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 motorconfiguration

• Main components:– 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

• RoHS compliant• WEEE compliant

DescriptionThe STEVAL-FCU001V1 is designed to support quadcopter drone designers.

A complete sample firmware project allows the designer to begin flying small ormedium sized quadcopters (with brushed or brushless DC motors) immediately andevaluate the performance of the IMU sensors under real flight conditions.

The FCU can be controlled by a standard external remote controller (PWM inputinterface) or by a smartphone or tablet through the on-board Bluetooth low energymodule (CE, FCC, ARIB, BQE certified).

Magnetometer and pressure sensors are also embedded to support 3D navigationapplications.

SWD, I²C and USART connectors are available for firmware development anddebugging, and to support additional external sensors or RF modules.

Product summary

Flight controller unitevaluation board for toydrones

STEVAL-FCU001V1

iNEMO 6DoF inertialmeasurement unit LSM6DSL

Magnetic sensor, digitaloutput, 3-axismagnetometer

LIS2MDL

Piezoresistive absolutepressure sensor digitaloutput barometer

LPS22HD

Very low power modulefor Bluetooth Smart v4.1 SPBTLE-RF

N-channel, STripFETH6 Power MOSFET STL6N3LLH6

800 mA standalonelinear Li-Ion batterycharger

STC4054

Drone remote controllerapp for Android AppDrone

Reference designfirmware for mini drones STSW-FCU001

Flight controller unit evaluation board for toy drones

STEVAL-FCU001V1

Data brief

DB3394 - Rev 2 - January 2019For further information contact your local STMicroelectronics sales office.

www.st.com

1 Schematic diagrams

Figure 1. STEVAL-FCU001V1 – block diagram

32-bit MCU

A + G IMU SPI1

Magnetometer

Power MOS x4TIM4PWM out

Remocon RX*TIM2 inputcapturePressure Sensor

SPI2

STM32F401

LSM6DSL

LPS22HD

Battery chargerMicroUSB

LIS2MDL

I2Cconnector

4 xDCmotor

ESC x 4 4 x 3-phmotor

LiPo 1-cellbattery

BLE module

PWM

I2C2

SPBTLE-RF

UARTconnector

UART1

JTAG

JTAGconnector

USB

STC4054

LDO3V3

LD39015

P7 P3

P6

P1, P2,P4, P5

P1, P2,P4, P5

P8

BT1

CN1

STL6N3LLH6

Figure 2. 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

STEVAL-FCU001V1Schematic diagrams

DB3394 - Rev 2 page 2/6

Figure 3. STEVAL-FCU001V1 – circuit schematic (2 of 4)

MOTOR4-

P1

BLE_RSTN

SWD

BAT60J

1

Solder_Bridge

8

D1

6

OSC_16MHZ_OUT

USART1_RX

USB_Monitor

USB_DP

MOTOR3-

5

MOTOR2-

MOTOR1

R31k

USART1_RX

VDD

USART1_TX

MOTOR1-

VDD

5

USART1_TX

USB_Monitor

GND

13

TIM2_CH2

GND

C5100n

C10

C11

SWDD

VBAT+

29

R19

R17

100nF

U2

38

2

S2_SDA

45

34

46

8

2

MOTOR2

LIS2MDL_CS

MOTOR4-

BAT60J

19

TIM2_CH4

4

Y1

MOTOR3

USART1_TX

TIM2_CH1

MOTOR3

48

USART1_RX

SWDD

MOTOR4

R22

VDD

MOTOR4-

TIM2_CH339

FC_Signal

LPS22HB_CS

MOTOR1

4

BAT60J

49

35

10K

I2C2_SDA

3

P8

R8

S2_CLK

14

D4

NRST

0DNM

P2

24

9

S2_SDA

MOTOR1-

VBAT+

1µF

18

0DNM

32

GND

MOTOR3-

BLE_IRQ

100k

VBAT+MOTOR4

VDD

OSC_16MHZ_IN

2

MOTOR1

GND

41

MOTOR3

BLE_IRQ

D2

C9

3 R710K

4

STL6N3LLH6

10K

4.7µF

40

30

C815pF

3

S2_CLK

1k

S1_MISO

15

R13 Solder_Bridge

C4

44

C2100nF

R15

TIM2_CH2

Motor_Panel1

TIM2_CH4

BLE_CSBLE_RSTN

C7

R18

TIM2_CH210

MOTOR2-

MOTOR3-

P4

SWCLK

1k

100n

VBAT_SENSE

TIM2_CH1

TIM2_CH3

GND

VBAT+

S1_CLK37

15pF

23

31

P7

VDD

3

i2Q

STL6N3LLH6

STM32F401CCU

USB_DM

S2_SDA

S1_CLK

R2310K

MOTOR2

S1

2

27

17

USART1_RX

11

TIM2_CH1

LPS22HB_CS

D3

MOTOR4

VDD

R11VBAT+

28

S1_MISO

I2C2_SCL

R5

20K

NRST

LSM6DS33_CS

1

43

MOTOR2

VDD

LIS2MDL_CS

P5

TIM2_CH3

Q2

25

GND

RED

1

100n

BLE_CS

P3

Motor_Panel2

MOTOR2-

Q3

5

GND

100n

USART1_TX

R21 2.2K

26

TIM2_CH4

R14

8

TIM2_CH4

R20 2.2K

MOTOR2-

Solder_Bridge

10K

33

VDD

TIM2_CH2

STL6N3LLH6

S1_MOSI

6

3

TIM2_CH1

72

USB_DM

I2C2_SCL

LD2

BAT60JMOTOR1-

R6

22

STL6N3LLH6

R24

Solder_Bridge

R1010K

P6

7

C3

Motor_Panel4

R16

R4

8

67

0DNM

TIM2_CH3

SWCLK

47

21SWCLK

12

I2C2_SDA

6 1

MOTOR3-

VDD

8

MOTOR4-

7

R910K

Q4

4

GND

USB_DP

S1_MOSI

VBAT_SENSE

VDD

S1_MISO

BLE_RSTN

USB_DM

VDD

S2_CLK

6

VBAT+

GND

USB_Monitor

42

0DNM

MOTOR1-

75

20

BLE_IRQ

VDD

R12

Q1

USART

USB_DP

4

SWCLK

5

SWDD

LD1 RED16MHz

LSM6DS33_CS

LSM6DS33_CS

BLE_CS

16LIS2MDL_CS

SWDD

Motor_Panel3

R2

S1_CLK

LPS22HB_CS

C6

1k

VBAT+

S1_MOSI

36

1

NRST

12

12

12

12

1234

1234

123456

RS: 505-9192C&KKMR231GLES

13579

2468

10

Solder bridge has to suppport 3 A peak

Exp_

Pad

VBAT

PC13

PC14_OSC32_IN

PC15_OSC32_OUT

PH0_OSC_INPH1_OSC_OUT

NRST

VSSA

VDDA

PA0

PA1

PA2

PA3

PA4

PA5

PA6

PA7

PB0

PB1

PB2

PB10

VCAP1

VSS4

VDD3

VSS1

PB9

PB8

BOOT0

PB7

PB6

PB5

PB4

PB3

PA15

PA14

VDD

VSS

PA13

PA12

PA11

PA10

PA9

PA8

PB15

PB14

PB13

VDD2

PB12

STEVAL-FCU001V1Schematic diagrams

DB3394 - Rev 2 page 3/6

Figure 4. STEVAL-FCU001V1 – circuit schematic (3 of 4)

USB

USB_DP

USB_DM

USB_Monitor

V_USB VDDVBAT+

GND

GND

V_USBV_USB

V_USB

GND

GND

VBAT+U6 LD39015M33R

OUT 5

NC 4

IN1

GND2

EN3

R305.1K

D5

ESDA7P60-1U1M

C164.7µF

R28

100KSMD 0402

1 2

C141µF

U3

USBULC6-2M6(uQFN)uQFN6X145X1

D11

GND2

D23 D3 4VBus 5

D6 6

R25

0R

C15100nF

U4

STC4054

CHRG 1

GND 2

BAT 3VCC4

PROG5

R261M

SMD 0201

C171µF

R29

510R

R27100K

SMD 0402

12

C18100nF

LD3RED LED

C12100nF16V

SMD 0402

C134.7nF 50VSMD 0402

BT1Battery

CN1

Micro_USB_AB

RS 702-5481Molex 47590-0001123456789

DMUSB_DP DP DP

USB_DM DM

Figure 5. STEVAL-FCU001V1 – circuit schematic (4 of 4)

S2_CLKS2_SDALPS22HB_CSLSM6DS33_CSLIS2MDL_CS

VDD

VDD

VDD

C20

100nF

U9

LIS2MDL

RES12

SDA/SDI/SDO4

CS3

GND18

DRDY7

NC111

SCL/SPC1

NC2

GND6

C15

VDD9

VDD_IO10

C25

100nF

C23

100nF

U7

LPS22HBTR

VDD10

GND9

GND18

INT7

CS6

VDD_IO1

SCL/SPC2

RES3

SDA/SDI/SDO4

SDO/SA05 C22

100nF

C19

1uF

U8

LSM6DSL

NC10

GND7

GND16

RES211

VDD_IO5

SCL13

SDA14

SDO1

CS12

INT29

INT14

*2 3

VDD 8

*1 2

C24

1uF

C21

1uF

S2_SDA

S2_CLK

LPS22HB_CS

S2_CLK

S2_SDA

LIS2MDL_CS

S2_CLK

S2_SDA

LSM6DS33_CS

S2_CLKS2_SDALPS22HB_CSLSM6DS33_CSLIS2MDL_CS

STEVAL-FCU001V1Schematic diagrams

DB3394 - Rev 2 page 4/6

Revision history

Table 1. Document revision history

Date Version Changes

03-Oct-2017 1 Initial release.

16-Jan-2019 2 Updated cover page image.

STEVAL-FCU001V1

DB3394 - Rev 2 page 5/6

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STEVAL-FCU001V1

DB3394 - Rev 2 page 6/6