ST Nucleo F446RE
This page discusses issues unique to NuttX configurations for the ST NucleoF446RE boards from ST Micro. See
NucleoF446RE:
Microprocessor: 32-bit ARM Cortex M4 at 180MHz STM32F446RE
Memory: 512 KB Flash and 128 KB SRAM
ADC: 1×12-bit, 2.4 MSPS A/D converter: up to 10 channels
DMA: 16-stream DMA controllers with FIFOs and burst support
Timers: Up to 11 timers: up to six 16-bit, two 32-bit timers, two watchdog timers, and a SysTick timer
GPIO: Up to 81 I/O ports with interrupt capability
I2C: Up to 3 × I2C interfaces
USARTs: Up to 3 USARTs
USARTs: Up to 3 USARTs
SPIs: Up to 4 SPIs (2 I2S)
SDIO interface
USB: USB 2.0 full-speed device/host/OTG controller with on-chip PHY
CRC calculation unit
RTC
The NucleoF446RE also has additional DMA and SPI peripheral capabilities.
Board features, however, are identical:
Peripherals: 1 led, 1 push button
Debug: Serial wire debug and JTAG interfaces
Expansion I/F Ardino and Morpho Headers
Uses a STM32F103 to provide a ST-Link for programming, debug similar to the OpenOcd FTDI function - USB to JTAG front-end.
See https://os.mbed.com/platforms/ST-Nucleo-F446RE/ for more information about this board.
mbed
The Nucleo-F401RE includes boot loader from mbed:
Using the mbed loader:
Connect the Nucleo-F4x1RE to the host PC using the USB connector.
A new file system will appear called NUCLEO; open it with Windows Explorer (assuming that you are using Windows).
Drag and drop nuttx.bin into the MBED window. This will load the nuttx.bin binary into the Nucleo-F4x1RE. The NUCLEO window will close then re-open and the Nucleo-F4x1RE will be running the new code.
Hardware
LEDs
The Nucleo F446RE provides a single user LED, LD2. LD2 is the green LED connected to Arduino signal D13 corresponding to MCU I/O PA5 (pin 21) or PB13 (pin 34) depending on the STM32target.
When the I/O is HIGH value, the LED is on.
When the I/O is LOW, the LED is off.
These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is defined. In that case, the usage by the board port is defined in include/board.h and src/sam_leds.c. The LEDs are used to encode OS-related events as follows when the red LED (PE24) is available:
SYMBOL Meaning LD2
------------------- ----------------------- -----------
LED_STARTED NuttX has been started OFF
LED_HEAPALLOCATE Heap has been allocated OFF
LED_IRQSENABLED Interrupts enabled OFF
LED_STACKCREATED Idle stack created ON
LED_INIRQ In an interrupt No change
LED_SIGNAL In a signal handler No change
LED_ASSERTION An assertion failed No change
LED_PANIC The system has crashed Blinking
LED_IDLE MCU is is sleep mode Not used
Thus if LD2, NuttX has successfully booted and is, apparently, running normally. If LD2 is flashing at approximately 2Hz, then a fatal error has been detected and the system has halted.
Serial Consoles
USART1
Pins and Connectors:
RXD: PA11 CN10 pin 14
PB7 CN7 pin 21
TXD: PA10 CN9 pin 3, CN10 pin 33
PB6 CN5 pin 3, CN10 pin 17
NOTE: You may need to edit the include/board.h to select different USART1
pin selections.
TTL to RS-232 converter connection:
Nucleo CN10 STM32F4x1RE
----------- ------------
Pin 21 PA9 USART1_RX *Warning you make need to reverse RX/TX on
Pin 33 PA10 USART1_TX some RS-232 converters
Pin 20 GND
Pin 8 U5V
To configure USART1 as the console:
CONFIG_STM32_USART1=y
CONFIG_USART1_SERIALDRIVER=y
CONFIG_USART1_SERIAL_CONSOLE=y
CONFIG_USART1_RXBUFSIZE=256
CONFIG_USART1_TXBUFSIZE=256
CONFIG_USART1_BAUD=115200
CONFIG_USART1_BITS=8
CONFIG_USART1_PARITY=0
CONFIG_USART1_2STOP=0
USART2
Pins and Connectors:
RXD: PA3 CN9 pin 1 (See SB13, 14, 62, 63). CN10 pin 37
PD6
TXD: PA2 CN9 pin 2(See SB13, 14, 62, 63). CN10 pin 35
PD5
UART2 is the default in all of these configurations.
TTL to RS-232 converter connection:
Nucleo CN9 STM32F4x1RE
----------- ------------
Pin 1 PA3 USART2_RX *Warning you make need to reverse RX/TX on
Pin 2 PA2 USART2_TX some RS-232 converters
Solder Bridges. This configuration requires:
SB62 and SB63 Closed: PA2 and PA3 on STM32 MCU are connected to D1 and D0 (pin 7 and pin 8) on Arduino connector CN9 and ST Morpho connector CN10 as USART signals. Thus SB13 and SB14 should be OFF.
SB13 and SB14 Open: PA2 and PA3 on STM32F103C8T6 (ST-LINK MCU) are disconnected to PA3 and PA2 on STM32 MCU.
To configure USART2 as the console:
CONFIG_STM32_USART2=y
CONFIG_USART2_SERIALDRIVER=y
CONFIG_USART2_SERIAL_CONSOLE=y
CONFIG_USART2_RXBUFSIZE=256
CONFIG_USART2_TXBUFSIZE=256
CONFIG_USART2_BAUD=115200
CONFIG_USART2_BITS=8
CONFIG_USART2_PARITY=0
CONFIG_USART2_2STOP=0
USART6
Pins and Connectors:
RXD: PC7 CN5 pin2, CN10 pin 19
PA12 CN10, pin 12
TXD: PC6 CN10, pin 4
PA11 CN10, pin 14
To configure USART6 as the console:
CONFIG_STM32_USART6=y
CONFIG_USART6_SERIALDRIVER=y
CONFIG_USART6_SERIAL_CONSOLE=y
CONFIG_USART6_RXBUFSIZE=256
CONFIG_USART6_TXBUFSIZE=256
CONFIG_USART6_BAUD=115200
CONFIG_USART6_BITS=8
CONFIG_USART6_PARITY=0
CONFIG_USART6_2STOP=0
Virtual COM Port
Yet another option is to use UART2 and the USB virtual COM port. This option may be more convenient for long term development, but is painful to use during board bring-up.
Solder Bridges. This configuration requires:
SB62 and SB63 Open: PA2 and PA3 on STM32 MCU are disconnected to D1 and D0 (pin 7 and pin 8) on Arduino connector CN9 and ST Morpho connector CN10.
SB13 and SB14 Closed: PA2 and PA3 on STM32F103C8T6 (ST-LINK MCU) are connected to PA3 and PA2 on STM32 MCU to have USART communication between them. Thus SB61, SB62 and SB63 should be OFF.
Configuring USART2 is the same as given above.
Question: What BAUD should be configure to interface with the Virtual COM port? 115200 8N1?
Default
As shipped, SB62 and SB63 are open and SB13 and SB14 closed, so the virtual COM port is enabled.
Shields
RS-232 from Cutedigi.com
Supports a single RS-232 connected via:
Nucleo CN9 STM32F4x1RE Cutedigi
----------- ------------ --------
Pin 1 PA3 USART2_RX RXD
Pin 2 PA2 USART2_TX TXD
Support for this shield is enabled by selecting USART2 and configuring SB13, 14, 62, and 63 as described above under “Serial Consoles”
Itead Joystick Shield
See http://imall.iteadstudio.com/im120417014.html for more information about this joystick.
Itead Joystick Connection:
--------- ----------------- ---------------------------------
ARDUINO ITEAD NUCLEO-F4x1
PIN NAME SIGNAL SIGNAL
--------- ----------------- ---------------------------------
D3 Button E Output PB3
D4 Button D Output PB5
D5 Button C Output PB4
D6 Button B Output PB10
D7 Button A Output PA8
D8 Button F Output PA9
D9 Button G Output PC7
A0 Joystick Y Output PA0 ADC1_0
A1 Joystick X Output PA1 ADC1_1
--------- ----------------- ---------------------------------
All buttons are pulled on the shield. A sensed low value indicates
when the button is pressed.
NOTE: Button F cannot be used with the default USART1 configuration
because PA9 is configured for USART1_RX by default. Use select
different USART1 pins in the board.h file or select a different
USART or select CONFIG_NUCLEO_F401RE_AJOY_MINBUTTONS which will
eliminate all but buttons A, B, and C.
Itead Joystick Signal interpretation:
--------- ----------------------- ---------------------------
BUTTON TYPE NUTTX ALIAS
--------- ----------------------- ---------------------------
Button A Large button A JUMP/BUTTON 3
Button B Large button B FIRE/BUTTON 2
Button C Joystick select button SELECT/BUTTON 1
Button D Tiny Button D BUTTON 6
Button E Tiny Button E BUTTON 7
Button F Large Button F BUTTON 4
Button G Large Button G BUTTON 5
--------- ----------------------- ---------------------------
Itead Joystick configuration settings:
System Type -> STM32 Peripheral Support
CONFIG_STM32_ADC1=y : Enable ADC1 driver support
Drivers
CONFIG_ANALOG=y : Should be automatically selected
CONFIG_ADC=y : Should be automatically selected
CONFIG_INPUT=y : Select input device support
CONFIG_INPUT_AJOYSTICK=y : Select analog joystick support
There is nothing in the configuration that currently uses the joystick. For testing, you can add the following configuration options to enable the analog joystick example at apps/examples/ajoystick:
CONFIG_NSH_ARCHINIT=y
CONFIG_EXAMPLES_AJOYSTICK=y
CONFIG_EXAMPLES_AJOYSTICK_DEVNAME="/dev/ajoy0"
STATUS: 2014-12-04:
Without ADC DMA support, it is not possible to sample both X and Y with a single ADC. Right now, only one axis is being converted.
There is conflicts with some of the Arduino data pins and the default USART1 configuration. I am currently running with USART1 but with CONFIG_NUCLEO_F401RE_AJOY_MINBUTTONS to eliminate the conflict.
Current showstopper: I appear to be getting infinite interrupts as soon as joystick button interrupts are enabled.
Configurations
nsh:
Configures the NuttShell (nsh) located at apps/examples/nsh for the Nucleo-F446RE board. The Configuration enables the serial interfaces on UART2. Support for builtin applications is enabled, but in the base configuration no builtin applications are selected (see NOTES below).
NOTES:
This configuration uses the mconf-based configuration tool. To change this configuration using that tool, you should:
Build and install the kconfig-mconf tool. See nuttx/README.txt see additional README.txt files in the NuttX tools repository.
Execute ‘make menuconfig’ in nuttx/ in order to start the reconfiguration process.
By default, this configuration uses the ARM EABI toolchain for Linux. That can easily be reconfigured, of course.:
CONFIG_HOST_LINUX=y : Builds under Linux CONFIG_ARM_TOOLCHAIN_GNU_EABI=y : GNU EABI toolchain for Linux
Although the default console is USART2 (which would correspond to the Virtual COM port) I have done all testing with the console device configured for USART1 (see instruction above under “Serial Consoles). I have been using a TTL-to-RS-232 converter connected as shown below:
Nucleo CN10 STM32F446RE ----------- ------------ Pin 21 PA9 USART1_RX *Warning you make need to reverse RX/TX on Pin 33 PA10 USART1_TX some RS-232 converters Pin 20 GND Pin 8 U5V
can
This is basically an nsh configuration (see above) with added support for CAN driver. Both CAN 1 (RX: PB_8, TX: PB_9) and CAN 2 (RX: PB_5, TX: PB_6) are turn on.
Functionality of CAN driver can be tested by calling application “can” in NuttShell. This application sends 100 messages over CAN 1.
dac
This is an nsh configuration (see above) with added support for digital analog converter driver.
Functionality of DAC driver can be tested by calling application “dac” in NuttShell. GPIO_DAC1_OUT1 pin is set on PA_4.
gpio
This is an nsh configuration (see above) with added support for GPIO driver and GPIO test application “gpio”. Three pins are configured for testing purposes:
PA_7 - GPIO_INPUT
PB_6 - GPIO_OUTPUT
PC_7 - GPIO_INPUT_INTERRUPT
ihm08m1_f32 and ihm08m1_b16
These examples are dedicated for the X-NUCLEO-IHM08M1 expansion board with L6398 gate drivers and discrete transistors.
WARNING: L6398 gate drivers require channel 2 negative polarisation and negative sign for the deadtime. Make sure that your gate drivers logic is compatible with this configuration.
X-NUCLEO-IHM08M1 must be configured to work with FOC and 3-shunt resistors. See ST documentation for details.
Pin configuration for the X-NUCLEO-IHM08M1 (TIM1 configuration):
Board Function Chip Function Chip Pin Number
------------- ---------------- -----------------
Phase U high TIM1_CH1 PA8
Phase U low TIM1_CH1N PA7
Phase V high TIM1_CH2 PA9
Phase V low TIM1_CH2N PB0
Phase W high TIM1_CH3 PA10
Phase W low TIM1_CH3N PB1
Current U ADC1_IN0 PA0
Current V ADC1_IN11 PC1
Current W ADC1_IN10 PC0
Temperature ADC1_IN12 PC2
VBUS ADC1_IN1 PA1
BEMF1 (NU) PC3
BEMF2 (NU) PC4
BEMF3 (NU) PC5
LED GPIO_PB2 PB2
+3V3 (CN7_16)
GND (CN7_20)
GPIO_BEMF (NU) PC9
ENCO_A/HALL_H1 TIM2_CH1 PA15
ENCO_B/HALL_H2 TIM2_CH2 PB3
ENCO_Z/HALL_H3 TIM2_CH3 PB10
DAC (NU) PA5
GPIO3 (NU) PB13
CPOUT (NU) PA12
BKIN1 (NU) PA6
BKIN2 (NU) PA11
BKIN3 (NU) PB14
POT/DAC DAC1_CH1/ADC1_IN4 PA4
CURR_REF (NU) PB4
DEBUG0 GPIO PB12
DEBUG1 GPIO PB9
DEBUG2 GPIO PC6
DEBUG3 GPIO PB5
DEBUG4 GPIO PC8
Current shunt resistance = 0.01
Current sense gain = -5.18 (inverted current)
Vbus sense gain = 9.31k/(9.31k+169k) = 0.0522
Vbus min = 10V
Vbus max = 48V
Iout max = 15A RMS
IPHASE_RATIO = 1/(R_shunt*gain) = -19.3
VBUS_RATIO = 1/VBUS_gain = 19.152
For now only 3-shunt resistors configuration is supported.
lcd
This is basically an nsh configuration (see above) with added support of ILI9225 176x220 TFT display and test framebuffer application.
Display connection is set to SPI 3 and pinout is following:
CS D8
RST D6
RS D7
SDA D4
CLK D3
Framebuffer application can be started from terminal by typing “fb”.
pwm
This is an nsh configuration (see above) with added capability of pulse width modulation. PWM output is on Timer 3 channel 1, which is pin PA_6 (D12) on Nucleo board. Example program can be stared by “pwm” command.