The lower-level machine of the Raspberry Pi ROS car

--------------------------------------------------------------------------------------------------------------------------------------------------------------------
V1.0-2024.7.1
A lower-level computer board based on a Raspberry Pi ROS car, compatible with Raspberry Pi pinouts and positioning holes.
Main control chip: STM32G431, all pins are fully utilized; unfortunately, the G431's op-amps and advanced timers are not used.
Communication method between the board and Raspberry Pi: Serial communication.
Recommended power supply: 2-3S lithium battery.
Main functions: Gyroscope attitude recognition, two-channel motor drive, encoder PID control, screen display, Raspberry Pi power supply, Raspberry Pi cooling fan.
Secondary functions: DIP switches, voice recognition, voice playback, battery current detection, battery voltage detection, voice module power control switch.
Circuit protection: Two power switches, digital signal isolation, self-resetting fuse, TVS surge protection, soft-start surge protection.
Summary: Version V1.0's functions meet most usage requirements. The selected hardware is perfectly capable of handling the task, provides ample protection, and the board is small enough.
Future plans for version V1.1: 1. Update the voice module to a network-connected one; 2. Add a microcontroller-controlled Raspberry Pi power circuit, allowing remote shutdown of the Raspberry Pi's power supply; 3. Add a circuit for three 18650 lithium batteries to further reduce the car's size and address the issue of battery bulging; 4. Change the Raspberry Pi's cooling solution; the fan and heatsink only keep the chip temperature around 50°C (no plans for now); 5. Add Bluetooth or WiFi functionality for smartphone control (the car is too heavy to handle; a smartphone app would be convenient and safer); 6. Add a GPS module (a personal hobby, not very useful unless you're working on autonomous driving)
.