Humanoide (HRR)

h1. STM32

O modelo de STM32 quee foi utilizado nos desenvolvimentos foi o STM32F407VGT6, mais especificamente, a placa de desenvolvimento STM32F4 DISCOVERY, a mesma utilizada nos robôs de 2019 da SSL e nas placas de comunicação de 2019 da SSL e da VSS.

h2. Features

• Core: ARM® 32-bit Cortex®-M4 CPU with FPU, Adaptive real-time accelerator (ART Accelerator™) allowing 0-wait state execution from Flash memory, frequency up to 168 MHz, memory protection unit, 210 DMIPS/ 1.25 DMIPS/MHz (Dhrystone 2.1), and DSP instructions

• Memories

  – Up to 1 Mbyte of Flash memory

  – Up to 192+4 Kbytes of SRAM including 64-Kbyte of CCM (core coupled memory) data RAM

  – Flexible static memory controller supporting Compact Flash, SRAM, PSRAM, NOR and NAND memories

• LCD parallel interface, 8080/6800 modes

• Clock, reset and supply management

  – 1.8 V to 3.6 V application supply and I/Os

  – POR, PDR, PVD and BOR

  – 4-to-26 MHz crystal oscillator

  – Internal 16 MHz factory-trimmed RC (1% accuracy)

  – 32 kHz oscillator for RTC with calibration

  – Internal 32 kHz RC with calibration

• Low-power operation

  – Sleep, Stop and Standby modes

  – VBAT supply for RTC, 20×32 bit backup registers + optional 4 KB backup SRAM

• 3×12-bit, 2.4 MSPS A/D converters: up to 24 channels and 7.2 MSPS in triple interleaved mode

• 2×12-bit D/A converters

• General-purpose DMA: 16-stream DMA controller with FIFOs and burst support

• Up to 17 timers: up to twelve 16-bit and two 32-bit timers up to 168 MHz, each with up to 4 IC/OC/PWM or pulse counter and quadrature (incremental) encoder input

• Debug mode

  – Serial wire debug (SWD) & JTAG interfaces

  – Cortex-M4 Embedded Trace Macrocell™

• Up to 140 I/O ports with interrupt capability

  – Up to 136 fast I/Os up to 84 MHz

  – Up to 138 5 V-tolerant I/Os

• Up to 15 communication interfaces

  – Up to 3 × I2C interfaces (SMBus/PMBus)

  – Up to 4 USARTs/2 UARTs (10.5 Mbit/s, ISO 7816 interface, LIN, IrDA, modem control)

  – Up to 3 SPIs (42 Mbits/s), 2 with muxed full-duplex I2S to achieve audio class accuracy via internal audio PLL or external clock

  – 2 × CAN interfaces (2.0B Active)

  – SDIO interface

• Advanced connectivity

  – USB 2.0 full-speed device/host/OTG controller with on-chip PHY

  – USB 2.0 high-speed/full-speed device/host/OTG controller with dedicated DMA, on-chip full-speed PHY and ULPI

  – 10/100 Ethernet MAC with dedicated DMA: supports IEEE 1588v2 hardware, MII/RMII

h2. Circuit Diagram

!STM32F407_Diagram.jpg!

h2. Pinout

!STM32F4DISCOVERY_Pinout.png!