/23


41 1 U8 LSM6DSLlga14X2m5X3X086

3D digitalaccelerometer

andgyroscope

ST LSM6DSL

42 1 U9 LIS2MDL lga12X2X2X1

Ultra-low-power, high-performance

3-axismagnetometer

ST LIS2MDL

43 1 Y1 16 MHz 15 ppmquarzonx2520sa Quartz NDK NX2520SA-16,000000MHz-

STD-CSW-4

44 1 Olimex LTD ARM-JTAG-20-10

Mini-boardand cable Olimex ARM-JTAG-20-10


UM2311 - Rev 2 page 16/23

6 Formal notices required by the U.S. Federal CommunicationsCommission ("FCC")

FCC NOTICE: This device complies with part 15 of the FCC Rules. Operation is subject to the following twoconditions: (1) This device may cause harmful interference, and (2) this device must accept any interferencereceived, including interference that may cause undesired operation.Changes or modifications not expressly approved by the manufacturer could void the user’s authority to operatethe equipment.Additional warnings for FCCThis equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in aresidential installation. This equipment generates, uses and can radiate radio frequency energy and, if notinstalled and used in accordance with the instructions, may cause harmful interference to radio communications.However, there is no guarantee that interference will not occur in a particular installation. If this equipment doescause harmful interference to radio or television reception, which can be determined by turning the equipment offand on, the user is encouraged to try to correct the interference's by one or more of the following measures:• Reorient or relocate the receiving antenna.• Increase the separation between the equipment and the receiver.• Connect the equipment into an outlet on a circuit different from that to which the receiver is connected.• Consult the dealer or an experienced radio/TV technician for help.

UM2311Formal notices required by the U.S. Federal Communications Commission ("FCC")

UM2311 - Rev 2 page 17/23

7 Formal product notice required by the Industry Canada ("IC")

Innovation, Science and Economic Development Canada Compliance - This device complies with Innovation,Science and Economic Development RSS standards. Operation is subject to the following two conditions: (1) thisdevice may not cause harmful interference, and (2) this device must accept any interference received, includinginterference that may cause undesired operation. Changes or modifications not expressly approved by themanufacturer could void the user’s authority to operate the equipment.Conformité à Innovation, Sciences et Développement Économique Canada - Cet appareil est conforme auxnormes RSS d'Innovation, Science et Développement économique. L'utilisation est soumise aux deux conditionssuivantes: (1) cet appareil ne doit pas causer d'interférences nuisibles, et (2) cet appareil doit accepter derecevoir tous les types d’interférence, y comprises les interférences susceptibles d'entraîner un fonctionnementindésirable. Les changements ou les modifications non expressément approuvés par le fabricant pourraientannuler le permis d'utiliser l'équipement.

UM2311Formal product notice required by the Industry Canada ("IC")

UM2311 - Rev 2 page 18/23

Revision history

Table 8. Document revision history

Date Version Changes

27-Nov-2017 1 Initial release.

09-May-2018 2 Corrected typo in Table 6. Debugging micro SWD connector (P8)

UM2311

UM2311 - Rev 2 page 19/23

Contents

1 Getting started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

1.1 Board overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.2 Package contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.3 System requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2 System setup guide. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4

3 Hardware description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5

3.1 Board connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

3.2 ST-LINK/V2 connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3.3 Hardware architecture overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

4 Schematic diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10

5 Bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14

6 Formal notices required by the U.S. Federal Communications Commission ("FCC") .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

7 Formal product notice required by the Industry Canada ("IC") . . . . . . . . . . . . . . . . . . . . .18

Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

UM2311Contents

UM2311 - Rev 2 page 20/23

List of tablesTable 1. Battery 2-pin header connector (BT1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6Table 2. Motor 2-pin header connectors (P1, P2, P4, P5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6Table 3. UART 4-pin header connector (P7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Table 4. I2C 4-pin header connector (P3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Table 5. PWM inputs 6-pin header connector (P6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Table 6. Debugging micro SWD connector (P8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Table 7. STEVAL-FCU001V1 bill of materials. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Table 8. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

UM2311List of tables

UM2311 - Rev 2 page 21/23

List of figuresFigure 1. STEVAL-FCU001V1 evaluation board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1Figure 2. STEVAL-FCU001V1 evaluation board: package contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2Figure 3. STEVAL-FCU001V1 evaluation board silkscreen and connector positioning . . . . . . . . . . . . . . . . . . . . . . . . . . 4Figure 4. STEVAL-FCU001V1 evaluation board components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Figure 5. STEVAL-FCU001V1 evaluation board connector description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6Figure 6. ST-LINK/V2 connected to the STEVAL-FCU001V1 evaluation board via adapter . . . . . . . . . . . . . . . . . . . . . . . 8Figure 7. STEVAL-FCU001V1 evaluation board functional block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Figure 8. STEVAL-FCU001V1 – circuit schematic (1 of 4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Figure 9. STEVAL-FCU001V1 – circuit schematic (2 of 4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Figure 10. STEVAL-FCU001V1 – circuit schematic (3 of 4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Figure 11. STEVAL-FCU001V1 – circuit schematic (4 of 4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

UM2311List of figures

UM2311 - Rev 2 page 22/23

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STMicroelectronics NV and its subsidiaries (“ST”) reserve the right to make changes, corrections, enhancements, modifications, and improvements to STproducts and/or to this document at any time without notice. Purchasers should obtain the latest relevant information on ST products before placing orders. STproducts are sold pursuant to ST’s terms and conditions of sale in place at the time of order acknowledgement.

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© 2018 STMicroelectronics – All rights reserved

UM2311

UM2311 - Rev 2 page 23/23

Documents

Getting started with the STEVAL-FCU001V1 flight controller ...2 SWDD SWD debugging data line 3 GND 4 SWCLK SWD debugging clock line 5 GND 6 N.C. UM2311 Board connectors UM2311 - Rev