STM32 Full data Open Source: two-wheel upright self-balancing trolley based on STM32

STM32 Full data Open Source: two-wheel upright self-balancing trolley based on STM32

Bi set of information--stm32 two-wheel self-balancing car system, complete data sharing out, to the needs of the people, the Forum also opened a new intelligent car Download section, all hardware and software information can be downloaded free of charge, now share some content, to the graduation of small partners of small benefits, What do not understand can add group inquiry: 813238832, or to the Network Technology forum to download the website materials

Figure A

Hardware Resources:
The main control chip with a 100-foot stm32f103vet6, gyroscope with the MPU6050, the motor is driven by the TB6612, Bluetooth is the HC05 stamp hole package, WiFi is Jinan, some technology usr-wifi232-s, Car chassis with a balance of the car's home of a piece with encoder (not I bought, classmate's), Battery is a 7.2 ni-CD battery, liquid crystal with the medium Park electronic 1.3-inch IIC interface OLED, switch with the three-foot wand switch, the battery interface is T-plug, the resistor capacitor is basically 0603 package, the encoder 5V buck with the asm1117-5.0,3.3v Buck is SP6203, dial Code switch with 4P SMD 2.54mm angular distance, the key is two feet patch, MICROUSB interface with 5 pin 7.2 four foot plate horn female, ultrasonic is a treasure on a few pieces of money on the kind of rotten street, buzzer is active, encoder is the car chassis comes with, The battery voltage detection is measured by a voltage follower connected to the MCU internal ad after the resistor is divided.
Complete information download link in the break network: https://bbs.usoftchina.com/thread-203099-1-1.html

Motherboard resources:
STM32F103VET6 master chip; two microUSB port, the first is the MCU serial port 1, can be used as a common serial port transceiver data, by adjusting the boot option on the board, it can also be used as an ISP download program interface, the second is the SWD hardware emulation interface, Bluetooth module, Connected to the MCU's serial port 2, the WiFi module is connected to the MCU's serial port 3 , a 1.3-inch IIC protocol LCD interface, ultrasonic interface, dual motor drive, six-axis gyroscope, battery voltage detection, 4 led;4 for commissioning, a set of 4 p dial switch, active buzzer, two 6P with AB Encoder motor interface.

I share out is the hardware + software matching, no exaggeration to say, directly to me this PCB sent to proofing back welding, program burn write in, adjust the parameters should be simple upright.
Link settings
0:r0:0x00
1:r1:0x01
2:r2:0x02
3:r3:0x03
4:r4:0x04
5:r5:0x05
6:r6:0x06
7:r7:0x07
8:r8:0x08
9:r9:0x09
10:r10:0x0a
11:r11:0x0b
12:r12:0x0c
13:r13:0x0d
14:r14:0x0e
15:r15:0x0f
16:xpsr:0x10
17:msp:0x11
18:psp:0x12
19:raz:0x13
20:cfbp:0x14
21:apsr:0x15
22:epsr:0x16
23:ipsr:0x17
24:primask:0x18
25:basepri:0x19
26:faultmask:0x1a
27:control:0x1b
28:basepri_max:0x1c
29:iapsr:0x1d
30:eapsr:0x1e
31:iepsr:0x1f

STM32 Full data Open Source: two-wheel upright self-balancing trolley based on STM32