基于STM32仿生四足机器人技术

AXDIRECTION
PC3
PC4
GND
P3
1
2
3
4
5
6
7
8
9 10
11 12
13 14
15 16
17 18
19 20
PA6 PA4 PA2 PA0 PA11 PC9 PB0 PC3 PC11
HEADER 10X2 VCC
PC7
视觉传感器电路
D1 VCC
LED R4 1.5K
1 VBAT
PC8 PC9 PC10 PC11 PC12 PC13-TAMPER-RTC PC14-OSC32_IN PC15-OSC32_OUT
2020/10/18 F:\MySheji8\..\Sheet4.SchDoc
Sheet of Drawn By:
2
3
4
41 42 43 44 45 46 49 50
PA8 PA9 PA10 PA11 PA12 PA13/JTMS/SWDIO PA14/JTCK/SWCLK PA15/JTDI
PB8 PB9 PB10 PB11 PB12 PB13 PB14 PB15
61 62 29 30 33 34 35 36
VCC5 P4
39 40 PC9 51 52 PC11 53 PC12 2 3 4
Y2 32.768KHz
32 48 64 19
VDD_1 VDD_2 VDD_3 VDD_4
VSS_1 VSS_2 VSS_3 VSS_4
31 47 63 18
13 VDDA
VSSA 12
GND
STM32F103RBT6
4 A B C
1
A
P1
VCC
3
2
R1
1
0 Header3
GND
GND
B
VCC
R3 10K
RST
C
S1
KEY
C8
0.01uF
GND 复位
D 1
2
3
4
A
VCC
CZ1
R6 R7 R8 R9 R10
GND
1 10K JNRST 3 10K JTDI 5 10K JTMS 7 10K JTCK 9
11 10K JTDO 13
14 15 16 17 20 21 22 23
PA0-WKUP PA1 PA2 PA3 PA4 PA5 PA6 PA7
PB0 PB1 PB2/BOOT1 PB3/JTDO PB4/JNTRST PB5 PB6 PB7
26 27 28 55 56 57 58 59
PB0 PB1 BOOT1 JTDO JTRST
AXTXD AXRXD
1 2 3
4
HEADER4 GND
OSC_IN 5 OSC_OUT 6
54
BOOT0 60
RST
7
OSC_IN/PD0 OSC_OUT/PD1 PD2
BOOT0
NRST
PC0 PC1 PC2 PC3 PC4 PC5 PC6 PC7
8 9 10 11 24 25 37 38
AXDIRECTION PC3 PC4
PA0-WKUP PA1 PA2 PA3 PA4 PA5 PA6 PA7
PB0 PB1 PB2/BOOT1 PB3/JTDO PB4/JNTRST PB5 PB6 PB7
26 27 28 55 56 57 58 59
PB0 PB1 BOOT1 JTDO JTRST
PA8 PA9 PA10 PA11
JTMS JTCK JTDI
RST 15 17 19
VCC /TRST TDI TMS TCK RTCK TDO /SRST NC NC
VCC GND GND GND GND GND GND GND GND GND
2 4 6 8 10 12 14 16 18 20
C13 0.1uF
B
JTAG(20-PIN)
GND
下载器
OSC_IN OSC_OUT
VDD_1 VDD_2 VDD_3 VDD_4
VSS_1 VSS_2 VSS_3 VSS_4
31 47 63 18
13 VDDA
VSSA 12
GND
STM32F103RBT6
4 A B C
Title
D
Size
Number
Revision
A4
Date: File:
2020/10/18 F:\MySheji8\..\Sheet3.SchDoc
PC7
超声波电路
D1 VCC
LED R4 1.5K
1 VBAT
PC8 PC9 PC10 PC11 PC12 PC13-TAMPER-RTC PC14-OSC32_IN PC15-OSC32_OUT
39 40 51 52 53 2 3 4
PC9
PC11 PC12
Y2 32.768KHz
32 48 64 19
Sheet of Drawn By:
2
3
4
1 A
B
C
D 1
2
3
4
A
U3
4
B
VOUT
VCC5
3 VIN VOUT 2
VCC
D3 LED
R12 10K
1
GND SPX1117(FIXED)
C12 100nF
C11 100uF
Байду номын сангаас
电源
GND
C
Title
D
Size
Number
Revision
A4
Date: File:
Y1
8MHz C9 22pF
GND 晶振
C10 22pF
2
C
Title
D
Size
Number
Revision
A4
Date: File:
2020/10/18 F:\MySheji8\..\Sheet1.SchDoc
Sheet of Drawn By:
3
4
1 A
B
C
D 1
2
3
U1
PA0 PA1 PA2 PA3 PA4 PA5 PA6 PA7
BOOT0
NRST
PB8 PB9 PB10 PB11 PB12 PB13 PB14 PB15
PC0 PC1 PC2 PC3 PC4 PC5 PC6 PC7
61 62 29 30 33 34 35 36
8 9 10 11 24 25 37 38
PA7 AXTXD PA5 AXRXD PA3
PA1
PC7 PA8 PB1 PC12
PA8
41
PA9
42
PA10 43
PA11 44
45
JTMS 46
JTCK 49
JTDI
50
OSC_IN 5 OSC_OUT 6
54
BOOT0 60
RST
7
PA8 PA9 PA10 PA11 PA12 PA13/JTMS/SWDIO PA14/JTCK/SWCLK PA15/JTDI
OSC_IN/PD0 OSC_OUT/PD1 PD2
Title
D
Size
Number
Revision
A4
Date: File:
2020/10/18 F:\MySheji8\..\Sheet2.SchDoc
Sheet of Drawn By:
2
3
4
1 A
B
C
D 1
2
3
U1
PA0 PA1 PA2 PA3 PA4 PA5 PA6 PA7
14 15 16 17 20 21 22 23