应用领域：工业电子

方案类型：成品

主控芯片：STM32;STM32F407

方案概述

一、简介：

KRB_CNCR70机械手控制系统是基于ARM微处理器开发的嵌入式运动控制系统，分为人机交互手持器和运动控制器两部分。手持器配备有7寸彩色液晶触摸显示屏以及轻触式薄膜按键，从而实现便捷人性化的人机交互操作;配有急停按钮、钥匙开关、手摇轮、LED指示灯，能较好满足生产控制需求。运动控制器核心控制和外围电路采用光耦隔离，性能稳定可靠;配有4路脉冲输出电机控制接口，频率最高可达100K;配有CAN总线电机控制接口，采用CANopen总线协议实现多轴总线电机控制。

运动控制系统开发有全中文编程示教和调试功能，简单易学，无需专业培训，能大大提高生产效率;开发有软限位和安全区保护功能，提高系统生产控制安全性;开发有开机单次动作示教功能，料仓动作示教功能，可适用于多种料仓工艺和复杂生产工艺环境;开发有程序拷贝功能，可通过USB接口将已示教的程序进行拷贝。

二、规格参数：

适用对象：直角坐标机械手、上下料机械手;

控制轴数：4路脉冲输出接口(频率最高可达100K)、CAN总线多轴控制接口(CANopen协议)

控制精度：0.01mm

最大单轴速度：2m/s

输入接口：44路(X0—X43)

输出接口：40路(Y0—Y39)

输入电压：核心控制电压24V+，输入接口24V+，输出接口24V+

人机交互方式：7寸彩色液晶触摸屏、按键膜

自动运行方式：自动运行、单步运行、单步调试

手动调试方式：IO调试、手动单轴调试(配有手摇轮微调功能)

参数设置功能：机械手参数设置、料仓参数设置、生产参数设置

报警历史：可储存20条报警信息已提供查看

加密功能：可对机械手进行超期加密锁定

三、控制器硬件

1、手持器实物图

2、手持器各模块说明如下表：

3、控制器实物图

STM32F407系列产品：

STM32F407IE Active High-performance foundation line, ARM Cortex-M4 core with DSP and FPU, 512 Kbytes Flash, 168 MHz CPU, ART Accelerator, Ethernet, FSMC

STM32F407ZG Active High-performance foundation line, ARM Cortex-M4 core with DSP and FPU, 1 Mbyte Flash, 168 MHz CPU, ART Accelerator, Ethernet, FSMC

STM32F407VG Active High-performance foundation line, ARM Cortex-M4 core with DSP and FPU, 1 Mbyte Flash, 168 MHz CPU, ART Accelerator, Ethernet, FSMC

STM32F407IG Active High-performance foundation line, ARM Cortex-M4 core with DSP and FPU, 1 Mbyte Flash, 168 MHz CPU, ART Accelerator, Ethernet, FSMC

STM32F407VE Active High-performance foundation line, ARM Cortex-M4 core with DSP and FPU, 512 Kbytes Flash, 168 MHz CPU, ART Accelerator, Ethernet, FSMC

STM32F407ZE Active High-performance foundation line, ARM Cortex-M4 core with DSP and FPU, 512 Kbytes Flash, 168 MHz CPU, ART Accelerator, Ethernet, FSMC

【STM32F407IE】

High-performance foundation line, ARM Cortex-M4 core with DSP and FPU, 512 Kbytes Flash, 168 MHz CPU, ART Accelerator, Ethernet, FSMC

The STM32F405xx and STM32F407xx 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 single-precision 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 STM32F405xx and STM32F407xx 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). They also feature standard and advanced communication interfaces.

Key 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

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 × I2 C 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

True random number generator

CRC calculation unit

96-bit unique ID

RTC: subsecond accuracy, hardware calendar

【STM32F407ZG】

High-performance foundation line, ARM Cortex-M4 core with DSP and FPU, 1 Mbyte Flash, 168 MHz CPU, ART Accelerator, Ethernet, FSMC

The STM32F405xx and STM32F407xx 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 single-precision 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 STM32F405xx and STM32F407xx 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). They also feature standard and advanced communication interfaces.

Key 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

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 × I2 C 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

True random number generator

CRC calculation unit

96-bit unique ID

RTC: subsecond accuracy, hardware calendar

【STM32F407VG】

The STM32F405xx and STM32F407xx 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 single-precision 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 STM32F405xx and STM32F407xx 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). They also feature standard and advanced communication interfaces.

Key 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

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 × I2 C 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

True random number generator

CRC calculation unit

96-bit unique ID

RTC: subsecond accuracy, hardware calendar

【STM32F407IG】

The STM32F405xx and STM32F407xx 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 single-precision 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 STM32F405xx and STM32F407xx 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). They also feature standard and advanced communication interfaces.

Key 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

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 × I2 C 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

True random number generator

CRC calculation unit

96-bit unique ID

RTC: subsecond accuracy, hardware calendar

【STM32F407VE】

High-performance foundation line, ARM Cortex-M4 core with DSP and FPU, 512 Kbytes Flash, 168 MHz CPU, ART Accelerator, Ethernet, FSMC

The STM32F405xx and STM32F407xx 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 single-precision 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 STM32F405xx and STM32F407xx 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). They also feature standard and advanced communication interfaces.

Key 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

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 × I2 C 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

True random number generator

CRC calculation unit

96-bit unique ID

RTC: subsecond accuracy, hardware calendar

【STM32F407ZE】

High-performance foundation line, ARM Cortex-M4 core with DSP and FPU, 512 Kbytes Flash, 168 MHz CPU, ART Accelerator, Ethernet, FSMC

The STM32F405xx and STM32F407xx 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 single-precision 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 STM32F405xx and STM32F407xx 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). They also feature standard and advanced communication interfaces.

Key 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

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 × I2 C 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

True random number generator

CRC calculation unit

96-bit unique ID

RTC: subsecond accuracy, hardware calendar