本项目使用STM32F103单片机，使用Keil5开发。
获取已编译的hex，可直接烧录
https://github.com/HelloLingC/RaspVisionCar-STM32
接线
Motor
PWM
PA6 TIM3_CH1 -> Motor PWMA
PA7 TIM3_CH2 -> Motor PWMB
PC15 - STBY
Left Motor Driver
PB0 -> AIN1
PB1 -> AIN2
Right Motor Driver
PA4 -> BIN1
PA5 -> BIN2
Hall Encoder
Left Encoder
E1A -> TIM2_CH1 PB6
E1B -> TIM2_CH2 PB7
Right Encoder
E2A -> TIM4_CH1
E2B -> TIM4_CH2
GND
5V
Raspberry Pi
PA9 USART_1 TX -> GPIO 15 RX
PA10 USART_1 RX -> GPIO 14 TX
Lader
LD14 单向输入
PA3 USART_2 RX -> LD14 TX