├── Hardware └── 3D-model.stp ├── README.md ├── Software └── STM32-Firmware │ ├── CORE │ ├── core_cm3.c │ ├── core_cm3.h │ ├── startup │ │ ├── startup_stm32f10x_hd.s │ │ ├── startup_stm32f10x_ld.s │ │ └── startup_stm32f10x_md.s │ ├── stm32f10x.h │ ├── stm32f10x.h~RF1184d91.TMP │ ├── stm32f10x.h~RF121cfb6.TMP │ ├── stm32f10x.h~RF196d2f9.TMP │ ├── stm32f10x.h~RF1a139a1.TMP │ ├── stm32f10x.h~RF1a260ac.TMP │ ├── stm32f10x.h~RF1a89df7.TMP │ ├── stm32f10x.h~RF25c28bb.TMP │ ├── stm32f10x.h~RF2607baa.TMP │ ├── stm32f10x.h~RF2658b71.TMP │ ├── stm32f10x.h~RFb265fb.TMP │ ├── stm32f10x.h~RFd056b7.TMP │ ├── system_stm32f10x.c │ └── system_stm32f10x.h │ ├── FWlib │ ├── inc │ │ ├── misc.h │ │ ├── stm32f10x_adc.h │ │ ├── stm32f10x_bkp.h │ │ ├── stm32f10x_can.h │ │ ├── stm32f10x_cec.h │ │ ├── stm32f10x_crc.h │ │ ├── stm32f10x_dac.h │ │ ├── stm32f10x_dbgmcu.h │ │ ├── stm32f10x_dma.h │ │ ├── stm32f10x_exti.h │ │ ├── stm32f10x_flash.h │ │ ├── stm32f10x_fsmc.h │ │ ├── stm32f10x_gpio.h │ │ ├── stm32f10x_i2c.h │ │ ├── stm32f10x_iwdg.h │ │ ├── stm32f10x_pwr.h │ │ ├── stm32f10x_rcc.h │ │ ├── stm32f10x_rtc.h │ │ ├── stm32f10x_sdio.h │ │ ├── stm32f10x_spi.h │ │ ├── stm32f10x_tim.h │ │ ├── stm32f10x_usart.h │ │ └── stm32f10x_wwdg.h │ └── src │ │ ├── misc.c │ │ ├── stm32f10x_adc.c │ │ ├── stm32f10x_bkp.c │ │ ├── stm32f10x_can.c │ │ ├── stm32f10x_cec.c │ │ ├── stm32f10x_crc.c │ │ ├── stm32f10x_dac.c │ │ ├── stm32f10x_dbgmcu.c │ │ ├── stm32f10x_dma.c │ │ ├── stm32f10x_exti.c │ │ ├── stm32f10x_flash.c │ │ ├── stm32f10x_fsmc.c │ │ ├── stm32f10x_gpio.c │ │ ├── stm32f10x_i2c.c │ │ ├── stm32f10x_iwdg.c │ │ ├── stm32f10x_pwr.c │ │ ├── stm32f10x_rcc.c │ │ ├── stm32f10x_rtc.c │ │ ├── stm32f10x_sdio.c │ │ ├── stm32f10x_spi.c │ │ ├── stm32f10x_tim.c │ │ ├── stm32f10x_usart.c │ │ └── stm32f10x_wwdg.c │ ├── Listing │ ├── STM32-DEMO.map │ ├── startup_stm32f10x_hd.lst │ ├── startup_stm32f10x_ld.lst │ └── startup_stm32f10x_md.lst │ ├── Output │ ├── ExtDll.iex │ ├── STM32-DEMO.axf │ ├── STM32-DEMO.build_log.htm │ ├── STM32-DEMO.hex │ ├── STM32-DEMO.htm │ ├── STM32-DEMO.lnp │ ├── STM32-DEMO_Demo.dep │ ├── adc.crf │ ├── adc.d │ ├── adc.o │ ├── core_cm3.crf │ ├── core_cm3.d │ ├── core_cm3.o │ ├── ctrl.crf │ ├── ctrl.d │ ├── ctrl.o │ ├── encoder.crf │ ├── encoder.d │ ├── encoder.o │ ├── encoder_1.crf │ ├── encoder_1.d │ ├── encoder_1.o │ ├── imu.crf │ ├── imu.d │ ├── imu.o │ ├── kalman .crf │ ├── kalman .d │ ├── kalman .o │ ├── main.crf │ ├── main.d │ ├── main.o │ ├── misc.crf │ ├── misc.d │ ├── misc.o │ ├── mpu6050.crf │ ├── mpu6050.d │ ├── mpu6050.o │ ├── mpu6050_1.crf │ ├── mpu6050_1.d │ ├── mpu6050_1.o │ ├── myinclude.crf │ ├── myinclude.d │ ├── myinclude.o │ ├── pid.crf │ ├── pid.d │ ├── pwm.crf │ ├── pwm.d │ ├── pwm.o │ ├── pwm_1.crf │ ├── pwm_1.d │ ├── pwm_1.o │ ├── robot.crf │ ├── robot.d │ ├── robot.o │ ├── serial.crf │ ├── serial.d │ ├── serial.o │ ├── startup_stm32f10x_hd.d │ ├── startup_stm32f10x_hd.o │ ├── startup_stm32f10x_ld.d │ ├── startup_stm32f10x_ld.o │ ├── startup_stm32f10x_md.d │ ├── startup_stm32f10x_md_1.d │ ├── startup_stm32f10x_md_1.o │ ├── stepper.crf │ ├── stepper.d │ ├── stepper.o │ ├── stm32f10x_adc.crf │ ├── stm32f10x_adc.d │ ├── stm32f10x_adc.o │ ├── stm32f10x_bkp.crf │ ├── stm32f10x_bkp.d │ ├── stm32f10x_bkp.o │ ├── stm32f10x_can.crf │ ├── stm32f10x_can.d │ ├── stm32f10x_can.o │ ├── stm32f10x_cec.crf │ ├── stm32f10x_cec.d │ ├── stm32f10x_cec.o │ ├── stm32f10x_crc.crf │ ├── stm32f10x_crc.d │ ├── stm32f10x_crc.o │ ├── stm32f10x_dac.crf │ ├── stm32f10x_dac.d │ ├── stm32f10x_dac.o │ ├── stm32f10x_dbgmcu.crf │ ├── stm32f10x_dbgmcu.d │ ├── stm32f10x_dbgmcu.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_fsmc.crf │ ├── stm32f10x_fsmc.d │ ├── stm32f10x_fsmc.o │ ├── stm32f10x_gpio.crf │ ├── stm32f10x_gpio.d │ ├── stm32f10x_gpio.o │ ├── stm32f10x_i2c.crf │ ├── stm32f10x_i2c.d │ ├── stm32f10x_i2c.o │ ├── stm32f10x_it.crf │ ├── stm32f10x_it.d │ ├── stm32f10x_it.o │ ├── stm32f10x_iwdg.crf │ ├── stm32f10x_iwdg.d │ ├── stm32f10x_iwdg.o │ ├── stm32f10x_pwr.crf │ ├── stm32f10x_pwr.d │ ├── stm32f10x_pwr.o │ ├── stm32f10x_rcc.crf │ ├── stm32f10x_rcc.d │ ├── stm32f10x_rcc.o │ ├── stm32f10x_rtc.crf │ ├── stm32f10x_rtc.d │ ├── stm32f10x_rtc.o │ ├── stm32f10x_sdio.crf │ ├── stm32f10x_sdio.d │ ├── stm32f10x_sdio.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 │ ├── stm32f10x_wwdg.crf │ ├── stm32f10x_wwdg.d │ ├── stm32f10x_wwdg.o │ ├── system_stm32f10x.crf │ ├── system_stm32f10x.d │ ├── system_stm32f10x.o │ ├── time.crf │ ├── time.d │ ├── time.o │ ├── timer.crf │ ├── timer.d │ ├── timer.o │ ├── timer_1.crf │ ├── timer_1.d │ ├── timer_1.o │ ├── wheel.crf │ └── wheel.d │ ├── USER │ ├── DebugConfig │ │ ├── Demo_STM32F103C8.dbgconf │ │ └── Demo_STM32F103C8_1.0.0.dbgconf │ ├── JLink Regs CM3.txt │ ├── JLinkLog.txt │ ├── JLinkSettings.ini │ ├── STM32-DEMO.uvguix.Administrator │ ├── STM32-DEMO.uvguix.Pengzhihui │ ├── STM32-DEMO.uvguix.pz_cloud │ ├── STM32-DEMO.uvguix.稚晖 │ ├── STM32-DEMO.uvguix_Administrator.bak │ ├── STM32-DEMO.uvopt │ ├── STM32-DEMO.uvoptx │ ├── STM32-DEMO.uvproj.saved_uv4 │ ├── STM32-DEMO.uvprojx │ ├── STM32-DEMO_uvopt.bak │ ├── STM32-DEMO_uvoptx.bak │ ├── STM32-DEMO_uvproj.bak │ ├── STM32-DEMO_uvprojx.bak │ ├── app │ │ ├── CTRL.c │ │ ├── CTRL.c.orig │ │ ├── CTRL.h │ │ ├── IMU.c │ │ ├── IMU.h │ │ ├── Robot.c │ │ └── Robot.h │ ├── main.c │ ├── myInclude.c │ ├── myInclude.h │ ├── myLib │ │ ├── ADC.c │ │ ├── ADC.h │ │ ├── Encoder.c │ │ ├── Encoder.h │ │ ├── MPU6050.c │ │ ├── MPU6050.h │ │ ├── PWM.c │ │ ├── PWM.h │ │ ├── Stepper.c │ │ ├── Stepper.h │ │ ├── Timer.c │ │ └── Timer.h │ ├── stm32f10x_conf.h │ ├── stm32f10x_it.c │ └── 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