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96Boards Aerocore2
Overview
The 96Boards Aerocore2 Mezzanine is based on the STMicroelectronics STM32F427VIT6 Cortex-M4 CPU primarily designed for use in drones. This board acts as a mezzanine platform for all 96Boards CE compliant boards. It can also be used as a standalone board.
Hardware
96Boards Aerocore2 provides the following hardware components:
STM32F427VIT6 in LQFP100 package
ARM® 32-bit Cortex®-M4 CPU with FPU
168 MHz max CPU frequency
VDD from 1.7 V to 3.6 V
2048 KB Flash
256 KB SRAM
GPIO with external interrupt capability
12-bit ADC with 16 channels
RTC
Advanced-control Timers (2)
General Purpose Timers (10)
Watchdog Timers (2)
USART/UART (4)
I2C (3)
SPI (3)
SDIO
USB 2.0 OTG FS
DMA Controller
- More information about STM32F427VIT6 can be found here:
Supported Features
The Zephyr 96b_aerocore2 board configuration supports the following hardware features:
Interface |
Controller |
Driver/Component |
---|---|---|
NVIC |
on-chip |
nested vector interrupt controller |
SYSTICK |
on-chip |
system clock |
UART |
on-chip |
serial port |
GPIO |
on-chip |
gpio |
PINMUX |
on-chip |
pinmux |
FLASH |
on-chip |
flash |
SPI |
on-chip |
spi |
I2C |
on-chip |
i2c |
PWM |
on-chip |
timers / pwm |
USB OTG FS |
on-chip |
USB device |
ADC |
on-chip |
adc |
More details about the board can be found at 96Boards website.
The default configuration can be found in the defconfig file:
boards/arm/96b_aerocore2/96b_aerocore2_defconfig
Connections and IOs
LED
LED1 / User1 LED = PE10
LED2 / User2 LED = PE9
External Connectors
Octal PWM Header (J1)
PIN # |
Signal Name |
STM32F427 Functions Pin |
PIN # |
Signal Name |
Pin # |
Signal Name |
---|---|---|---|---|---|---|
1 |
PWM4_CH1 |
PD12 |
2 |
5.0v |
3 |
GND |
4 |
PWM4_CH2 |
PD13 |
5 |
5.0v |
6 |
GND |
7 |
PWM4_CH3 |
PD14 |
8 |
5.0v |
9 |
GND |
10 |
PWM4_CH4 |
PD15 |
11 |
5.0v |
12 |
GND |
13 |
PWM5_CH1 |
PA0 |
14 |
5.0v |
15 |
GND |
16 |
PWM5_CH2 |
PA1 |
17 |
5.0v |
18 |
GND |
19 |
PWM5_CH3 |
PA2 |
20 |
5.0v |
21 |
GND |
22 |
PWM5_CH4 |
PA3 |
23 |
5.0v |
24 |
GND |
IO Header J11
PIN # |
Signal Name |
PIN # |
Signal Name |
---|---|---|---|
1 |
PB9 |
2 |
PB8* |
3 |
PC9 |
4 |
PB0 |
5 |
PE5 |
6 |
NA |
7 |
PE6 |
8 |
NA |
9 |
PC6 |
10 |
NA |
11 |
PC7 |
12 |
NA |
13 |
PC8 |
14 |
NA |
15 |
PA8 |
16 |
GND |
17 |
PA9 |
18 |
3v3 |
19 |
PA10 |
20 |
GND |
PB8 is connected to a watchdog buzzer, It needs to be pulsed every 10 seconds to keep the buzzer silent.
IO Header J5
PIN # |
Signal Name |
STM32F427 Functions Pin |
PIN # |
Signal Name |
STM32F427 Functions Pin |
---|---|---|---|---|---|
1 |
AGND |
AGND |
2 |
ADC1_13 |
PC3 |
3 |
ADC1_12 |
PC2 |
4 |
ADC1_11 |
PC1 |
5 |
I2C_SDA |
PB11 |
6 |
GND |
GND |
7 |
I2C_SCL |
PB10 |
8 |
VCC 3v3 |
VCC 3v3 |
9 |
NC |
NC |
10 |
NC |
NC |
11 |
NC |
NC |
12 |
NC |
NC |
13 |
UART_TX 7 |
PE8 |
14 |
GND |
GND |
15 |
UART_RX 7 |
PE7 |
16 |
GND |
GND |
17 |
UART_TX 2 |
PD5 |
18 |
GND |
GND |
19 |
UART_TX 2 |
PD6 |
20 |
GND |
GND |
21 |
NC |
NC |
10 |
NC |
NC |
23 |
NC |
NC |
10 |
NC |
NC |
25 |
SPI1_NIRQ |
PC5 |
26 |
GND |
GND |
27 |
SPI1_CLK |
PA5 |
28 |
SPI1_MISO |
PA6 |
29 |
SPI1_CS0 |
PA4 |
30 |
SPI1_MOSI |
PA7 |
31 |
CAN_TX |
PD1 |
32 |
CANH |
NC |
33 |
CAN_RX |
PD0 |
34 |
CANL |
NC |
GPS connector J15
PIN # |
Signal Name |
STM32F427 Functions Pin |
---|---|---|
1 |
V_OUT 5v |
NC |
2 |
UART1_TX |
PB6 |
3 |
UART1_RX |
PB7 |
4 |
VCC 3v3 |
NC |
5 |
GND |
GND |
Spektrum connector J3
PIN # |
Signal Name |
STM32F427 Functions Pin |
---|---|---|
1 |
VCC 3v3 |
NC |
2 |
GND |
GND |
3 |
UART8_RX |
PE0 |
External Clock Sources
STM32F4 has one external oscillator. The frequency of the clock is 32.768 kHz. The internal 16MHz clock is used as the main clock.
Serial Port
96Boards Aerocore2 board has up to 4 U(S)ARTs. The Zephyr console output is assigned to USART7. Default settings are 115200 8N1.
I2C
96Boards Aerocore2 board has 1 I2C port. The default I2C mapping for Zephyr is:
I2C1_SCL : PB10
I2C1_SDA : PB11
SPI
96Boards Aerocore2 board has 1 SPI port. The default SPI mapping for Zephyr is:
SPI1_CS0 : PA4
SPI1_SCK : PA5
SPI1_MISO : PA6
SPI1_MOSI : PA7
USB
96Boards Aerocore2 board has a USB OTG dual-role device (DRD) controller that supports both device and host functions through its mini “OTG” USB connector. Only USB device functions are supported in Zephyr at the moment.
Programming and Debugging
There are 2 main entry points for flashing STM32F4X SoCs, one using the ROM bootloader, and another by using the SWD debug port (which requires additional hardware). Flashing using the ROM bootloader requires a special activation pattern, which can be triggered by using the BOOT0 pin. The ROM bootloader supports flashing via USB (DFU), UART, I2C and SPI. You can read more about how to enable and use the ROM bootloader by checking the application note AN2606, page 109.
Flashing
Installing dfu-util
It is recommended to use at least v0.8 of dfu-util. The package available in debian/ubuntu can be quite old, so you might have to build dfu-util from source.
Flashing an Application to 96Boards Aerocore2
Connect the micro-USB cable to the USB OTG/STM_CONSOLE Aerocore2 port and to your computer. The board should power ON. Force the board into DFU mode by keeping the BOOT0 switch pressed while pressing and releasing the RST switch.
The BOOT button is located at the back-side of the PCB.
Confirm that the board is in DFU mode:
$ sudo dfu-util -l
dfu-util 0.8
Copyright 2005-2009 Weston Schmidt, Harald Welte and OpenMoko Inc.
Copyright 2010-2014 Tormod Volden and Stefan Schmidt
This program is Free Software and has ABSOLUTELY NO WARRANTY
Please report bugs to dfu-util@lists.gnumonks.org
Found DFU: [0483:df11] ver=2200, devnum=15, cfg=1, intf=0, alt=3, name="@Device Feature/0xFFFF0000/01*004 e", serial="3574364C3034"
Found DFU: [0483:df11] ver=2200, devnum=15, cfg=1, intf=0, alt=2, name="@OTP Memory /0x1FFF7800/01*512 e,01*016 e", serial="3574364C3034"
Found DFU: [0483:df11] ver=2200, devnum=15, cfg=1, intf=0, alt=1, name="@Option Bytes /0x1FFFC000/01*016 e", serial="3574364C3034"
Found DFU: [0483:df11] ver=2200, devnum=15, cfg=1, intf=0, alt=0, name="@Internal Flash /0x08000000/04*016Kg,01*064Kg,03*128Kg", serial="3574364C3034"
Found Runtime: [05ac:8290] ver=0104, devnum=2, cfg=1, intf=5, alt=0, name="UNKNOWN", serial="UNKNOWN"
You should see following confirmation on your Linux host:
$ dmesg
usb 1-2.1: new full-speed USB device number 14 using xhci_hcd
usb 1-2.1: New USB device found, idVendor=0483, idProduct=df11
usb 1-2.1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
usb 1-2.1: Product: STM32 BOOTLOADER
usb 1-2.1: Manufacturer: STMicroelectronics
usb 1-2.1: SerialNumber: 3574364C3034
Then build and flash an application. Here is an example for the Hello World application.
# From the root of the zephyr repository
west build -b 96b_aerocore2 samples/hello_world
west flash
Connect a USB-TTL dongle to the UART_7 header port and to your computer. Run your favorite terminal program to listen for output.
$ minicom -D <tty_device> -b 115200
Replace <tty_device>
with the port where the board 96Boards Aerocore2
can be found. For example, under Linux, /dev/ttyUSB0
.
The -b
option sets baud rate ignoring the value from config.
Press the Reset button and you should see the the following message in your terminal:
Hello World! arm