利用STM32主控单元与三轴陀螺仪MPU6050。MPU6050进行倾角测量，对测得的加速度和角速度数据进行AHRS数据融合，最终得到姿态角，姿态角再进行卡尔曼滤波。STM32单片机控制步进电机运动，对检测到的姿态角做最优控制。
资源文件列表
RO_TIM/robot/Clear.bat , 463
RO_TIM/robot/Common/bitband.h , 2345
RO_TIM/robot/Common/DELAY/delay.c , 3480
RO_TIM/robot/Common/DELAY/delay.h , 1704
RO_TIM/robot/Drives/ADC/adc.c , 7125
RO_TIM/robot/Drives/ADC/adc.h , 2570
RO_TIM/robot/Drives/BEEP/beep.c , 4053
RO_TIM/robot/Drives/BEEP/beep.h , 2226
RO_TIM/robot/Drives/CONTORL/MCUcontrol.c , 2515
RO_TIM/robot/Drives/CONTORL/MCUcontrol.h , 1931
RO_TIM/robot/Drives/DMA/dma.c , 4102
RO_TIM/robot/Drives/DMA/dma.h , 1863
RO_TIM/robot/Drives/EEPROM/stm32_eeprom.c , 19930
RO_TIM/robot/Drives/EEPROM/stm32_eeprom.h , 4305
RO_TIM/robot/Drives/EXTI/exti.c , 3211
RO_TIM/robot/Drives/EXTI/exti.h , 1662
RO_TIM/robot/Drives/Filtrate/Filtrate.c , 9213
RO_TIM/robot/Drives/Filtrate/Filtrate.h , 1064
RO_TIM/robot/Drives/Filtrate1.c , 4311
RO_TIM/robot/Drives/HMC5883L/HMC5883L.c , 3684
RO_TIM/robot/Drives/HMC5883L/HMC5883L.h , 693
RO_TIM/robot/Drives/I2C/i2c.c , 18794
RO_TIM/robot/Drives/I2C/i2c.h , 3661
RO_TIM/robot/Drives/Integral/Integral.c , 3810
RO_TIM/robot/Drives/Integral/Integral.h , 916
RO_TIM/robot/Drives/JOYSTICK/joystick.c , 4354
RO_TIM/robot/Drives/JOYSTICK/joystick.h , 2072
RO_TIM/robot/Drives/KEY/key.c , 2911
RO_TIM/robot/Drives/KEY/key.h , 2008
RO_TIM/robot/Drives/LCM12864/lcm12864.c , 9396
RO_TIM/robot/Drives/LCM12864/lcm12864.h , 3379
RO_TIM/robot/Drives/LCM1602/lcm1602.c , 6002
RO_TIM/robot/Drives/LCM1602/lcm1602.h , 2938
RO_TIM/robot/Drives/LED/led.c , 2778
RO_TIM/robot/Drives/LED/led.h , 1879
RO_TIM/robot/Drives/MPU6050/imu.c , 10246
RO_TIM/robot/Drives/MPU6050/imu.h , 2032
RO_TIM/robot/Drives/MPU6050/mpu6050 - 副本.c , 16555
RO_TIM/robot/Drives/MPU6050/mpu6050 - 副本.h , 17580
RO_TIM/robot/Drives/MPU6050/mpu6050.c , 20248
RO_TIM/robot/Drives/MPU6050/mpu6050.h , 17797
RO_TIM/robot/Drives/NRF24L01/nrf24l01.c , 15655
RO_TIM/robot/Drives/NRF24L01/nrf24l01.h , 7008
RO_TIM/robot/Drives/OLED/oled.c , 12863
RO_TIM/robot/Drives/OLED/oled.h , 3103
RO_TIM/robot/Drives/OLED/oledfont.h , 16174
RO_TIM/robot/Drives/RTC/rtc.c , 3344
RO_TIM/robot/Drives/RTC/rtc.h , 1579
RO_TIM/robot/Drives/SPI/spi.c , 5225
RO_TIM/robot/Drives/SPI/spi.h , 1702
RO_TIM/robot/Drives/STANDBY/standby.c , 2136
RO_TIM/robot/Drives/STANDBY/standby.h , 1785
RO_TIM/robot/Drives/StepMotor/DCmotor.c , 2336
RO_TIM/robot/Drives/StepMotor/DCmotor.h , 1734
RO_TIM/robot/Drives/StepMotor/stepmotor.c , 5174
RO_TIM/robot/Drives/StepMotor/stepmotor.h , 1402
RO_TIM/robot/Drives/TIMER/pwm.c , 2033
RO_TIM/robot/Drives/TIMER/pwm.h , 701
RO_TIM/robot/Drives/TIMER/timer.c , 25226
RO_TIM/robot/Drives/TIMER/timer.h , 3118
RO_TIM/robot/Drives/USART/usart.c , 14651
RO_TIM/robot/Drives/USART/usart.h , 5565
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/CoreSupport/core_cm3.c , 17273
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/CoreSupport/core_cm3.h , 85714
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_cl.s , 15766
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_hd.s , 15503
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_hd_vl.s , 15692
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_ld.s , 12376
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_ld_vl.s , 13656
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_md.s , 12765
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_md_vl.s , 14073
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_xl.s , 15955
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/gcc_ride7/startup_stm32f10x_cl.s , 13072
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/gcc_ride7/startup_stm32f10x_hd.s , 13160
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/gcc_ride7/startup_stm32f10x_hd_vl.s , 12482
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/gcc_ride7/startup_stm32f10x_ld.s , 9814
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/gcc_ride7/startup_stm32f10x_ld_vl.s , 10562
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/gcc_ride7/startup_stm32f10x_md.s , 10269
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/gcc_ride7/startup_stm32f10x_md_vl.s , 11058
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/gcc_ride7/startup_stm32f10x_xl.s , 13261
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/iar/startup_stm32f10x_cl.s , 16626
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/iar/startup_stm32f10x_hd.s , 16229
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/iar/startup_stm32f10x_hd_vl.s , 15675
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/iar/startup_stm32f10x_ld.s , 12650
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/iar/startup_stm32f10x_ld_vl.s , 12950
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/iar/startup_stm32f10x_md.s , 12912
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/iar/startup_stm32f10x_md_vl.s , 13601
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/iar/startup_stm32f10x_xl.s , 16628
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/TrueSTUDIO/startup_stm32f10x_cl.s , 12604
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/TrueSTUDIO/startup_stm32f10x_hd.s , 12592
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/TrueSTUDIO/startup_stm32f10x_hd_vl.s , 12239
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/TrueSTUDIO/startup_stm32f10x_ld.s , 9826
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/TrueSTUDIO/startup_stm32f10x_ld_vl.s , 10275
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/TrueSTUDIO/startup_stm32f10x_md.s , 10275
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/TrueSTUDIO/startup_stm32f10x_md_vl.s , 10757
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/TrueSTUDIO/startup_stm32f10x_xl.s , 13252
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/stm32f10x.h , 633941
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c , 36557
RO_TIM/robot/FWLib_3_5_0/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.h , 2085
RO_TIM/robot/FWLib_3_5_0/CMSIS/License.doc , 39936
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/misc.h , 8982
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h , 21690
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h , 7555
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h , 27559
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h , 6573
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h , 2162
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h , 15233
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dbgmcu.h , 3818
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h , 20754
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h , 6824
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_flash.h , 25445
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h , 27016
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h , 20175
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h , 30029
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h , 3828
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h , 4383
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h , 30452
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h , 3857
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h , 21863
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h , 17725
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h , 52427
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h , 16548
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/inc/stm32f10x_wwdg.h , 2966
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/misc.c , 7046
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c , 47201
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c , 8463
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c , 45103
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c , 11656
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.c , 3347
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c , 19087
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.c , 5149
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c , 29607
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c , 6959
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_flash.c , 62551
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c , 35484
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c , 23221
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c , 45781
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.c , 4916
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_pwr.c , 8759
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c , 51271
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c , 8598
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_sdio.c , 28933
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c , 30224
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c , 109159
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c , 38308
RO_TIM/robot/FWLib_3_5_0/STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.c , 5735
RO_TIM/robot/MPU-6050寄存器映射.pdf , 665862
RO_TIM/robot/MPU6050.PDF , 1674761
RO_TIM/robot/Output/adc.crf , 306396
RO_TIM/robot/Output/adc.d , 1761
RO_TIM/robot/Output/adc.o , 337360
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