├── .gitattributes ├── F103 ├── CM3 │ ├── core_cm3.c │ ├── core_cm3.h │ ├── startup_stm32f10x_hd.s │ ├── startup_stm32f10x_md.s │ ├── stm32f10x.h │ ├── system_stm32f10x.c │ └── system_stm32f10x.h ├── FreeRTOS │ ├── include │ │ ├── FreeRTOS.h │ │ ├── FreeRTOS.h~RF72bb66.TMP │ │ ├── StackMacros.h │ │ ├── croutine.h │ │ ├── deprecated_definitions.h │ │ ├── event_groups.h │ │ ├── list.h │ │ ├── mpu_prototypes.h │ │ ├── mpu_wrappers.h │ │ ├── portable.h │ │ ├── projdefs.h │ │ ├── queue.h │ │ ├── semphr.h │ │ ├── stdint.readme │ │ ├── task.h │ │ └── timers.h │ ├── port │ │ ├── MemMang │ │ │ ├── ReadMe.url │ │ │ ├── heap_1.c │ │ │ ├── heap_2.c │ │ │ ├── heap_3.c │ │ │ ├── heap_4.c │ │ │ └── heap_5.c │ │ └── RVDS │ │ │ ├── ARM7_LPC21xx │ │ │ ├── port.c │ │ │ ├── portASM.s │ │ │ ├── portmacro.h │ │ │ └── portmacro.inc │ │ │ ├── ARM_CA9 │ │ │ ├── port.c │ │ │ ├── portASM.s │ │ │ ├── portmacro.h │ │ │ └── portmacro.inc │ │ │ ├── ARM_CM0 │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ │ ├── ARM_CM3 │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ │ ├── ARM_CM4F │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ │ ├── ARM_CM4_MPU │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ │ └── ARM_CM7 │ │ │ ├── ReadMe.txt │ │ │ └── r0p1 │ │ │ ├── port.c │ │ │ └── portmacro.h │ └── src │ │ ├── croutine.c │ │ ├── event_groups.c │ │ ├── list.c │ │ ├── queue.c │ │ ├── readme.txt │ │ ├── tasks.c │ │ └── timers.c ├── Hardware │ ├── ESP8266 │ │ ├── Common.c │ │ ├── Common.h │ │ ├── bsp_esp8266.c │ │ ├── bsp_esp8266.h │ │ ├── bsp_esp8266_test.c │ │ └── bsp_esp8266_test.h │ ├── FIR.c │ ├── MPUIIC.c │ ├── delay.c │ ├── eMPL │ │ ├── dmpKey.h │ │ ├── dmpmap.h │ │ ├── inv_mpu.c │ │ ├── inv_mpu.h │ │ ├── inv_mpu_dmp_motion_driver.c │ │ └── inv_mpu_dmp_motion_driver.h │ ├── encoder.c │ ├── include │ │ ├── FIR.h │ │ ├── MPUIIC.h │ │ ├── delay.h │ │ ├── encoder.h │ │ ├── mpu6050.h │ │ ├── pwm.h │ │ └── usart.h │ ├── mpu6050.c │ ├── pwm.c │ └── uart.c ├── Libraries │ ├── misc.c │ ├── misc.h │ ├── stm32f10x_adc.c │ ├── stm32f10x_adc.h │ ├── stm32f10x_bkp.c │ ├── stm32f10x_bkp.h │ ├── stm32f10x_can.c │ ├── stm32f10x_can.h │ ├── stm32f10x_cec.c │ ├── stm32f10x_cec.h │ ├── stm32f10x_crc.c │ ├── stm32f10x_crc.h │ ├── stm32f10x_dac.c │ ├── stm32f10x_dac.h │ ├── stm32f10x_dbgmcu.c │ ├── stm32f10x_dbgmcu.h │ ├── stm32f10x_dma.c │ ├── stm32f10x_dma.h │ ├── stm32f10x_exti.c │ ├── stm32f10x_exti.h │ ├── stm32f10x_flash.c │ ├── stm32f10x_flash.h │ ├── stm32f10x_fsmc.c │ ├── stm32f10x_fsmc.h │ ├── stm32f10x_gpio.c │ ├── stm32f10x_gpio.h │ ├── stm32f10x_i2c.c │ ├── stm32f10x_i2c.h │ ├── stm32f10x_iwdg.c │ ├── stm32f10x_iwdg.h │ ├── stm32f10x_pwr.c │ ├── stm32f10x_pwr.h │ ├── stm32f10x_rcc.c │ ├── stm32f10x_rcc.h │ ├── stm32f10x_rtc.c │ ├── stm32f10x_rtc.h │ ├── stm32f10x_sdio.c │ ├── stm32f10x_sdio.h │ ├── stm32f10x_spi.c │ ├── stm32f10x_spi.h │ ├── stm32f10x_tim.c │ ├── stm32f10x_tim.h │ ├── stm32f10x_usart.c │ ├── stm32f10x_usart.h │ ├── stm32f10x_wwdg.c │ ├── stm32f10x_wwdg.h │ ├── sys.c │ └── sys.h ├── Project │ ├── DebugConfig │ │ ├── MotorDriver_STM32F103C8.dbgconf │ │ ├── MotorDriver_STM32F103C8_1.0.0.dbgconf │ │ ├── Sentry_STM32F103C8.dbgconf │ │ ├── Sentry_STM32F103C8_1.0.0.dbgconf │ │ └── Sentry_STM32F103RC.dbgconf │ ├── EventRecorderStub.scvd │ ├── JLinkLog.txt │ ├── JLinkSettings.ini │ ├── Listings │ │ ├── STM32F103C.map │ │ ├── startup_stm32f10x_hd.lst │ │ └── startup_stm32f10x_md.lst │ ├── Objects │ │ ├── ExtDll.iex │ │ ├── STM32F103C.axf │ │ ├── STM32F103C.build_log.htm │ │ ├── STM32F103C.htm │ │ ├── STM32F103C.lnp │ │ ├── STM32F103C.sct │ │ ├── STM32F103C_Sentry.dep │ │ ├── STM32F103C_sct.Bak │ │ ├── adc.crf │ │ ├── adc.d │ │ ├── adc.o │ │ ├── adis16448.crf │ │ ├── adis16448.d │ │ ├── adis16448.o │ │ ├── ahrs.crf │ │ ├── ahrs.d │ │ ├── ahrs.o │ │ ├── algorithmofcrc.crf │ │ ├── algorithmofcrc.d │ │ ├── algorithmofcrc.o │ │ ├── bsp_esp8266.crf │ │ ├── bsp_esp8266.d │ │ ├── bsp_esp8266.o │ │ ├── bsp_esp8266_test.crf │ │ ├── bsp_esp8266_test.d │ │ ├── bsp_esp8266_test.o │ │ ├── can.crf │ │ ├── can.d │ │ ├── can.o │ │ ├── chassis.crf │ │ ├── chassis.d │ │ ├── chassis.o │ │ ├── common.crf │ │ ├── common.d │ │ ├── common.o │ │ ├── core_cm3.crf │ │ ├── core_cm3.d │ │ ├── core_cm3.o │ │ ├── croutine.crf │ │ ├── croutine.d │ │ ├── croutine.o │ │ ├── data_dispose.crf │ │ ├── data_dispose.d │ │ ├── data_dispose.o │ │ ├── delay.crf │ │ ├── delay.d │ │ ├── delay.o │ │ ├── encoder.crf │ │ ├── encoder.d │ │ ├── encoder.o │ │ ├── event_groups.crf │ │ ├── event_groups.d │ │ ├── event_groups.o │ │ ├── fir.crf │ │ ├── fir.d │ │ ├── fir.o │ │ ├── frictionwheel.crf │ │ ├── frictionwheel.d │ │ ├── frictionwheel.o │ │ ├── gyro.crf │ │ ├── gyro.d │ │ ├── gyro.o │ │ ├── gyrotask.crf │ │ ├── gyrotask.d │ │ ├── gyrotask.o │ │ ├── heap_4.crf │ │ ├── heap_4.d │ │ ├── heap_4.o │ │ ├── iic.crf │ │ ├── iic.d │ │ ├── iic.o │ │ ├── iir.crf │ │ ├── iir.d │ │ ├── iir.o │ │ ├── inv_mpu.crf │ │ ├── inv_mpu.d │ │ ├── inv_mpu.o │ │ ├── inv_mpu_dmp_motion_driver.crf │ │ ├── inv_mpu_dmp_motion_driver.d │ │ ├── inv_mpu_dmp_motion_driver.o │ │ ├── laser.crf │ │ ├── laser.d │ │ ├── laser.o │ │ ├── led.crf │ │ ├── led.d │ │ ├── led.o │ │ ├── list.crf │ │ ├── list.d │ │ ├── list.o │ │ ├── main.crf │ │ ├── main.d │ │ ├── main.o │ │ ├── misc.crf │ │ ├── misc.d │ │ ├── misc.o │ │ ├── mpu6050.crf │ │ ├── mpu6050.d │ │ ├── mpu6050.o │ │ ├── mpuiic.crf │ │ ├── mpuiic.d │ │ ├── mpuiic.o │ │ ├── pc_task.crf │ │ ├── pc_task.d │ │ ├── pc_task.o │ │ ├── pid.crf │ │ ├── pid.d │ │ ├── pid.o │ │ ├── port.crf │ │ ├── port.d │ │ ├── port.o │ │ ├── pwm.crf │ │ ├── pwm.d │ │ ├── pwm.o │ │ ├── pwm_1.d │ │ ├── queue.crf │ │ ├── queue.d │ │ ├── queue.o │ │ ├── remotetask.crf │ │ ├── remotetask.d │ │ ├── remotetask.o │ │ ├── solenoid.crf │ │ ├── solenoid.d │ │ ├── solenoid.o │ │ ├── solenoidsw.crf │ │ ├── solenoidsw.d │ │ ├── solenoidsw.o │ │ ├── spi.crf │ │ ├── spi.d │ │ ├── spi.o │ │ ├── start_task.crf │ │ ├── start_task.d │ │ ├── start_task.o │ │ ├── startup_stm32f10x_hd.d │ │ ├── startup_stm32f10x_hd.o │ │ ├── startup_stm32f10x_md.d │ │ ├── startup_stm32f10x_md.o │ │ ├── stm32f10x_adc.crf │ │ ├── stm32f10x_adc.d │ │ ├── stm32f10x_adc.o │ │ ├── stm32f10x_can.crf │ │ ├── stm32f10x_can.d │ │ ├── stm32f10x_can.o │ │ ├── stm32f10x_crc.crf │ │ ├── stm32f10x_crc.d │ │ ├── stm32f10x_crc.o │ │ ├── stm32f10x_dma.crf │ │ ├── stm32f10x_dma.d │ │ ├── stm32f10x_dma.o │ │ ├── stm32f10x_exti.crf │ │ ├── stm32f10x_exti.d │ │ ├── stm32f10x_exti.o │ │ ├── stm32f10x_flash.crf │ │ ├── stm32f10x_flash.d │ │ ├── stm32f10x_flash.o │ │ ├── stm32f10x_gpio.crf │ │ ├── stm32f10x_gpio.d │ │ ├── stm32f10x_gpio.o │ │ ├── stm32f10x_it.crf │ │ ├── stm32f10x_it.d │ │ ├── stm32f10x_it.o │ │ ├── stm32f10x_rcc.crf │ │ ├── stm32f10x_rcc.d │ │ ├── stm32f10x_rcc.o │ │ ├── stm32f10x_spi.crf │ │ ├── stm32f10x_spi.d │ │ ├── stm32f10x_spi.o │ │ ├── stm32f10x_tim.crf │ │ ├── stm32f10x_tim.d │ │ ├── stm32f10x_tim.o │ │ ├── stm32f10x_usart.crf │ │ ├── stm32f10x_usart.d │ │ ├── stm32f10x_usart.o │ │ ├── sys.crf │ │ ├── sys.d │ │ ├── sys.o │ │ ├── system_stm32f10x.crf │ │ ├── system_stm32f10x.d │ │ ├── system_stm32f10x.o │ │ ├── tasks.crf │ │ ├── tasks.d │ │ ├── tasks.o │ │ ├── tim.crf │ │ ├── tim.d │ │ ├── tim.o │ │ ├── tim4.crf │ │ ├── tim4.d │ │ ├── tim4.o │ │ ├── timers.crf │ │ ├── timers.d │ │ ├── timers.o │ │ ├── uart.crf │ │ ├── uart.d │ │ ├── uart.o │ │ ├── usart1.crf │ │ ├── usart1.d │ │ ├── usart1.o │ │ ├── usart2.crf │ │ ├── usart2.d │ │ ├── usart2.o │ │ ├── usart3.crf │ │ ├── usart3.d │ │ ├── usart3.o │ │ ├── vl53l0x.crf │ │ ├── vl53l0x.d │ │ ├── vl53l0x_api.crf │ │ ├── vl53l0x_api.d │ │ ├── vl53l0x_api.o │ │ ├── vl53l0x_api_calibration.crf │ │ ├── vl53l0x_api_calibration.d │ │ ├── vl53l0x_api_calibration.o │ │ ├── vl53l0x_api_core.crf │ │ ├── vl53l0x_api_core.d │ │ ├── vl53l0x_api_core.o │ │ ├── vl53l0x_api_ranging.crf │ │ ├── vl53l0x_api_ranging.d │ │ ├── vl53l0x_api_ranging.o │ │ ├── vl53l0x_api_strings.crf │ │ ├── vl53l0x_api_strings.d │ │ ├── vl53l0x_api_strings.o │ │ ├── vl53l0x_i2c.crf │ │ ├── vl53l0x_i2c.d │ │ ├── vl53l0x_i2c.o │ │ ├── vl53l0x_platform.crf │ │ ├── vl53l0x_platform.d │ │ ├── vl53l0x_platform.o │ │ ├── vl53l0x_platform_log.crf │ │ ├── vl53l0x_platform_log.d │ │ ├── wl_laserdis.crf │ │ ├── wl_laserdis.d │ │ └── wl_laserdis.o │ ├── STM32F103C.uvguix.LanLanLan1927 │ ├── STM32F103C.uvguix.dell │ ├── STM32F103C.uvguix.hpl │ ├── STM32F103C.uvguix.liuyao │ ├── STM32F103C.uvoptx │ └── STM32F103C.uvprojx ├── STM32F103C8T6接口&扩展板.PDF └── User │ ├── APP │ ├── start_task.c │ └── start_task.h │ ├── FreeRTOSConfig.h │ ├── TASK │ ├── Data_Dispose.c │ ├── Gyro.c │ ├── chassis.c │ └── include │ │ ├── Data_Dispose.h │ │ ├── Gyro.h │ │ └── chassis.h │ ├── data.c │ ├── data.txt │ ├── function │ ├── IIR.c │ ├── Kalman.c │ ├── include │ │ ├── IIR.h │ │ ├── Kalman.h │ │ └── pid.h │ └── pid.c │ ├── main.c │ ├── main.h │ ├── stm32f10x_conf.h │ ├── stm32f10x_it.c │ ├── stm32f10x_it.h │ ├── tim.c │ └── tim.h └── README.md /.gitattributes: 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-------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # chasiss_control_git 2 | ROS小车开发中底盘部分代码包括L298N电机驱动，MPU6050驱动，PID，卡尔曼滤波等 3 | --------------------------------------------------------------------------------