原标题：ST STM32F415ZG双马达磁场定向控制(FOC)开发方案

　　ST公司的STM32F415xx和STM32F417xx系列是基于高性能ARM®Cortex™-M4 32位RISC核的32位MCU,工作频率高达168MHz,具有210 DMIPS/ 1.25 DMIPS/MHz (Dhrystone 2.1)性能和DSP指令,多达1MB闪存/192+4KB RAM,加密, USB OTG HS/FS，以太网等.主要用在马车驱动和控制,医疗设备,工业设备如PLC,逆变器,打印机和扫描仪,家庭音频设备以及HVAC和视频连接等.本文介绍了STM32F41x 系列主要特性和框图, 演示板STEVAL-IHM039V1主要特性,电路图和材料清单.

　　The STM32F415xx and STM32F417xx family is based on the high-performance ARM®Cortex™-M4 32-bit RISC core operating at a frequency of up to 168 MHz. The Cortex-M4 core features a Floating point unit (FPU) single precision which supports all ARM singleprecision data-processing instructions and data types. It also implements a full set of DSP instructions and a memory protection unit (MPU) which enhances application security. The Cortex-M4 core with FPU will be referred to as Cortex-M4F throughout this document.

　　The STM32F415xx and STM32F417xx family incorporates high-speed embedded memories (Flash memory up to 1 Mbyte, up to 192 Kbytes of SRAM), up to 4 Kbytes of backup SRAM, and an extensive range of enhanced I/Os and peripherals connected to two APB buses, three AHB buses and a 32-bit multi-AHB bus matrix.

　　All devices offer three 12-bit ADCs, two DACs, a low-power RTC, twelve general-purpose 16-bit timers including two PWM timers for motor control, two general-purpose 32-bit timers, a true random number generator (RNG), and a cryptographic acceleration cell. They also feature standard and advanced communication interfaces.

　　• Up to three I2Cs

　　• Three SPIs, two I2Ss full duplex. To achieve audio class accuracy, the I2S peripherals can be clocked via a dedicated internal audio PLL or via an external clock to allow synchronization.

　　• Four USARTs plus two UARTs

　　• An USB OTG full-speed and a USB OTG high-speed with full-speed capability (with the ULPI),

　　• Two CANs

　　• An SDIO/MMC interface

　　• Ethernet and the camera interface available on STM32F417xx devices only.

　　New advanced peripherals include an SDIO, an enhanced flexible static memory control (FSMC) interface (for devices offered in packages of 100 pins and more), a camera interface for CMOS sensors and a cryptographic acceleration cell.

　　The STM32F415xx and STM32F417xx family operates in the –40 to +105 ℃ temperature range from a 1.8 to 3.6 V power supply. The supply voltage can drop to 1.7 V when the device operates in the 0 to 70 ℃ temperature range using an external power supply supervisor. A comprehensive set of power-saving mode allows the design of low-power applications.

　　The STM32F415xx and STM32F417xx family offers devices in various packages ranging from 64 pins to 176 pins. The set of included peripherals changes with the device chosen.

　　STM32F41x 系列主要特性:

　　• Core: ARM 32-bit Cortex™-M4 CPU with FPU, Adaptive real-time accelerator (ART ccelerator™) 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

　　– 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

　　• 8- to 14-bit parallel camera interface up to 54 Mbytes/s

　　• Cryptographic acceleration: hardware acceleration for AES 128, 192, 256, Triple DES, HASH (MD5, SHA-1), and HMAC

　　• True random number generator

　　• CRC calculation unit

　　• 96-bit unique ID

　　• RTC: subsecond accuracy, hardware calendar

　　STM32F41x系列产品应用领域:

　　These features make the STM32F415xx and STM32F417xx microcontroller family suitable for a wide range of applications:

　　• Motor drive and application control

　　• Medical equipment

　　• Industrial applications: PLC, inverters, circuit breakers

　　• Printers, and scanners

　　• Alarm systems, video intercom, and HVAC

　　• Home audio appliances

　　图1. STM32F41x框图

　　STM32F41x系列演示板STEVAL-IHM039V1

　　The STEVAL-IHM039V1 demonstration board is designed as a dual motor field-oriented control (FOC) development platform for STMicroelectronics’ ARM Cortex™-M4 32-bit corebased STM32F415ZG microcontroller with up to 168 MHz of clock frequency and FPU support. The board features full-speed USB 2.0 and CAN 2.0 A/B compliant interfaces; 1I2S/I2C channel, 1 USART channel and 1 insulate USART through USB to serial bridge, 2 DAC channels, internal 192+4KB SRAM and 1 MB Flash memory, and JTAG and SWD debugging support. The board is designed to implement multiple motor controls and offers an advanced user I/O interface (LCD QVGA display and joystick key). Extension headers make it easy to connect a daughterboard or wrapping board for specific applications.

　　With dedicated hardware features, the STEVAL-IHM39V1 board is designed to help developers to evaluate the device and develop their own applications.

　　The STEVAL-IHM39V1 can be used together with the STM32 PMSM single/dual FOC SDK v3.x and two of the possible STMicroelectronics demonstration power boards equipped with MC connector for a complete dual motor control evaluation and development platform.

　　The demonstration board can be ordered through order code STEVAL-IHM039V1.

　　图2. 演示板STEVAL-IHM039V1外形图

　　演示板STEVAL-IHM039V1主要特性:

　　• STMicroelectronics’ ARMTM Cortex-M4 core-based STM32F415ZG microcontroller

　　• Two full-featured MC connectors for interfacing with any of the possible STMicroelectronics demonstration power boards

　　• JTAG, SWD and trace debug support

　　• USB connector for isolated virtual com port

　　• USB 2.0 full speed connection

　　• 240 x 320 TFT color LCD

　　• Joystick with 4-direction control and selector

　　• 4 LEDs

　　• Reset plus three user buttons

　　• Five 5 V power supply sources: 2-way screw connector, power jack, two USB connectors or daughterboard

　　• Boot from user Flash or system memory

　　• CAN 2.0 A/B compliant connection

　　• I2C connection

　　• RS-232 channel with RTS/CTS handshake support

　　• Extension connectors for daughterboard or wrapping area board

　　演示板STEVAL-IHM039V1材料清单: