stm32f103c8t6主控两轮平衡小车程序，内含电路原理图。使用卡尔曼滤波mpu6050采集角度，使用串级pid控制小车平衡和速度。
资源文件列表
12M/CONTROL/control.c , 5457
12M/CONTROL/control.h , 577
12M/CONTROL/DataScope_DP.C , 2891
12M/CONTROL/DataScope_DP.h , 586
12M/CONTROL/filter.c , 2105
12M/CONTROL/filter.h , 399
12M/CONTROL/mpu6050.c , 4279
12M/CONTROL/mpu6050.h , 1280
12M/HARDWARE/ADC/adc.c , 2633
12M/HARDWARE/ADC/adc.h , 241
12M/HARDWARE/ENCODER/encoder.c , 3820
12M/HARDWARE/ENCODER/encoder.h , 528
12M/HARDWARE/IIC/IOI2C.c , 10779
12M/HARDWARE/IIC/IOI2C.h , 3118
12M/HARDWARE/KEY/key.c , 725
12M/HARDWARE/KEY/key.h , 160
12M/HARDWARE/LED/LED.C , 1139
12M/HARDWARE/LED/LED.h , 663
12M/HARDWARE/MOTOR/motor.c , 2954
12M/HARDWARE/MOTOR/motor.h , 634
12M/HARDWARE/OLED/OLED.c , 41726
12M/HARDWARE/OLED/oled.h , 1380
12M/HARDWARE/STMFLASH/stmflash.c , 5359
12M/HARDWARE/STMFLASH/stmflash.h , 1636
12M/HARDWARE/TIMER/timer.c , 608
12M/HARDWARE/TIMER/timer.h , 98
12M/HARDWARE/USART3/usart3.c , 1914
12M/HARDWARE/USART3/usart3.h , 172
12M/OBJ/24l01.crf , 307951
12M/OBJ/24l01.d , 1665
12M/OBJ/24l01.o , 314324
12M/OBJ/adc.crf , 252357
12M/OBJ/adc.d , 1131
12M/OBJ/adc.o , 262408
12M/OBJ/control.crf , 255778
12M/OBJ/control.d , 1272
12M/OBJ/control.o , 275100
12M/OBJ/datascope_dp.crf , 789
12M/OBJ/datascope_dp.d , 100
12M/OBJ/datascope_dp.o , 9980
12M/OBJ/delay.crf , 252007
12M/OBJ/delay.d , 1187
12M/OBJ/delay.o , 261504
12M/OBJ/encoder.crf , 252662
12M/OBJ/encoder.d , 1251
12M/OBJ/encoder.o , 261852
12M/OBJ/ExtDll.iex , 19
12M/OBJ/exti.crf , 293891
12M/OBJ/exti.d , 1426
12M/OBJ/exti.o , 291976
12M/OBJ/exti.__i , 651
12M/OBJ/filter.crf , 1108
12M/OBJ/filter.d , 76
12M/OBJ/filter.o , 11508
12M/OBJ/iic.crf , 235777
12M/OBJ/iic.d , 535
12M/OBJ/iic.o , 251684
12M/OBJ/inv_mpu.crf , 313570
12M/OBJ/inv_mpu.d , 1480
12M/OBJ/inv_mpu.o , 328060
12M/OBJ/inv_mpu.__i , 661
12M/OBJ/inv_mpu_dmp_motion_driver.crf , 305586
12M/OBJ/inv_mpu_dmp_motion_driver.d , 2056
12M/OBJ/inv_mpu_dmp_motion_driver.o , 316576
12M/OBJ/inv_mpu_dmp_motion_driver.__i , 733
12M/OBJ/ioi2c.crf , 255633
12M/OBJ/ioi2c.d , 1146
12M/OBJ/ioi2c.o , 269096
12M/OBJ/key.crf , 251804
12M/OBJ/key.d , 1131
12M/OBJ/key.o , 260640
12M/OBJ/led.crf , 251679
12M/OBJ/led.d , 1131
12M/OBJ/led.o , 260316
12M/OBJ/Minibalance.axf , 309748
12M/OBJ/Minibalance.build_log.htm , 1862
12M/OBJ/minibalance.crf , 252109
12M/OBJ/minibalance.d , 1286
12M/OBJ/Minibalance.hex , 75966
12M/OBJ/Minibalance.htm , 107401
12M/OBJ/Minibalance.lnp , 621
12M/OBJ/Minibalance.map , 139109
12M/OBJ/minibalance.o , 263844
12M/OBJ/Minibalance.sct , 479
12M/OBJ/Minibalance.tra , 2167
12M/OBJ/Minibalance.uvgui.passoni , 70385
12M/OBJ/Minibalance.uvopt , 8170
12M/OBJ/Minibalance_Target 1.dep , 29157
12M/OBJ/Minibalance_uvproj.bak , 0
12M/OBJ/motor.crf , 253437
12M/OBJ/motor.d , 1191
12M/OBJ/motor.o , 262576
12M/OBJ/mpu6050.crf , 253785
12M/OBJ/mpu6050.d , 1233
12M/OBJ/mpu6050.o , 267528
12M/OBJ/oled.crf , 257449
12M/OBJ/oled.d , 1161
12M/OBJ/oled.o , 277428
12M/OBJ/show.crf , 294270
12M/OBJ/show.d , 1424
12M/OBJ/show.o , 296348
12M/OBJ/show.__i , 650
12M/OBJ/spi.crf , 306074
12M/OBJ/spi.d , 1583
12M/OBJ/spi.o , 308692
12M/OBJ/startup_stm32f10x_md.d , 55
12M/OBJ/startup_stm32f10x_md.lst , 40329
12M/OBJ/startup_stm32f10x_md.o , 5924
12M/OBJ/stmflash.crf , 253345
12M/OBJ/stmflash.d , 1281
12M/OBJ/stmflash.o , 266228
12M/OBJ/sys.crf , 253529
12M/OBJ/sys.d , 1092
12M/OBJ/sys.o , 265752
12M/OBJ/timer.crf , 251647
12M/OBJ/timer.d , 1191
12M/OBJ/timer.o , 260540
12M/OBJ/usart.crf , 252640
12M/OBJ/usart.d , 1187
12M/OBJ/usart.o , 263584
12M/OBJ/usart2.crf , 305744
12M/OBJ/usart2.d , 1712
12M/OBJ/usart2.o , 308588
12M/OBJ/usart3.crf , 252131
12M/OBJ/usart3.d , 1221
12M/OBJ/usart3.o , 262308
12M/SYSTEM/delay/delay.c , 3806
12M/SYSTEM/delay/delay.h , 214
12M/SYSTEM/readme.txt , 480
12M/SYSTEM/sys/core_cm3.h , 85714
12M/SYSTEM/sys/stm32f10x.h , 633941
12M/SYSTEM/sys/sys.c , 5349
12M/SYSTEM/sys/sys.h , 4937
12M/SYSTEM/sys/system_stm32f10x.h , 2085
12M/SYSTEM/usart/usart.c , 2576
12M/SYSTEM/usart/usart.h , 249
12M/USER/DebugConfig/Target_1_STM32F103C8_1.0.0.dbgconf , 6956
12M/USER/DebugConfig/Target_1_STM32F103CB_1.0.0.dbgconf , 6956
12M/USER/Minibalance.build_log.htm , 208
12M/USER/Minibalance.c , 2391
12M/USER/Minibalance.uvgui.liwei , 151287
12M/USER/Minibalance.uvgui.passoni , 175460
12M/USER/Minibalance.uvguix.liwei , 75341
12M/USER/Minibalance.uvgui_liwei.bak , 150689
12M/USER/Minibalance.uvgui_passoni.bak , 175456
12M/USER/Minibalance.uvopt , 16893
12M/USER/Minibalance.uvoptx , 16004
12M/USER/Minibalance.uvproj.saved_uv4 , 18635
12M/USER/Minibalance.uvprojx , 20031
12M/USER/Minibalance_Target 1.dep , 26708
12M/USER/Minibalance_uvopt.bak , 16894
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