├── .Doc ├── Bug_Report.md ├── TODO.md ├── VSCode+Ozone使用方法.md ├── 合理地进行PID参数整定.md ├── 如何定位bug.md ├── 必须做&禁止做.md ├── 架构介绍与开发指南.md ├── 版本更替.md └── 让VSCode成为更称手的IDE.md ├── .assets ├── 00937839b59a4c039ee8ecb8a5136e3c.png ├── CANcomm.png ├── allrobot.jpg ├── balance.gif ├── dataflow.svg ├── engineering.gif ├── image-20221112145717063.png ├── image-20221112160213066.png ├── image-20221112172051589.png ├── image-20221112172157533.png ├── image-20221112172208749.png ├── image-20221112172221756.png ├── image-20221112172239386.png ├── image-20221112172254809.png ├── image-20221112172348408.png ├── image-20221112172420037.png ├── image-20221112172716320.png ├── image-20221112172858593.png ├── image-20221112173534670.png ├── image-20221112174211802.png ├── image-20221112180103750.png ├── image-20221112191712534.png ├── image-20221112192133103.png ├── image-20221112192509718.png ├── image-20221112192610543.png ├── image-20221113125439857.png ├── image-20221113131044191.png ├── image-20221113133624273.png ├── image-20221113133904084.png ├── image-20221113134252407.png ├── image-20221113134605331.png ├── image-20221113142448939.png ├── image-20221113152513343.png ├── image-20221113212706633.png ├── image-20221115215531879.png ├── image-20221116150122397.png ├── image-20221116150901418.png ├── image-20221116152032104.png ├── image-20221116193340770.png ├── image-20221117121323757.png ├── image-20221119173731119.png ├── image-20221119173918340.png ├── image-20221119174445067.png ├── image-20221119222946103.png ├── image-20221119223148604.png ├── image-20221201134906999.png ├── image-20221201150945052.png ├── image-20221201152530558.png ├── image-20221201152904044.png ├── image-20221201155228196.png ├── image-20230202151939109.png ├── image-20230723132711865.png ├── image-20230725152433502.png ├── image-20230725153133419.png ├── image-20230725153635454.png ├── image-20230725154910307.png ├── ozone.png ├── sentry_infantry12.gif ├── v2-2797ea99d0d38eb9996993bb0ad77ab2_720w.webp ├── vscodedebug.png └── yuelu_badge.png ├── .clangd ├── .github └── workflows │ └── c-cpp.yml ├── .gitignore ├── .mxproject ├── .vscode ├── c_cpp_properties.json ├── launch.json ├── settings.json └── tasks.json ├── CMakeLists.txt ├── Drivers ├── CMSIS │ ├── Device │ │ └── ST │ │ │ └── STM32F4xx │ │ │ ├── Include │ │ │ ├── stm32f407xx.h │ │ │ ├── stm32f4xx.h │ │ │ └── system_stm32f4xx.h │ │ │ └── LICENSE.txt │ ├── Include │ │ ├── cmsis_armcc.h │ │ ├── cmsis_armclang.h │ │ ├── cmsis_compiler.h │ │ ├── cmsis_gcc.h │ │ ├── cmsis_iccarm.h │ │ ├── cmsis_version.h │ │ ├── core_armv8mbl.h │ │ ├── core_armv8mml.h │ │ ├── core_cm0.h │ │ ├── core_cm0plus.h │ │ ├── core_cm1.h │ │ ├── core_cm23.h │ │ ├── core_cm3.h │ │ ├── core_cm33.h │ │ ├── core_cm4.h │ │ ├── core_cm7.h │ │ ├── core_sc000.h │ │ ├── core_sc300.h │ │ ├── mpu_armv7.h │ │ ├── mpu_armv8.h │ │ └── tz_context.h │ └── LICENSE.txt └── STM32F4xx_HAL_Driver │ ├── Inc │ ├── Legacy │ │ └── stm32_hal_legacy.h │ ├── stm32f4xx_hal.h │ ├── stm32f4xx_hal_adc.h │ ├── stm32f4xx_hal_adc_ex.h │ ├── stm32f4xx_hal_can.h │ ├── stm32f4xx_hal_cortex.h │ ├── stm32f4xx_hal_crc.h │ ├── stm32f4xx_hal_dac.h │ ├── stm32f4xx_hal_dac_ex.h │ ├── stm32f4xx_hal_def.h │ ├── stm32f4xx_hal_dma.h │ ├── stm32f4xx_hal_dma_ex.h │ ├── stm32f4xx_hal_exti.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_i2c.h │ ├── stm32f4xx_hal_i2c_ex.h │ ├── stm32f4xx_hal_pcd.h │ ├── stm32f4xx_hal_pcd_ex.h │ ├── stm32f4xx_hal_pwr.h │ ├── stm32f4xx_hal_pwr_ex.h │ ├── stm32f4xx_hal_rcc.h │ ├── stm32f4xx_hal_rcc_ex.h │ ├── stm32f4xx_hal_rng.h │ ├── stm32f4xx_hal_rtc.h │ ├── stm32f4xx_hal_rtc_ex.h │ ├── stm32f4xx_hal_spi.h │ ├── stm32f4xx_hal_tim.h │ ├── stm32f4xx_hal_tim_ex.h │ ├── stm32f4xx_hal_uart.h │ ├── stm32f4xx_ll_adc.h │ ├── stm32f4xx_ll_bus.h │ ├── stm32f4xx_ll_cortex.h │ ├── stm32f4xx_ll_crc.h │ ├── stm32f4xx_ll_dac.h │ ├── stm32f4xx_ll_dma.h │ ├── stm32f4xx_ll_exti.h │ ├── stm32f4xx_ll_gpio.h │ ├── stm32f4xx_ll_i2c.h │ ├── stm32f4xx_ll_pwr.h │ ├── stm32f4xx_ll_rcc.h │ ├── stm32f4xx_ll_rng.h │ ├── stm32f4xx_ll_rtc.h │ ├── stm32f4xx_ll_system.h │ ├── stm32f4xx_ll_tim.h │ ├── stm32f4xx_ll_usart.h │ ├── stm32f4xx_ll_usb.h │ └── stm32f4xx_ll_utils.h │ ├── LICENSE.txt │ └── Src │ ├── stm32f4xx_hal.c │ ├── stm32f4xx_hal_adc.c │ ├── stm32f4xx_hal_adc_ex.c │ ├── stm32f4xx_hal_can.c │ ├── stm32f4xx_hal_cortex.c │ ├── stm32f4xx_hal_crc.c │ ├── stm32f4xx_hal_dac.c │ ├── stm32f4xx_hal_dac_ex.c │ ├── stm32f4xx_hal_dma.c │ ├── stm32f4xx_hal_dma_ex.c │ ├── stm32f4xx_hal_exti.c │ ├── stm32f4xx_hal_flash.c │ ├── stm32f4xx_hal_flash_ex.c │ ├── stm32f4xx_hal_flash_ramfunc.c │ ├── stm32f4xx_hal_gpio.c │ ├── stm32f4xx_hal_i2c.c │ ├── stm32f4xx_hal_i2c_ex.c │ ├── stm32f4xx_hal_pcd.c │ ├── stm32f4xx_hal_pcd_ex.c │ ├── stm32f4xx_hal_pwr.c │ ├── stm32f4xx_hal_pwr_ex.c │ ├── stm32f4xx_hal_rcc.c │ ├── stm32f4xx_hal_rcc_ex.c │ ├── stm32f4xx_hal_rng.c │ ├── stm32f4xx_hal_rtc.c │ ├── stm32f4xx_hal_rtc_ex.c │ ├── stm32f4xx_hal_spi.c │ ├── stm32f4xx_hal_tim.c │ ├── stm32f4xx_hal_tim_ex.c │ ├── stm32f4xx_hal_uart.c │ ├── stm32f4xx_ll_adc.c │ └── stm32f4xx_ll_usb.c ├── Inc ├── FreeRTOSConfig.h ├── adc.h ├── can.h ├── crc.h ├── dac.h ├── dma.h ├── gpio.h ├── i2c.h ├── main.h ├── rng.h ├── rtc.h ├── spi.h ├── stm32f4xx_hal_conf.h ├── stm32f4xx_it.h ├── tim.h ├── usart.h ├── usb_device.h ├── usbd_cdc_if.h ├── usbd_conf.h └── usbd_desc.h ├── LICENSE ├── Makefile ├── Makefile.upgrade ├── Middlewares ├── ST │ ├── ARM │ │ └── DSP │ │ │ ├── Inc │ │ │ └── arm_math.h │ │ │ ├── Include │ │ │ ├── arm_common_tables.h │ │ │ ├── arm_common_tables_f16.h │ │ │ ├── arm_const_structs.h │ │ │ ├── arm_const_structs_f16.h │ │ │ ├── arm_helium_utils.h │ │ │ ├── arm_math.h │ │ │ ├── arm_math_f16.h │ │ │ ├── arm_math_memory.h │ │ │ ├── arm_math_types.h │ │ │ ├── arm_math_types_f16.h │ │ │ ├── arm_mve_tables.h │ │ │ ├── arm_mve_tables_f16.h │ │ │ ├── arm_vec_math.h │ │ │ ├── arm_vec_math_f16.h │ │ │ └── dsp │ │ │ │ ├── basic_math_functions.h │ │ │ │ ├── basic_math_functions_f16.h │ │ │ │ ├── bayes_functions.h │ │ │ │ ├── bayes_functions_f16.h │ │ │ │ ├── complex_math_functions.h │ │ │ │ ├── complex_math_functions_f16.h │ │ │ │ ├── controller_functions.h │ │ │ │ ├── controller_functions_f16.h │ │ │ │ ├── debug.h │ │ │ │ ├── distance_functions.h │ │ │ │ ├── distance_functions_f16.h │ │ │ │ ├── fast_math_functions.h │ │ │ │ ├── fast_math_functions_f16.h │ │ │ │ ├── filtering_functions.h │ │ │ │ ├── filtering_functions_f16.h │ │ │ │ ├── interpolation_functions.h │ │ │ │ ├── interpolation_functions_f16.h │ │ │ │ ├── matrix_functions.h │ │ │ │ ├── matrix_functions_f16.h │ │ │ │ ├── matrix_utils.h │ │ │ │ ├── none.h │ │ │ │ ├── quaternion_math_functions.h │ │ │ │ ├── statistics_functions.h │ │ │ │ ├── statistics_functions_f16.h │ │ │ │ ├── support_functions.h │ │ │ │ ├── support_functions_f16.h │ │ │ │ ├── svm_defines.h │ │ │ │ ├── svm_functions.h │ │ │ │ ├── svm_functions_f16.h │ │ │ │ ├── transform_functions.h │ │ │ │ ├── transform_functions_f16.h │ │ │ │ ├── utils.h │ │ │ │ └── window_functions.h │ │ │ └── Lib │ │ │ ├── libCMSISDSP.a │ │ │ └── libarm_cortexM4lf_math.a │ └── STM32_USB_Device_Library │ │ ├── Class │ │ └── CDC │ │ │ ├── Inc │ │ │ └── usbd_cdc.h │ │ │ └── Src │ │ │ └── usbd_cdc.c │ │ ├── Core │ │ ├── Inc │ │ │ ├── usbd_core.h │ │ │ ├── usbd_ctlreq.h │ │ │ ├── usbd_def.h │ │ │ └── usbd_ioreq.h │ │ └── Src │ │ │ ├── usbd_core.c │ │ │ ├── usbd_ctlreq.c │ │ │ └── usbd_ioreq.c │ │ └── LICENSE.txt └── Third_Party │ ├── FreeRTOS │ └── Source │ │ ├── CMSIS_RTOS │ │ ├── cmsis_os.c │ │ └── cmsis_os.h │ │ ├── LICENSE │ │ ├── croutine.c │ │ ├── event_groups.c │ │ ├── include │ │ ├── FreeRTOS.h │ │ ├── StackMacros.h │ │ ├── atomic.h │ │ ├── croutine.h │ │ ├── deprecated_definitions.h │ │ ├── event_groups.h │ │ ├── list.h │ │ ├── message_buffer.h │ │ ├── mpu_prototypes.h │ │ ├── mpu_wrappers.h │ │ ├── portable.h │ │ ├── projdefs.h │ │ ├── queue.h │ │ ├── semphr.h │ │ ├── stack_macros.h │ │ ├── stream_buffer.h │ │ ├── task.h │ │ └── timers.h │ │ ├── list.c │ │ ├── portable │ │ ├── GCC │ │ │ └── ARM_CM4F │ │ │ │ ├── port.c │ │ │ │ └── portmacro.h │ │ └── MemMang │ │ │ └── heap_4.c │ │ ├── queue.c │ │ ├── stream_buffer.c │ │ ├── tasks.c │ │ └── timers.c │ └── SEGGER │ ├── Config │ └── SEGGER_RTT_Conf.h │ └── RTT │ ├── SEGGER_RTT.c │ ├── SEGGER_RTT.h │ ├── SEGGER_RTT_ASM_ARMv7M.s │ └── SEGGER_RTT_printf.c ├── README.md ├── STM32F407.svd ├── STM32F407IGHx_FLASH.ld ├── Src ├── adc.c ├── can.c ├── crc.c ├── dac.c ├── dma.c ├── freertos.c ├── gpio.c ├── i2c.c ├── main.c ├── rng.c ├── rtc.c ├── spi.c ├── stm32f4xx_hal_msp.c ├── stm32f4xx_hal_timebase_tim.c ├── stm32f4xx_it.c ├── system_stm32f4xx.c ├── tim.c ├── usart.c ├── usb_device.c ├── usbd_cdc_if.c ├── usbd_conf.c └── usbd_desc.c ├── application ├── APP层应用编写指引.md ├── application.md ├── chassis │ ├── balance.h │ ├── chassis.c │ ├── chassis.h │ ├── chassis.md │ ├── mecanum.h │ └── steering.h ├── cmd │ ├── robot_cmd.c │ ├── robot_cmd.h │ └── robot_cmd.md ├── gimbal │ ├── gimbal.c │ ├── gimbal.h │ └── gimbal.md ├── robot.c ├── robot.h ├── robot_def.h ├── robot_task.h └── shoot │ ├── shoot.c │ ├── shoot.h │ └── shoot.md ├── basic_framework.ioc ├── bsp ├── adc │ ├── bsp_adc.c │ ├── bsp_adc.h │ └── bsp_adc.md ├── bsp.md ├── bsp_init.h ├── bsp_tools.c ├── bsp_tools.h ├── can │ ├── bsp_can.c │ ├── bsp_can.h │ └── bsp_can.md ├── dwt │ ├── bsp_dwt.c │ ├── bsp_dwt.h │ └── bsp_dwt.md ├── flash │ ├── bsp_flash.c │ ├── bsp_flash.h │ └── bsp_flash.md ├── gpio │ ├── bsp_gpio.c │ ├── bsp_gpio.h │ └── bsp_gpio.md ├── iic │ ├── bsp_iic.c │ ├── bsp_iic.h │ └── bsp_iic.md ├── log │ ├── bsp_log.c │ ├── bsp_log.h │ └── bsp_log.md ├── pwm │ ├── bsp_pwm.c │ ├── bsp_pwm.h │ └── bsp_pwm.md ├── spi │ ├── bsp_spi.c │ ├── bsp_spi.h │ └── bsp_spi.md ├── usart │ ├── bsp_usart.c │ ├── bsp_usart.h │ └── bsp_usart.md └── usb │ ├── bsp_usb.c │ ├── bsp_usb.h │ └── bsp_usb.md ├── modules ├── BMI088 │ ├── bmi088-datasheet.pdf │ ├── bmi088.c │ ├── bmi088.h │ ├── bmi088.md │ └── bmi088_regNdef.h ├── TFminiPlus │ ├── tfminiplus.c │ ├── tfminiplus.h │ └── tfminiplus.md ├── alarm │ ├── buzzer.c │ ├── buzzer.h │ └── buzzer.md ├── algorithm │ ├── QuaternionEKF.c │ ├── QuaternionEKF.h │ ├── algorithm.md │ ├── controller.c │ ├── controller.h │ ├── crc16.c │ ├── crc16.h │ ├── crc8.c │ ├── crc8.h │ ├── kalman_filter.c │ ├── kalman_filter.h │ ├── user_lib.c │ └── user_lib.h ├── bluetooth │ ├── HC05.c │ └── HC05.h ├── can_comm │ ├── can_comm.c │ ├── can_comm.h │ └── can_comm.md ├── daemon │ ├── daemon.c │ ├── daemon.h │ └── daemon.md ├── encoder │ └── encoder.md ├── general_def.h ├── imu │ ├── BMI088Middleware.c │ ├── BMI088Middleware.h │ ├── BMI088driver.c │ ├── BMI088driver.h │ ├── BMI088reg.h │ ├── ins_task.c │ ├── ins_task.h │ └── ins_task.md ├── ist8310 │ ├── ist8310.c │ ├── ist8310.h │ └── ist8310.md ├── master_machine │ ├── master_process.c │ ├── master_process.h │ ├── master_process.md │ ├── seasky_protocol.c │ ├── seasky_protocol.h │ └── 湖南大学RoboMaster电控组通信协议.md ├── message_center │ ├── message_center.c │ ├── message_center.h │ └── message_center.md ├── module.md ├── motor │ ├── DJImotor │ │ ├── dji_motor.c │ │ ├── dji_motor.h │ │ └── dji_motor.md │ ├── DMmotor │ │ ├── dmmotor.c │ │ └── dmmotor.h │ ├── HTmotor │ │ ├── HT04.c │ │ ├── HT04.h │ │ ├── HT04.md │ │ ├── 控制报文.png │ │ └── 驱动器硬件说明.pdf │ ├── LKmotor │ │ ├── LK-TECH电机CAN协议说明V2_3.pdf │ │ ├── LK9025.c │ │ ├── LK9025.h │ │ ├── LK_motor.md │ │ ├── 反馈报文.png │ │ └── 报文格式.png │ ├── motor_def.h │ ├── motor_task.c │ ├── motor_task.h │ ├── servo_motor │ │ ├── servo_motor.c │ │ ├── servo_motor.h │ │ └── servo_motor.md │ └── step_motor │ │ ├── step_motor.c │ │ └── step_motor.h ├── oled │ ├── oled.c │ ├── oled.h │ ├── oled.md │ └── oledfont.h ├── referee │ ├── crc_ref.c │ ├── crc_ref.h │ ├── referee.md │ ├── referee_UI.c │ ├── referee_UI.h │ ├── referee_protocol.h │ ├── referee_task.c │ ├── referee_task.h │ ├── rm_referee.c │ └── rm_referee.h ├── remote │ ├── remote.md │ ├── remote_control.c │ └── remote_control.h ├── standard_cmd │ ├── standard_cmd.md │ ├── std_cmd.c │ └── std_cmd.h ├── super_cap │ ├── super_cap.c │ ├── super_cap.h │ └── super_cap.md └── unicomm │ ├── unicomm.c │ ├── unicomm.h │ └── unicomm.md ├── openocd_dap.cfg ├── openocd_jlink.cfg ├── startup_stm32f407xx.s ├── stm32.jflash └── task.ps1 /.Doc/Bug_Report.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HNUYueLuRM/basic_framework/HEAD/.Doc/Bug_Report.md -------------------------------------------------------------------------------- /.Doc/TODO.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HNUYueLuRM/basic_framework/HEAD/.Doc/TODO.md 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