原标题：机器人舵机解决方案

　　名称：BLDC总线舵机

　　应用：机器人、云台、关节控制

　　特点：

　　低噪声，快速无超调，稳定无抖动

　　低压三相无刷直流驱动器

　　高集成、小体积，3*3QFN 节省成本

　　推荐器件:

　　MCU:STM32F031G6U6

　　Driver: STSPIN230

　　名称：六轴姿态模块

　　应用：智能穿戴设备、无人机、手持游戏设备

　　特点：

　　低功耗，高性能、

　　跌落判断、3轴加速度+3轴陀螺仪

　　推荐器件:

　　MCU:STM32F031G6U6 STM32F103C8T6

　　【STM32F031G6U6】

　　Mainstream ARM Cortex-M0 Access line MCU with 32 Kbytes Flash, 48 MHz CPU, motor control

　　The STM32F031x4/x6 microcontrollers incorporate the high-performance ARM®Cortex®-M0 32-bit RISC core operating at up to 48 MHz frequency, high-speed embedded memories (up to 32 Kbytes of Flash memory and 4 Kbytes of SRAM), and an extensive range of enhanced peripherals and I/Os. All devices offer standard communication interfaces (one I2C, one SPI/ I2S and one USART), one 12-bit ADC, five 16-bit timers, one 32-bit timer and an advanced-control PWM timer.

　　The STM32F031x4/x6 microcontrollers operate in the -40 to +85 °C and -40 to +105 °C temperature ranges, from a 2.0 to 3.6 V power supply. A comprehensive set of power-saving modes allows the design of low-power applications.

　　The STM32F031x4/x6 microcontrollers include devices in six different packages ranging from 20 pins to 48 pins with a die form also available upon request. Depending on the device chosen, different sets of peripherals are included.

　　These features make the STM32F031x4/x6 microcontrollers suitable for a wide range of applications such as application control and user interfaces, hand-held equipment, A/V receivers and digital TV, PC peripherals, gaming and GPS platforms, industrial applications, PLCs, inverters, printers, scanners, alarm systems, video intercoms and HVACs.

　　KEY FEATURES

　　Core: ARM®32-bit Cortex®-M0 CPU, frequency up to 48 MHz

　　Memories

　　16 to 32 Kbytes of Flash memory

　　4 Kbytes of SRAM with HW parity

　　CRC calculation unit

　　Reset and power management

　　Digital and I/Os supply: 2.0 to 3.6 V

　　Analog supply: VDDA = from VDDto 3.6 V

　　Power-on/Power-down reset (POR/PDR)

　　Programmable voltage detector (PVD)

　　Low power modes: Sleep, Stop and Standby

　　VBATsupply for RTC and backup registers

　　Clock management

　　4 to 32 MHz crystal oscillator

　　32 kHz oscillator for RTC with calibration

　　Internal 8 MHz RC with x6 PLL option

　　Internal 40 kHz RC oscillator

　　Up to 39 fast I/Os

　　All mappable on external interrupt vectors

　　Up to 26 I/Os with 5 V tolerant capability

　　5-channel DMA controller

　　1 × 12-bit, 1.0 μs ADC (up to 10 channels)

　　Conversion range: 0 to 3.6V

　　Separate analog supply from 2.4 up to 3.6 V

　　Up to 9 timers

　　1 x 16-bit 7-channel advanced-control timer for 6 channels PWM output, with deadtime generation and emergency stop

　　1 x 32-bit and 1 x 16-bit timer, with up to 4 IC/OC, usable for IR control decoding

　　1 x 16-bit timer, with 2 IC/OC, 1 OCN, deadtime generation and emergency stop

　　1 x 16-bit timer, with IC/OC and OCN, deadtime generation, emergency stop and modulator gate for IR control

　　1 x 16-bit timer with 1 IC/OC

　　Independent and system watchdog timers

　　SysTick timer: 24-bit downcounter

　　Calendar RTC with alarm and periodic wakeup from Stop/Standby

　　Communication interfaces

　　1 x I2C interface, supporting Fast Mode Plus (1 Mbit/s) with 20 mA current sink, SMBus/PMBus, and wakeup from Stop mode

　　1 x USART supporting master synchronous SPI and modem control, ISO7816 interface, LIN, IrDA capability, auto baud rate detection and wakeup feature

　　1 x SPI (18 Mbit/s) with 4 to 16 programmable bit frames, with I2S interface multiplexed

　　Serial wire debug (SWD)

　　96-bit unique ID

　　Extended temperature range: -40 to +105°C

　　All packages ECOPACK®2

　　Circuit Diagram

　　【STSPIN230】

　　Low voltage triple half-bridge motor driver for BLDC motors

　　The STSPIN230 device integrates a triple half-bridge low RDS(ON) power stage in a small QFN - 3 x 3 mm package.

　　The device is designed to operate in battery-powered scenarios and can be forced into a zero-consumption state, allowing a significant increase in battery life.

　　The device offers a complete set of protection including overcurrent, overtemperature and short-circuit protection.

　　KEY FEATURES

　　Operating voltage from 1.8 to 10 V

　　Maximum output current 1.3 Arms

　　RDS(ON) HS + LS = 0.4 Ω typ.

　　Full protection set

　　Non-dissipative overcurrent protection

　　Short-circuit protection

　　Thermal shutdown

　　Interlocking function

　　Energy saving and long battery life with standby consumption less than 80 nA

　　【STM32F103C8T6】

　　Mainstream Performance line, ARM Cortex-M3 MCU with 64 Kbytes Flash, 72 MHz CPU, motor control, USB and CAN

　　The STM32F103xx medium-density performance line family incorporates the high-performance ARM®Cortex®-M3 32-bit RISC core operating at a 72 MHz frequency, high-speed embedded memories (Flash memory up to 128 Kbytes and SRAM up to 20 Kbytes), and an extensive range of enhanced I/Os and peripherals connected to two APB buses. All devices offer two 12-bit ADCs, three general purpose 16-bit timers plus one PWM timer, as well as standard and advanced communication interfaces: up to two I2Cs and SPIs, three USARTs, an USB and a CAN.

　　The devices operate from a 2.0 to 3.6 V power supply. They are available in both the –40 to +85 °C temperature range and the –40 to +105 °C extended temperature range. A comprehensive set of power-saving mode allows the design of low-power applications.

　　The STM32F103xx medium-density performance line family includes devices in six different package types: from 36 pins to 100 pins. Depending on the device chosen, different sets of peripherals are included, the description below gives an overview of the complete range of peripherals proposed in this family.

　　These features make the STM32F103xx medium-density performance line microcontroller family suitable for a wide range of applications such as motor drives, application control, medical and handheld equipment, PC and gaming peripherals, GPS platforms, industrial applications, PLCs, inverters, printers, scanners, alarm systems, video intercoms, and HVACs.

　　KEY FEATURES

　　ARM®32-bit Cortex®-M3 CPU Core

　　72 MHz maximum frequency,1.25 DMIPS/MHz (Dhrystone 2.1) performance at 0 wait state memory access

　　Single-cycle multiplication and hardware division

　　Memories

　　64 or 128 Kbytes of Flash memory

　　20 Kbytes of SRAM

　　Clock, reset and supply management

　　2.0 to 3.6 V application supply and I/Os

　　POR, PDR, and programmable voltage detector (PVD)

　　4-to-16 MHz crystal oscillator

　　Internal 8 MHz factory-trimmed RC

　　Internal 40 kHz RC

　　PLL for CPU clock

　　32 kHz oscillator for RTC with calibration

　　Low-power

　　Sleep, Stop and Standby modes

　　VBAT supply for RTC and backup registers

　　2 x 12-bit, 1 μs A/D converters (up to 16 channels)

　　Conversion range: 0 to 3.6 V

　　Dual-sample and hold capability

　　Temperature sensor

　　DMA

　　7-channel DMA controller

　　Peripherals supported: timers, ADC, SPIs, I2Cs and USARTs

　　Up to 80 fast I/O ports

　　26/37/51/80 I/Os, all mappable on 16 external interrupt vectors and almost all 5 V-tolerant

　　Debug mode

　　Serial wire debug (SWD) & JTAG interfaces

　　7 timers

　　Three 16-bit timers, each with up to 4 IC/OC/PWM or pulse counter and quadrature (incremental) encoder input

　　16-bit, motor control PWM timer with dead-time generation and emergency stop

　　2 watchdog timers (Independent and Window)

　　SysTick timer 24-bit downcounter

　　Up to 9 communication interfaces

　　Up to 2 x I2C interfaces (SMBus/PMBus)

　　Up to 3 USARTs (ISO 7816 interface, LIN, IrDA capability, modem control)

　　Up to 2 SPIs (18 Mbit/s)

　　CAN interface (2.0B Active)

　　USB 2.0 full-speed interface

　　CRC calculation unit, 96-bit unique ID

　　Packages are ECOPACK®

　　Circuit Diagram