功能：
TIM2 输入捕获测量转速并发送、显示
两轮PID闭环
PWM控制舵机
云台舵机闭环
与上位机串口通信，控制云台
超声波测距
添加电源电压警报
串口3发送指令
输入捕获修改为TIM5 CH1 及 TIM2 CH2
云台修改至TIM8 CH1 CH2
端口映射表
/***
*=============================================================================
* Supported EasyGo Hardwares
*-----------------------------------------------------------------------------
* OLED
*-----------------------------------------------------------------------------
* D0 | PE0
*-----------------------------------------------------------------------------
* D1 | PE1
*-----------------------------------------------------------------------------
* RES | PE2
*-----------------------------------------------------------------------------
* DC | PE3
*-----------------------------------------------------------------------------
*-----------------------------------------------------------------------------
* PWM
*-----------------------------------------------------------------------------
* Motor_Left | PE5 TIM9/CH1
*-----------------------------------------------------------------------------
* Motor_Right | PE6 TIM9/CH2
*-----------------------------------------------------------------------------
* Servo_Horizontal | PC6 TIM8/CH1
*-----------------------------------------------------------------------------
* Servo_Vertical | PC7 TIM8/CH2
*-----------------------------------------------------------------------------
*-----------------------------------------------------------------------------
* SWITCH
*-----------------------------------------------------------------------------
* Enable_Left | PC0
*-----------------------------------------------------------------------------
* Enable_Right | PC1
*-----------------------------------------------------------------------------
* Turn_Left | PC2
*-----------------------------------------------------------------------------
* Turn_Right | PC3
*-----------------------------------------------------------------------------
*-----------------------------------------------------------------------------
* ENCODER
*-----------------------------------------------------------------------------
* Encoder_Left | PA0 TIM5/CH1
*-----------------------------------------------------------------------------
* Encoder_Right | PA1 TIM2/CH1
*-----------------------------------------------------------------------------
*-----------------------------------------------------------------------------
* INTERRUPT
*-----------------------------------------------------------------------------
* Trigger_20ms | - TIM3
*-----------------------------------------------------------------------------
*-----------------------------------------------------------------------------
* ALART
*-----------------------------------------------------------------------------
* Voltage | PA2 ADC1/IN2
*-----------------------------------------------------------------------------
* END
*=============================================================================
***/
STM32F411CEU6-FreeRTOS--project
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2018-05-24
14:30:16
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STM32F411CEU6-FreeRTOS--project （293个子文件） 
Template.axf 333KB Template.uvguix.Bacteria 174KB keilkilll.bat 399B tasks.c 162KB stm32f4xx_tim.c 122KB stm32f4xx_rtc.c 100KB stm32f4xx_rcc.c 97KB queue.c 92KB stm32f4xx_dfsdm.c 85KB stm32f4xx_adc.c 67KB stm32f4xx_flash.c 62KB stm32f4xx_dsi.c 61KB stm32f4xx_can.c 59KB stm32f4xx_cryp_aes.c 57KB stm32f4xx_fmpi2c.c 57KB stm32f4xx_usart.c 57KB stm32f4xx_fmc.c 55KB stm32f4xx_i2c.c 53KB stm32f4xx_dma.c 52KB stm32f4xx_spi.c 51KB system_stm32f4xx.c 47KB stm32f4xx_sai.c 45KB stream_buffer.c 42KB stm32f4xx_fsmc.c 41KB timers.c 39KB stm32f4xx_ltdc.c 39KB stm32f4xx_sdio.c 38KB stm32f4xx_pwr.c 37KB stm32f4xx_cryp.c 35KB stm32f4xx_lptim.c 34KB stm32f4xx_qspi.c 32KB port.c 29KB port.c 28KB port.c 27KB stm32f4xx_dma2d.c 27KB stm32f4xx_dac.c 26KB stm32f4xx_hash.c 26KB port.c 26KB stm32f4xx_gpio.c 25KB stm32f4xx_cec.c 24KB event_groups.c 24KB port.c 19KB stm32f4xx_dcmi.c 18KB stm32f4xx_spdifrx.c 17KB heap_5.c 16KB heap_4.c 14KB stm32f4xx_rng.c 14KB croutine.c 13KB misc.c 11KB stm32f4xx_cryp_tdes.c 10KB stm32f4xx_wwdg.c 10KB port.c 10KB port.c 10KB heap_2.c 10KB stm32f4xx_exti.c 10KB stm32f4xx_cryp_des.c 10KB stm32f4xx_hash_sha1.c 10KB stm32f4xx_hash_md5.c 9KB stm32f4xx_syscfg.c 9KB stm32f4xx_iwdg.c 9KB list.c 8KB stm32f4xx_dbgmcu.c 7KB delay.c 5KB stm32f4xx_flash_ramfunc.c 5KB heap_1.c 5KB stm32f4xx_it.c 4KB usart.c 4KB exti.c 4KB stm32f4xx_crc.c 4KB nvic.c 3KB heap_3.c 3KB usart2.c 3KB pwm.c 2KB sys.c 684B led.c 495B system.c 422B main.c 277B main.crf 407KB system.crf 407KB delay.crf 393KB usart.crf 386KB stm32f4xx_tim.crf 378KB stm32f4xx_rcc.crf 369KB stm32f4xx_adc.crf 365KB stm32f4xx_flash.crf 365KB stm32f4xx_dma.crf 365KB usart2.crf 365KB stm32f4xx_i2c.crf 364KB stm32f4xx_usart.crf 364KB stm32f4xx_spi.crf 363KB stm32f4xx_gpio.crf 361KB pwm.crf 360KB system_stm32f4xx.crf 360KB led.crf 359KB stm32f4xx_exti.crf 359KB sys.crf 359KB stm32f4xx_syscfg.crf 359KB misc.crf 359KB stm32f4xx_iwdg.crf 358KB stm32f4xx_dbgmcu.crf 358KB共 293 条
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