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詹力 2024-01-17 14:31:53 +08:00
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155 changed files with 381 additions and 6 deletions
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Hardware/Firmware/PiRobot_Firmware v1.0/驱动固件的配置与使用.md
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# 驱动固件的配置与使用
#### 一、下位机驱动板的通信
​ 小车驱动底板主要采用是串口通信，接口上支持`USB`通信。小车与`ROS`交互使用的是`uart3`(小车底板上的`micro usb`接口)，小车打印log采用是`uart1`(小车底板上的排针)。

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Hardware/Firmware/PiRobot_Firmware v1.0/.gitignore → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/.gitignore vendored
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/adc_dac.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/adc_dac.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/adc_dac.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/adc_dac.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/bsplib.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/bsplib.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/delay.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/delay.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/delay.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/delay.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/encoder.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/encoder.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/encoder.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/encoder.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/flash.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/flash.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/flash.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/flash.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/i2c.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/i2c.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/i2c.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/i2c.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/nvic.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/nvic.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_in.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_in.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_in.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_in.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_out.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_out.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_out.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_out.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/rtc.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/rtc.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/rtc.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/rtc.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/spi.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/spi.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/spi.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/spi.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/timer.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/timer.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/timer.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/timer.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/usart.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/usart.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/usart.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/usart.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/wdg_wkup.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/wdg_wkup.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/wdg_wkup.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/wdg_wkup.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/core_cm3.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/core_cm3.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/core_cm3.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/core_cm3.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_cl.s → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_cl.s
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_hd.s → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_hd.s
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_hd_vl.s → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_hd_vl.s
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_ld.s → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_ld.s
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_ld_vl.s → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_ld_vl.s
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_md.s → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_md.s
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_md_vl.s → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_md_vl.s
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_xl.s → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_xl.s
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/stm32f10x.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/stm32f10x.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/system_stm32f10x.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/system_stm32f10x.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/system_stm32f10x.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/system_stm32f10x.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/misc.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/misc.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_adc.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_adc.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_bkp.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_bkp.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_can.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_can.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_cec.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_cec.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_crc.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_crc.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_dac.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_dac.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_dbgmcu.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_dbgmcu.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_dma.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_dma.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_exti.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_exti.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_flash.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_flash.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_fsmc.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_fsmc.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_gpio.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_gpio.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_iwdg.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_iwdg.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_pwr.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_pwr.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_rcc.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_rcc.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_rtc.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_rtc.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_sdio.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_sdio.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_spi.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_spi.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_tim.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_tim.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_usart.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_usart.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_wwdg.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_wwdg.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/misc.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/misc.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_adc.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_adc.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_bkp.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_bkp.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_can.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_can.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_cec.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_cec.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_dbgmcu.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_dbgmcu.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_dma.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_dma.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_exti.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_exti.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_flash.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_flash.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_gpio.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_gpio.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_i2c.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_i2c.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_iwdg.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_iwdg.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_pwr.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_pwr.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_rcc.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_rcc.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_rtc.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_rtc.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_sdio.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_sdio.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_spi.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_spi.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_tim.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_tim.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_usart.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_usart.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_wwdg.c → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_wwdg.c
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/JLinkSettings.ini → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/JLinkSettings.ini
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Board/board.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Board/board.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Board/board_stm32.cpp → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Board/board_stm32.cpp
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Board/board_stm32.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Board/board_stm32.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Board/print.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Board/print.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/DataHolder/data_holder.cpp → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/DataHolder/data_holder.cpp
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/DataHolder/data_holder.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/DataHolder/data_holder.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder_implement.cpp → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder_implement.cpp
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder_implement.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder_implement.h
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/ADXL345.cpp → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/ADXL345.cpp
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Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/ADXL345.h → Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/ADXL345.h
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