├── .gitattributes ├── .github ├── ISSUE_TEMPLATE │ ├── bug_report.yaml │ ├── config.yml │ ├── idea---feature-request.yaml │ └── question-about-the-firmware.yaml └── workflows │ └── build_on_commit.yml ├── .gitignore ├── Arduino └── hoverserial │ └── hoverserial.ino ├── Drivers ├── CMSIS │ ├── DSP_Lib │ │ ├── Examples │ │ │ ├── arm_class_marks_example │ │ │ │ ├── ARM │ │ │ │ │ └── arm_class_marks_example_f32.c │ │ │ │ └── GCC │ │ │ │ │ └── arm_class_marks_example_f32.c │ │ │ ├── arm_convolution_example │ │ │ │ ├── ARM │ │ │ │ │ ├── arm_convolution_example_f32.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ │ └── GCC │ │ │ │ │ ├── arm_convolution_example_f32.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ ├── arm_dotproduct_example │ │ │ │ ├── ARM │ │ │ │ │ └── arm_dotproduct_example_f32.c │ │ │ │ └── GCC │ │ │ │ │ └── arm_dotproduct_example_f32.c │ │ │ ├── arm_fft_bin_example │ │ │ │ ├── ARM │ │ │ │ │ ├── arm_fft_bin_data.c │ │ │ │ │ └── arm_fft_bin_example_f32.c │ │ │ │ └── GCC │ │ │ │ │ ├── arm_fft_bin_data.c │ │ │ │ │ └── arm_fft_bin_example_f32.c │ │ │ ├── arm_fir_example │ │ │ │ └── ARM │ │ │ │ │ ├── arm_fir_data.c │ │ │ │ │ ├── arm_fir_example_f32.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ ├── arm_graphic_equalizer_example │ │ │ │ └── ARM │ │ │ │ │ ├── arm_graphic_equalizer_data.c │ │ │ │ │ ├── arm_graphic_equalizer_example_q31.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ ├── arm_linear_interp_example │ │ │ │ └── ARM │ │ │ │ │ ├── arm_linear_interp_data.c │ │ │ │ │ ├── arm_linear_interp_example_f32.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ ├── arm_matrix_example │ │ │ │ └── ARM │ │ │ │ │ ├── arm_matrix_example_f32.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ ├── arm_signal_converge_example │ │ │ │ └── ARM │ │ │ │ │ ├── arm_signal_converge_data.c │ │ │ │ │ ├── arm_signal_converge_example_f32.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ ├── arm_sin_cos_example │ │ │ │ └── ARM │ │ │ │ │ └── arm_sin_cos_example_f32.c │ │ │ └── arm_variance_example │ │ │ │ └── ARM │ │ │ │ └── arm_variance_example_f32.c │ │ └── Source │ │ │ ├── BasicMathFunctions │ │ │ ├── arm_abs_f32.c │ │ │ ├── arm_abs_q15.c │ │ │ ├── arm_abs_q31.c │ │ │ ├── arm_abs_q7.c │ │ │ ├── arm_add_f32.c │ │ │ ├── arm_add_q15.c │ │ │ ├── arm_add_q31.c │ │ │ ├── arm_add_q7.c │ │ │ ├── arm_dot_prod_f32.c │ │ │ ├── arm_dot_prod_q15.c │ │ │ ├── arm_dot_prod_q31.c │ │ │ ├── arm_dot_prod_q7.c │ │ │ ├── arm_mult_f32.c │ │ │ ├── arm_mult_q15.c │ │ │ ├── arm_mult_q31.c │ │ │ ├── arm_mult_q7.c │ │ │ ├── arm_negate_f32.c │ │ │ ├── arm_negate_q15.c │ │ │ ├── arm_negate_q31.c │ │ │ ├── arm_negate_q7.c │ │ │ ├── arm_offset_f32.c │ │ │ ├── arm_offset_q15.c │ │ │ ├── arm_offset_q31.c │ │ │ ├── arm_offset_q7.c │ │ │ ├── arm_scale_f32.c │ │ │ ├── arm_scale_q15.c │ │ │ ├── arm_scale_q31.c │ │ │ ├── arm_scale_q7.c │ │ │ ├── arm_shift_q15.c │ │ │ ├── arm_shift_q31.c │ │ │ ├── arm_shift_q7.c │ │ │ ├── arm_sub_f32.c │ │ │ ├── arm_sub_q15.c │ │ │ ├── arm_sub_q31.c │ │ │ └── arm_sub_q7.c │ │ │ ├── CommonTables │ │ │ ├── arm_common_tables.c │ │ │ └── arm_const_structs.c │ │ │ ├── ComplexMathFunctions │ │ │ ├── arm_cmplx_conj_f32.c │ │ │ ├── arm_cmplx_conj_q15.c │ │ │ ├── arm_cmplx_conj_q31.c │ │ │ ├── arm_cmplx_dot_prod_f32.c │ │ │ ├── arm_cmplx_dot_prod_q15.c │ │ │ ├── arm_cmplx_dot_prod_q31.c │ │ │ ├── arm_cmplx_mag_f32.c │ │ │ ├── arm_cmplx_mag_q15.c │ │ │ ├── arm_cmplx_mag_q31.c │ │ │ ├── arm_cmplx_mag_squared_f32.c │ │ │ ├── arm_cmplx_mag_squared_q15.c │ │ │ ├── arm_cmplx_mag_squared_q31.c │ │ │ ├── arm_cmplx_mult_cmplx_f32.c │ │ │ ├── arm_cmplx_mult_cmplx_q15.c │ │ │ ├── arm_cmplx_mult_cmplx_q31.c │ │ │ ├── arm_cmplx_mult_real_f32.c │ │ │ ├── arm_cmplx_mult_real_q15.c │ │ │ └── arm_cmplx_mult_real_q31.c │ │ │ ├── ControllerFunctions │ │ │ ├── arm_pid_init_f32.c │ │ │ ├── arm_pid_init_q15.c │ │ │ ├── arm_pid_init_q31.c │ │ │ ├── arm_pid_reset_f32.c │ │ │ ├── arm_pid_reset_q15.c │ │ │ ├── arm_pid_reset_q31.c │ │ │ ├── arm_sin_cos_f32.c │ │ │ └── arm_sin_cos_q31.c │ │ │ ├── FastMathFunctions │ │ │ ├── arm_cos_f32.c │ │ │ ├── arm_cos_q15.c │ │ │ ├── arm_cos_q31.c │ │ │ ├── arm_sin_f32.c │ │ │ ├── arm_sin_q15.c │ │ │ ├── arm_sin_q31.c │ │ │ ├── arm_sqrt_q15.c │ │ │ └── arm_sqrt_q31.c │ │ │ ├── FilteringFunctions │ │ │ ├── arm_biquad_cascade_df1_32x64_init_q31.c │ │ │ ├── arm_biquad_cascade_df1_32x64_q31.c │ │ │ ├── arm_biquad_cascade_df1_f32.c │ │ │ ├── arm_biquad_cascade_df1_fast_q15.c │ │ │ ├── arm_biquad_cascade_df1_fast_q31.c │ │ │ ├── arm_biquad_cascade_df1_init_f32.c │ │ │ ├── arm_biquad_cascade_df1_init_q15.c │ │ │ ├── arm_biquad_cascade_df1_init_q31.c │ │ │ ├── arm_biquad_cascade_df1_q15.c │ │ │ ├── arm_biquad_cascade_df1_q31.c │ │ │ ├── arm_biquad_cascade_df2T_f32.c │ │ │ ├── arm_biquad_cascade_df2T_f64.c │ │ │ ├── arm_biquad_cascade_df2T_init_f32.c │ │ │ ├── arm_biquad_cascade_df2T_init_f64.c │ │ │ ├── arm_biquad_cascade_stereo_df2T_f32.c │ │ │ ├── arm_biquad_cascade_stereo_df2T_init_f32.c │ │ │ ├── arm_conv_f32.c │ │ │ ├── arm_conv_fast_opt_q15.c │ │ │ ├── arm_conv_fast_q15.c │ │ │ ├── arm_conv_fast_q31.c │ │ │ ├── arm_conv_opt_q15.c │ │ │ ├── arm_conv_opt_q7.c │ │ │ ├── arm_conv_partial_f32.c │ │ │ ├── arm_conv_partial_fast_opt_q15.c │ │ │ ├── arm_conv_partial_fast_q15.c │ │ │ ├── arm_conv_partial_fast_q31.c │ │ │ ├── arm_conv_partial_opt_q15.c │ │ │ ├── arm_conv_partial_opt_q7.c │ │ │ ├── arm_conv_partial_q15.c │ │ │ ├── arm_conv_partial_q31.c │ │ │ ├── arm_conv_partial_q7.c │ │ │ ├── arm_conv_q15.c │ │ │ ├── arm_conv_q31.c │ │ │ ├── arm_conv_q7.c │ │ │ ├── arm_correlate_f32.c │ │ │ ├── arm_correlate_fast_opt_q15.c │ │ │ ├── arm_correlate_fast_q15.c │ │ │ ├── arm_correlate_fast_q31.c │ │ │ ├── arm_correlate_opt_q15.c │ │ │ ├── arm_correlate_opt_q7.c │ │ │ ├── arm_correlate_q15.c │ │ │ ├── arm_correlate_q31.c │ │ │ ├── arm_correlate_q7.c │ │ │ ├── arm_fir_decimate_f32.c │ │ │ ├── arm_fir_decimate_fast_q15.c │ │ │ ├── arm_fir_decimate_fast_q31.c │ │ │ ├── arm_fir_decimate_init_f32.c │ │ │ ├── arm_fir_decimate_init_q15.c │ │ │ ├── arm_fir_decimate_init_q31.c │ │ │ ├── arm_fir_decimate_q15.c │ │ │ ├── arm_fir_decimate_q31.c │ │ │ ├── arm_fir_f32.c │ │ │ ├── arm_fir_fast_q15.c │ │ │ ├── arm_fir_fast_q31.c │ │ │ ├── arm_fir_init_f32.c │ │ │ ├── arm_fir_init_q15.c │ │ │ ├── arm_fir_init_q31.c │ │ │ ├── arm_fir_init_q7.c │ │ │ ├── arm_fir_interpolate_f32.c │ │ │ ├── arm_fir_interpolate_init_f32.c │ │ │ ├── arm_fir_interpolate_init_q15.c │ │ │ ├── arm_fir_interpolate_init_q31.c │ │ │ ├── arm_fir_interpolate_q15.c │ │ │ ├── arm_fir_interpolate_q31.c │ │ │ ├── arm_fir_lattice_f32.c │ │ │ ├── arm_fir_lattice_init_f32.c │ │ │ ├── arm_fir_lattice_init_q15.c │ │ │ ├── arm_fir_lattice_init_q31.c │ │ │ ├── arm_fir_lattice_q15.c │ │ │ ├── arm_fir_lattice_q31.c │ │ │ ├── arm_fir_q15.c │ │ │ ├── arm_fir_q31.c │ │ │ ├── arm_fir_q7.c │ │ │ ├── arm_fir_sparse_f32.c │ │ │ ├── arm_fir_sparse_init_f32.c │ │ │ ├── arm_fir_sparse_init_q15.c │ │ │ ├── arm_fir_sparse_init_q31.c │ │ │ ├── arm_fir_sparse_init_q7.c │ │ │ ├── arm_fir_sparse_q15.c │ │ │ ├── arm_fir_sparse_q31.c │ │ │ ├── arm_fir_sparse_q7.c │ │ │ ├── arm_iir_lattice_f32.c │ │ │ ├── arm_iir_lattice_init_f32.c │ │ │ ├── arm_iir_lattice_init_q15.c │ │ │ ├── arm_iir_lattice_init_q31.c │ │ │ ├── arm_iir_lattice_q15.c │ │ │ ├── arm_iir_lattice_q31.c │ │ │ ├── arm_lms_f32.c │ │ │ ├── arm_lms_init_f32.c │ │ │ ├── arm_lms_init_q15.c │ │ │ ├── arm_lms_init_q31.c │ │ │ ├── arm_lms_norm_f32.c │ │ │ ├── arm_lms_norm_init_f32.c │ │ │ ├── arm_lms_norm_init_q15.c │ │ │ ├── arm_lms_norm_init_q31.c │ │ │ ├── arm_lms_norm_q15.c │ │ │ ├── arm_lms_norm_q31.c │ │ │ ├── arm_lms_q15.c │ │ │ └── arm_lms_q31.c │ │ │ ├── MatrixFunctions │ │ │ ├── arm_mat_add_f32.c │ │ │ ├── arm_mat_add_q15.c │ │ │ ├── arm_mat_add_q31.c │ │ │ ├── arm_mat_cmplx_mult_f32.c │ │ │ ├── arm_mat_cmplx_mult_q15.c │ │ │ ├── arm_mat_cmplx_mult_q31.c │ │ │ ├── arm_mat_init_f32.c │ │ │ ├── arm_mat_init_q15.c │ │ │ ├── arm_mat_init_q31.c │ │ │ ├── arm_mat_inverse_f32.c │ │ │ ├── arm_mat_inverse_f64.c │ │ │ ├── arm_mat_mult_f32.c │ │ │ ├── arm_mat_mult_fast_q15.c │ │ │ ├── arm_mat_mult_fast_q31.c │ │ │ ├── arm_mat_mult_q15.c │ │ │ ├── arm_mat_mult_q31.c │ │ │ ├── arm_mat_scale_f32.c │ │ │ ├── arm_mat_scale_q15.c │ │ │ ├── arm_mat_scale_q31.c │ │ │ ├── arm_mat_sub_f32.c │ │ │ ├── arm_mat_sub_q15.c │ │ │ ├── arm_mat_sub_q31.c │ │ │ ├── arm_mat_trans_f32.c │ │ │ ├── arm_mat_trans_q15.c │ │ │ └── arm_mat_trans_q31.c │ │ │ ├── StatisticsFunctions │ │ │ ├── arm_max_f32.c │ │ │ ├── arm_max_q15.c │ │ │ ├── arm_max_q31.c │ │ │ ├── arm_max_q7.c │ │ │ ├── arm_mean_f32.c │ │ │ ├── arm_mean_q15.c │ │ │ ├── arm_mean_q31.c │ │ │ ├── arm_mean_q7.c │ │ │ ├── arm_min_f32.c │ │ │ ├── arm_min_q15.c │ │ │ ├── arm_min_q31.c │ │ │ ├── arm_min_q7.c │ │ │ ├── arm_power_f32.c │ │ │ ├── arm_power_q15.c │ │ │ ├── arm_power_q31.c │ │ │ ├── arm_power_q7.c │ │ │ ├── arm_rms_f32.c │ │ │ ├── arm_rms_q15.c │ │ │ ├── arm_rms_q31.c │ │ │ ├── arm_std_f32.c │ │ │ ├── arm_std_q15.c │ │ │ ├── arm_std_q31.c │ │ │ ├── arm_var_f32.c │ │ │ ├── arm_var_q15.c │ │ │ └── arm_var_q31.c │ │ │ ├── SupportFunctions │ │ │ ├── arm_copy_f32.c │ │ │ ├── arm_copy_q15.c │ │ │ ├── arm_copy_q31.c │ │ │ ├── arm_copy_q7.c │ │ │ ├── arm_fill_f32.c │ │ │ ├── arm_fill_q15.c │ │ │ ├── arm_fill_q31.c │ │ │ ├── arm_fill_q7.c │ │ │ ├── arm_float_to_q15.c │ │ │ ├── arm_float_to_q31.c │ │ │ ├── arm_float_to_q7.c │ │ │ ├── arm_q15_to_float.c │ │ │ ├── arm_q15_to_q31.c │ │ │ ├── arm_q15_to_q7.c │ │ │ ├── arm_q31_to_float.c │ │ │ ├── arm_q31_to_q15.c │ │ │ ├── arm_q31_to_q7.c │ │ │ ├── arm_q7_to_float.c │ │ │ ├── arm_q7_to_q15.c │ │ │ └── arm_q7_to_q31.c │ │ │ └── TransformFunctions │ │ │ ├── arm_bitreversal.c │ │ │ ├── arm_cfft_f32.c │ │ │ ├── arm_cfft_q15.c │ │ │ ├── arm_cfft_q31.c │ │ │ ├── arm_cfft_radix2_f32.c │ │ │ ├── arm_cfft_radix2_init_f32.c │ │ │ ├── arm_cfft_radix2_init_q15.c │ │ │ ├── arm_cfft_radix2_init_q31.c │ │ │ ├── arm_cfft_radix2_q15.c │ │ │ ├── arm_cfft_radix2_q31.c │ │ │ ├── arm_cfft_radix4_f32.c │ │ │ ├── arm_cfft_radix4_init_f32.c │ │ │ ├── arm_cfft_radix4_init_q15.c │ │ │ ├── arm_cfft_radix4_init_q31.c │ │ │ ├── arm_cfft_radix4_q15.c │ │ │ ├── arm_cfft_radix4_q31.c │ │ │ ├── arm_cfft_radix8_f32.c │ │ │ ├── arm_dct4_f32.c │ │ │ ├── arm_dct4_init_f32.c │ │ │ ├── arm_dct4_init_q15.c │ │ │ ├── arm_dct4_init_q31.c │ │ │ ├── arm_dct4_q15.c │ │ │ ├── arm_dct4_q31.c │ │ │ ├── arm_rfft_f32.c │ │ │ ├── arm_rfft_fast_f32.c │ │ │ ├── arm_rfft_fast_init_f32.c │ │ │ ├── arm_rfft_init_f32.c │ │ │ ├── arm_rfft_init_q15.c │ │ │ ├── arm_rfft_init_q31.c │ │ │ ├── arm_rfft_q15.c │ │ │ └── arm_rfft_q31.c │ ├── Device │ │ └── ST │ │ │ └── STM32F1xx │ │ │ ├── Include │ │ │ ├── stm32f100xb.h │ │ │ ├── stm32f100xe.h │ │ │ ├── stm32f101x6.h │ │ │ ├── stm32f101xb.h │ │ │ ├── stm32f101xe.h │ │ │ ├── stm32f101xg.h │ │ │ ├── stm32f102x6.h │ │ │ ├── stm32f102xb.h │ │ │ ├── stm32f103x6.h │ │ │ ├── stm32f103xb.h │ │ │ ├── stm32f103xe.h │ │ │ ├── stm32f103xg.h │ │ │ ├── stm32f105xc.h │ │ │ ├── stm32f107xc.h │ │ │ ├── stm32f1xx.h │ │ │ └── system_stm32f1xx.h │ │ │ └── Source │ │ │ └── Templates │ │ │ ├── arm │ │ │ ├── startup_stm32f100xb.s │ │ │ ├── startup_stm32f100xe.s │ │ │ ├── startup_stm32f101x6.s │ │ │ ├── startup_stm32f101xb.s │ │ │ ├── startup_stm32f101xe.s │ │ │ ├── startup_stm32f101xg.s │ │ │ ├── startup_stm32f102x6.s │ │ │ ├── startup_stm32f102xb.s │ │ │ ├── startup_stm32f103x6.s │ │ │ ├── startup_stm32f103xb.s │ │ │ ├── startup_stm32f103xe.s │ │ │ ├── startup_stm32f103xg.s │ │ │ ├── startup_stm32f105xc.s │ │ │ └── startup_stm32f107xc.s │ │ │ ├── gcc │ │ │ ├── startup_stm32f100xb.s │ │ │ ├── startup_stm32f100xe.s │ │ │ ├── startup_stm32f101x6.s │ │ │ ├── startup_stm32f101xb.s │ │ │ ├── startup_stm32f101xe.s │ │ │ ├── startup_stm32f101xg.s │ │ │ ├── startup_stm32f102x6.s │ │ │ ├── startup_stm32f102xb.s │ │ │ ├── startup_stm32f103x6.s │ │ │ ├── startup_stm32f103xb.s │ │ │ ├── startup_stm32f103xe.s │ │ │ ├── startup_stm32f103xg.s │ │ │ ├── startup_stm32f105xc.s │ │ │ └── startup_stm32f107xc.s │ │ │ ├── iar │ │ │ ├── linker │ │ │ │ ├── stm32f100xb_flash.icf │ │ │ │ ├── stm32f100xb_sram.icf │ │ │ │ ├── stm32f100xe_flash.icf │ │ │ │ ├── stm32f100xe_sram.icf │ │ │ │ ├── stm32f101x6_flash.icf │ │ │ │ ├── stm32f101x6_sram.icf │ │ │ │ ├── stm32f101xb_flash.icf │ │ │ │ ├── stm32f101xb_sram.icf │ │ │ │ ├── stm32f101xe_flash.icf │ │ │ │ ├── stm32f101xe_sram.icf │ │ │ │ ├── stm32f101xg_flash.icf │ │ │ │ ├── stm32f101xg_sram.icf │ │ │ │ ├── stm32f102x6_flash.icf │ │ │ │ ├── stm32f102x6_sram.icf │ │ │ │ ├── stm32f102xb_flash.icf │ │ │ │ ├── stm32f102xb_sram.icf │ │ │ │ ├── stm32f103x6_flash.icf │ │ │ │ ├── stm32f103x6_sram.icf │ │ │ │ ├── stm32f103xb_flash.icf │ │ │ │ ├── stm32f103xb_sram.icf │ │ │ │ ├── stm32f103xe_flash.icf │ │ │ │ ├── stm32f103xe_sram.icf │ │ │ │ ├── stm32f103xg_flash.icf │ │ │ │ ├── stm32f103xg_sram.icf │ │ │ │ ├── stm32f105xc_flash.icf │ │ │ │ ├── stm32f105xc_sram.icf │ │ │ │ ├── stm32f107xc_flash.icf │ │ │ │ └── stm32f107xc_sram.icf │ │ │ ├── startup_stm32f100xb.s │ │ │ ├── startup_stm32f100xe.s │ │ │ ├── startup_stm32f101x6.s │ │ │ ├── startup_stm32f101xb.s │ │ │ ├── startup_stm32f101xe.s │ │ │ ├── startup_stm32f101xg.s │ │ │ ├── startup_stm32f102x6.s │ │ │ ├── startup_stm32f102xb.s │ │ │ ├── startup_stm32f103x6.s │ │ │ ├── startup_stm32f103xb.s │ │ │ ├── startup_stm32f103xe.s │ │ │ ├── startup_stm32f103xg.s │ │ │ ├── startup_stm32f105xc.s │ │ │ └── startup_stm32f107xc.s │ │ │ └── system_stm32f1xx.c │ ├── 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 │ ├── Lib │ │ ├── ARM │ │ │ ├── arm_cortexM3b_math.lib │ │ │ └── arm_cortexM3l_math.lib │ │ └── GCC │ │ │ └── libarm_cortexM3l_math.a │ └── RTOS │ │ └── Template │ │ └── cmsis_os.h └── STM32F1xx_HAL_Driver │ ├── Inc │ ├── Legacy │ │ └── stm32_hal_legacy.h │ ├── stm32_assert_template.h │ ├── stm32f1xx_hal.h │ ├── stm32f1xx_hal_adc.h │ ├── stm32f1xx_hal_adc_ex.h │ ├── stm32f1xx_hal_can.h │ ├── stm32f1xx_hal_can_ex.h │ ├── stm32f1xx_hal_cec.h │ ├── stm32f1xx_hal_conf_template.h │ ├── stm32f1xx_hal_cortex.h │ ├── stm32f1xx_hal_crc.h │ ├── stm32f1xx_hal_dac.h │ ├── stm32f1xx_hal_dac_ex.h │ ├── stm32f1xx_hal_def.h │ ├── stm32f1xx_hal_dma.h │ ├── stm32f1xx_hal_dma_ex.h │ ├── stm32f1xx_hal_eth.h │ ├── stm32f1xx_hal_flash.h │ ├── stm32f1xx_hal_flash_ex.h │ ├── stm32f1xx_hal_gpio.h │ ├── stm32f1xx_hal_gpio_ex.h │ ├── stm32f1xx_hal_hcd.h │ ├── stm32f1xx_hal_i2c.h │ ├── stm32f1xx_hal_i2s.h │ ├── stm32f1xx_hal_irda.h │ ├── stm32f1xx_hal_iwdg.h │ ├── stm32f1xx_hal_mmc.h │ ├── stm32f1xx_hal_nand.h │ ├── stm32f1xx_hal_nor.h │ ├── stm32f1xx_hal_pccard.h │ ├── stm32f1xx_hal_pcd.h │ ├── stm32f1xx_hal_pcd_ex.h │ ├── stm32f1xx_hal_pwr.h │ ├── stm32f1xx_hal_rcc.h │ ├── stm32f1xx_hal_rcc_ex.h │ ├── stm32f1xx_hal_rtc.h │ ├── stm32f1xx_hal_rtc_ex.h │ ├── stm32f1xx_hal_sd.h │ ├── stm32f1xx_hal_smartcard.h │ ├── stm32f1xx_hal_spi.h │ ├── stm32f1xx_hal_sram.h │ ├── stm32f1xx_hal_tim.h │ ├── stm32f1xx_hal_tim_ex.h │ ├── stm32f1xx_hal_uart.h │ ├── stm32f1xx_hal_usart.h │ ├── stm32f1xx_hal_wwdg.h │ ├── stm32f1xx_ll_adc.h │ ├── stm32f1xx_ll_bus.h │ ├── stm32f1xx_ll_cortex.h │ ├── stm32f1xx_ll_crc.h │ ├── stm32f1xx_ll_dac.h │ ├── stm32f1xx_ll_dma.h │ ├── stm32f1xx_ll_exti.h │ ├── stm32f1xx_ll_fsmc.h │ ├── stm32f1xx_ll_gpio.h │ ├── stm32f1xx_ll_i2c.h │ ├── stm32f1xx_ll_iwdg.h │ ├── stm32f1xx_ll_pwr.h │ ├── stm32f1xx_ll_rcc.h │ ├── stm32f1xx_ll_rtc.h │ ├── stm32f1xx_ll_sdmmc.h │ ├── stm32f1xx_ll_spi.h │ ├── stm32f1xx_ll_system.h │ ├── stm32f1xx_ll_tim.h │ ├── stm32f1xx_ll_usart.h │ ├── stm32f1xx_ll_usb.h │ ├── stm32f1xx_ll_utils.h │ └── stm32f1xx_ll_wwdg.h │ └── Src │ ├── stm32f1xx_hal.c │ ├── stm32f1xx_hal_adc.c │ ├── stm32f1xx_hal_adc_ex.c │ ├── stm32f1xx_hal_can.c │ ├── stm32f1xx_hal_cec.c │ ├── stm32f1xx_hal_cortex.c │ ├── stm32f1xx_hal_crc.c │ ├── stm32f1xx_hal_dac.c │ ├── stm32f1xx_hal_dac_ex.c │ ├── stm32f1xx_hal_dma.c │ ├── stm32f1xx_hal_eth.c │ ├── stm32f1xx_hal_flash.c │ ├── stm32f1xx_hal_flash_ex.c │ ├── stm32f1xx_hal_gpio.c │ ├── stm32f1xx_hal_gpio_ex.c │ ├── stm32f1xx_hal_hcd.c │ ├── stm32f1xx_hal_i2c.c │ ├── stm32f1xx_hal_i2s.c │ ├── stm32f1xx_hal_irda.c │ ├── stm32f1xx_hal_iwdg.c │ ├── stm32f1xx_hal_mmc.c │ ├── stm32f1xx_hal_msp_template.c │ ├── stm32f1xx_hal_nand.c │ ├── stm32f1xx_hal_nor.c │ ├── stm32f1xx_hal_pccard.c │ ├── stm32f1xx_hal_pcd.c │ ├── stm32f1xx_hal_pcd_ex.c │ ├── stm32f1xx_hal_pwr.c │ ├── stm32f1xx_hal_rcc.c │ ├── stm32f1xx_hal_rcc_ex.c │ ├── stm32f1xx_hal_rtc.c │ ├── stm32f1xx_hal_rtc_ex.c │ ├── stm32f1xx_hal_sd.c │ ├── stm32f1xx_hal_smartcard.c │ ├── stm32f1xx_hal_spi.c │ ├── stm32f1xx_hal_spi_ex.c │ ├── stm32f1xx_hal_sram.c │ ├── stm32f1xx_hal_tim.c │ ├── stm32f1xx_hal_tim_ex.c │ ├── stm32f1xx_hal_timebase_rtc_alarm_template.c │ ├── stm32f1xx_hal_timebase_tim_template.c │ ├── stm32f1xx_hal_uart.c │ ├── stm32f1xx_hal_usart.c │ ├── stm32f1xx_hal_wwdg.c │ ├── stm32f1xx_ll_adc.c │ ├── stm32f1xx_ll_crc.c │ ├── stm32f1xx_ll_dac.c │ ├── stm32f1xx_ll_dma.c │ ├── stm32f1xx_ll_exti.c │ ├── stm32f1xx_ll_fsmc.c │ ├── stm32f1xx_ll_gpio.c │ ├── stm32f1xx_ll_i2c.c │ ├── stm32f1xx_ll_pwr.c │ ├── stm32f1xx_ll_rcc.c │ ├── stm32f1xx_ll_rtc.c │ ├── stm32f1xx_ll_sdmmc.c │ ├── stm32f1xx_ll_spi.c │ ├── stm32f1xx_ll_tim.c │ ├── stm32f1xx_ll_usart.c │ ├── stm32f1xx_ll_usb.c │ └── stm32f1xx_ll_utils.c ├── Inc ├── BLDC_controller.h ├── comms.h ├── config.h ├── defines.h ├── eeprom.h ├── hd44780.h ├── pcf8574.h ├── rtwtypes.h ├── setup.h ├── stm32f1xx_hal_conf.h ├── stm32f1xx_it.h └── util.h ├── LICENSE ├── MDK-ARM ├── mainboard-hack.uvoptx ├── mainboard-hack.uvprojx └── startup_stm32f103xe.s ├── Makefile ├── README.md ├── STM32F103RCTx_FLASH.ld ├── Src ├── BLDC_controller.c ├── BLDC_controller_data.c ├── bldc.c ├── comms.c ├── control.c ├── eeprom.c ├── hd44780.c ├── main.c ├── pcf8574.c ├── setup.c ├── stm32f1xx_it.c ├── system_stm32f1xx.c └── util.c ├── docs ├── 20150722_hoverboard_sch.pdf ├── 20190620_at32_hover_sch.pdf ├── literature │ ├── ODrive motor guide.xlsx │ ├── Unofficial ST MCSDK pres.pdf │ ├── [10]_STM32F103xC_datasheet.pdf │ ├── [11]_GD32F103xx-Datasheet-Rev-2.7.pdf │ ├── [8] STM32 motor control SDK.pdf │ └── [9]_STM32_REFERENCE_Manual.pdf ├── pictures │ ├── FieldWeakening.png │ ├── hoverboard_wheel.JPG │ ├── mainboard_pics.pptx │ ├── mainboard_pinout.png │ ├── motor_VESC_params.png │ ├── motor_ferite1.JPG │ ├── motor_ferite2.png │ ├── motor_inside.jpg │ ├── motor_winding.png │ ├── motor_winding.pptx │ ├── phase_currents_ADC.pptx │ ├── videos_preview │ │ ├── com_foc_const.png │ │ ├── com_foc_var.png │ │ ├── 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