├── .gitignore ├── Doc └── readme.txt ├── Libraries ├── CMSIS │ ├── core_cm3.c │ ├── core_cm3.h │ ├── startup │ │ ├── startup_stm32f10x_cl.s │ │ ├── startup_stm32f10x_hd.s │ │ ├── startup_stm32f10x_hd_vl.s │ │ ├── startup_stm32f10x_ld.s │ │ ├── startup_stm32f10x_ld_vl.s │ │ ├── startup_stm32f10x_md.s │ │ ├── startup_stm32f10x_md_vl.s │ │ └── startup_stm32f10x_xl.s │ ├── stm32f10x.h │ ├── 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 └── Template.map ├── Output ├── ExtDll.iex ├── Template.build_log.htm ├── Template.hex ├── Template.htm └── Template.sct ├── Project └── RVMDK（uv4） │ ├── DebugConfig │ ├── C8_STM32F103C8.dbgconf │ ├── C8_STM32F103ZE.dbgconf │ └── USART1__interrupt___STM32F103ZE.dbgconf │ ├── JLinkSettings.ini │ ├── RTE │ └── RTE_Components.h │ ├── iSO-STM32.uvgui.Administrator │ ├── iSO-STM32.uvgui.LH │ ├── iSO-STM32.uvgui.fire │ ├── iSO-STM32.uvguix.Liu Han │ ├── iSO-STM32.uvguix.liuha │ ├── iSO-STM32.uvopt │ ├── iSO-STM32.uvoptx │ ├── iSO-STM32.uvproj.saved_uv4 │ └── iSO-STM32.uvprojx ├── README.md ├── User ├── IIC │ ├── IOI2C.c │ └── IOI2C.h ├── Key │ ├── bsp_key.c │ └── bsp_key.h ├── LED │ ├── bsp_led.c │ └── bsp_led.h ├── Readme.txt ├── SysTick │ ├── bsp_SysTick.c │ └── bsp_SysTick.h ├── attitude_computation.c ├── attitude_computation.h ├── cache.txt ├── control.c ├── control.h ├── data_transfer.c ├── data_transfer.h ├── encoder │ ├── bsp_encoder.c │ └── bsp_encoder.h ├── include.h ├── init.c ├── init.h ├── kalman │ ├── kalman.c │ └── kalman.h ├── main.c ├── motor │ ├── bsp_motor.c │ └── bsp_motor.h ├── movement_control.c ├── movement_control.h ├── mpu6050 │ ├── bsp_mpu6050.c │ └── bsp_mpu6050.h ├── mpu6050_measure.c ├── mpu6050_measure.h ├── scheduler.c ├── scheduler.h ├── stm32f10x_conf.h ├── stm32f10x_it.c ├── stm32f10x_it.h ├── time.c ├── time.h ├── usart │ ├── bsp_usart1.c │ ├── bsp_usart1.h │ ├── bsp_usart2.c │ └── bsp_usart2.h └── 官方例程IO.txt ├── keilkill.bat └── 相关资料 ├── MiniBalanceV3.5【大功率版】平衡小车原理图.pdf ├── MiniBalanceV3.5【大功率版】平衡小车库函数版源码（卡尔曼滤波） ├── MiniBalance │ ├── CONTROL │ │ ├── control.c │ │ └── control.h │ ├── DMP │ │ ├── dmpKey.h │ │ ├── dmpmap.h │ │ ├── inv_mpu.c │ │ ├── inv_mpu.h │ │ ├── inv_mpu_dmp_motion_driver.c │ │ └── inv_mpu_dmp_motion_driver.h │ ├── DataScope_DP │ │ ├── DataScope_DP.C │ │ └── DataScope_DP.h │ ├── MPU6050 │ │ ├── MPU6050.c │ │ └── mpu6050.h │ ├── filter │ │ ├── filter.c │ │ └── filter.h │ └── show │ │ ├── show.c │ │ └── show.h ├── MiniBalance_COER │ ├── core_cm3.c │ ├── core_cm3.h │ └── startup_stm32f10x_md.s ├── MiniBalance_HARDWARE │ ├── ADC │ │ ├── adc.c │ │ └── adc.h │ ├── DMP │ │ ├── dmpKey.h │ │ ├── dmpmap.h │ │ ├── inv_mpu.c │ │ ├── inv_mpu.h │ │ ├── inv_mpu_dmp_motion_driver.c │ │ └── inv_mpu_dmp_motion_driver.h │ ├── DataScope_DP │ │ ├── DataScope_DP.C │ │ └── DataScope_DP.h │ ├── ENCODER │ │ ├── encoder.c │ │ └── encoder.h │ ├── EXTI │ │ ├── exti.c │ │ └── exti.h │ ├── IIC │ │ ├── IOI2C.c │ │ └── IOI2C.h │ ├── KEY │ │ ├── key.c │ │ └── key.h │ ├── LED │ │ ├── LED.C │ │ └── LED.H │ ├── MOTOR │ │ ├── motor.c │ │ └── motor.h │ ├── MPU6050 │ │ ├── MPU6050.c │ │ └── mpu6050.h │ ├── OLED │ │ ├── oled.c │ │ ├── oled.h │ │ └── oledfont.h │ ├── TIMER │ │ ├── timer.c │ │ └── timer.h │ └── USART3 │ │ ├── usart3.c │ │ └── usart3.h ├── OBJ │ └── MiniBalance.hex ├── STM32F10x_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 ├── SYSTEM │ ├── delay │ │ ├── delay.c │ │ └── delay.h │ ├── sys │ │ ├── sys.c │ │ └── sys.h │ └── usart │ │ ├── usart.c │ │ └── usart.h ├── USER │ ├── DebugConfig │ │ └── MiniBalance_STM32F103C8.dbgconf │ ├── JLinkSettings.ini │ ├── MiniBalance.c │ ├── MiniBalance.uvgui.passoni │ ├── MiniBalance.uvguix.liuha │ ├── MiniBalance.uvopt │ ├── MiniBalance.uvoptx │ ├── MiniBalance.uvproj.saved_uv4 │ ├── MiniBalance.uvprojx │ ├── stm32f10x.h │ ├── stm32f10x_conf.h │ ├── stm32f10x_it.c │ ├── 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-------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # BalanceCar2 2 | 基于STM32的两轮自平衡小车。 3 | 4 | 开发环境：keil 5 5 | 6 | 使用语言：c 7 | 8 | MCU平台：STM32F103 9 | 10 | 11 | -------------------------------------------------------------------------------- /User/IIC/IOI2C.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/stulwd/BalanceCar2/HEAD/User/IIC/IOI2C.c -------------------------------------------------------------------------------- /User/IIC/IOI2C.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/stulwd/BalanceCar2/HEAD/User/IIC/IOI2C.h -------------------------------------------------------------------------------- /User/Key/bsp_key.c: -------------------------------------------------------------------------------- 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