├── README.md ├── hardware_picture.jpeg └── stm32f407 ├── .cproject ├── .metadata ├── .lock ├── .log ├── .mylyn │ └── repositories.xml.zip ├── .plugins │ ├── org.eclipse.cdt.core │ │ └── .log │ ├── org.eclipse.cdt.make.core │ │ ├── specs.c │ │ └── specs.cpp │ ├── org.eclipse.core.resources │ │ ├── .root │ │ │ ├── .indexes │ │ │ │ ├── history.version │ │ │ │ └── properties.version │ │ │ └── 1.tree │ │ └── .safetable │ │ │ └── org.eclipse.core.resources │ ├── org.eclipse.core.runtime │ │ └── .settings │ │ │ ├── org.eclipse.cdt.ui.prefs │ │ │ ├── org.eclipse.core.resources.prefs │ │ │ ├── org.eclipse.epp.logging.aeri.ide.prefs │ │ │ ├── org.eclipse.mylyn.context.core.prefs │ │ │ ├── org.eclipse.mylyn.monitor.ui.prefs │ │ │ ├── org.eclipse.mylyn.tasks.ui.prefs │ │ │ ├── org.eclipse.team.svn.core.prefs │ │ │ ├── org.eclipse.team.ui.prefs │ │ │ ├── org.eclipse.ui.ide.prefs │ │ │ ├── org.eclipse.ui.prefs │ │ │ └── org.eclipse.ui.workbench.prefs │ ├── org.eclipse.e4.workbench │ │ └── workbench.xmi │ ├── org.eclipse.epp.logging.aeri.ide │ │ └── org.eclipse.epp.logging.aeri.ide.server │ │ │ ├── local-history │ │ │ ├── _0.fdt │ │ │ ├── _0.fdx │ │ │ ├── _0.fnm │ │ │ ├── _0.frq │ │ │ ├── _0.nrm │ │ │ ├── _0.tii │ │ │ ├── _0.tis │ │ │ ├── segments.gen │ │ │ ├── segments_1 │ │ │ └── write.lock │ │ │ ├── remote-history │ │ │ ├── _0.fdt │ │ │ ├── _0.fdx │ │ │ ├── _0.fnm │ │ │ ├── _0.frq │ │ │ ├── _0.nrm │ │ │ ├── _0.tii │ │ │ ├── _0.tis │ │ │ ├── segments.gen │ │ │ └── segments_1 │ │ │ └── server-config.json │ ├── org.eclipse.linuxtools.cdt.libhover │ │ └── C │ │ │ ├── devhelp.libhover │ │ │ └── glibc_library.libhover │ ├── org.eclipse.ui.ide │ │ └── dialog_settings.xml │ └── org.eclipse.ui.workbench │ │ ├── dialog_settings.xml │ │ └── workingsets.xml └── version.ini ├── .mxproject ├── .project ├── .settings └── language.settings.xml ├── Debug ├── Drivers │ └── STM32F4xx_HAL_Driver │ │ └── Src │ │ ├── stm32f4xx_hal.d │ │ ├── stm32f4xx_hal.o │ │ ├── stm32f4xx_hal_cortex.d │ │ ├── stm32f4xx_hal_cortex.o │ │ ├── stm32f4xx_hal_dma.d │ │ ├── stm32f4xx_hal_dma.o │ │ ├── stm32f4xx_hal_dma_ex.d │ │ ├── stm32f4xx_hal_dma_ex.o │ │ ├── stm32f4xx_hal_flash.d │ │ ├── stm32f4xx_hal_flash.o │ │ ├── stm32f4xx_hal_flash_ex.d │ │ ├── stm32f4xx_hal_flash_ex.o │ │ ├── stm32f4xx_hal_flash_ramfunc.d │ │ ├── stm32f4xx_hal_flash_ramfunc.o │ │ ├── stm32f4xx_hal_gpio.d │ │ ├── stm32f4xx_hal_gpio.o │ │ ├── stm32f4xx_hal_pwr.d │ │ ├── stm32f4xx_hal_pwr.o │ │ ├── stm32f4xx_hal_pwr_ex.d │ │ ├── stm32f4xx_hal_pwr_ex.o │ │ ├── stm32f4xx_hal_rcc.d │ │ ├── stm32f4xx_hal_rcc.o │ │ ├── stm32f4xx_hal_rcc_ex.d │ │ ├── stm32f4xx_hal_rcc_ex.o │ │ ├── stm32f4xx_hal_spi.d │ │ ├── stm32f4xx_hal_spi.o │ │ ├── stm32f4xx_hal_tim.d │ │ ├── stm32f4xx_hal_tim.o │ │ ├── stm32f4xx_hal_tim_ex.d │ │ ├── stm32f4xx_hal_tim_ex.o │ │ ├── stm32f4xx_hal_uart.d │ │ ├── stm32f4xx_hal_uart.o │ │ └── subdir.mk ├── Middlewares │ └── Third_Party │ │ └── FreeRTOS │ │ └── Source │ │ ├── CMSIS_RTOS │ │ ├── cmsis_os.d │ │ ├── cmsis_os.o │ │ └── subdir.mk │ │ ├── croutine.d │ │ ├── croutine.o │ │ ├── event_groups.d │ │ ├── event_groups.o │ │ ├── list.d │ │ ├── list.o │ │ ├── portable │ │ ├── GCC │ │ │ └── ARM_CM4F │ │ │ │ ├── port.d │ │ │ │ ├── port.o │ │ │ │ └── subdir.mk │ │ └── MemMang │ │ │ ├── heap_4.d │ │ │ ├── heap_4.o │ │ │ └── subdir.mk │ │ ├── queue.d │ │ ├── queue.o │ │ ├── subdir.mk │ │ ├── tasks.d │ │ ├── tasks.o │ │ ├── timers.d │ │ └── timers.o ├── Src │ ├── AHRS_matrix.d │ ├── AHRS_matrix.o │ ├── AHRS_quat.d │ ├── AHRS_quat.o │ ├── AHRS_states.d │ ├── AHRS_states.o │ ├── IMU.d │ ├── IMU.o │ ├── delay.d │ ├── delay.o │ ├── freertos.d │ ├── freertos.o │ ├── gpio.d │ ├── gpio.o │ ├── led.d │ ├── led.o │ ├── main.d │ ├── main.o │ ├── math_nb.d │ ├── math_nb.o │ ├── mpu6500.d │ ├── mpu6500.o │ ├── pid.d │ ├── pid.o │ ├── send_data.d │ ├── send_data.o │ ├── spi.d │ ├── spi.o │ ├── stm32f4xx_hal_msp.d │ ├── stm32f4xx_hal_msp.o │ ├── stm32f4xx_it.d │ ├── stm32f4xx_it.o │ ├── subdir.mk │ ├── sys.d │ ├── sys.o │ ├── syscalls.d │ ├── syscalls.o │ ├── system_stm32f4xx.d │ ├── system_stm32f4xx.o │ ├── tim.d │ ├── tim.o │ ├── usart.d │ ├── usart.o │ ├── utask.d │ └── utask.o ├── makefile ├── objects.list ├── objects.mk ├── output.map ├── sources.mk ├── startup │ ├── startup_stm32f407xx.o │ └── subdir.mk ├── stm32f407.bin └── stm32f407.elf ├── Drivers ├── CMSIS │ ├── Device │ │ └── ST │ │ │ └── STM32F4xx │ │ │ └── Include │ │ │ ├── stm32f407xx.h │ │ │ ├── stm32f4xx.h │ │ │ └── system_stm32f4xx.h │ └── Include │ │ ├── arm_common_tables.h │ │ ├── arm_const_structs.h │ │ ├── arm_math.h │ │ ├── cmsis_armcc.h │ │ ├── cmsis_armcc_V6.h │ │ ├── cmsis_gcc.h │ │ ├── core_cm0.h │ │ ├── core_cm0plus.h │ │ ├── core_cm3.h │ │ ├── core_cm4.h │ │ ├── core_cm7.h │ │ ├── core_cmFunc.h │ │ ├── core_cmInstr.h │ │ ├── core_cmSimd.h │ │ ├── core_sc000.h │ │ └── core_sc300.h └── STM32F4xx_HAL_Driver │ ├── Inc │ ├── Legacy │ │ └── stm32_hal_legacy.h │ ├── stm32f4xx_hal.h │ ├── stm32f4xx_hal_cortex.h │ ├── stm32f4xx_hal_def.h │ ├── stm32f4xx_hal_dma.h │ ├── stm32f4xx_hal_dma_ex.h │ ├── stm32f4xx_hal_flash.h │ ├── stm32f4xx_hal_flash_ex.h │ ├── stm32f4xx_hal_flash_ramfunc.h │ ├── stm32f4xx_hal_gpio.h │ ├── stm32f4xx_hal_gpio_ex.h │ ├── stm32f4xx_hal_pwr.h │ ├── stm32f4xx_hal_pwr_ex.h │ ├── stm32f4xx_hal_rcc.h │ ├── stm32f4xx_hal_rcc_ex.h │ ├── stm32f4xx_hal_spi.h │ ├── stm32f4xx_hal_tim.h │ ├── stm32f4xx_hal_tim_ex.h │ └── stm32f4xx_hal_uart.h │ └── Src │ ├── stm32f4xx_hal.c │ ├── stm32f4xx_hal_cortex.c │ ├── stm32f4xx_hal_dma.c │ ├── stm32f4xx_hal_dma_ex.c │ ├── stm32f4xx_hal_flash.c │ ├── stm32f4xx_hal_flash_ex.c │ ├── stm32f4xx_hal_flash_ramfunc.c │ ├── stm32f4xx_hal_gpio.c │ ├── stm32f4xx_hal_pwr.c │ ├── stm32f4xx_hal_pwr_ex.c │ ├── stm32f4xx_hal_rcc.c │ ├── stm32f4xx_hal_rcc_ex.c │ ├── stm32f4xx_hal_spi.c │ ├── stm32f4xx_hal_tim.c │ ├── stm32f4xx_hal_tim_ex.c │ └── stm32f4xx_hal_uart.c ├── Inc ├── AHRS_matrix.h ├── AHRS_quat.h ├── AHRS_states.h ├── Backup │ ├── FreeRTOSConfig.h.bak │ ├── IMU.h.bak │ ├── IOI2C.h.bak │ ├── MPU6050.h.bak │ ├── delay.h.bak │ ├── ds18b20.h.bak │ ├── gpio.h.bak │ ├── led.h.bak │ ├── main.h.bak │ ├── mpu6500.h.bak │ ├── pid.h.bak │ ├── spi.h.bak │ ├── stm32f4xx_hal_conf.h.bak │ ├── stm32f4xx_it.h.bak │ ├── sys.h.bak │ ├── tim.h.bak │ ├── usart.h.bak │ └── utask.h.bak ├── FreeRTOSConfig.h ├── IMU.h ├── delay.h ├── gpio.h ├── led.h ├── main.h ├── math_nb.h ├── mpu6500.h ├── pid.h ├── send_data.h ├── spi.h ├── stm32f4xx_hal_conf.h ├── stm32f4xx_it.h ├── sys.h ├── tim.h ├── usart.h └── utask.h ├── Middlewares └── Third_Party │ └── FreeRTOS │ └── Source │ ├── CMSIS_RTOS │ ├── cmsis_os.c │ └── cmsis_os.h │ ├── croutine.c │ ├── event_groups.c │ ├── include │ ├── FreeRTOS.h │ ├── FreeRTOSConfig_template.h │ ├── StackMacros.h │ ├── croutine.h │ ├── deprecated_definitions.h │ ├── event_groups.h │ ├── list.h │ ├── mpu_wrappers.h │ ├── portable.h │ ├── projdefs.h │ ├── queue.h │ ├── semphr.h │ ├── task.h │ └── timers.h │ ├── list.c │ ├── portable │ ├── GCC │ │ └── ARM_CM4F │ │ │ ├── port.c │ │ │ └── portmacro.h │ └── MemMang │ │ └── heap_4.c │ ├── queue.c │ ├── tasks.c │ └── timers.c ├── STM32F407VGTx_FLASH.ld ├── Src ├── AHRS_matrix.c ├── AHRS_quat.c ├── AHRS_states.c ├── IMU.c ├── delay.c ├── freertos.c ├── gpio.c ├── led.c ├── main.c ├── math_nb.c ├── mpu6500.c ├── pid.c ├── send_data.c ├── spi.c ├── stm32f4xx_hal_msp.c ├── stm32f4xx_it.c ├── sys.c ├── syscalls.c ├── system_stm32f4xx.c ├── tim.c ├── usart.c └── utask.c ├── startup └── startup_stm32f407xx.s ├── stm32f407.cfg ├── stm32f407.ioc └── stm32f407.xml /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Brucetong/IMU/HEAD/README.md -------------------------------------------------------------------------------- /hardware_picture.jpeg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Brucetong/IMU/HEAD/hardware_picture.jpeg 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