Balance

代码说明：

  STM32F103RBT6主控两轮平衡车，传感器使用MPU6050，卡尔曼滤波，PD调节可以上下坡。(Balance STM32F103RBT6 master two rounds of car, use MPU6050 sensors, kalman filtering, PD regulating can go downhill. )

文件列表：

LE12_E
......\CORE
......\....\core_cm3.c,17273,2010-06-07
......\....\core_cm3.h,85714,2011-02-09
......\....\startup_stm32f10x_hd.s,15503,2011-03-10
......\....\startup_stm32f10x_md.s,12765,2011-03-10
......\HARDWARE
......\........\IIC
......\........\...\I2C.c,2091,2014-05-15
......\........\...\I2C.h,789,2013-05-02
......\........\MPU6050
......\........\.......\Filter.c,1604,2014-05-14
......\........\.......\Filter.h,108,2013-05-03
......\........\.......\mpu6050.c,1971,2014-05-15
......\........\.......\mpu6050.h,6950,2014-05-15
......\........\NRF24L01
......\........\........\24l01.c,7330,2014-04-26
......\........\........\24l01.h,5388,2014-05-18
......\........\........\spi.c,3644,2014-04-26
......\........\........\spi.h,445,2010-12-07
......\keilkilll.bat,399,2011-04-23
......\OBJ
......\...\24l01.crf,301169,2014-05-20
......\...\24l01.d,985,2014-05-20
......\...\24l01.o,321468,2014-05-20
......\...\core_cm3.crf,3578,2014-05-20
......\...\core_cm3.d,101,2014-05-20
......\...\core_cm3.o,10384,2014-05-20
......\...\delay.crf,296104,2014-05-20
......\...\delay.d,931,2014-05-20
......\...\delay.o,314516,2014-05-20
......\...\ExtDll.iex,19,2014-05-18
......\...\filter.crf,300837,2014-05-14
......\...\filter.d,1097,2014-05-14
......\...\filter.o,320420,2014-05-14
......\...\i2c.crf,298267,2014-05-20
......\...\i2c.d,928,2014-05-20
......\...\i2c.o,316732,2014-05-20
......\...\iic_analog.crf,298632,2014-05-14
......\...\iic_analog.d,994,2014-05-14
......\...\iic_analog.o,316224,2014-05-14
......\...\main.crf,319043,2014-05-20
......\...\main.d,1157,2014-05-20
......\...\main.o,339828,2014-05-20
......\...\misc.crf,295221,2014-05-20
......\...\misc.d,888,2014-05-20
......\...\misc.o,312256,2014-05-20
......\...\mpu6050.crf,306678,2014-05-20
......\...\mpu6050.d,1112,2014-05-20
......\...\mpu6050.o,322492,2014-05-20
......\...\spi.crf,295578,2014-05-20
......\...\spi.d,864,2014-05-20
......\...\spi.o,312960,2014-05-20
......\...\startup_stm32f10x_md.d,63,2014-05-20
......\...\startup_stm32f10x_md.o,5904,2014-05-20
......\...\stm32f10x_adc.crf,302380,2014-05-20
......\...\stm32f10x_adc.d,1068,2014-05-20
......\...\stm32f10x_adc.o,326228,2014-05-20
......\...\stm32f10x_bkp.crf,298683,2014-05-20
......\...\stm32f10x_bkp.d,1068,2014-05-20
......\...\stm32f10x_bkp.o,318384,2014-05-20
......\...\stm32f10x_can.crf,312981,2014-05-20
......\...\stm32f10x_can.d,1068,2014-05-20
......\...\stm32f10x_can.o,332472,2014-05-20
......\...\stm32f10x_cec.crf,298936,2014-05-20
......\...\stm32f10x_cec.d,1068,2014-05-20
......\...\stm32f10x_cec.o,317876,2014-05-20
......\...\stm32f10x_crc.crf,295189,2014-05-20
......\...\stm32f10x_crc.d,1068,2014-05-20
......\...\stm32f10x_crc.o,313032,2014-05-20
......\...\stm32f10x_dac.crf,300732,2014-05-20
......\...\stm32f10x_dac.d,1068,2014-05-20
......\...\stm32f10x_dac.o,320520,2014-05-20
......\...\stm32f10x_dbgmcu.crf,295823,2014-05-20
......\...\stm32f10x_dbgmcu.d,1128,2014-05-20
......\...\stm32f10x_dbgmcu.o,313492,2014-05-20
......\...\stm32f10x_dma.crf,304757,2014-05-20
......\...\stm32f10x_dma.d,1068,2014-05-20
......\...\stm32f10x_dma.o,326336,2014-05-20
......\...\stm32f10x_exti.crf,295780,2014-05-20
......\...\stm32f10x_exti.d,1088,2014-05-20
......\...\stm32f10x_exti.o,313096,2014-05-20
......\...\stm32f10x_flash.crf,302238,2014-05-20
......\...\stm32f10x_flash.d,1108,2014-05-20
......\...\stm32f10x_flash.o,322680,2014-05-20
......\...\stm32f10x_fsmc.crf,308737,2014-05-20
......\...\stm32f10x_fsmc.d,1088,2014-05-20
......\...\stm32f10x_fsmc.o,327496,2014-05-20
......\...\stm32f10x_gpio.crf,298720,2014-05-20
......\...\stm32f10x_gpio.d,1088,2014-05-20
......\...\stm32f10x_gpio.o,318604,2014-05-20
......\...\stm32f10x_i2c.crf,309060,2014-05-20
......\...\stm32f10x_i2c.d,1068,2014-05-20
......\...\stm32f10x_i2c.o,332388,2014-05-20
......\...\stm32f10x_it.crf,294622,2014-05-20
......\...\stm32f10x_it.d,978,2014-05-20
......\...\stm32f10x_it.o,312548,2014-05-20
......\...\stm32f10x_iwdg.crf,295875,2014-05-20
......\...\stm32f10x_iwdg.d,1088,2014-05-20
......\...\stm32f10x_iwdg.o,313900,2014-05-20