├── .gitattributes ├── .gitignore ├── 1.Hardware ├── 1.CoreBoard │ ├── CH32V3_CoreBoard.kicad_pcb │ ├── CH32V3_CoreBoard.kicad_pro │ ├── CH32V3_CoreBoard.kicad_sch │ ├── CH32V3_CoreBoard.step │ ├── bom │ │ └── ibom.html │ └── production │ │ ├── $tempfile.tmp │ │ ├── CoreBoard.zip │ │ ├── bom.csv │ │ ├── designators.csv │ │ ├── netlist.ipc │ │ └── positions.csv ├── 2.MotherBoard │ ├── MotherBoard.kicad_pcb │ ├── MotherBoard.kicad_pro │ ├── MotherBoard.kicad_sch │ ├── MotherBoard.step │ ├── bom │ │ └── ibom.html │ └── production │ │ ├── MotherBoard v1.1.zip │ │ ├── bom.csv │ │ ├── designators.csv │ │ ├── netlist.ipc │ │ └── positions.csv └── 3.BLDC │ └── 1.AlO │ ├── AIO.kicad_pcb │ ├── AIO.kicad_pro │ ├── AIO.kicad_sch │ ├── AIO.step │ ├── bom │ └── ibom.html │ └── production │ ├── AIO v1.2.zip │ ├── bom.csv │ ├── designators.csv │ ├── netlist.ipc │ └── positions.csv ├── 2.Firmware ├── 1.CH32V307VCT6 │ ├── .gitignore │ ├── cmake-build-debug │ │ ├── .cmake │ │ │ └── api │ │ │ │ └── v1 │ │ │ │ ├── query │ │ │ │ ├── cache-v2 │ │ │ │ ├── cmakeFiles-v1 │ │ │ │ ├── codemodel-v2 │ │ │ │ └── toolchains-v1 │ │ │ │ └── reply │ │ │ │ ├── cache-v2-7f644a6bb26fce5cd92b.json │ │ │ │ ├── cmakeFiles-v1-6c16136dfb6ba63d4e3c.json │ │ │ │ ├── codemodel-v2-66684e77beb76d677167.json │ │ │ │ ├── directory-.-Debug-f5ebdc15457944623624.json │ │ │ │ ├── index-2023-10-26T14-44-37-0577.json │ │ │ │ ├── target-1_CH32V307VCT6-Debug-71e3a29f7e839910e38a.json │ │ │ │ └── toolchains-v1-3baab21d937910468cb8.json │ │ ├── CMakeFiles │ │ │ ├── 3.27.0 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ └── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ ├── CMakeConfigureLog.yaml │ │ │ ├── cmake.check_cache │ │ │ └── rules.ninja │ │ ├── Testing │ │ │ └── Temporary │ │ │ │ └── LastTest.log │ │ ├── build.ninja │ │ └── cmake_install.cmake │ ├── libraries │ │ ├── sdk │ │ │ ├── Core │ │ │ │ ├── core_riscv.c │ │ │ │ └── core_riscv.h │ │ │ ├── Ld │ │ │ │ └── Link.ld │ │ │ ├── Peripheral │ │ │ │ ├── ch32v30x.h │ │ │ │ ├── ch32v30x_adc.c │ │ │ │ ├── ch32v30x_adc.h │ │ │ │ ├── ch32v30x_bkp.c │ │ │ │ ├── ch32v30x_bkp.h │ │ │ │ ├── ch32v30x_can.c │ │ │ │ ├── ch32v30x_can.h │ │ │ │ ├── ch32v30x_crc.c │ │ │ │ ├── ch32v30x_crc.h │ │ │ │ ├── ch32v30x_dac.c │ │ │ │ ├── ch32v30x_dac.h │ │ │ │ ├── ch32v30x_dbgmcu.c │ │ │ │ ├── ch32v30x_dbgmcu.h │ │ │ │ ├── ch32v30x_dma.c │ │ │ │ ├── ch32v30x_dma.h │ │ │ │ ├── ch32v30x_dvp.c │ │ │ │ ├── ch32v30x_dvp.h │ │ │ │ ├── ch32v30x_eth.c │ │ │ │ ├── ch32v30x_eth.h │ │ │ │ ├── ch32v30x_exti.c │ │ │ │ ├── ch32v30x_exti.h │ │ │ │ ├── ch32v30x_flash.c │ │ │ │ ├── ch32v30x_flash.h │ │ │ │ ├── ch32v30x_fsmc.c │ │ │ │ ├── ch32v30x_fsmc.h │ │ │ │ ├── ch32v30x_gpio.c │ │ │ │ ├── ch32v30x_gpio.h │ │ │ │ ├── ch32v30x_i2c.c │ │ │ │ ├── ch32v30x_i2c.h │ │ │ │ ├── ch32v30x_iwdg.c │ │ │ │ ├── ch32v30x_iwdg.h │ │ │ │ ├── ch32v30x_opa.c │ │ │ │ ├── ch32v30x_opa.h │ │ │ │ ├── ch32v30x_pwr.c │ │ │ │ ├── ch32v30x_pwr.h │ │ │ │ ├── ch32v30x_rcc.c │ │ │ │ ├── ch32v30x_rcc.h │ │ │ │ ├── ch32v30x_rng.c │ │ │ │ ├── ch32v30x_rng.h │ │ │ │ ├── ch32v30x_rtc.c │ │ │ │ ├── ch32v30x_rtc.h │ │ │ │ ├── ch32v30x_sdio.c │ │ │ │ ├── ch32v30x_sdio.h │ │ │ │ ├── ch32v30x_spi.c │ │ │ │ ├── ch32v30x_spi.h │ │ │ │ ├── ch32v30x_tim.c │ │ │ │ ├── ch32v30x_tim.h │ │ │ │ ├── ch32v30x_usart.c │ │ │ │ ├── ch32v30x_usart.h │ │ │ │ ├── ch32v30x_usbotg_device.c │ │ │ │ ├── ch32v30x_usbotg_device.h │ │ │ │ ├── ch32v30x_wwdg.c │ │ │ │ └── ch32v30x_wwdg.h │ │ │ └── Startup │ │ │ │ └── startup_ch32v30x_D8C.S │ │ ├── zf_common │ │ │ ├── zf_common_clock.c │ │ │ ├── zf_common_clock.h │ │ │ ├── zf_common_debug.c │ │ │ ├── zf_common_debug.h │ │ │ ├── zf_common_fifo.c │ │ │ ├── zf_common_fifo.h │ │ │ ├── zf_common_font.c │ │ │ ├── zf_common_font.h │ │ │ ├── zf_common_function.c │ │ │ ├── zf_common_function.h │ │ │ ├── zf_common_headfile.h │ │ │ ├── zf_common_interrupt.c │ │ │ ├── zf_common_interrupt.h │ │ │ └── zf_common_typedef.h │ │ ├── zf_device │ │ │ ├── libzf_device_config.a │ │ │ ├── zf_device_absolute_encoder.c │ │ │ ├── zf_device_absolute_encoder.h │ │ │ ├── zf_device_aht20.c │ │ │ ├── zf_device_aht20.h │ │ │ ├── zf_device_bluetooth_ch9141.c │ │ │ ├── zf_device_bluetooth_ch9141.h │ │ │ ├── zf_device_camera.c │ │ │ ├── zf_device_camera.h │ │ │ ├── zf_device_config.h │ │ │ ├── zf_device_dl1a.c │ │ │ ├── zf_device_dl1a.h │ │ │ ├── zf_device_dm1xa.c │ │ │ ├── zf_device_dm1xa.h │ │ │ ├── zf_device_gps_tau1201.c │ │ │ ├── zf_device_gps_tau1201.h │ │ │ ├── zf_device_icm20602.c │ │ │ ├── zf_device_icm20602.h │ │ │ ├── zf_device_imu660ra.c │ │ │ ├── zf_device_imu660ra.h │ │ │ ├── zf_device_imu963ra.c │ │ │ ├── zf_device_imu963ra.h │ │ │ ├── zf_device_ips114.c │ │ │ ├── zf_device_ips114.h │ │ │ ├── zf_device_ips200.c │ │ │ ├── zf_device_ips200.h │ │ │ ├── zf_device_k24c02.c │ │ │ ├── zf_device_k24c02.h │ │ │ ├── zf_device_key.c │ │ │ ├── zf_device_key.h │ │ │ ├── zf_device_mpu6050.c │ │ │ ├── zf_device_mpu6050.h │ │ │ ├── zf_device_mt9v03x_dvp.c │ │ │ ├── zf_device_mt9v03x_dvp.h │ │ │ ├── zf_device_oled.c │ │ │ ├── zf_device_oled.h │ │ │ ├── zf_device_scc8660_dvp.c │ │ │ ├── zf_device_scc8660_dvp.h │ │ │ ├── zf_device_tft180.c │ │ │ ├── zf_device_tft180.h │ │ │ ├── zf_device_type.c │ │ │ ├── zf_device_type.h │ │ │ ├── zf_device_virtual_oscilloscope.c │ │ │ ├── zf_device_virtual_oscilloscope.h │ │ │ ├── zf_device_w25q32.c │ │ │ ├── zf_device_w25q32.h │ │ │ ├── zf_device_wifi_uart.c │ │ │ ├── zf_device_wifi_uart.h │ │ │ ├── zf_device_wireless_ch573.c │ │ │ ├── zf_device_wireless_ch573.h │ │ │ ├── zf_device_wireless_uart.c │ │ │ └── zf_device_wireless_uart.h │ │ └── zf_driver │ │ │ ├── zf_driver_adc.c │ │ │ ├── zf_driver_adc.h │ │ │ ├── zf_driver_delay.c │ │ │ ├── zf_driver_delay.h │ │ │ ├── zf_driver_dvp.c │ │ │ ├── zf_driver_dvp.h │ │ │ ├── zf_driver_encoder.c │ │ │ ├── zf_driver_encoder.h │ │ │ ├── zf_driver_exti.c │ │ │ ├── zf_driver_exti.h │ │ │ ├── zf_driver_flash.c │ │ │ ├── zf_driver_flash.h │ │ │ ├── zf_driver_gpio.c │ │ │ ├── zf_driver_gpio.h │ │ │ ├── zf_driver_iic.c │ │ │ ├── zf_driver_iic.h │ │ │ ├── zf_driver_pit.c │ │ │ ├── zf_driver_pit.h │ │ │ ├── zf_driver_pwm.c │ │ │ ├── zf_driver_pwm.h │ │ │ ├── zf_driver_soft_iic.c │ │ │ ├── zf_driver_soft_iic.h │ │ │ ├── zf_driver_soft_spi.c │ │ │ ├── zf_driver_soft_spi.h │ │ │ ├── zf_driver_spi.c │ │ │ ├── zf_driver_spi.h │ │ │ ├── zf_driver_timer.c │ │ │ ├── zf_driver_timer.h │ │ │ ├── zf_driver_uart.c │ │ │ ├── zf_driver_uart.h │ │ │ ├── zf_driver_usb_cdc.c │ │ │ └── zf_driver_usb_cdc.h │ └── project │ │ ├── .gitignore │ │ ├── code │ │ ├── INS │ │ │ ├── INS.c │ │ │ ├── INS.h │ │ │ ├── insapi.c │ │ │ ├── insapi.h │ │ │ ├── rtmodel.h │ │ │ ├── rtwtypes.h │ │ │ └── zero_crossing_types.h │ │ ├── buzzer.c │ │ ├── buzzer.h │ │ ├── complementary_filter.c │ │ ├── complementary_filter.h │ │ ├── ctrl.c │ │ ├── ctrl.h │ │ ├── easy_key.c │ │ ├── easy_key.h │ │ ├── easy_ui.c │ │ ├── easy_ui.h │ │ ├── easy_ui_user_app.c │ │ ├── easy_ui_user_app.h │ │ ├── ellipsoid_fitting_process.c │ │ ├── ellipsoid_fitting_process.h │ │ ├── encoder.c │ │ ├── encoder.h │ │ ├── filter.c │ │ ├── filter.h │ │ ├── gps_ubx.c │ │ ├── gps_ubx.h │ │ ├── graph_mapping.c │ │ ├── graph_mapping.h │ │ ├── imu.c │ │ ├── imu.h │ │ ├── inc_all.h │ │ ├── inertial_navigation.c │ │ ├── inertial_navigation.h │ │ ├── ips096.c │ │ ├── ips096.h │ │ ├── ist8310.c │ │ ├── ist8310.h │ │ ├── jdy34.c │ │ ├── jdy34.h │ │ ├── moto.c │ │ ├── moto.h │ │ ├── my_math.c │ │ ├── my_math.h │ │ ├── pid.c │ │ ├── pid.h │ │ ├── profile_photo_erbws.c │ │ ├── profile_photo_erbws.h │ │ ├── sendware.c │ │ ├── sendware.h │ │ ├── ublox.c │ │ ├── ublox.h │ │ ├── user_flash.c │ │ ├── user_flash.h │ │ ├── vofa.c │ │ └── vofa.h │ │ ├── mrs │ │ ├── .cproject │ │ ├── .project │ │ ├── .settings │ │ │ ├── language.settings.xml │ │ │ └── org.eclipse.core.resources.prefs │ │ ├── .template │ │ ├── .删除临时文件.bat │ │ ├── Seekfree_CH32V307VCT6_Opensource_Library.launch │ │ ├── Seekfree_CH32V307VCT6_Opensource_Library.wvproj │ │ └── obj │ │ │ ├── Seekfree_CH32V307VCT6_Opensource_Library.elf │ │ │ ├── Seekfree_CH32V307VCT6_Opensource_Library.hex │ │ │ ├── Seekfree_CH32V307VCT6_Opensource_Library.lst │ │ │ ├── Seekfree_CH32V307VCT6_Opensource_Library.map │ │ │ ├── Seekfree_CH32V307VCT6_Opensource_Library1.map │ │ │ ├── code │ │ │ ├── INS │ │ │ │ └── subdir.mk │ │ │ └── subdir.mk │ │ │ ├── makefile │ │ │ ├── objects.mk │ │ │ ├── sdk │ │ │ ├── Core │ │ │ │ └── subdir.mk │ │ │ ├── Peripheral │ │ │ │ └── subdir.mk │ │ │ └── Startup │ │ │ │ └── subdir.mk │ │ │ ├── sources.mk │ │ │ ├── user_c │ │ │ └── subdir.mk │ │ │ ├── zf_common │ │ │ └── subdir.mk │ │ │ ├── zf_device │ │ │ └── subdir.mk │ │ │ └── zf_driver │ │ │ └── subdir.mk │ │ └── user │ │ ├── inc │ │ └── isr.h │ │ └── src │ │ ├── isr.c │ │ └── main.c └── 2.BLDC │ ├── bldc_config │ ├── bldc_config.h │ └── bldc_version.txt │ ├── bldc_hardware │ ├── battery_adc.c │ ├── battery_adc.h │ ├── comparator.c │ ├── comparator.h │ ├── en_switch.c │ ├── en_switch.h │ ├── encoder.c │ ├── encoder.h │ ├── hall.c │ ├── hall.h │ ├── led.c │ ├── led.h │ ├── operational_amplifier.c │ ├── operational_amplifier.h │ ├── pwm_input.c │ ├── pwm_input.h │ ├── pwm_output.c │ └── pwm_output.h │ ├── bldc_software │ ├── motor.c │ ├── motor.h │ ├── move_filter.c │ ├── move_filter.h │ ├── pid.c │ ├── pid.h │ ├── virtual_oscilloscope.c │ └── virtual_oscilloscope.h │ ├── project │ ├── code │ │ ├── buzzer.c │ │ ├── buzzer.h │ │ ├── easing_function.c │ │ ├── easing_function.h │ │ ├── easy_key.c │ │ ├── easy_key.h │ │ ├── easy_ui.c │ │ ├── easy_ui.h │ │ ├── easy_ui_user_app.c │ │ ├── easy_ui_user_app.h │ │ ├── ips096.c │ │ ├── ips096.h │ │ ├── ips096_dma.c │ │ ├── ips096_dma.h │ │ ├── nmea0183.c │ │ ├── nmea0183.h │ │ ├── profile_photo_erbws.c │ │ ├── profile_photo_erbws.h │ │ ├── user_flash.c │ │ ├── user_flash.h │ │ ├── user_header.h │ │ ├── user_spi.c │ │ ├── user_spi.h │ │ ├── vofa.c │ │ ├── vofa.h │ │ └── 本文件夹作用.txt │ ├── mrs │ │ ├── .cproject │ │ ├── .project │ │ ├── .settings │ │ │ ├── language.settings.xml │ │ │ └── org.eclipse.core.resources.prefs │ │ ├── .template │ │ ├── .删除临时文件.bat │ │ ├── SEEKFREE_CH32V307_DOUBLE_BLDC.launch │ │ ├── SEEKFREE_CH32V307_DOUBLE_BLDC.wvproj │ │ └── obj │ │ │ ├── SEEKFREE_CH32V307_DOUBLE_BLDC.elf │ │ │ ├── SEEKFREE_CH32V307_DOUBLE_BLDC.hex │ │ │ ├── SEEKFREE_CH32V307_DOUBLE_BLDC.lst │ │ │ ├── SEEKFREE_CH32V307_DOUBLE_BLDC.map │ │ │ ├── bldc_hardware │ │ │ └── subdir.mk │ │ │ ├── bldc_software │ │ │ └── subdir.mk │ │ │ ├── code │ │ │ └── subdir.mk │ │ │ ├── makefile │ │ │ ├── objects.mk │ │ │ ├── seekfree_libraries │ │ │ ├── sdk │ │ │ │ ├── Core │ │ │ │ │ └── subdir.mk │ │ │ │ ├── Peripheral │ │ │ │ │ └── subdir.mk │ │ │ │ └── Startup │ │ │ │ │ └── subdir.mk │ │ │ ├── zf_common │ │ │ │ └── subdir.mk │ │ │ ├── zf_device │ │ │ │ └── subdir.mk │ │ │ └── zf_driver │ │ │ │ └── subdir.mk │ │ │ ├── sources.mk │ │ │ └── user_c │ │ │ └── subdir.mk │ └── user │ │ ├── inc │ │ └── isr.h │ │ └── src │ │ ├── isr.c │ │ └── main.c │ └── seekfree_libraries │ ├── doc │ ├── GPL3_permission_statement.txt │ └── version.txt │ ├── sdk │ ├── Core │ │ ├── core_riscv.c │ │ └── core_riscv.h │ ├── Ld │ │ └── Link.ld │ ├── Peripheral │ │ ├── ch32v30x.h │ │ ├── ch32v30x_adc.c │ │ ├── ch32v30x_adc.h │ │ ├── ch32v30x_bkp.c │ │ ├── ch32v30x_bkp.h │ │ ├── ch32v30x_can.c │ │ ├── ch32v30x_can.h │ │ ├── ch32v30x_crc.c │ │ ├── ch32v30x_crc.h │ │ ├── ch32v30x_dac.c │ │ ├── ch32v30x_dac.h │ │ ├── ch32v30x_dbgmcu.c │ │ ├── ch32v30x_dbgmcu.h │ │ ├── ch32v30x_dma.c │ │ ├── ch32v30x_dma.h │ │ ├── ch32v30x_dvp.c │ │ ├── ch32v30x_dvp.h │ │ ├── ch32v30x_eth.c │ │ ├── ch32v30x_eth.h │ │ ├── ch32v30x_exti.c │ │ ├── ch32v30x_exti.h │ │ ├── ch32v30x_flash.c │ │ ├── ch32v30x_flash.h │ │ ├── ch32v30x_fsmc.c │ │ ├── ch32v30x_fsmc.h │ │ ├── ch32v30x_gpio.c │ │ ├── ch32v30x_gpio.h │ │ ├── ch32v30x_i2c.c │ │ ├── ch32v30x_i2c.h │ │ ├── ch32v30x_iwdg.c │ │ ├── ch32v30x_iwdg.h │ │ ├── ch32v30x_opa.c │ │ ├── ch32v30x_opa.h │ │ ├── ch32v30x_pwr.c │ │ ├── ch32v30x_pwr.h │ │ ├── ch32v30x_rcc.c │ │ ├── ch32v30x_rcc.h │ │ ├── ch32v30x_rng.c │ │ ├── ch32v30x_rng.h │ │ ├── ch32v30x_rtc.c │ │ ├── ch32v30x_rtc.h │ │ ├── ch32v30x_sdio.c │ │ ├── ch32v30x_sdio.h │ │ ├── ch32v30x_spi.c │ │ ├── ch32v30x_spi.h │ │ ├── ch32v30x_tim.c │ │ ├── ch32v30x_tim.h │ │ ├── ch32v30x_usart.c │ │ ├── ch32v30x_usart.h │ │ ├── ch32v30x_usbotg_device.c │ │ ├── ch32v30x_usbotg_device.h │ │ ├── ch32v30x_wwdg.c │ │ └── ch32v30x_wwdg.h │ └── Startup │ │ └── startup_ch32v30x_D8C.S │ ├── zf_common │ ├── zf_common_clock.c │ ├── zf_common_clock.h │ ├── zf_common_debug.c │ ├── zf_common_debug.h │ ├── zf_common_fifo.c │ ├── zf_common_fifo.h │ ├── zf_common_font.c │ ├── zf_common_font.h │ ├── zf_common_function.c │ ├── zf_common_function.h │ ├── zf_common_headfile.h │ ├── zf_common_interrupt.c │ ├── zf_common_interrupt.h │ └── zf_common_typedef.h │ └── zf_driver │ ├── zf_driver_adc.c │ ├── zf_driver_adc.h │ ├── zf_driver_delay.c │ ├── zf_driver_delay.h │ ├── zf_driver_dvp.c │ ├── zf_driver_dvp.h │ ├── zf_driver_encoder.c │ ├── zf_driver_encoder.h │ ├── zf_driver_exti.c │ ├── zf_driver_exti.h │ ├── zf_driver_flash.c │ ├── zf_driver_flash.h │ ├── zf_driver_gpio.c │ ├── zf_driver_gpio.h │ ├── zf_driver_iic.c │ ├── zf_driver_iic.h │ ├── zf_driver_pit.c │ ├── zf_driver_pit.h │ ├── zf_driver_pwm.c │ ├── zf_driver_pwm.h │ ├── zf_driver_soft_iic.c │ ├── zf_driver_soft_iic.h │ ├── zf_driver_soft_spi.c │ ├── zf_driver_soft_spi.h │ ├── zf_driver_spi.c │ ├── zf_driver_spi.h │ ├── zf_driver_timer.c │ ├── zf_driver_timer.h │ ├── zf_driver_uart.c │ ├── zf_driver_uart.h │ ├── zf_driver_usb_cdc.c │ └── zf_driver_usb_cdc.h ├── 3.Model ├── AuxPlate.stl ├── SupportPlate v1.0.stl ├── SupportPlate v1.1.stl └── SupportPlate v1.2.stl ├── 4.Doc └── 1.jpg ├── LICENSE └── README.md /.gitattributes: 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