原标题：智能平衡车控制器方案

　　【stm32f103rct6】

　　Mainstream Performance line, ARM Cortex-M3 MCU with 256 Kbytes Flash, 72 MHz CPU, motor control, USB and CAN

　　The STM32F103xC, STM32F103xD and STM32F103xE performance line family incorporates the high-performance ARM® Cortex®-M3 32-bit RISC core operating at a 72 MHz frequency, high-speed embedded memories (Flash memory up to 512 Kbytes and SRAM up to 64 Kbytes), and an extensive range of enhanced I/Os and peripherals connected to two APB buses. All devices offer three 12-bit ADCs, four general-purpose 16-bit timers plus two PWM timers, as well as standard and advanced communication interfaces: up to two I2Cs, three SPIs, two I2Ss, one SDIO, five USARTs, an USB and a CAN.

　　The STM32F103xC/D/E high-density performance line family operates in the –40 to +105 °C temperature range, from a 2.0 to 3.6 V power supply. A comprehensive set of power-saving mode allows the design of low-power applications.

　　These features make the STM32F103xC/D/E high-density performance line microcontroller family suitable for a wide range of applications such as motor drives, application control, medical and handheld equipment, PC and gaming peripherals, GPS platforms, industrial applications, PLCs, inverters, printers, scanners, alarm systems video intercom, and HVAC.

　　主要特性

　　Core: ARM® 32-bit Cortex®-M3 CPU

　　72 MHz maximum frequency, 1.25 DMIPS/MHz (Dhrystone 2.1) performance at 0 wait state memory access

　　Single-cycle multiplication and hardware division

　　Memories

　　256 to 512 Kbytes of Flash memory

　　up to 64 Kbytes of SRAM

　　Flexible static memory controller with 4 Chip Select. Supports Compact Flash, SRAM, PSRAM, NOR and NAND memories

　　LCD parallel interface, 8080/6800 modes

　　Clock, reset and supply management

　　2.0 to 3.6 V application supply and I/Os

　　POR, PDR, and programmable voltage detector (PVD)

　　4-to-16 MHz crystal oscillator

　　Internal 8 MHz factory-trimmed RC

　　Internal 40 kHz RC with calibration

　　32 kHz oscillator for RTC with calibration

　　Low power

　　Sleep, Stop and Standby modes

　　VBAT supply for RTC and backup registers

　　3 × 12-bit, 1 μs A/D converters (up to 21 channels)

　　Conversion range: 0 to 3.6 V

　　Triple-sample and hold capability

　　Temperature sensor

　　2 × 12-bit D/A converters

　　DMA: 12-channel DMA controller

　　Supported peripherals: timers, ADCs, DAC, SDIO, I2Ss, SPIs, I2Cs and USARTs

　　Debug mode

　　Serial wire debug (SWD) & JTAG interfaces

　　Cortex®-M3 Embedded Trace Macrocell™

　　Up to 112 fast I/O ports

　　51/80/112 I/Os, all mappable on 16 external interrupt vectors and almost all 5 V-tolerant

　　Up to 11 timers

　　Up to four 16-bit timers, each with up to 4 IC/OC/PWM or pulse counter and quadrature (incremental) encoder input

　　2 × 16-bit motor control PWM timers with dead-time generation and emergency stop

　　2 × watchdog timers (Independent and Window)

　　SysTick timer: a 24-bit downcounter

　　2 × 16-bit basic timers to drive the DAC

　　Up to 13 communication interfaces

　　Up to 2 × I2C interfaces (SMBus/PMBus)

　　Up to 5 USARTs (ISO 7816 interface, LIN, IrDA capability, modem control)

　　Up to 3 SPIs (18 Mbit/s), 2 with I2S interface multiplexed

　　CAN interface (2.0B Active)

　　USB 2.0 full speed interface

　　SDIO interface

　　CRC calculation unit, 96-bit unique ID

　　ECOPACK® packages

　　电路原理图

　　【stm32f103c6t6a】

　　Mainstream Performance line, ARM Cortex-M3 MCU with 32 Kbytes Flash, 72 MHz CPU, motor control, USB and CAN

　　The STM32F103x4 and STM32F103x6 performance line family incorporates the high-performance ARM® Cortex™-M3 32-bit RISC core operating at a 72 MHz frequency, high-speed embedded memories (Flash memory up to 32 Kbytes and SRAM up to 6 Kbytes), and an extensive range of enhanced I/Os and peripherals connected to two APB buses. All devices offer two 12-bit ADCs, three general purpose 16-bit timers plus one PWM timer, as well as standard and advanced communication interfaces: up to two I2Cs and SPIs, three USARTs, an USB and a CAN.

　　The STM32F103xx low-density performance line family operates from a 2.0 to 3.6 V power supply. It is available in both the –40 to +85 °C temperature range and the –40 to +105 °C extended temperature range. A comprehensive set of power-saving mode allows the design of low-power applications.

　　The STM32F103xx low-density performance line family includes devices in four different package types: from 36 pins to 64 pins. Depending on the device chosen, different sets of peripherals are included, the description below gives an overview of the complete range of peripherals proposed in this family.

　　These features make the STM32F103xx low-density performance line microcontroller family suitable for a wide range of applications such as motor drives, application control, medical and handheld equipment, PC and gaming peripherals, GPS platforms, industrial applications, PLCs, inverters, printers, scanners, alarm systems, video intercoms, and HVACs.

　　KEY FEATURES

　　ARM 32-bit Cortex™-M3 CPU Core

　　72 MHz maximum frequency,1.25 DMIPS/MHz (Dhrystone 2.1) performance at 0 wait state memory access

　　Single-cycle multiplication and hardware division

　　Memories

　　16 or 32 Kbytes of Flash memory

　　6 or 10 Kbytes of SRAM

　　Clock, reset and supply management

　　2.0 to 3.6 V application supply and I/Os

　　POR, PDR, and programmable voltage detector (PVD)

　　4-to-16 MHz crystal oscillator

　　Internal 8 MHz factory-trimmed RC

　　Internal 40 kHz RC

　　PLL for CPU clock

　　32 kHz oscillator for RTC with calibration

　　Low power

　　Sleep, Stop and Standby modes

　　VBAT supply for RTC and backup registers

　　2 x 12-bit, 1 μs A/D converters (up to 16 channels)

　　Conversion range: 0 to 3.6 V

　　Dual-sample and hold capability

　　Temperature sensor

　　DMA

　　7-channel DMA controller

　　Peripherals supported: timers, ADC, SPIs, I2Cs and USARTs

　　Up to 51 fast I/O ports

　　26/37/51 I/Os, all mappable on 16 external interrupt vectors and almost all 5 V-tolerant

　　Debug mode

　　Serial wire debug (SWD) & JTAG interfaces

　　6 timers

　　Two 16-bit timers, each with up to 4 IC/OC/PWM or pulse counter and quadrature (incremental) encoder input

　　16-bit, motor control PWM timer with dead-time generation and emergency stop

　　2 watchdog timers (Independent and Window)

　　SysTick timer 24-bit downcounter

　　6 communication interfaces

　　1 x I2C interface (SMBus/PMBus)

　　2 × USARTs (ISO 7816 interface, LIN, IrDA capability, modem control)

　　1 × SPI (18 Mbit/s)

　　CAN interface (2.0B Active)

　　USB 2.0 full-speed interface

　　CRC calculation unit, 96-bit unique ID

　　Packages are ECOPACK®

　　Circuit Diagram

　　【LSM6DS33】

　　The LSM6DS33 is a system-in-package featuring a 3D digital accelerometer and a 3D digital gyroscope performing at 1.25 mA (up to 1.6 kHz ODR) in high-performance mode and enabling always-on low-power features for an optimal motion experience for the consumer.

　　The LSM6DS33 supports main OS requirements, offering real, virtual and batch sensors with 8 kbyte for dynamic data batching.

　　ST’s family of MEMS sensor modules leverages the robust and mature manufacturing processes already used for the production of micromachined accelerometers and gyroscopes.

　　The various sensing elements are manufactured using specialized micromachining processes, while the IC interfaces are developed using CMOS technology that allows the design of a dedicated circuit which is trimmed to better match the characteristics of the sensing element.

　　The LSM6DS33 has a full-scale acceleration range of ±2/±4/±8/±16 g and an angular rate range of ±125/±250/±500/±1000/±2000 dps.

　　High robustness to mechanical shock makes the LSM6DS33 the preferred choice of system designers for the creation and manufacturing of reliable products.

　　The LSM6DS33 is available in a plastic land grid array (LGA) package.

　　主要特性

　　Power consumption: 0.9 mA in combo normal mode and 1.25 mA in combo high-performance mode up to 1.6 kHz.

　　“Always-on” experience with low power consumption for both accelerometer and gyroscope

　　Smart FIFO up to 8 kbyte based on features set

　　Compliant with Android K and L

　　±2/±4/±8/±16 g full scale

　　±125/±250/±500/±1000/±2000 dps full scale

　　Analog supply voltage: 1.71 V to 3.6 V

　　Independent IOs supply (1.62 V)

　　Compact footprint, 3 mm x 3 mm x 0.86 mm

　　SPI/I2C serial interface with main processor data synchronization feature

　　Embedded temperature sensor

　　ECOPACK®, RoHS and “Green” compliant

　　【STP100N8F6】

　　N-channel 80 V, 0.008 Ohm typ., 100 A, STripFET F6 Power MOSFET in a TO-220 package

　　This device is an N-channel Power MOSFET developed using the STripFET™ F6 technology with a new trench gate structure. The resulting Power MOSFET exhibits very low RDS(on) in all packages.

　　主要特性

　　Very low on-resistance

　　Very low gate charge

　　High avalanche ruggedness

　　Low gate drive power loss