boards: arm: Add steval_fcu001v1 board support

BSP for steval_fcu001v1 resubmitted as per PR #18746

Signed-off-by: NavinSankar Velliangiri <navin@linumiz.com>

CODEOWNERS

@@ -84,6 +84,7 @@
 /boards/arm/v2m_beetle/                   @fvincenzo
 /boards/arm/olimexino_stm32/              @ydamigos
 /boards/arm/sensortile_box/               @avisconti
+/boards/arm/steval_fcu001v1/              @Navin-Sankar
 /boards/arm/stm32*_disco/                 @erwango
 /boards/arm/stm32f3_disco/                @ydamigos
 /boards/arm/stm32*_eval/                  @erwango

boards/arm/steval_fcu001v1/CMakeLists.txt

@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: Apache-2.0
+
+if(CONFIG_PINMUX)
+zephyr_library()
+zephyr_library_sources(pinmux.c)
+zephyr_library_include_directories(${ZEPHYR_BASE}/drivers)
+endif()

boards/arm/steval_fcu001v1/Kconfig.board

@@ -0,0 +1,11 @@
+# Kconfig - STM32 Flight Controller Unit board configuration
+#
+# Copyright (c) 2019 Linumiz
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+config BOARD_STEVAL_FCU001V1
+	bool "STM32 Flight Controller Unit"
+	depends on SOC_STM32F401XC
+

boards/arm/steval_fcu001v1/Kconfig.defconfig

@@ -0,0 +1,37 @@
+# Kconfig - STM32 Flight Controller Unit board configuration
+#
+# Copyright (c) 2019 Linumiz
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+
+if BOARD_STEVAL_FCU001V1
+
+config BOARD
+	default "steval_fcu001v1"
+
+if UART_CONSOLE
+
+config UART_1
+	default y
+
+endif # UART_CONSOLE
+
+if I2C
+
+config I2C_2
+	default y
+
+endif # I2C
+
+
+if PWM
+
+config PWM_STM32_2
+	default y
+
+endif #PWM
+
+
+endif # BOARD_STEVAL_FCU001V1

boards/arm/steval_fcu001v1/board.cmake

@@ -0,0 +1,8 @@
+# SPDX-License-Identifier: Apache-2.0
+
+board_runner_args(jlink "--device=STM32F401CC" "--speed=4000")
+
+include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)
+
+

boards/arm/steval_fcu001v1/doc/index.rst

@@ -0,0 +1,161 @@
+.. _steval_fcu001v1:
+
+STM32 Flight Controller Unit
+############################
+
+Overview
+********
+
+The STEVAL-FCU001V1 is a Cortex M4 MCU-based flight controller unit for toy quad-copter drones.
+
+.. figure:: img/steval_fcu001v1.jpg
+     :width: 753px
+     :align: center
+     :height: 699px
+     :alt: STM32 Flight Controller Unit
+
+Hardware
+********
+
+STM32 Flight Controller Unit provides the following hardware components:
+
+- STM32F401CC in UFQFPN48 package
+- ARM |reg| 32-bit Cortex |reg|-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:
+
+- `STEVAL_FCU001V1 website`_
+- `STM32F401 reference manual`_
+- `STM32F401CC on www.st.com`_
+
+Supported Features
+==================
+
+The Zephyr steval_fcu001v1 board configuration supports the following hardware features:
+
++-----------+------------+------------------------------------+
+| Interface | Controller | Driver/Component                   |
++===========+============+====================================+
+| NVIC      | on-chip    | nested vector interrupt controller |
++-----------+------------+------------------------------------+
+| UART      | on-chip    | serial port-polling;               |
+|           |            | serial port-interrupt              |
++-----------+------------+------------------------------------+
+| PINMUX    | on-chip    | pinmux                             |
++-----------+------------+------------------------------------+
+| GPIO      | on-chip    | gpio                               |
++-----------+------------+------------------------------------+
+| PWM       | on-chip    | pwm                                |
++-----------+------------+------------------------------------+
+| I2C       | on-chip    | i2c                                |
++-----------+------------+------------------------------------+
+
+
+The default configuration can be found in the defconfig file:
+``boards/arm/steval_fcu001v1/steval_fcu001v1_defconfig``
+
+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 :ref:`build_an_application` and
+:ref:`application_run` 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:
+
+.. code-block:: console
+
+   $ minicom -D /dev/ttyUSB0
+
+Now build and flash an application. Here is an example for :ref:`hello_world`
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/hello_world
+   :board: steval_fcu001v1
+   :goals: build flash
+
+You should see the following message on the console:
+
+.. code-block:: console
+
+   Hello World! steval_fcu001v1
+
+Debugging
+=========
+
+You can debug an application in the usual way. Here is an example for the
+:ref:`hello_world` application.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/hello_world
+   :board: steval_fcu001v1
+   :maybe-skip-config:
+   :goals: debug
+
+.. _STEVAL_FCU001V1 website:
+   https://www.st.com/en/evaluation-tools/steval-fcu001v1.html
+
+.. _STM32F401CC on www.st.com:
+   https://www.st.com/en/microcontrollers-microprocessors/stm32f401cc.html
+
+.. _STM32F401 reference manual:
+    http://www.st.com/resource/en/reference_manual/dm00096844.pdf
+

boards/arm/steval_fcu001v1/pinmux.c

@@ -0,0 +1,40 @@
+/*
+ * Copyright (c) 2019 Linumiz
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <kernel.h>
+#include <device.h>
+#include <init.h>
+#include <drivers/pinmux.h>
+#include <sys/sys_io.h>
+
+#include <pinmux/stm32/pinmux_stm32.h>
+
+/* pin assignments for STEVAL-FCU001V1 */
+static const struct pin_config pinconf[] = {
+#ifdef CONFIG_UART_1
+	{STM32_PIN_PA9, STM32F4_PINMUX_FUNC_PA9_USART1_TX},
+	{STM32_PIN_PA10, STM32F4_PINMUX_FUNC_PA10_USART1_RX},
+#endif	/* CONFIG_UART_1 */
+#ifdef CONFIG_PWM_STM32_2
+	{STM32_PIN_PA0, STM32F4_PINMUX_FUNC_PA0_PWM2_CH1},
+#endif	/* CONFIG_PWM_STM32_2 */
+#ifdef CONFIG_I2C_2
+	{STM32_PIN_PB3, STM32F4_PINMUX_FUNC_PB3_I2C2_SDA},
+	{STM32_PIN_PB10, STM32F4_PINMUX_FUNC_PB10_I2C2_SCL},
+#endif	/* CONFIG_I2C_2	*/
+};
+
+static int pinmux_stm32_init(struct device *port)
+{
+	ARG_UNUSED(port);
+
+	stm32_setup_pins(pinconf, ARRAY_SIZE(pinconf));
+
+	return 0;
+}
+
+SYS_INIT(pinmux_stm32_init, PRE_KERNEL_1,
+		CONFIG_PINMUX_STM32_DEVICE_INITIALIZATION_PRIORITY);

boards/arm/steval_fcu001v1/steval_fcu001v1.dts

@@ -0,0 +1,67 @@
+/*
+ * Copyright (c) 2019 Linumiz
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+#include <st/f4/stm32f401Xc.dtsi>
+
+/ {
+	model = "STMicroelectronics Flight Controller Board";
+	compatible = "st,flight-controller-board", "st,stm32f401";
+
+	chosen {
+		zephyr,console = &usart1;
+		zephyr,shell-uart = &usart1;
+		zephyr,sram = &sram0;
+		zephyr,flash = &flash0;
+	};
+
+	leds {
+		compatible = "gpio-leds";
+		red_led_1: led_1 {
+			gpios = <&gpiob 5 GPIO_INT_ACTIVE_HIGH>;
+			label = "User LD1";
+		};
+
+		red_led_2: led_2 {
+			gpios = <&gpiob 4 GPIO_INT_ACTIVE_HIGH>;
+			label = "User LD2";
+		};
+	};
+
+	aliases {
+		led0 = &red_led_1;
+		led1 = &red_led_2;
+	};
+};
+
+
+&i2c2 {
+	status = "okay";
+	clock-frequency = <I2C_BITRATE_FAST>;
+};
+
+&usart1 {
+	current-speed = <115200>;
+	pinctrl-0 = <&usart1_pins_a>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&timers2 {
+	status = "okay";
+
+	pwm {
+		status = "okay";
+	};
+};
+
+&rtc {
+	status = "okay";
+};
+
+&iwdg {
+	status = "okay";
+};

boards/arm/steval_fcu001v1/steval_fcu001v1.yaml

@@ -0,0 +1,16 @@
+identifier: steval_fcu001v1
+name: FLIGHT-CONTROLLER-BOARD
+type: mcu
+arch: arm
+toolchain:
+  - zephyr
+  - gnuarmemb
+  - xtools
+supported:
+  - gpio
+  - pwm
+  - i2c
+  - rtc
+  - watchdog
+ram: 64
+flash: 256

boards/arm/steval_fcu001v1/steval_fcu001v1_defconfig

@@ -0,0 +1,46 @@
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_ARM=y
+CONFIG_BOARD_STEVAL_FCU001V1=y
+CONFIG_SOC_SERIES_STM32F4X=y
+CONFIG_SOC_STM32F401XC=y
+CONFIG_CORTEX_M_SYSTICK=y
+
+# 84MHz system clock
+CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=84000000
+
+# Enable MPU
+CONFIG_ARM_MPU=y
+
+CONFIG_SERIAL=y
+
+# console
+CONFIG_CONSOLE=y
+CONFIG_UART_CONSOLE=y
+
+# enable pinmux
+CONFIG_PINMUX=y
+
+# enable GPIO
+CONFIG_GPIO=y
+
+# clock configuration
+CONFIG_CLOCK_CONTROL=y
+
+# SYSCLK selection
+CONFIG_CLOCK_STM32_SYSCLK_SRC_PLL=y
+
+# use HSE as PLL input
+CONFIG_CLOCK_STM32_PLL_SRC_HSE=y
+CONFIG_CLOCK_STM32_HSE_CLOCK=16000000
+
+# produce 84MHz clock at PLL output
+CONFIG_CLOCK_STM32_PLL_M_DIVISOR=16
+CONFIG_CLOCK_STM32_PLL_N_MULTIPLIER=336
+CONFIG_CLOCK_STM32_PLL_P_DIVISOR=4
+CONFIG_CLOCK_STM32_PLL_Q_DIVISOR=7
+CONFIG_CLOCK_STM32_AHB_PRESCALER=1
+
+# APB1 clock must not exceed 50MHz limit
+CONFIG_CLOCK_STM32_APB1_PRESCALER=2
+CONFIG_CLOCK_STM32_APB2_PRESCALER=1

boards/arm/steval_fcu001v1/support/openocd.cfg

@@ -0,0 +1,18 @@
+source [find interface/stlink.cfg]
+
+transport select hla_swd
+
+set WORKAREASIZE 0x10000
+
+source [find target/stm32f4x.cfg]
+
+$_TARGETNAME configure -event gdb-attach {
+        echo "Debugger attaching: halting execution"
+        reset halt
+        gdb_breakpoint_override hard
+}
+
+$_TARGETNAME configure -event gdb-detach {
+        echo "Debugger detaching: resuming execution"
+        resume
+}