基于STM32的迷你独轮平衡小车-bbear_balance_car.pdf_STM32独轮自平衡车资源-CSDN文库

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5

5

4

4

3

3

2

2

1

1

D

C

B

A A

BOOT

DEBUG

SENSOR

POWER

RESET

LED

MOTOR-DRIVER

SERIAL_PORT

expand I/O

Speed

MOTOR_VOL

XTAL

HX1383 MOTOR

GND

OSCOUT

OSCIN

RESET

OSCIN

OSCOUT

RESET

VCC3.3

VCC3.3

VCC3.3

VCC3.3

VCC3.3

GND

GND

GND

GND

SCL

SDA

SCL

SDA

SWIO

SWCLK

LEFT_FOR

LEFT_BACK

RIGHT_BACK

RIGHT_FOR

BOOT0

SWIO

SWCLK

BOOT1

BOOT0

PA10

PA9

PA9

PA10

HEART_LED

HEART_LED

RIGHT_BACK

RIGHT_FOR

LEFT_BACK

LEFT_FOR

MOTORA+

MOTORA-

MOTORB+

MOTORB-

MOTOR_BAT

MOTOR_BAT

BAT_8V

BAT+

BAT+

BAT-

BAT-

MOTORA+

MOTORA-

MOTORB+

MOTORB-

PB10

PB11

PB10

PB11

PA3

PA3

BAT_8V

BAT+

PA12

PA11

PA8

PB15

PB14

PB13

PB12

PA12

PA11

PA8

PB15

PB14

PB13

PB12

VCC3.3

VCC3.3

VCC3.3

VCC3.3 VCC3.3

VCC3.3

VCC3.3

VCC3.3

VCC3.3

VCC3.3

VCC3.3

VCC3.3

VCC3.3

VCC3.3

VCC3.3

Title

Size

Document Number Rev

Date: Sheet o f

<Doc> v1.0

RTU_BBear

A4

1 1Friday, March 17, 2017

Title

Size

Document Number Rev

Date: Sheet o f

<Doc> v1.0

RTU_BBear

A4

1 1Friday, March 17, 2017

Title

Size

Document Number Rev

Date: Sheet o f

<Doc> v1.0

RTU_BBear

A4

1 1Friday, March 17, 2017

U10

CON5

1

1

2

2

3

3

4

4

5

5

U19

CON2

1

1

2

2

U17

CON2

1

1

2

2

X1

XTAL

1

1

2

2

U22

CON2

1

1

2

2

U5

CON2

1

1

2

2

U3

CON4

1

1

2

2

3

3

4

4

U13

MOTOR-B

1

1

2

2

U6

KEY

1

1

2

2

3

3

U21

CON2

1

1

2

2

U8

MOTOR-A

1

1

2

2

S1

MPU6050

1

1

2

2

3

3

4

4

5

5

6

6

7

7

8

8

U20

KEY

1

1

2

2

3

3

U4

SWD

1

1

2

2

3

3

4

4

U1

STM32F103C8T6

VBAT

1

PC13

2

PC14

3

PC15

4

OSCIN

5

OSCOUT

6

NRST

7

VSSA

8

VDDA

9

PA0

10

PA1

11

PA2

12

PA3

13

PA4

14

PA5

15

PA6

16

PA7

17

PB0

18

PB1

19

PB2/BOOT1

20

PB10

21

PB11

22

VSS_1

23

VDD_1

24

VDD_3

48

VSS_3

47

PB9

46

PB8

45

BOOT0

44

PB7

43

PB6

42

PB5

41

PB4

40

PB3

39

PA15

38

SWCLK

37

VDD_2

36

VSS_2

35

SWIO

34

PA12

33

PA11

32

PA10

31

PA9

30

PA8

29

PB15

28

PB14

27

PB13

26

PB12

25

R2

10K

R8

10K

LED2

POWER

1

1

2

2

U12

CON2

1

1

2

2

U16

CON5

1

1

2

2

3

3

4

4

5

5

U18

switch

1

1

2

2

3

3

U7

CON2

1

1

2

2

LED1

HEARTLED

1

1

2

2

R1 10K

U2

BOOT0

1

1

2

2

3

3

R71K

U15

CON5

1

1

2

2

3

3

4

4

5

5

U23

KEY

1

1

2

2

3

3

R61K

L1

LM1117

VCC-IN

1

OUT2

2

GND

3

OUT1

4

U9

CON5

1

1

2

2

3

3

4

4

5

5

C5

1UF

1

1

2

2

C11

0.1UF

1

1

2

2

C7

22PF

1

1

2

2

U11

KEY

1

1

2

2

3

3

C2

0.1UF

1

1

2

2

C1

0.1UF

1

1

2

2

U24

CON4

1

1

2

2

3

3

4

4

C6

22PF

1

1

2

2

U14

KEY

1

1

2

2

3

3

C12

10UF

1

1

2

2

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