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Frequency up to 480 Mhz
2 Mbytes of flash memory
1 Mbyte of RAM
3x 16-bit ADC
- STM32H753 VI →
  - Number of Direct channels - 3
  - Number of Fast channels - 2
  - Number of Slow channels -11
- STM32H753 ZI →
  - Number of Direct channels - 2
  - Number of Fast channels - 9
  - Number of Slow channels -17
- STM32H753 AI/STM32H753 II /STM32H753 BI →
  - Number of Direct channels - 2
  - Number of Fast channels - 9
  - Number of Slow channels -21
- STM32H753 XI →
  - Number of Direct channels - 4
  - Number of Fast channels - 9
  - Number of Slow channels -23
–40 to +85 °C temperature range from a 1.62 to 3.6 V power supply
4x I 2Cs– 4x USARTs, 4x UARTs and 1x LPUART
a high-resolution timer, 12 general-purpose 16-bit timers, two PWM timers for motor control, five low-power timers

Rigid-Body Rotational Dynamics (Tank Spin System):

Tank Specs:
Material → 304L Stainless Steel
Length → 15 cm
Radius → 4 cm
Thickness → 0.5 cm
Mass → 1.143 kg

Configuration:
Thin-walled cylindrical tank approximation
Instrumented with internal thermocouples
Sealed end-cap with wiring feedthrough

Moment of Inertia (Izz):
Izz = mR²
Izz = (1.143 kg)(0.04 m)²
Izz = 0.001829 kg·m²

Drive Torque:
τ = 0.840 N·m

Angular Acceleration:
τ = Iα → α = τ / I
α ≈ 459.4 rad/s²

Spin Rate Requirement:
2–3 RPM
ω ≈ 12.57 – 18.85 rad/s

Spin-Up Time:
t = ω / α
t ≈ 27 – 41 ms

Power Estimate:
P ≈ 6.5 W

Motor / Servo Notes:
Torque–speed curve limits max RPM
Servo must provide ≥ 0.84 N·m stall torque
Continuous power ≥ 6.5 W

Design Task:
Evaluate 4 candidate servos from electrical spreadsheet →
Compare torque, speed, power, and mass to select optimal model.

4.2

4.3

Sensor Inventory

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FDIR = Continuously:

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