盐城师范学院毕业论文（设计）外文资料翻译学 院： 盐城师范黄海学院 专业班级： 电子信息工程（电子工程） 学生姓名： 成亚雄 学 号： 11417707 指导教师： 康素成 外文出处： Introduction Of STM32 附 件：1.外文资料翻译译文； 2.外文原文 指导教师评语：签名： 年 月 日1．外文资料翻译译文STM32简介STM32系列基于专为要求高性能、低成本、低功耗的嵌入式应用专门设计的ARM Cortex-M3内核按性能分成两个不同的系列：STM32F103“增强型”系列和STM32F101“基本型”系列增强型系列时钟频率达到72MHz，是同类产品中性能最高的产品；基本型时钟频率为36MHz，以16位产品的价格得到比16位产品大幅提升的性能，是16位产品用户的最佳选择。
两个系列都内置32K到128K的闪存，不同的是SRAM的最大容量和外设接口的组合时钟频率72MHz时，从闪存执行代码，STM32功耗36mA，是32位市场上功耗最低的产品，相当于0.5mA/MHz一)意法半导体 (STMicroelectronics)意法半导体 (STMicroelectronics) 集团于1987年6月成立，是由意大利的 SGS 微电子公司和法国 Thomson 半导体公司合并而成1998年5月，SGS-THOMSON Microelectronics 将公司名称改为意法半导体有限公司意法半导体是世界最大的半导体公司之一从成立之初至今，ST 的增长速度超过了半导体工业的整体增长速度自1999年起，ST 始终是世界十大半导体公司之一据最新的工业统计数据，意法半导体 (STMicroelectronics) 是全球第五大半导体厂商，在很多市场居世界领先水平例如，意法半导体是世界第一大专用模拟芯片和电源转换芯片制造商，世界第一大工业半导体和机顶盒芯片供应商，而且在分立器件、相机模块和车用集成电路领域居世界前列意法半导体 (STMicroelectronics) 整个集团共有员工近 50,000 名，拥有 16 个先进的研发机构、39 个设计和应用中心、15 主要制造厂，并在 36 个国家设有 78 个销售办事处。
公司总部设在瑞士日内瓦，同时也是欧洲区以及新兴市场的总部；公司的美国总部设在德克萨斯州达拉斯市的卡罗顿；亚太区总部设在新加坡；日本的业务则以东京为总部；大中国区总部设在上海，负责香港、大陆和台湾三个地区的业务自1994年12月8日首次完成公开发行股票以来，意法半导体已经在纽约证券交易所 (交易代码：STM) 和泛欧巴黎证券交易所挂牌上市，1998年6月，又在意大利米兰证券交易所上市意法半导体拥有近 9 亿股公开发行股票，其中约 71.1% 的股票是在各证券交易所公开交易的另外有 27.5% 的股票由意法半导体控股 II B.V. 有限公司持有，其股东为 Finmeccanica 和 CDP 组成的意大利 Finmeccanica 财团和 Areva 及法国电信组成的法国财团；剩余 1.4% 的库藏股由意法半导体公司持有二)ST超低功耗 ARM® Cortex™-M3 微控制器STM32L 系列产品基于超低功耗的 ARM Cortex-M3 处理器内核，采用意法半导体独有的两大节能技术：130nm 专用低泄漏电流制造工艺和优化的节能架构，提供业界领先的节能性能该系列属于意法半导体阵容强大的 32 位 STM32 微控制器产品家族，目前该产品家族共有 180 余款产品，全系列产品共用大部分引脚、软件和外设，优异的兼容性为开发人员带来最大的设计灵活性。
三)ST超低功耗 ARM® Cortex™-M0 微控制器STM32F0 系列产品基于超低功耗的 ARM Cortex-M0 处理器内核，整合增强的技术和功能，瞄准超低成本预算的应用该系列微控制器缩短了采用 8 位和 16 位微控制器的设备与采用 32 位微控制器的设备之间的性能差距，能够在经济型用户终端产品上实现先进且复杂的功能四)产品介绍在STM32F105和STM32F107互连型系列微控制器之前，意法半导体已经推出STM32基本型系列、增强型系列、USB基本型系列和增强型系列；新系列产品沿用增强型系列的72MHz处理频率内存包括64KB到256KB闪存和 20KB到64KB嵌入式SRAM新系列采用LQFP64、LQFP100和LFBGA100三种封装，不同的封装保持引脚排列一致性，结合STM32平台的设计理念，开发人员通过选择产品可重新优化功能、存储器、性能和引脚数量，以最小的硬件变化来满足个性化的应用需求截至2010年7月1日，市面流通的型号有：基本型：STM32F101R6 STM32F101C8 STM32F101R8 STM32F101V8 STM32F101RB STM32F101VB增强型：STM32F103C8 STM32F103R8 STM32F103V8 STM32F103RB STM32F103VB STM32F103VE STM32F103ZESTM32型号的说明：以STM32F103RBT6这个型号的芯片为例，该型号的组成为7个部分，其命名规则如下：（1）STM32：STM32代表ARM Cortex-M3内核的32位微控制器。
2）F：F代表芯片子系列3）103：103代表增强型系列4）R：R这一项代表引脚数，其中T代表36脚，C代表48脚，R代表64脚，V代表100脚，Z代表144脚5）B：B这一项代表内嵌Flash容量，其中6代表32K字节Flash，8代表64K字节Flash，B代表128K字节Flash，C代表256K字节Flash，D代表384K字节Flash，E代表512K字节Flash6）T：T这一项代表封装，其中H代表BGA封装，T代表LQFP封装，U代表VFQFPN封装7）6：6这一项代表工作温度范围，其中6代表-40——85℃，7代表-40——105℃五)STM32F103性能特点特点1、内核：ARM32位Cortex-M3 CPU，最高工作频率72MHz，1.25DMIPS/MHz单周期乘法和硬件除法2、存储器：片上集成32-512KB的Flash存储器6-64KB的SRAM存储器3、时钟、复位和电源管理：2.0-3.6V的电源供电和I/O接口的驱动电压POR、PDR和可编程的电压探测器（PVD）4-16MHz的晶振内嵌出厂前调校的8MHz RC振荡电路内部40 kHz的RC振荡电路用于CPU时钟的PLL。
带校准用于RTC的32kHz的晶振4、低功耗：3种低功耗模式：休眠，停止，待机模式为RTC和备份寄存器供电的VBAT5、调试模式：串行调试（SWD）和JTAG接口6、DMA：12通道DMA控制器支持的外设：定时器，ADC，DAC，SPI，IIC和USART7、2个12位的us级的A/D转换器（16通道）：A/D测量范围：0-3.6 V双采样和保持能力片上集成一个温度传感器8、2通道12位D/A转换器：STM32F103xC,STM32F103xD,STM32F103xE独有9、最多高达112个的快速I/O端口：根据型号的不同，有26，37，51，80，和112的I/O端口，所有的端口都可以映射到16个外部中断向量除了模拟输入，所有的都可以接受5V以内的输入10、最多多达11个定时器：4个16位定时器，每个定时器有4个IC/OC/PWM或者脉冲计数器2个16位的6通道高级控制定时器：最多6个通道可用于PWM输出2个看门狗定时器（独立看门狗和窗口看门狗）Systick定时器：24位倒计数器2个16位基本定时器用于驱动DAC11、最多多达13个通信接口：2个IIC接口（SMBus/PMBus）。
5个USART接口（ISO7816接口，LIN，IrDA兼容，调试控制）3个SPI接口（18 Mbit/s），两个和IIS复用CAN接口（2.0B）USB 2.0全速接口SDIO接口12、ECOPACK封装：STM32F103xx系列微控制器采用ECOPACK封装形式系统作用1、集成嵌入式Flash和SRAM存储器的ARM Cortex-M3内核和8/16位设备相比，ARM Cortex-M3 32位RISC处理器提供了更高的代码效率STM32F103xx微控制器带有一个嵌入式的ARM核，所以可以兼容所有的ARM工具和软件2、嵌入式Flash存储器和RAM存储器：内置多达512KB的嵌入式Flash，可用于存储程序和数据多达64KB的嵌入式SRAM可以以CPU的时钟速度进行读写（不待等待状态）3、可变静态存储器（FSMC）：FSMC嵌入在STM32F103xC，STM32F103xD，STM32F103xE中，带有4个片选，支持四种模式：Flash，RAM，PSRAM，NOR和NAND3个FSMC中断线经过OR后连接到NVIC没有读/写FIFO，除PCCARD之外，代码都是从外部存储器执行，不支持Boot，目标频率等于SYSCLK/2，所以当系统时钟是72MHz时，外部访问按照36MHz进行。
4、嵌套矢量中断控制器（NVIC）：可以处理43个可屏蔽中断通道（不包括Cortex-M3的16根中断线），提供16个中断优先级紧密耦合的NVIC实现了更低的中断处理延迟，直接向内核传递中断入口向量表地址，紧密耦合的NVIC内核接口，允许中断提前处理，对后到的更高优先级的中断进行处理，支持尾链，自动保存处理器状态，中断入口在中断退出时自动恢复，不需要指令干预5、外部中断/事件控制器（EXTI）：外部中断/事件控制器由用于19条产生中断/事件请求的边沿探测器线组成每条线可以被单独配置用于选择触发事件（上升沿，下降沿，或者两者都可以），也可以被单独屏蔽有一个挂起寄存器来维护中断请求的状态当外部线上出现长度超过内部APB2时钟周期的脉冲时，EXTI能够探测到多达112个GPIO连接到16个外部中断线6、时钟和启动：在启动的时候还是要进行系统时钟选择，但复位的时候内部8MHz的晶振被选用作CPU时钟可以选择一个外部的4-16MHz的时钟，并且会被监视来判定是否成功在这期间，控制器被禁止并且软件中断管理也随后被禁止同时，如果有需要（例如碰到一个间接使用的晶振失败），PLL时钟的中断管理完全可用多个预比较器可以用于配置AHB频率，包括高速APB(PB2)和低速APB（APB1），高速APB最高的频率为72MHz，低速APB最高的频率为36MHz。
7、Boot模式：在启动的时候，Boot引脚被用来在3种Boot选项种选择一种：从用户Flash导入，从系统存储器导入，从SRAM导入Boot导入程序位于系统存储器，用于通过USART1重新对Flash存储器编程8、电源供电方案：VDD ，电压范围为2.0V-3.6V，外部电源通过VDD引脚提供，用于I/O和内部调压器VSSA和VDDA，电压范围为2.0-3.6V，外部模拟电压输入，用于ADC，复位模块，RC和PLL，在VDD范围之内（ADC被限制在2.4V），VSSA和VDDA必须相应连接到VSS和VDDVBAT，电压范围为1.8-3.6V，当VDD无效时为RTC，外部32KHz晶振和备份寄存器供电（通过电源切换实现）9、电源管理：设备有一个完整的上电复位（POR）和掉电复位（PDR）电路这条电路一直有效，用于确保从2V启动或者掉到2V的时候进行一些必要的操作当VDD低于一个特定的下限VPOR/PDR时，不需要外部复位电路，设备也可以保持在复位模式设备特有一个嵌入的可编程电压探测器（PVD），PVD用于检测VDD，并且和VPVD限值比较，当VDD低于VPVD或者VDD大于VPVD时会产生一个中断。
中断服务程序可以产生一个警告信息或者将MCU置为一个安全状态PVD由软件使能10、电压调节：调压器有3种运行模式：主（MR），低功耗（LPR）和掉电MR用在传统意义上的调节模式（运行模式），LPR用在停止模式，掉电用在待机模式：调压器输出为高阻，核心电路掉电，包括零消耗（寄存器和SRAM的内容不会丢失）11、低功耗模式：STM32F103xx支持3种低功耗模式，从而在低功耗，短启动时间和可用唤醒源之间达到一个最好的平衡点休眠模式：只有CPU停止工作，所有外设继续运行，在中断/事件发生时唤醒CPU；停止模式：允许以最小的功耗来保持SRAM和寄存器的内容1.8V区域的时钟都停止，PLL，HSI和HSE RC振荡器被禁能，调压器也被置为正常或者低功耗模式设备可以通过外部中断线从停止模式唤醒外部中断源可以使16个外部中断线之一，PVD输出或者TRC警告待机模式：追求最少的功耗，内部调压器被关闭，这样1.8V区域断电PLL,HSI和HSE RC振荡器也被关闭在进入待机模式之后，除了备份寄存器和待机电路，SRAM和寄存器的内容也会丢失当外部复位（NRST引脚），IWDG复位，WKUP引脚出现上升沿或者TRC警告发生时，设备退出待机模式。
进入停止模式或者待机模式时，TRC,IWDG和相关的时钟源不会停止六)架构优势除新增的功能强化型外设接口外，STM32互连系列还提供与其它STM32微控制器相同的标准接口，这种外设共用性提升了整个产品家族的应用灵活性，使开发人员可以在多个设计中重复使用同一个软件新STM32的标准外设包括10个定时器、两个12位1-Msample/s 模数转换器 (交错模式下2-Msample/s)、两个12位数模转换器、两个I2C接口、五个USART接口和三个SPI端口新产品外设共有12条DMA通道，还有一个CRC计算单元，像其它STM32微控制器一样，支持96位唯一标识码新系列微控制器还沿续了STM32产品家族的低电压和节能两大优点2.0V到3.6V的工作电压范围兼容主流的电池技术，如锂电池和镍氢电池，封装还设有一个电池工作模式专用引脚Vbat以72MHz频率从闪存执行代码，仅消耗 27mA电流低功耗模式共有四种，可将电流消耗降至两微安从低功耗模式快速启动也同样节省电能；启动电路使用STM32内部生成的8MHz信号，将微控制器从停止模式唤醒用时小于6微秒二、消防机器人简介消防机器人作为特种机器人的一种，在灭火和抢险救援中愈加发挥举足轻重的作用。
各种大型石油化工企业、隧道、地铁等不断增多，油品燃气、毒气泄漏爆炸、隧道、地铁坍塌等灾害隐患不断增加消防机器人能代替消防救援人员进入易燃易爆、有毒、缺氧、浓烟等危险灾害事故现场进行数据采集、处理、反馈一)简介消防机器人作为特种消防设备可代替消防队员接近火场实施有效的灭火救援、化学检验和火场侦察它的应用将提高消防部队扑灭特大恶性火灾的实战能力，对减少国家财产损失和灭火救援人员的伤亡将产生重要的作用二)背景介绍随着社会经济的迅猛发展，建筑和企业生产的特殊性，导致化学危险品和放射性物质泄漏以及燃烧、爆炸、坍塌的事故隐患增加，事故发生的概率也相应提高一旦发生灾害事故，消防员面对高温、黑暗、有毒和浓烟等危害环境时，若没有相应的设备贸然冲进现场，不仅不能完成任务，还会徒增人员伤亡消防机器人作为特种机器人的一种，在灭火和抢险救援中愈加发挥举足轻重的作用各种大型石油化工企业、隧道、地铁等不断增多，油品燃气、毒气泄漏爆炸、隧道、地铁坍塌等灾害隐患不断增加此类灾害具有突发性强、处置过程复杂、危害巨大、防治困难等特点，已成顽疾消防机器人能代替消防救援人员进入易燃易爆、有毒、缺氧、浓烟等危险灾害事故现场进行数据采集、处理、反馈，有效地解决消防人员在上述场所面临的人身安全、数据信息采集不足等问题。
现场指挥人员可以根据其反馈结果，及时对灾情作出科学判断，并对灾害事故现场工作作出正确、合理的决策三)发展历史机器人自60年代初问世以来，经历40余年的发展，己取得长足进步，社会各行各业皆可见其身影从1986年日本东京消防厅首次在灭火中采用了“彩虹5号”机器人后，消防机器人就逐渐在灭火救灾领域得到广泛的应用，消防机器人技术也得到快速的发展截至目前，消防机器人已经稳步向第三代高端智能机器人发展面对无情的火灾，公安部上海消防研究所、上海交通大学、上海市消防局共同制定了研制消防机器人的计划经过3年的研究，中国第一台消防机器人已经诞生消防机器人可以行走、爬坡、跨障、喷射灭火，可以进行火场侦察2.外文原文 Introduction of STM32STM32 is based on the family of ARM Cortex-M3 core - designed specifically for embedded applications that require high performance, low cost, low power consumption. The performance is divided into two different series: STM32F103 the "Enhanced" series and STM32F101 the "Basic" series. The clock frequency of Enhanced Series is up to 72MHz, the highest performance of similar products; the clock frequency of Basic Series is 36MHz, and the prices of 16 position products significantly enhance the performance of more than 16 position products, is the best choice users to buy them. The two series are built-in flash from 32K to 128K, is the combination of the maximum capacity of the SRAM and peripheral interfaces. When the clock frequency reaches 72MHz, it executes from Flash and the STM32 power consumption is 36mA, the lowest power consumption in the 32-bit market products, the equivalent an impressive 0.5mA/MHz.a. STMicroelectronics GroupSTMicroelectronics Group was established in June 1987, is a merger of Italy's SGS Microelectronics and the French Thomson semiconductor company. In May 1998, SGS-THOMSON Microelectronics will change the company name to STMicroelectronics Limited. STMicroelectronics is one of the largest semiconductor companies in the world. From its inception to date, ST's growing faster than the overall rate of growth of the semiconductor industry. Since 1999, ST has always been one of the world's top ten semiconductor companies. According to the latest industry statistics, STMicroelectronics is the world's fifth largest semiconductor manufacturer and a world leader in many markets. For example, STMicroelectronics is the world's largest dedicated analog chips and power conversion chip manufacturers, the world's largest industrial semiconductor and set-top box chip suppliers and discrete devices, mobile phone camera module and car field of integrated circuits highest in the world.STMicroelectronics has the entire group employs nearly 50,000, with 16 state-of-the-art R & D institutions and 39 design and application centers, 15 main manufacturing plant, and has 78 sales offices in 36 countries. The company is headquartered in Geneva, Switzerland, is also the headquarters of European and emerging markets; company's U.S. headquarters in Dallas, Texas, Carrollton; Asia-Pacific headquarters in Singapore; business in Japan by Tokyo as a headquarters ; Greater China headquarters in Shanghai, responsible for business in Hong Kong, mainland China and Taiwan.December 8, 1994 for the first time since the completion of the public offering of shares, STMicroelectronics has been in New York Stock Exchange (ticker symbol: STM) and Pan Ou Bali Stock Exchange listed, in June 1998, in Milan, Italy, securities Exchange. STMicroelectronics has nearly 900 million shares in the public offering of shares, of which approximately 71.1% of the shares are publicly traded on the various stock exchanges. Another 27.5% of the stock by STMicroelectronics Holding II BV Limited held its shareholders Finmeccanica and CDP Italian Finmeccanica consortium Areva and France Telecom, the French consortium; remaining 1.4% of treasury shares by STMicroelectronics hold.b. ST ultra-low-power ARM ® Cortex ™-M3 microcontroller STM32L series of products are based on the ultra-low-power ARM Cortex-M3 processor core, STMicroelectronics two unique energy-saving technologies: 130nm dedicated low-leakage current manufacturing process and optimize energy-saving architecture to deliver industry-leading energy-saving performance. This series belongs to the lineup 32 STMicroelectronics STM32 microcontroller product family, the product family, a total of 180 balance of product, the full range of products share most of the pin, software and peripherals, excellent compatibility with developers to the maximum design flexibility. c. ST ultra-low-power ARM ® Cortex ™-M0 microcontrollerSTM32F0 series of products are based on the ultra-low-power ARM Cortex-M0 processor core technology and features, enhanced integration, aimed at the application of ultra-low-cost budget. The family of microcontrollers to shorten the 8-bit and 16-bit micro-controller devices and the performance gap between the 32-bit microcontroller device, the user terminal products in the economy to achieve state-of-the-art complex features.d. ProductsBefore STM32F105 and STM32F107 interconnect family of microcontrollers, STMicroelectronics has introduced the STM32 Access Line Enhanced Series, the series of the USB basic series and enhanced; new products follow the Enhanced Series 72MHz processing frequency. Memory 64KB to 256KB Flash and 20KB to 64KB embedded SRAM. The LQFP64, LQFP100, and LFBGA100 three package in the new series, a different package to maintain the pin out consistency, combined with the STM32 platform design philosophy, and developers by selecting the products can be re-optimization function, memory, performance and pin count, with a minimum of hardware changes to meet individual application needs.Until July 1, 2010, the circulation of models:Basic: STM32F101R6 STM32F101C8 STM32F101R8 STM32F101V8 STM32F101RB STM32F101VBEnhanced: STM32F103C8 STM32F103R8 STM32F103V8 STM32F103RBSTM32F103VB STM32F103VE STM32F103ZESTM32 models Description: STM32F103RBT6 chip model, for example, the compositions of the models of seven parts, its naming rules are as follows:(1) STM32: STM32 ARM Cortex-M3 represents kernel of 32-bit microcontrollers.(2) F: F represents the chip sub-series.(3) 103:103 representatives Enhanced Series.(4) R: R This is a representative of the number of pins, where T represents 36 feet, 48 feet, C represents, R represents a 64 feet, V represents the 100-pin 144-pin, Z represents.(5) B: B a representative of embedded Flash capacity, including 6 on behalf of 32K bytes of Flash, 8 on behalf of 64K bytes Flash, 384K bytes Flash B on behalf of 128K bytes Flash, C on behalf of 256K bytes Flash, D representatives E on behalf of 512K bytes Flash.(6) T: T a representative of the package, in which H represents BGA package, T represents LQFP package, U represents VFQFPN package.(7) 6:6 This is a representative of the operating temperature range, where 6 represents -40 - 85 ℃, 7 on behalf of -40 - 105 ℃.e. STM32F103 performance characteristicsFeature1. The kernel: ARM32-bit Cortex-M3 CPU, the maximum operating frequency of 72MHz,1.25DMIPS/MHz. Single-cycle multiply and hardware division.2. Memory: integrated on-chip 32-512KB of Flash memory and 6-64KB SRAM memory.3. Clock reset and power management: 2.0-3 .6 V drive voltage of the power supply and I / O interface, POR, PDR and programmable voltage detector (PVD), 4-16MHz crystal oscillator, embedded 8MHz RC oscillator tuning circuit in the factory, 40 kHz internal RC oscillator circuit. For the CPU clock PLL. With the calibration for the RTC 32kHz crystal.4. Low power consumption: three kinds of low-power modes: Sleep, stop, standby mode. Powered the VBAT RTC and backup registers.5. Debug mode: serial debug (SWD) and JTAG interfaces.6. DMA: 12-channel DMA controller; supported peripherals: timers, ADC, DAC, SPI, IIC and USART.7.2 12 us class A / D converter (16-channel): A / D measurement range: 0-3 .6 V. Dual sample and hold capability. The chip integrates a temperature sensor.8. 2-channel 12-bit D / A converter: STM32F103xC STM32F103xD STM32F103xE unique.9. A maximum of up to 112 fast I / O ports: Depending on the model, 26,37,51,80, and 112 I / O ports, all ports can be mapped to the 16 external interrupt vector. In addition to the analog input can accept less than 5V input.10. A maximum of up to 11 timers: four 16-bit timers, each timer 4 IC / OC / PWM or pulse counter. Two 16-channel advanced control timer: up to 6 channels for PWM output. 2 watchdog timers (independent watchdog and window watchdog). Systick timer: 24-bit down counter. Two 16-bit basic timer is used to drive the DAC.11. A maximum of up to 13 communication interfaces: two IIC interface (SMBus / PMBus), 5 USART interface (ISO7816 interface, LIN, IrDA compatible, the debugging control), Three SPI interface (18 Mbit / s), two and IIS reuse, CAN interface (2.0B), USB 2.0 full-speed interface, SDIO interface.12. ECOPACK package: STM32F103xx family of microcontrollers ECOPACK package.System role1. Integrated embedded Flash and SRAM memory, ARM Cortex-M3 core. And compared to the 8/16 devices, the ARM Cortex-M3 32-bit RISC processor provides a higher efficiency of the code. The STM32F103xx microcontroller with an embedded ARM core, so can be compatible with all ARM tools and software.2. Embedded Flash memory and RAM memory: built-up to 512KB embedded Flash, can be used to store programs and data. Up to 64KB of embedded SRAM can read and write to the clock speed of the CPU (not wait state).3. A variable static memory (FSMC): FSMC embedded in STM32F103xC, STM32F103xD, STM32F103xE, with four chip select support four modes: Flash, RAM, PSRAM, NOR and NAND. After OR after three FSMC interrupt lines connected to the NVIC. No read / write FIFO PCCARD outside, the code is executed from the external memory, and does not support the Boot took target frequency equal to SYSCLK / 2 Therefore, when the system clock is 72MHz, external access, according to 36MHz.4. Nested vector interrupt controller (NVIC): can handle 43 maskable interrupt channels (not including the 16 interrupt lines of Cortex-M3), provides 16 interrupt priority. Tightly coupled NVIC lower interrupt processing delay directly passed to the kernel interrupt entry vector table address, tightly coupled the NVIC kernel interface, allows interrupts to be anticipated, after the higher-priority interrupt handling support tail chain, automatically save the state of the processor, interrupt entry automatically resume when the interrupt exit, no instruction intervention.5. The external interrupt / event controller (EXTI): External interrupt / event controller for 19 to generate an interrupt / event request edge detector lines. Each line can be individually configured to select the trigger event (rising edge, falling edge, or both), can also be individually shielded, a pending register to maintain the state of the interrupt request. When the external line appear longer than internal APB2 clock cycle pulse, EXTI is able to detect. Up to 112 GPIO connected to the 16 external interrupt lines.6. Clock and start: start or system clock selection, but reset when the internal 8MHz crystal was selected as the CPU clock. Can select one of 4-16MHz external clock, and will be monitored to determine whether successful. During this period, the controller is disabled and the software interrupt management subsequently also be prohibited. At the same time, if there is a need (for example, encountered an indirect use of crystal failed), PLL clock interrupt management fully available. Multiple pre-comparator can be used to configure the AHB frequency, including high-speed APB (PB2) and low-speed APB (APB1), high-speed APB highest frequency of 72MHz, low-speed APB highest frequency of 36MHz.7. Boot mode: startup, Boot pin is used to select one of three kinds Boot Options kinds: Import from user Flash memory from the system import, import from SRAM. The Boot import program is located in the system memory for Flash Memory Programming by USART1 re.8. Power supply program: VDD voltage range of 2.0V-3.6V, VDD pin provides an external power supply through, for I / O and internal regulator. VSSA and VDDA, voltage range of 2.0-3.6V, external analog voltage input for the ADC reset module, RC and PLL VDD range (ADC is limited to 2.4V); VSSA and VDDA must be corresponding connection to VSS and VDD. VBAT, the voltage range of 1.8-3.6V, VDD invalid for RTC, external 32KHz crystal oscillator and backup registers power supply (via the power switch to achieve).9. Power management: The device has a power-on reset (POR) circuit and power-down reset (PDR). This circuit has been used to ensure that the necessary operating from 2V starts fell to 2V. When VDD drops below a specific lower limit VPOR / PDR, without the need for an external reset circuit, the device can also be held in reset mode. Equipment specific to an embedded programmable voltage detector (PVD) PVD for detecting VDD compare and VPVD limit, will generate an interrupt when VDD to lower than VPVD or VDD greater than VPVD. Interrupt service routine can generate a warning message or MCU will be set to a safe state. PVD is enabled by software.10. Voltage regulator: The regulator has three operation modes: main (MR), low。