├── F405_Chassis ├── Algorithm │ ├── DataScope_DP.C │ ├── DataScope_DP.h │ ├── FIR.c │ ├── FIR.h │ ├── algorithmOfCRC.c │ ├── algorithmOfCRC.h │ ├── pid.c │ └── pid.h ├── FreeRTOS │ ├── include │ │ ├── FreeRTOS.h │ │ ├── FreeRTOS.h~RF72bb66.TMP │ │ ├── StackMacros.h │ │ ├── croutine.h │ │ ├── deprecated_definitions.h │ │ ├── event_groups.h │ │ ├── list.h │ │ ├── mpu_prototypes.h │ │ ├── mpu_wrappers.h │ │ ├── portable.h │ │ ├── projdefs.h │ │ ├── queue.h │ │ ├── semphr.h │ │ ├── stdint.readme │ │ ├── task.h │ │ └── timers.h │ ├── port │ │ ├── MemMang │ │ │ ├── ReadMe.url │ │ │ ├── heap_1.c │ │ │ ├── heap_2.c │ │ │ ├── heap_3.c │ │ │ ├── heap_4.c │ │ │ └── heap_5.c │ │ └── RVDS │ │ │ ├── ARM7_LPC21xx │ │ │ ├── port.c │ │ │ ├── portASM.s │ │ │ ├── portmacro.h │ │ │ └── portmacro.inc │ │ │ ├── ARM_CA9 │ │ │ ├── port.c │ │ │ ├── portASM.s │ │ │ ├── portmacro.h │ │ │ └── portmacro.inc │ │ │ ├── ARM_CM0 │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ │ ├── ARM_CM3 │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ │ ├── ARM_CM4F │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ │ ├── ARM_CM4_MPU │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ │ └── ARM_CM7 │ │ │ ├── ReadMe.txt │ │ │ └── r0p1 │ │ │ ├── port.c │ │ │ └── portmacro.h │ └── src │ │ ├── croutine.c │ │ ├── event_groups.c │ │ ├── list.c │ │ ├── queue.c │ │ ├── readme.txt │ │ ├── tasks.c │ │ └── timers.c ├── Hardware │ ├── WTBI_MOTOR_CONTROL.c │ ├── WTBI_MOTOR_CONTROL.h │ ├── adc.c │ ├── adc.h │ ├── can1.c │ ├── can1.h │ ├── can2.c │ ├── can2.h │ ├── counter.c │ ├── counter.h │ ├── dac.c │ ├── dac.h │ ├── i2c.c │ ├── i2c.h │ ├── ina260.c │ ├── ina260.h │ ├── iwdg.c │ ├── iwdg.h │ ├── tim2.c │ ├── tim2.h │ ├── tim4.c │ ├── tim4.h │ ├── uart4.c │ ├── uart4.h │ ├── uart5.c │ ├── uart5.h │ ├── uart6.c │ ├── uart6.h │ ├── usart1.c │ ├── usart1.h │ ├── usart2.c │ ├── usart2.h │ ├── usart2_2.c │ ├── usart3.c │ └── usart3.h ├── Library │ ├── CMSIS │ │ ├── MathLib │ │ │ ├── arm_mat_add_f32.c │ │ │ ├── arm_mat_cmplx_mult_f32.c │ │ │ ├── arm_mat_init_f32.c │ │ │ ├── arm_mat_inverse_f32.c │ │ │ ├── arm_mat_mult_f32.c │ │ │ ├── arm_mat_scale_f32.c │ │ │ ├── arm_mat_sub_f32.c │ │ │ └── arm_mat_trans_f32.c │ │ ├── arm_common_tables.h │ │ ├── arm_const_structs.h │ │ ├── arm_math.h │ │ ├── core_cm4.h │ │ ├── core_cm4.h~RF1f2f3f9.TMP │ │ ├── core_cm4_simd.h │ │ ├── core_cmFunc.h │ │ ├── core_cmInstr.h │ │ └── startup_stm32f40_41xxx.s │ ├── inc │ │ ├── misc.h │ │ ├── stm32f4xx_adc.h │ │ ├── stm32f4xx_can.h │ │ ├── stm32f4xx_cec.h │ │ ├── stm32f4xx_crc.h │ │ ├── stm32f4xx_cryp.h │ │ ├── stm32f4xx_dac.h │ │ ├── stm32f4xx_dbgmcu.h │ │ ├── stm32f4xx_dcmi.h │ │ ├── stm32f4xx_dfsdm.h │ │ ├── stm32f4xx_dma.h │ │ ├── stm32f4xx_dma2d.h │ │ ├── stm32f4xx_dsi.h │ │ ├── stm32f4xx_exti.h │ │ ├── stm32f4xx_flash.h │ │ ├── stm32f4xx_flash_ramfunc.h │ │ ├── stm32f4xx_fmc.h │ │ ├── stm32f4xx_fmpi2c.h │ │ ├── stm32f4xx_fsmc.h │ │ ├── stm32f4xx_gpio.h │ │ ├── stm32f4xx_hash.h │ │ ├── stm32f4xx_i2c.h │ │ ├── stm32f4xx_iwdg.h │ │ ├── stm32f4xx_lptim.h │ │ ├── stm32f4xx_ltdc.h │ │ ├── stm32f4xx_pwr.h │ │ ├── stm32f4xx_qspi.h │ │ ├── stm32f4xx_rcc.h │ │ ├── stm32f4xx_rng.h │ │ ├── stm32f4xx_rtc.h │ │ ├── stm32f4xx_sai.h │ │ ├── stm32f4xx_sdio.h │ │ ├── stm32f4xx_spdifrx.h │ │ ├── stm32f4xx_spi.h │ │ ├── stm32f4xx_syscfg.h │ │ ├── stm32f4xx_tim.h │ │ ├── stm32f4xx_usart.h │ │ └── stm32f4xx_wwdg.h │ └── src │ │ ├── misc.c │ │ ├── stm32f4xx_adc.c │ │ ├── stm32f4xx_can.c │ │ ├── stm32f4xx_cec.c │ │ ├── stm32f4xx_crc.c │ │ ├── stm32f4xx_cryp.c │ │ ├── stm32f4xx_cryp_aes.c │ │ ├── stm32f4xx_cryp_des.c │ │ ├── stm32f4xx_cryp_tdes.c │ │ ├── stm32f4xx_dac.c │ │ ├── stm32f4xx_dbgmcu.c │ │ ├── stm32f4xx_dcmi.c │ │ ├── stm32f4xx_dfsdm.c │ │ ├── stm32f4xx_dma.c │ │ ├── stm32f4xx_dma2d.c │ │ ├── stm32f4xx_dsi.c │ │ ├── stm32f4xx_exti.c │ │ ├── stm32f4xx_flash.c │ │ ├── stm32f4xx_flash_ramfunc.c │ │ ├── stm32f4xx_fmc.c │ │ ├── stm32f4xx_fmpi2c.c │ │ ├── stm32f4xx_fsmc.c │ │ ├── stm32f4xx_gpio.c │ │ ├── stm32f4xx_hash.c │ │ ├── stm32f4xx_hash_md5.c │ │ ├── stm32f4xx_hash_sha1.c │ │ ├── stm32f4xx_i2c.c │ │ ├── stm32f4xx_iwdg.c │ │ ├── stm32f4xx_lptim.c │ │ ├── stm32f4xx_ltdc.c │ │ ├── stm32f4xx_pwr.c │ │ ├── stm32f4xx_qspi.c │ │ ├── stm32f4xx_rcc.c │ │ ├── stm32f4xx_rng.c │ │ ├── stm32f4xx_rtc.c │ │ ├── stm32f4xx_sai.c │ │ ├── stm32f4xx_sdio.c │ │ ├── stm32f4xx_spdifrx.c │ │ ├── stm32f4xx_spi.c │ │ ├── stm32f4xx_syscfg.c │ │ ├── stm32f4xx_tim.c │ │ ├── stm32f4xx_usart.c │ │ └── stm32f4xx_wwdg.c ├── RTOS_Test │ ├── CPU_Task.c │ ├── CPU_Task.h │ ├── debug.c │ ├── debug.h │ ├── os_tick.c │ ├── os_tick.h │ ├── tools.c │ └── tools.h ├── SD │ ├── SDCardTask.c │ ├── SDCardTask.h │ ├── bsp_spi_sdcard.c │ ├── bsp_spi_sdcard.h │ ├── diskio.c │ ├── diskio.h │ ├── ff.c │ ├── ff.h │ ├── ffconf.h │ └── integer.h ├── SEGGER_RTT_V784 │ ├── Config │ │ └── SEGGER_RTT_Conf.h │ ├── Examples │ │ ├── Main_RTT_InputEchoApp.c │ │ ├── Main_RTT_MenuApp.c │ │ ├── Main_RTT_PrintfTest.c │ │ └── Main_RTT_SpeedTestApp.c │ ├── LICENSE.md │ ├── README.md │ ├── RTT │ │ ├── SEGGER_RTT.c │ │ ├── SEGGER_RTT.h │ │ ├── SEGGER_RTT_ASM_ARMv7M.S │ │ └── SEGGER_RTT_printf.c │ └── Syscalls │ │ ├── SEGGER_RTT_Syscalls_GCC.c │ │ ├── SEGGER_RTT_Syscalls_IAR.c │ │ ├── SEGGER_RTT_Syscalls_KEIL.c │ │ └── SEGGER_RTT_Syscalls_SES.c ├── Task │ ├── CharSendTask.c │ ├── CharSendTask.h │ ├── ChassisTask.c │ ├── ChassisTask.h │ ├── DataReceiveTask.c │ ├── DataReceiveTask.h │ ├── DataSendTask.c │ ├── DataSendTask.h │ ├── GraphicsSendTask.c │ ├── GraphicsSendTask.h │ ├── JumpCal_Task.c │ ├── JumpCal_Task.h │ ├── PowerControlTask.c │ ├── PowerControlTask.h │ ├── StartTask.c │ ├── StartTask.h │ ├── ZeroCheckTask.c │ └── ZeroCheckTask.h └── User │ ├── DebugConfig │ └── Target_1_STM32F405RG.dbgconf │ ├── EventRecorderStub.scvd │ ├── FreeRTOSConfig.h │ ├── HUST RM .uvguix.believershao │ ├── HUST RM .uvguix.syy │ ├── HUST RM .uvguix.syy.bak │ ├── HUST RM .uvoptx │ ├── HUST RM .uvprojx │ ├── HUST RM.map │ ├── JLinkLog.txt │ ├── JLinkSettings.ini │ ├── RTE │ └── _Target_1 │ │ └── RTE_Components.h │ ├── main.c │ ├── main.h │ ├── startup_stm32f40_41xxx.lst │ ├── stm32f4xx.h │ ├── stm32f4xx_conf.h │ ├── stm32f4xx_it.c │ ├── stm32f4xx_it.h │ ├── system_stm32f4xx.c │ └── system_stm32f4xx.h ├── F405_Gimbal ├── Algorithm │ ├── TD.c │ ├── TD.h │ ├── algorithmOfCRC.c │ ├── algorithmOfCRC.h │ ├── pid.c │ ├── pid.h │ ├── queueData.c │ ├── queueData.h │ ├── user_lib.c │ └── user_lib.h ├── FreeRTOS │ ├── include │ │ ├── FreeRTOS.h │ │ ├── FreeRTOS.h~RF72bb66.TMP │ │ ├── StackMacros.h │ │ ├── croutine.h │ │ ├── deprecated_definitions.h │ │ ├── event_groups.h │ │ ├── list.h │ │ ├── mpu_prototypes.h │ │ ├── mpu_wrappers.h │ │ ├── portable.h │ │ ├── projdefs.h │ │ ├── queue.h │ │ ├── semphr.h │ │ ├── stdint.readme │ │ ├── task.h │ │ └── timers.h │ ├── port │ │ ├── MemMang │ │ │ ├── ReadMe.url │ │ │ ├── heap_1.c │ │ │ ├── heap_2.c │ │ │ ├── heap_3.c │ │ │ ├── heap_4.c │ │ │ └── heap_5.c │ │ └── RVDS │ │ │ ├── ARM7_LPC21xx │ │ │ ├── port.c │ │ │ ├── portASM.s │ │ │ ├── portmacro.h │ │ │ └── portmacro.inc │ │ │ ├── ARM_CA9 │ │ │ ├── port.c │ │ │ ├── portASM.s │ │ │ ├── portmacro.h │ │ │ └── portmacro.inc │ │ │ ├── ARM_CM0 │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ │ ├── ARM_CM3 │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ │ ├── ARM_CM4F │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ │ ├── ARM_CM4_MPU │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ │ └── ARM_CM7 │ │ │ ├── ReadMe.txt │ │ │ └── r0p1 │ │ │ ├── port.c │ │ │ └── portmacro.h │ └── src │ │ ├── croutine.c │ │ ├── event_groups.c │ │ ├── list.c │ │ ├── queue.c │ │ ├── readme.txt │ │ ├── tasks.c │ │ └── timers.c ├── INS │ ├── GimbalEstimateTask.c │ ├── GimbalEstimateTask.h │ ├── QuaternionEKF.c │ ├── QuaternionEKF.h │ ├── RtosTaskCheck.c │ ├── RtosTaskCheck.h │ ├── debug.c │ ├── debug.h │ ├── icm20602.c │ ├── icm20602.h │ ├── ins.c │ ├── ins.h │ ├── kalman_filter.c │ └── kalman_filter.h ├── Library │ ├── CMSIS │ │ ├── MathLib │ │ │ ├── arm_mat_add_f32.c │ │ │ ├── arm_mat_cmplx_mult_f32.c │ │ │ ├── arm_mat_init_f32.c │ │ │ ├── arm_mat_inverse_f32.c │ │ │ ├── arm_mat_mult_f32.c │ │ │ ├── arm_mat_scale_f32.c │ │ │ ├── arm_mat_sub_f32.c │ │ │ └── arm_mat_trans_f32.c │ │ ├── arm_atan2_f32.c │ │ ├── arm_atan2_f32.h │ │ ├── arm_common_tables.h │ │ ├── arm_const_structs.h │ │ ├── arm_cortexM4lf_math.lib │ │ ├── arm_math.h │ │ ├── core_cm4.h │ │ ├── core_cm4.h~RF1f2f3f9.TMP │ │ ├── core_cm4_simd.h │ │ ├── core_cmFunc.h │ │ ├── core_cmInstr.h │ │ └── startup_stm32f40_41xxx.s │ ├── inc │ │ ├── misc.h │ │ ├── stm32f4xx_adc.h │ │ ├── stm32f4xx_can.h │ │ ├── stm32f4xx_cec.h │ │ ├── stm32f4xx_crc.h │ │ ├── stm32f4xx_cryp.h │ │ ├── stm32f4xx_dac.h │ │ ├── stm32f4xx_dbgmcu.h │ │ ├── stm32f4xx_dcmi.h │ │ ├── stm32f4xx_dfsdm.h │ │ ├── stm32f4xx_dma.h │ │ ├── stm32f4xx_dma2d.h │ │ ├── stm32f4xx_dsi.h │ │ ├── stm32f4xx_exti.h │ │ ├── stm32f4xx_flash.h │ │ ├── stm32f4xx_flash_ramfunc.h │ │ ├── stm32f4xx_fmc.h │ │ ├── stm32f4xx_fmpi2c.h │ │ ├── stm32f4xx_fsmc.h │ │ ├── stm32f4xx_gpio.h │ │ ├── stm32f4xx_hash.h │ │ ├── stm32f4xx_i2c.h │ │ ├── stm32f4xx_iwdg.h │ │ ├── stm32f4xx_lptim.h │ │ ├── stm32f4xx_ltdc.h │ │ ├── stm32f4xx_pwr.h │ │ ├── stm32f4xx_qspi.h │ │ ├── stm32f4xx_rcc.h │ │ ├── stm32f4xx_rng.h │ │ ├── stm32f4xx_rtc.h │ │ ├── stm32f4xx_sai.h │ │ ├── stm32f4xx_sdio.h │ │ ├── stm32f4xx_spdifrx.h │ │ ├── stm32f4xx_spi.h │ │ ├── stm32f4xx_syscfg.h │ │ ├── stm32f4xx_tim.h │ │ ├── stm32f4xx_usart.h │ │ └── stm32f4xx_wwdg.h │ └── src │ │ ├── misc.c │ │ ├── stm32f4xx_adc.c │ │ ├── stm32f4xx_can.c │ │ ├── stm32f4xx_cec.c │ │ ├── stm32f4xx_crc.c │ │ ├── stm32f4xx_cryp.c │ │ ├── stm32f4xx_cryp_aes.c │ │ ├── stm32f4xx_cryp_des.c │ │ ├── stm32f4xx_cryp_tdes.c │ │ ├── stm32f4xx_dac.c │ │ ├── stm32f4xx_dbgmcu.c │ │ ├── stm32f4xx_dcmi.c │ │ ├── stm32f4xx_dfsdm.c │ │ ├── stm32f4xx_dma.c │ │ ├── stm32f4xx_dma2d.c │ │ ├── stm32f4xx_dsi.c │ │ ├── stm32f4xx_exti.c │ │ ├── stm32f4xx_flash.c │ │ ├── stm32f4xx_flash_ramfunc.c │ │ ├── stm32f4xx_fmc.c │ │ ├── stm32f4xx_fmpi2c.c │ │ ├── stm32f4xx_fsmc.c │ │ ├── stm32f4xx_gpio.c │ │ ├── stm32f4xx_hash.c │ │ ├── stm32f4xx_hash_md5.c │ │ ├── stm32f4xx_hash_sha1.c │ │ ├── stm32f4xx_i2c.c │ │ ├── stm32f4xx_iwdg.c │ │ ├── stm32f4xx_lptim.c │ │ ├── stm32f4xx_ltdc.c │ │ ├── stm32f4xx_pwr.c │ │ ├── stm32f4xx_qspi.c │ │ ├── stm32f4xx_rcc.c │ │ ├── stm32f4xx_rng.c │ │ ├── stm32f4xx_rtc.c │ │ ├── stm32f4xx_sai.c │ │ ├── stm32f4xx_sdio.c │ │ ├── stm32f4xx_spdifrx.c │ │ ├── stm32f4xx_spi.c │ │ ├── stm32f4xx_syscfg.c │ │ ├── stm32f4xx_tim.c │ │ ├── stm32f4xx_usart.c │ │ └── stm32f4xx_wwdg.c ├── Mylib │ ├── FrictionWheel.c │ ├── FrictionWheel.h │ ├── MicroSw.c │ ├── MicroSw.h │ ├── MySensors.c │ ├── SteeringEngine.c │ ├── SteeringEngine.h │ ├── adc.c │ ├── adc.h │ ├── can1.c │ ├── can1.h │ ├── can2.c │ ├── can2.h │ ├── counter.c │ ├── counter.h │ ├── gpio.c │ ├── gpio.h │ ├── gyro_uart.c │ ├── gyro_uart.h │ ├── iwdg.c │ ├── iwdg.h │ ├── laser.c │ ├── laser.h │ ├── led.c │ ├── led.h │ ├── mySensors.h │ ├── pc_serial.c │ ├── pc_serial.h │ ├── pc_uart.c │ ├── pc_uart.h │ ├── tim4.c │ ├── tim4.h │ ├── tim7.c │ ├── tim7.h │ ├── uart4.c │ ├── uart4.h │ ├── uart6.c │ ├── uart6.h │ ├── usart1.c │ ├── usart1.h │ ├── usart2.c │ ├── usart2.h │ ├── usart3.c │ └── usart3.h ├── OBJ │ ├── HUST-RM-Master.axf │ ├── HUST-RM-Master.build_log.htm │ ├── HUST-RM-Master.htm │ ├── HUST-RM-Master.lnp │ ├── HUST-RM-Master.sct │ ├── HUST-RM-Master_HUST-RM-Master.dep │ ├── actiontask.crf │ ├── actiontask.d │ ├── actiontask.o │ ├── algorithmofcrc.crf │ ├── algorithmofcrc.d │ ├── algorithmofcrc.o │ ├── bsp_spi_sdcard.crf │ ├── bsp_spi_sdcard.d │ ├── bsp_spi_sdcard.o │ ├── can1.crf │ ├── can1.d │ ├── can1.o │ ├── can2.crf │ ├── can2.d │ ├── can2.o │ ├── chassistask.crf │ ├── chassistask.d │ ├── chassistask.o │ ├── controltask.crf │ ├── controltask.d │ ├── controltask.o │ ├── counter.crf │ ├── counter.d │ ├── counter.o │ ├── cpu_task.crf │ ├── cpu_task.d │ ├── cpu_task.o │ ├── croutine.crf │ ├── croutine.d │ ├── croutine.o │ ├── datareceivetask.crf │ ├── datareceivetask.d │ ├── datareceivetask.o │ ├── datasendtask.crf │ ├── datasendtask.d │ ├── datasendtask.o │ ├── debug.crf │ ├── debug.d │ ├── debug.o │ ├── diskio.crf │ ├── diskio.d │ ├── diskio.o │ ├── event_groups.crf │ ├── event_groups.d │ ├── event_groups.o │ ├── ff.crf │ ├── ff.d │ ├── ff.o │ ├── frictionwheel.crf │ ├── frictionwheel.d │ ├── frictionwheel.o │ ├── gimbalestimatetask.crf │ ├── gimbalestimatetask.d │ ├── gimbalestimatetask.o │ ├── gimbaltask.crf │ ├── gimbaltask.d │ ├── gimbaltask.o │ ├── gpio.crf │ ├── gpio.d │ ├── gpio.o │ ├── heap_4.crf │ ├── heap_4.d │ ├── heap_4.o │ ├── icm20602.crf │ ├── icm20602.d │ ├── icm20602.o │ ├── ins.crf │ ├── ins.d │ ├── ins.o │ ├── iwdg.crf │ ├── iwdg.d │ ├── iwdg.o │ ├── kalman_filter.crf │ ├── kalman_filter.d │ ├── kalman_filter.o │ ├── laser.crf │ ├── laser.d │ ├── laser.o │ ├── list.crf │ ├── list.d │ ├── list.o │ ├── main.crf │ ├── main.d │ ├── main.o │ ├── microsw.crf │ ├── microsw.d │ ├── microsw.o │ ├── misc.crf │ ├── misc.d │ ├── misc.o │ ├── os_tick.crf │ ├── os_tick.d │ ├── os_tick.o │ ├── pc_serial.crf │ ├── pc_serial.d │ ├── pc_serial.o │ ├── pc_uart.crf │ ├── pc_uart.d │ ├── pc_uart.o │ ├── pid.crf │ ├── pid.d │ ├── pid.o │ ├── port.crf │ ├── port.d │ ├── port.o │ ├── quaternionekf.crf │ ├── quaternionekf.d │ ├── quaternionekf.o │ ├── queue.crf │ ├── queue.d │ ├── queue.o │ ├── queuedata.crf │ ├── queuedata.d │ ├── queuedata.o │ ├── rtostaskcheck.crf │ ├── rtostaskcheck.d │ ├── rtostaskcheck.o │ ├── sdcardtask.crf │ ├── sdcardtask.d │ ├── sdcardtask.o │ ├── segger_rtt.crf │ ├── segger_rtt.d │ ├── segger_rtt.o │ ├── segger_rtt_printf.crf │ ├── segger_rtt_printf.d │ ├── segger_rtt_printf.o │ ├── shoottask.crf │ ├── shoottask.d │ ├── shoottask.o │ ├── start_task.crf │ ├── start_task.d │ ├── start_task.o │ ├── startup_stm32f40_41xxx.d │ ├── startup_stm32f40_41xxx.o │ ├── steeringengine.crf │ ├── steeringengine.d │ ├── steeringengine.o │ ├── stm32f4xx_adc.crf │ ├── stm32f4xx_adc.d │ ├── stm32f4xx_adc.o │ ├── stm32f4xx_can.crf │ ├── stm32f4xx_can.d │ ├── stm32f4xx_can.o │ ├── stm32f4xx_crc.crf │ ├── stm32f4xx_crc.d │ ├── stm32f4xx_crc.o │ ├── stm32f4xx_dac.crf │ ├── stm32f4xx_dac.d │ ├── stm32f4xx_dac.o │ ├── stm32f4xx_dbgmcu.crf │ ├── stm32f4xx_dbgmcu.d │ ├── stm32f4xx_dbgmcu.o │ ├── stm32f4xx_dma.crf │ ├── stm32f4xx_dma.d │ ├── stm32f4xx_dma.o │ ├── stm32f4xx_exti.crf │ ├── stm32f4xx_exti.d │ ├── stm32f4xx_exti.o │ ├── stm32f4xx_flash.crf │ ├── stm32f4xx_flash.d │ ├── stm32f4xx_flash.o │ ├── stm32f4xx_flash_ramfunc.crf │ ├── stm32f4xx_flash_ramfunc.d │ ├── stm32f4xx_flash_ramfunc.o │ ├── stm32f4xx_gpio.crf │ ├── stm32f4xx_gpio.d │ ├── stm32f4xx_gpio.o │ ├── stm32f4xx_i2c.crf │ ├── stm32f4xx_i2c.d │ ├── stm32f4xx_i2c.o │ ├── stm32f4xx_it.crf │ ├── stm32f4xx_it.d │ ├── stm32f4xx_it.o │ ├── stm32f4xx_iwdg.crf │ ├── stm32f4xx_iwdg.d │ ├── stm32f4xx_iwdg.o │ ├── stm32f4xx_rcc.crf │ ├── stm32f4xx_rcc.d │ ├── stm32f4xx_rcc.o │ ├── stm32f4xx_rng.crf │ ├── stm32f4xx_rng.d │ ├── stm32f4xx_rng.o │ ├── stm32f4xx_rtc.crf │ ├── stm32f4xx_rtc.d │ ├── stm32f4xx_rtc.o │ ├── stm32f4xx_spi.crf │ ├── stm32f4xx_spi.d │ ├── stm32f4xx_spi.o │ ├── stm32f4xx_syscfg.crf │ ├── stm32f4xx_syscfg.d │ ├── stm32f4xx_syscfg.o │ ├── stm32f4xx_tim.crf │ ├── stm32f4xx_tim.d │ ├── stm32f4xx_tim.o │ ├── stm32f4xx_usart.crf │ ├── stm32f4xx_usart.d │ ├── stm32f4xx_usart.o │ ├── stm32f4xx_wwdg.crf │ ├── stm32f4xx_wwdg.d │ ├── stm32f4xx_wwdg.o │ ├── system_stm32f4xx.crf │ ├── system_stm32f4xx.d │ ├── system_stm32f4xx.o │ ├── tasks.crf │ ├── tasks.d │ ├── tasks.o │ ├── td.crf │ ├── td.d │ ├── td.o │ ├── tim4.crf │ ├── tim4.d │ ├── tim4.o │ ├── timers.crf │ ├── timers.d │ ├── timers.o │ ├── tools.crf │ ├── tools.d │ ├── tools.o │ ├── usart1.crf │ ├── usart1.d │ ├── usart1.o │ ├── usart3.crf │ ├── usart3.d │ ├── usart3.o │ ├── user_lib.crf │ ├── user_lib.d │ ├── user_lib.o │ ├── zerochecktask.crf │ ├── zerochecktask.d │ └── zerochecktask.o ├── Project │ ├── .vscode │ │ └── uv4.log │ ├── DebugConfig │ │ └── HUST-RM-Master_STM32F405RG.dbgconf │ ├── EventRecorderStub.scvd │ ├── HUST-RM-Master.uvguix.believershao │ ├── HUST-RM-Master.uvoptx │ ├── HUST-RM-Master.uvprojx │ ├── JLinkLog.txt │ ├── JLinkSettings.ini │ ├── Listings │ │ ├── HUST-RM-Master.map │ │ └── startup_stm32f40_41xxx.lst │ ├── RTE │ │ └── _HUST-RM-Master │ │ │ └── RTE_Components.h │ └── c.txt ├── RTOS_Test │ ├── CPU_Task.c │ ├── CPU_Task.h │ ├── os_tick.c │ ├── os_tick.h │ ├── tools.c │ └── tools.h ├── SD │ ├── SDCardTask.c │ ├── SDCardTask.h │ ├── bsp_spi_sdcard.c │ ├── bsp_spi_sdcard.h │ ├── diskio.c │ ├── diskio.h │ ├── ff.c │ ├── ff.h │ ├── ffconf.h │ └── integer.h ├── SEGGER_RTT_V784 │ ├── Config │ │ └── SEGGER_RTT_Conf.h │ ├── Examples │ │ ├── Main_RTT_InputEchoApp.c │ │ ├── Main_RTT_MenuApp.c │ │ ├── Main_RTT_PrintfTest.c │ │ └── Main_RTT_SpeedTestApp.c │ ├── LICENSE.md │ ├── README.md │ ├── RTT │ │ ├── SEGGER_RTT.c │ │ ├── SEGGER_RTT.h │ │ ├── SEGGER_RTT_ASM_ARMv7M.S │ │ └── SEGGER_RTT_printf.c │ └── Syscalls │ │ ├── SEGGER_RTT_Syscalls_GCC.c │ │ ├── SEGGER_RTT_Syscalls_IAR.c │ │ ├── SEGGER_RTT_Syscalls_KEIL.c │ │ └── SEGGER_RTT_Syscalls_SES.c ├── Task │ ├── ActionTask.c │ ├── ActionTask.h │ ├── ChassisTask.c │ ├── ChassisTask.h │ ├── ControlTask.c │ ├── ControlTask.h │ ├── DataReceiveTask.c │ ├── DataReceiveTask.h │ ├── DataSendTask.c │ ├── DataSendTask.h │ ├── GimbalTask.c │ ├── GimbalTask.h │ ├── ShootTask.c │ ├── ShootTask.h │ ├── Start_Task.c │ ├── Start_Task.h │ ├── ZeroCheckTask.c │ ├── ZeroCheckTask.h │ ├── usart4_gryo.c │ └── usart4_gryo.h └── User │ ├── FreeRTOSConfig.h │ ├── arm_cortexM4lf_math.lib │ ├── main.c │ ├── main.h │ ├── startup_stm32f40_41xxx.s │ ├── stm32f4xx.h │ ├── stm32f4xx_conf.h │ ├── stm32f4xx_it.c │ ├── stm32f4xx_it.h │ ├── system_stm32f4xx.c │ └── system_stm32f4xx.h ├── IMU2022 ├── .gitattributes ├── .mxproject ├── Core │ ├── Inc │ │ ├── can.h │ │ ├── dma.h │ │ ├── gpio.h │ │ ├── main.h │ │ ├── spi.h │ │ ├── stm32f0xx_hal_conf.h │ │ ├── stm32f0xx_it.h │ │ └── tim.h │ └── Src │ │ ├── can.c │ │ ├── dma.c │ │ ├── gpio.c │ │ ├── main.c │ │ ├── spi.c │ │ ├── stm32f0xx_hal_msp.c │ │ ├── stm32f0xx_it.c │ │ ├── system_stm32f0xx.c │ │ └── tim.c ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F0xx │ │ │ │ └── Include │ │ │ │ ├── stm32f042x6.h │ │ │ │ ├── stm32f0xx.h │ │ │ │ └── system_stm32f0xx.h │ │ └── 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 │ └── STM32F0xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f0xx_hal.h │ │ ├── stm32f0xx_hal_can.h │ │ ├── stm32f0xx_hal_cortex.h │ │ ├── stm32f0xx_hal_def.h │ │ ├── stm32f0xx_hal_dma.h │ │ ├── stm32f0xx_hal_dma_ex.h │ │ ├── stm32f0xx_hal_exti.h │ │ ├── stm32f0xx_hal_flash.h │ │ ├── stm32f0xx_hal_flash_ex.h │ │ ├── stm32f0xx_hal_gpio.h │ │ ├── stm32f0xx_hal_gpio_ex.h │ │ ├── stm32f0xx_hal_i2c.h │ │ ├── stm32f0xx_hal_i2c_ex.h │ │ ├── stm32f0xx_hal_pwr.h │ │ ├── stm32f0xx_hal_pwr_ex.h │ │ ├── stm32f0xx_hal_rcc.h │ │ ├── stm32f0xx_hal_rcc_ex.h │ │ ├── stm32f0xx_hal_spi.h │ │ ├── stm32f0xx_hal_spi_ex.h │ │ ├── stm32f0xx_hal_tim.h │ │ └── stm32f0xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f0xx_hal.c │ │ ├── stm32f0xx_hal_can.c │ │ ├── stm32f0xx_hal_cortex.c │ │ ├── stm32f0xx_hal_dma.c │ │ ├── stm32f0xx_hal_exti.c │ │ ├── stm32f0xx_hal_flash.c │ │ ├── stm32f0xx_hal_flash_ex.c │ │ ├── stm32f0xx_hal_gpio.c │ │ ├── stm32f0xx_hal_i2c.c │ │ ├── stm32f0xx_hal_i2c_ex.c │ │ ├── stm32f0xx_hal_pwr.c │ │ ├── stm32f0xx_hal_pwr_ex.c │ │ ├── stm32f0xx_hal_rcc.c │ │ ├── stm32f0xx_hal_rcc_ex.c │ │ ├── stm32f0xx_hal_spi.c │ │ ├── stm32f0xx_hal_spi_ex.c │ │ ├── stm32f0xx_hal_tim.c │ │ └── stm32f0xx_hal_tim_ex.c ├── EWARM │ ├── IMU_2022.ewd │ ├── IMU_2022.ewp │ ├── Project.eww │ ├── startup_stm32f042x6.s │ └── stm32f042x6_flash.icf ├── Fusion │ ├── Fusion.h │ ├── FusionAhrs.c │ ├── FusionAhrs.h │ ├── FusionBias.c │ ├── FusionBias.h │ ├── FusionCalibration.h │ ├── FusionCompass.c │ ├── FusionCompass.h │ └── FusionTypes.h ├── IMU_2022.ioc └── MDK-ARM │ ├── .vscode │ ├── c_cpp_properties.json │ ├── keil-assistant.log │ ├── settings.json │ ├── uv4.log │ └── uv4.log.lock │ ├── AHRS.c │ ├── AHRS.h │ ├── DebugConfig │ ├── IMU_2022_STM32F042F6Px.dbgconf │ └── IMU_2022_STM32F042G6Ux.dbgconf │ ├── EventRecorderStub.scvd │ ├── IMU_2022.uvguix.86186 │ ├── IMU_2022.uvguix.believershao │ ├── IMU_2022.uvguix.believershao.bak │ ├── IMU_2022.uvguix.jian123 │ ├── IMU_2022.uvoptx │ ├── IMU_2022.uvprojx │ ├── IMU_2022 │ ├── ExtDll.iex │ ├── IMU_2022.axf │ ├── IMU_2022.build_log.htm │ ├── IMU_2022.hex │ ├── IMU_2022.htm │ ├── IMU_2022.lnp │ ├── IMU_2022.map │ ├── IMU_2022.sct │ ├── IMU_2022_IMU_2022.dep │ ├── IMU_2022_sct.Bak │ ├── ahrs.crf │ ├── ahrs.d │ ├── ahrs.o │ ├── ahrs_middleware.crf │ ├── ahrs_middleware.d │ ├── ahrs_middleware.o │ ├── can.crf │ ├── can.d │ ├── can.o │ ├── dma.crf │ ├── dma.d │ ├── dma.o │ ├── fusionahrs.crf │ ├── fusionahrs.d │ ├── fusionahrs.o │ ├── fusionbias.crf │ ├── fusionbias.d │ ├── fusionbias.o │ ├── fusioncompass.crf │ ├── fusioncompass.d │ ├── fusioncompass.o │ ├── gpio.crf │ ├── gpio.d │ ├── gpio.o │ ├── icm.crf │ ├── icm.d │ ├── icm.o │ ├── iic.crf │ ├── iic.d │ ├── kalman_filter.crf │ ├── kalman_filter.d │ ├── kalman_filter.o │ ├── main.crf │ ├── main.d │ ├── main.o │ ├── qmc5883l.crf │ ├── qmc5883l.d │ ├── spi.crf │ ├── spi.d │ ├── spi.o │ ├── startup_stm32f042x6.d │ ├── startup_stm32f042x6.o │ ├── stm32f0xx_hal.crf │ ├── stm32f0xx_hal.d │ ├── stm32f0xx_hal.o │ ├── stm32f0xx_hal_can.crf │ ├── stm32f0xx_hal_can.d │ ├── stm32f0xx_hal_can.o │ ├── stm32f0xx_hal_cortex.crf │ ├── stm32f0xx_hal_cortex.d │ ├── stm32f0xx_hal_cortex.o │ ├── stm32f0xx_hal_dma.crf │ ├── stm32f0xx_hal_dma.d │ ├── stm32f0xx_hal_dma.o │ ├── stm32f0xx_hal_exti.crf │ ├── stm32f0xx_hal_exti.d │ ├── stm32f0xx_hal_exti.o │ ├── stm32f0xx_hal_flash.crf │ ├── stm32f0xx_hal_flash.d │ ├── stm32f0xx_hal_flash.o │ ├── stm32f0xx_hal_flash_ex.crf │ ├── stm32f0xx_hal_flash_ex.d │ ├── stm32f0xx_hal_flash_ex.o │ ├── stm32f0xx_hal_gpio.crf │ ├── stm32f0xx_hal_gpio.d │ ├── stm32f0xx_hal_gpio.o │ ├── stm32f0xx_hal_i2c.crf │ ├── stm32f0xx_hal_i2c.d │ ├── stm32f0xx_hal_i2c.o │ ├── stm32f0xx_hal_i2c_ex.crf │ ├── stm32f0xx_hal_i2c_ex.d │ ├── stm32f0xx_hal_i2c_ex.o │ ├── stm32f0xx_hal_msp.crf │ ├── stm32f0xx_hal_msp.d │ ├── stm32f0xx_hal_msp.o │ ├── stm32f0xx_hal_pwr.crf │ ├── stm32f0xx_hal_pwr.d │ ├── stm32f0xx_hal_pwr.o │ ├── stm32f0xx_hal_pwr_ex.crf │ ├── stm32f0xx_hal_pwr_ex.d │ ├── stm32f0xx_hal_pwr_ex.o │ ├── stm32f0xx_hal_rcc.crf │ ├── stm32f0xx_hal_rcc.d │ ├── stm32f0xx_hal_rcc.o │ ├── stm32f0xx_hal_rcc_ex.crf │ ├── stm32f0xx_hal_rcc_ex.d │ ├── stm32f0xx_hal_rcc_ex.o │ ├── stm32f0xx_hal_spi.crf │ ├── stm32f0xx_hal_spi.d │ ├── stm32f0xx_hal_spi.o │ ├── stm32f0xx_hal_spi_ex.crf │ ├── stm32f0xx_hal_spi_ex.d │ ├── stm32f0xx_hal_spi_ex.o │ ├── stm32f0xx_hal_tim.crf │ ├── stm32f0xx_hal_tim.d │ ├── stm32f0xx_hal_tim.o │ ├── stm32f0xx_hal_tim_ex.crf │ ├── stm32f0xx_hal_tim_ex.d │ ├── stm32f0xx_hal_tim_ex.o │ ├── stm32f0xx_it.crf │ ├── stm32f0xx_it.d │ ├── stm32f0xx_it.o │ ├── system_stm32f0xx.crf │ ├── system_stm32f0xx.d │ ├── system_stm32f0xx.o │ ├── tempcontrol.crf │ ├── tempcontrol.d │ ├── tempcontrol.o │ ├── tim.crf │ ├── tim.d │ └── tim.o │ ├── JLinkLog.txt │ ├── JLinkSettings.ini │ ├── Kalman_Filter.c │ ├── Kalman_Filter.h │ ├── RTE │ └── _IMU_2022 │ │ └── RTE_Components.h │ ├── TempControl.c │ ├── TempControl.h │ ├── icm.c │ ├── icm.h │ ├── iic.c │ ├── iic.h │ 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