├── .clang-format ├── .cproject ├── .gitignore ├── .gitmodules ├── .mxproject ├── .project ├── .settings ├── com.st.stm32cube.ide.mcu.sfrview.prefs ├── language.settings.xml ├── org.eclipse.cdt.core.prefs ├── org.eclipse.core.resources.prefs └── stm32cubeide.project.prefs ├── Core ├── Inc │ ├── dma.h │ ├── gpio.h │ ├── main.h │ ├── spi.h │ ├── stm32g4xx_hal_conf.h │ ├── stm32g4xx_it.h │ ├── tim.h │ └── usart.h ├── Src │ ├── cppmain.cpp │ ├── dma.c │ ├── gpio.c │ ├── imu_module │ │ ├── board.hpp │ │ ├── calibration_data.hpp │ │ ├── calibration_func.hpp │ │ ├── fpu_dsp_test.hpp │ │ ├── imu_fusion.hpp │ │ ├── imu_pose_filter.hpp │ │ ├── lsm6dsr_array.cpp │ │ ├── lsm6dsr_array.hpp │ │ ├── lsm6dsr_reg.hpp │ │ └── unit_test.hpp │ ├── main.c │ ├── spi.c │ ├── stm32g4xx_hal_msp.c │ ├── stm32g4xx_it.c │ ├── syscalls.c │ ├── sysmem.c │ ├── system_stm32g4xx.c │ ├── tim.c │ └── usart.c └── Startup │ └── startup_stm32g473rctx.s ├── Drivers ├── CMSIS │ ├── DSP │ │ ├── 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_neon_tables.h │ │ │ ├── arm_neon_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 │ │ ├── PrivateInclude │ │ │ ├── arm_sorting.h │ │ │ ├── arm_vec_fft.h │ │ │ └── arm_vec_filtering.h │ │ └── Source │ │ │ ├── BasicMathFunctions │ │ │ ├── arm_abs_f16.c │ │ │ ├── arm_abs_f32.c │ │ │ ├── arm_abs_f64.c │ │ │ ├── arm_abs_q15.c │ │ │ ├── arm_abs_q31.c │ │ │ ├── arm_abs_q7.c │ │ │ ├── arm_add_f16.c │ │ │ ├── arm_add_f32.c │ │ │ ├── arm_add_f64.c │ │ │ ├── arm_add_q15.c │ │ │ ├── arm_add_q31.c │ │ │ ├── arm_add_q7.c │ │ │ ├── arm_and_u16.c │ │ │ ├── arm_and_u32.c │ │ │ ├── arm_and_u8.c │ │ │ ├── arm_clip_f16.c │ │ │ ├── arm_clip_f32.c │ │ │ ├── arm_clip_q15.c │ │ │ ├── arm_clip_q31.c │ │ │ ├── arm_clip_q7.c │ │ │ ├── arm_dot_prod_f16.c │ │ │ ├── arm_dot_prod_f32.c │ │ │ ├── arm_dot_prod_f64.c │ │ │ ├── arm_dot_prod_q15.c │ │ │ ├── arm_dot_prod_q31.c │ │ │ ├── arm_dot_prod_q7.c │ │ │ ├── arm_mult_f16.c │ │ │ ├── arm_mult_f32.c │ │ │ ├── arm_mult_f64.c │ │ │ ├── arm_mult_q15.c │ │ │ ├── arm_mult_q31.c │ │ │ ├── arm_mult_q7.c │ │ │ ├── arm_negate_f16.c │ │ │ ├── arm_negate_f32.c │ │ │ ├── arm_negate_f64.c │ │ │ ├── arm_negate_q15.c │ │ │ ├── arm_negate_q31.c │ │ │ ├── arm_negate_q7.c │ │ │ ├── arm_not_u16.c │ │ │ ├── arm_not_u32.c │ │ │ ├── arm_not_u8.c │ │ │ ├── arm_offset_f16.c │ │ │ ├── arm_offset_f32.c │ │ │ ├── arm_offset_f64.c │ │ │ ├── arm_offset_q15.c │ │ │ ├── arm_offset_q31.c │ │ │ ├── arm_offset_q7.c │ │ │ ├── arm_or_u16.c │ │ │ ├── arm_or_u32.c │ │ │ ├── arm_or_u8.c │ │ │ ├── arm_scale_f16.c │ │ │ ├── arm_scale_f32.c │ │ │ ├── arm_scale_f64.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_f16.c │ │ │ ├── arm_sub_f32.c │ │ │ ├── arm_sub_f64.c │ │ │ ├── arm_sub_q15.c │ │ │ ├── arm_sub_q31.c │ │ │ ├── arm_sub_q7.c │ │ │ ├── arm_xor_u16.c │ │ │ ├── arm_xor_u32.c │ │ │ └── arm_xor_u8.c │ │ │ ├── CommonTables │ │ │ ├── arm_common_tables.c │ │ │ ├── arm_common_tables_f16.c │ │ │ ├── arm_const_structs.c │ │ │ ├── arm_const_structs_f16.c │ │ │ ├── arm_mve_tables.c │ │ │ ├── arm_mve_tables_f16.c │ │ │ ├── arm_neon_tables.c │ │ │ └── arm_neon_tables_f16.c │ │ │ ├── FastMathFunctions │ │ │ ├── arm_atan2_f16.c │ │ │ ├── arm_atan2_f32.c │ │ │ ├── arm_atan2_q15.c │ │ │ ├── arm_atan2_q31.c │ │ │ ├── arm_cos_f32.c │ │ │ ├── arm_cos_q15.c │ │ │ ├── arm_cos_q31.c │ │ │ ├── arm_divide_q15.c │ │ │ ├── arm_divide_q31.c │ │ │ ├── arm_sin_f32.c │ │ │ ├── arm_sin_q15.c │ │ │ ├── arm_sin_q31.c │ │ │ ├── arm_sqrt_q15.c │ │ │ ├── arm_sqrt_q31.c │ │ │ ├── arm_vexp_f16.c │ │ │ ├── arm_vexp_f32.c │ │ │ ├── arm_vexp_f64.c │ │ │ ├── arm_vinverse_f16.c │ │ │ ├── arm_vlog_f16.c │ │ │ ├── arm_vlog_f32.c │ │ │ ├── arm_vlog_f64.c │ │ │ ├── arm_vlog_q15.c │ │ │ └── arm_vlog_q31.c │ │ │ ├── FilteringFunctions │ │ │ ├── arm_biquad_cascade_df1_32x64_init_q31.c │ │ │ ├── arm_biquad_cascade_df1_32x64_q31.c │ │ │ ├── arm_biquad_cascade_df1_f16.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_f16.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_f16.c │ │ │ ├── arm_biquad_cascade_df2T_f32.c │ │ │ ├── arm_biquad_cascade_df2T_f64.c │ │ │ ├── arm_biquad_cascade_df2T_init_f16.c │ │ │ ├── arm_biquad_cascade_df2T_init_f32.c │ │ │ ├── arm_biquad_cascade_df2T_init_f64.c │ │ │ ├── arm_biquad_cascade_stereo_df2T_f16.c │ │ │ ├── arm_biquad_cascade_stereo_df2T_f32.c │ │ │ ├── arm_biquad_cascade_stereo_df2T_init_f16.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_f16.c │ │ │ ├── arm_correlate_f32.c │ │ │ ├── arm_correlate_f64.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_f64.c │ │ │ ├── arm_fir_decimate_fast_q15.c │ │ │ ├── arm_fir_decimate_fast_q31.c │ │ │ ├── arm_fir_decimate_init_f32.c │ │ │ ├── arm_fir_decimate_init_f64.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_f16.c │ │ │ ├── arm_fir_f32.c │ │ │ ├── arm_fir_f64.c │ │ │ ├── arm_fir_fast_q15.c │ │ │ ├── arm_fir_fast_q31.c │ │ │ ├── arm_fir_init_f16.c │ │ │ ├── arm_fir_init_f32.c │ │ │ ├── arm_fir_init_f64.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_levinson_durbin_f16.c │ │ │ ├── arm_levinson_durbin_f32.c │ │ │ ├── arm_levinson_durbin_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 │ │ │ ├── QuaternionMathFunctions │ │ │ ├── arm_quaternion2rotation_f32.c │ │ │ ├── arm_quaternion_conjugate_f32.c │ │ │ ├── arm_quaternion_inverse_f32.c │ │ │ ├── arm_quaternion_norm_f32.c │ │ │ ├── arm_quaternion_normalize_f32.c │ │ │ ├── arm_quaternion_product_f32.c │ │ │ ├── arm_quaternion_product_single_f32.c │ │ │ └── arm_rotation2quaternion_f32.c │ │ │ ├── StatisticsFunctions │ │ │ ├── arm_absmax_f16.c │ │ │ ├── arm_absmax_f32.c │ │ │ ├── arm_absmax_f64.c │ │ │ ├── arm_absmax_no_idx_f16.c │ │ │ ├── arm_absmax_no_idx_f32.c │ │ │ ├── arm_absmax_no_idx_f64.c │ │ │ ├── arm_absmax_no_idx_q15.c │ │ │ ├── arm_absmax_no_idx_q31.c │ │ │ ├── arm_absmax_no_idx_q7.c │ │ │ ├── arm_absmax_q15.c │ │ │ ├── arm_absmax_q31.c │ │ │ ├── arm_absmax_q7.c │ │ │ ├── arm_absmin_f16.c │ │ │ ├── arm_absmin_f32.c │ │ │ ├── arm_absmin_f64.c │ │ │ ├── arm_absmin_no_idx_f16.c │ │ │ ├── arm_absmin_no_idx_f32.c │ │ │ ├── arm_absmin_no_idx_f64.c │ │ │ ├── arm_absmin_no_idx_q15.c │ │ │ ├── arm_absmin_no_idx_q31.c │ │ │ ├── arm_absmin_no_idx_q7.c │ │ │ ├── arm_absmin_q15.c │ │ │ ├── arm_absmin_q31.c │ │ │ ├── arm_absmin_q7.c │ │ │ ├── arm_accumulate_f16.c │ │ │ ├── arm_accumulate_f32.c │ │ │ ├── arm_accumulate_f64.c │ │ │ ├── arm_entropy_f16.c │ │ │ ├── arm_entropy_f32.c │ │ │ ├── arm_entropy_f64.c │ │ │ ├── arm_kullback_leibler_f16.c │ │ │ ├── arm_kullback_leibler_f32.c │ │ │ ├── arm_kullback_leibler_f64.c │ │ │ ├── arm_logsumexp_dot_prod_f16.c │ │ │ ├── arm_logsumexp_dot_prod_f32.c │ │ │ ├── arm_logsumexp_f16.c │ │ │ ├── arm_logsumexp_f32.c │ │ │ ├── arm_max_f16.c │ │ │ ├── arm_max_f32.c │ │ │ ├── arm_max_f64.c │ │ │ ├── arm_max_no_idx_f16.c │ │ │ ├── arm_max_no_idx_f32.c │ │ │ ├── arm_max_no_idx_f64.c │ │ │ ├── arm_max_no_idx_q15.c │ │ │ ├── arm_max_no_idx_q31.c │ │ │ ├── arm_max_no_idx_q7.c │ │ │ ├── arm_max_q15.c │ │ │ ├── arm_max_q31.c │ │ │ ├── arm_max_q7.c │ │ │ ├── arm_mean_f16.c │ │ │ ├── arm_mean_f32.c │ │ │ ├── arm_mean_f64.c │ │ │ ├── arm_mean_q15.c │ │ │ ├── arm_mean_q31.c │ │ │ ├── arm_mean_q7.c │ │ │ ├── arm_min_f16.c │ │ │ ├── arm_min_f32.c │ │ │ ├── arm_min_f64.c │ │ │ ├── arm_min_no_idx_f16.c │ │ │ ├── arm_min_no_idx_f32.c │ │ │ ├── arm_min_no_idx_f64.c │ │ │ ├── arm_min_no_idx_q15.c │ │ │ ├── arm_min_no_idx_q31.c │ │ │ ├── arm_min_no_idx_q7.c │ │ │ ├── arm_min_q15.c │ │ │ ├── arm_min_q31.c │ │ │ ├── arm_min_q7.c │ │ │ ├── arm_mse_f16.c │ │ │ ├── arm_mse_f32.c │ │ │ ├── arm_mse_f64.c │ │ │ ├── arm_mse_q15.c │ │ │ ├── arm_mse_q31.c │ │ │ ├── arm_mse_q7.c │ │ │ ├── arm_power_f16.c │ │ │ ├── arm_power_f32.c │ │ │ ├── arm_power_f64.c │ │ │ ├── arm_power_q15.c │ │ │ ├── arm_power_q31.c │ │ │ ├── arm_power_q7.c │ │ │ ├── arm_rms_f16.c │ │ │ ├── arm_rms_f32.c │ │ │ ├── arm_rms_q15.c │ │ │ ├── arm_rms_q31.c │ │ │ ├── arm_std_f16.c │ │ │ ├── arm_std_f32.c │ │ │ ├── arm_std_f64.c │ │ │ ├── arm_std_q15.c │ │ │ ├── arm_std_q31.c │ │ │ ├── arm_var_f16.c │ │ │ ├── arm_var_f32.c │ │ │ ├── arm_var_f64.c │ │ │ ├── arm_var_q15.c │ │ │ └── arm_var_q31.c │ │ │ └── SupportFunctions │ │ │ ├── arm_barycenter_f16.c │ │ │ ├── arm_barycenter_f32.c │ │ │ ├── arm_bitonic_sort_f32.c │ │ │ ├── arm_bubble_sort_f32.c │ │ │ ├── arm_copy_f16.c │ │ │ ├── arm_copy_f32.c │ │ │ ├── arm_copy_f64.c │ │ │ ├── arm_copy_q15.c │ │ │ ├── arm_copy_q31.c │ │ │ ├── arm_copy_q7.c │ │ │ ├── arm_f16_to_f64.c │ │ │ ├── arm_f16_to_float.c │ │ │ ├── arm_f16_to_q15.c │ │ │ ├── arm_f64_to_f16.c │ │ │ ├── arm_f64_to_float.c │ │ │ ├── arm_f64_to_q15.c │ │ │ ├── arm_f64_to_q31.c │ │ │ ├── arm_f64_to_q7.c │ │ │ ├── arm_fill_f16.c │ │ │ ├── arm_fill_f32.c │ │ │ ├── arm_fill_f64.c │ │ │ ├── arm_fill_q15.c │ │ │ ├── arm_fill_q31.c │ │ │ ├── arm_fill_q7.c │ │ │ ├── arm_float_to_f16.c │ │ │ ├── arm_float_to_f64.c │ │ │ ├── arm_float_to_q15.c │ │ │ ├── arm_float_to_q31.c │ │ │ ├── arm_float_to_q7.c │ │ │ ├── arm_heap_sort_f32.c │ │ │ ├── arm_insertion_sort_f32.c │ │ │ ├── arm_merge_sort_f32.c │ │ │ ├── arm_merge_sort_init_f32.c │ │ │ ├── arm_q15_to_f16.c │ │ │ ├── arm_q15_to_f64.c │ │ │ ├── arm_q15_to_float.c │ │ │ ├── arm_q15_to_q31.c │ │ │ ├── arm_q15_to_q7.c │ │ │ ├── arm_q31_to_f64.c │ │ │ ├── arm_q31_to_float.c │ │ │ ├── arm_q31_to_q15.c │ │ │ ├── arm_q31_to_q7.c │ │ │ ├── arm_q7_to_f64.c │ │ │ ├── arm_q7_to_float.c │ │ │ ├── arm_q7_to_q15.c │ │ │ ├── arm_q7_to_q31.c │ │ │ ├── arm_quick_sort_f32.c │ │ │ ├── arm_selection_sort_f32.c │ │ │ ├── arm_sort_f32.c │ │ │ ├── arm_sort_init_f32.c │ │ │ ├── arm_weighted_average_f16.c │ │ │ └── arm_weighted_average_f32.c │ ├── Device │ │ └── ST │ │ │ └── STM32G4xx │ │ │ ├── Include │ │ │ ├── stm32g473xx.h │ │ │ ├── stm32g4xx.h │ │ │ └── system_stm32g4xx.h │ │ │ └── LICENSE.txt │ ├── Include │ │ ├── cmsis_armcc.h │ │ ├── cmsis_armclang.h │ │ ├── cmsis_armclang_ltm.h │ │ ├── cmsis_compiler.h │ │ ├── cmsis_gcc.h │ │ ├── cmsis_iccarm.h │ │ ├── cmsis_version.h │ │ ├── core_armv81mml.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_cm35p.h │ │ ├── core_cm4.h │ │ ├── core_cm7.h │ │ ├── core_sc000.h │ │ ├── core_sc300.h │ │ ├── mpu_armv7.h │ │ ├── mpu_armv8.h │ │ └── tz_context.h │ └── LICENSE.txt └── STM32G4xx_HAL_Driver │ ├── Inc │ ├── Legacy │ │ └── stm32_hal_legacy.h │ ├── stm32g4xx_hal.h │ ├── stm32g4xx_hal_cortex.h │ ├── stm32g4xx_hal_def.h │ ├── stm32g4xx_hal_dma.h │ ├── stm32g4xx_hal_dma_ex.h │ ├── stm32g4xx_hal_exti.h │ ├── stm32g4xx_hal_flash.h │ ├── stm32g4xx_hal_flash_ex.h │ ├── stm32g4xx_hal_flash_ramfunc.h │ ├── stm32g4xx_hal_gpio.h │ ├── stm32g4xx_hal_gpio_ex.h │ ├── stm32g4xx_hal_pwr.h │ ├── stm32g4xx_hal_pwr_ex.h │ ├── stm32g4xx_hal_rcc.h │ ├── stm32g4xx_hal_rcc_ex.h │ ├── stm32g4xx_hal_spi.h │ ├── stm32g4xx_hal_spi_ex.h │ ├── stm32g4xx_hal_tim.h │ ├── stm32g4xx_hal_tim_ex.h │ ├── stm32g4xx_hal_uart.h │ ├── stm32g4xx_hal_uart_ex.h │ ├── stm32g4xx_ll_bus.h │ ├── stm32g4xx_ll_cortex.h │ ├── stm32g4xx_ll_crs.h │ ├── stm32g4xx_ll_dma.h │ ├── stm32g4xx_ll_dmamux.h │ ├── stm32g4xx_ll_exti.h │ ├── stm32g4xx_ll_gpio.h │ ├── stm32g4xx_ll_lpuart.h │ ├── stm32g4xx_ll_pwr.h │ ├── stm32g4xx_ll_rcc.h │ ├── stm32g4xx_ll_spi.h │ ├── stm32g4xx_ll_system.h │ ├── stm32g4xx_ll_tim.h │ ├── stm32g4xx_ll_usart.h │ └── stm32g4xx_ll_utils.h │ ├── LICENSE.txt │ └── Src │ ├── stm32g4xx_hal.c │ ├── stm32g4xx_hal_cortex.c │ ├── stm32g4xx_hal_dma.c │ ├── stm32g4xx_hal_dma_ex.c │ ├── stm32g4xx_hal_exti.c │ ├── stm32g4xx_hal_flash.c │ ├── stm32g4xx_hal_flash_ex.c │ ├── stm32g4xx_hal_flash_ramfunc.c │ ├── stm32g4xx_hal_gpio.c │ ├── stm32g4xx_hal_pwr.c │ ├── stm32g4xx_hal_pwr_ex.c │ ├── stm32g4xx_hal_rcc.c │ ├── stm32g4xx_hal_rcc_ex.c │ ├── stm32g4xx_hal_spi.c │ ├── stm32g4xx_hal_spi_ex.c │ ├── stm32g4xx_hal_tim.c │ ├── stm32g4xx_hal_tim_ex.c │ ├── stm32g4xx_hal_uart.c │ └── stm32g4xx_hal_uart_ex.c ├── IMUModule_G473RC Debug.launch ├── IMUModule_G473RC Release.launch ├── IMUModule_G473RC.ioc ├── README.md ├── STM32G473RCTX_FLASH.ld ├── STM32G473RCTX_RAM.ld └── eigen └── Eigen ├── AccelerateSupport ├── Cholesky ├── CholmodSupport ├── Core ├── Dense ├── Eigen ├── Eigenvalues ├── Geometry ├── Householder ├── IterativeLinearSolvers ├── Jacobi ├── KLUSupport ├── LU ├── MetisSupport ├── OrderingMethods ├── PaStiXSupport ├── PardisoSupport ├── QR ├── QtAlignedMalloc ├── SPQRSupport ├── SVD ├── Sparse ├── SparseCholesky ├── SparseCore ├── SparseLU ├── SparseQR ├── StdDeque ├── StdList ├── StdVector ├── SuperLUSupport ├── ThreadPool ├── UmfPackSupport └── src ├── AccelerateSupport ├── AccelerateSupport.h └── InternalHeaderCheck.h ├── Cholesky ├── InternalHeaderCheck.h ├── LDLT.h ├── LLT.h └── LLT_LAPACKE.h ├── CholmodSupport ├── CholmodSupport.h └── InternalHeaderCheck.h ├── Core ├── ArithmeticSequence.h ├── Array.h ├── ArrayBase.h ├── ArrayWrapper.h ├── Assign.h ├── AssignEvaluator.h ├── Assign_MKL.h ├── BandMatrix.h ├── Block.h ├── CommaInitializer.h ├── ConditionEstimator.h ├── CoreEvaluators.h ├── CoreIterators.h ├── CwiseBinaryOp.h ├── CwiseNullaryOp.h ├── CwiseTernaryOp.h ├── CwiseUnaryOp.h ├── CwiseUnaryView.h ├── DenseBase.h ├── DenseCoeffsBase.h ├── DenseStorage.h ├── DeviceWrapper.h ├── Diagonal.h ├── DiagonalMatrix.h ├── DiagonalProduct.h ├── Dot.h ├── EigenBase.h ├── ForceAlignedAccess.h ├── Fuzzy.h ├── GeneralProduct.h ├── GenericPacketMath.h ├── GlobalFunctions.h ├── IO.h ├── IndexedView.h ├── InternalHeaderCheck.h ├── Inverse.h ├── Map.h ├── MapBase.h ├── MathFunctions.h ├── MathFunctionsImpl.h ├── Matrix.h ├── MatrixBase.h ├── NestByValue.h ├── NoAlias.h ├── NumTraits.h ├── PartialReduxEvaluator.h ├── PermutationMatrix.h ├── PlainObjectBase.h ├── Product.h ├── ProductEvaluators.h ├── Random.h ├── RandomImpl.h ├── Redux.h ├── Ref.h ├── Replicate.h ├── Reshaped.h ├── ReturnByValue.h ├── Reverse.h ├── Select.h ├── SelfAdjointView.h ├── SelfCwiseBinaryOp.h ├── SkewSymmetricMatrix3.h ├── Solve.h ├── SolveTriangular.h ├── SolverBase.h ├── StableNorm.h ├── StlIterators.h ├── Stride.h ├── Swap.h ├── Transpose.h ├── Transpositions.h ├── TriangularMatrix.h ├── VectorBlock.h ├── VectorwiseOp.h ├── Visitor.h ├── arch │ ├── AVX │ │ ├── Complex.h │ │ ├── MathFunctions.h │ │ ├── PacketMath.h │ │ └── TypeCasting.h │ ├── AVX512 │ │ ├── Complex.h │ │ ├── GemmKernel.h │ │ ├── MathFunctions.h │ │ ├── PacketMath.h │ │ ├── PacketMathFP16.h │ │ ├── TrsmKernel.h │ │ ├── TrsmUnrolls.inc │ │ └── TypeCasting.h │ ├── AltiVec │ │ ├── Complex.h │ │ ├── MathFunctions.h │ │ ├── MatrixProduct.h │ │ ├── MatrixProductCommon.h │ │ ├── MatrixProductMMA.h │ │ ├── MatrixProductMMAbfloat16.h │ │ ├── MatrixVectorProduct.h │ │ ├── PacketMath.h │ │ └── TypeCasting.h │ ├── Default │ │ ├── BFloat16.h │ │ ├── ConjHelper.h │ │ ├── GenericPacketMathFunctions.h │ │ ├── GenericPacketMathFunctionsFwd.h │ │ ├── Half.h │ │ └── Settings.h │ ├── GPU │ │ ├── Complex.h │ │ ├── MathFunctions.h │ │ ├── PacketMath.h │ │ ├── Tuple.h │ │ └── TypeCasting.h │ ├── HIP │ │ └── hcc │ │ │ └── math_constants.h │ ├── HVX │ │ └── PacketMath.h │ ├── MSA │ │ ├── Complex.h │ │ ├── MathFunctions.h │ │ └── PacketMath.h │ ├── NEON │ │ ├── Complex.h │ │ ├── GeneralBlockPanelKernel.h │ │ ├── MathFunctions.h │ │ ├── PacketMath.h │ │ ├── TypeCasting.h │ │ └── UnaryFunctors.h │ ├── SSE │ │ ├── Complex.h │ │ ├── MathFunctions.h │ │ ├── PacketMath.h │ │ └── TypeCasting.h │ ├── SVE │ │ ├── MathFunctions.h │ │ ├── PacketMath.h │ │ └── TypeCasting.h │ ├── SYCL │ │ ├── InteropHeaders.h │ │ ├── MathFunctions.h │ │ ├── PacketMath.h │ │ └── TypeCasting.h │ └── ZVector │ │ ├── Complex.h │ │ ├── MathFunctions.h │ │ └── PacketMath.h ├── functors │ ├── AssignmentFunctors.h │ ├── BinaryFunctors.h │ ├── NullaryFunctors.h │ ├── StlFunctors.h │ ├── TernaryFunctors.h │ └── UnaryFunctors.h ├── products │ ├── GeneralBlockPanelKernel.h │ ├── GeneralMatrixMatrix.h │ ├── GeneralMatrixMatrixTriangular.h │ ├── GeneralMatrixMatrixTriangular_BLAS.h │ ├── GeneralMatrixMatrix_BLAS.h │ ├── GeneralMatrixVector.h │ ├── GeneralMatrixVector_BLAS.h │ ├── Parallelizer.h │ ├── SelfadjointMatrixMatrix.h │ ├── SelfadjointMatrixMatrix_BLAS.h │ ├── SelfadjointMatrixVector.h │ ├── SelfadjointMatrixVector_BLAS.h │ ├── SelfadjointProduct.h │ ├── SelfadjointRank2Update.h │ ├── TriangularMatrixMatrix.h │ ├── TriangularMatrixMatrix_BLAS.h │ ├── TriangularMatrixVector.h │ ├── TriangularMatrixVector_BLAS.h │ ├── TriangularSolverMatrix.h │ ├── TriangularSolverMatrix_BLAS.h │ └── TriangularSolverVector.h └── util │ ├── Assert.h │ ├── BlasUtil.h │ ├── ConfigureVectorization.h │ ├── Constants.h │ ├── DisableStupidWarnings.h │ ├── EmulateArray.h │ ├── ForwardDeclarations.h │ ├── IndexedViewHelper.h │ ├── IntegralConstant.h │ ├── MKL_support.h │ ├── Macros.h │ ├── MaxSizeVector.h │ ├── Memory.h │ ├── Meta.h │ ├── MoreMeta.h │ ├── ReenableStupidWarnings.h │ ├── ReshapedHelper.h │ ├── Serializer.h │ ├── StaticAssert.h │ ├── SymbolicIndex.h │ └── XprHelper.h ├── Eigenvalues ├── ComplexEigenSolver.h ├── ComplexSchur.h ├── ComplexSchur_LAPACKE.h ├── EigenSolver.h ├── GeneralizedEigenSolver.h ├── GeneralizedSelfAdjointEigenSolver.h ├── HessenbergDecomposition.h ├── InternalHeaderCheck.h ├── MatrixBaseEigenvalues.h ├── RealQZ.h ├── RealSchur.h ├── RealSchur_LAPACKE.h ├── SelfAdjointEigenSolver.h ├── SelfAdjointEigenSolver_LAPACKE.h └── Tridiagonalization.h ├── Geometry ├── AlignedBox.h ├── AngleAxis.h ├── EulerAngles.h ├── Homogeneous.h ├── Hyperplane.h ├── InternalHeaderCheck.h ├── OrthoMethods.h ├── ParametrizedLine.h ├── Quaternion.h ├── Rotation2D.h ├── RotationBase.h ├── Scaling.h ├── Transform.h ├── Translation.h ├── Umeyama.h └── arch │ └── Geometry_SIMD.h ├── Householder ├── BlockHouseholder.h ├── Householder.h ├── HouseholderSequence.h └── InternalHeaderCheck.h ├── IterativeLinearSolvers ├── BasicPreconditioners.h ├── BiCGSTAB.h ├── ConjugateGradient.h ├── IncompleteCholesky.h ├── IncompleteLUT.h ├── InternalHeaderCheck.h ├── IterativeSolverBase.h ├── LeastSquareConjugateGradient.h └── SolveWithGuess.h ├── Jacobi ├── InternalHeaderCheck.h └── Jacobi.h ├── KLUSupport ├── InternalHeaderCheck.h └── KLUSupport.h ├── LU ├── Determinant.h ├── FullPivLU.h ├── InternalHeaderCheck.h ├── InverseImpl.h ├── PartialPivLU.h ├── PartialPivLU_LAPACKE.h └── arch │ └── InverseSize4.h ├── MetisSupport ├── InternalHeaderCheck.h └── MetisSupport.h ├── OrderingMethods ├── Amd.h ├── Eigen_Colamd.h ├── InternalHeaderCheck.h └── Ordering.h ├── PaStiXSupport ├── InternalHeaderCheck.h └── PaStiXSupport.h ├── PardisoSupport ├── InternalHeaderCheck.h └── PardisoSupport.h ├── QR ├── ColPivHouseholderQR.h ├── ColPivHouseholderQR_LAPACKE.h ├── CompleteOrthogonalDecomposition.h ├── FullPivHouseholderQR.h ├── HouseholderQR.h ├── HouseholderQR_LAPACKE.h └── InternalHeaderCheck.h ├── SPQRSupport ├── InternalHeaderCheck.h └── SuiteSparseQRSupport.h ├── SVD ├── BDCSVD.h ├── BDCSVD_LAPACKE.h ├── InternalHeaderCheck.h ├── JacobiSVD.h ├── JacobiSVD_LAPACKE.h ├── SVDBase.h └── UpperBidiagonalization.h ├── SparseCholesky ├── InternalHeaderCheck.h ├── SimplicialCholesky.h └── SimplicialCholesky_impl.h ├── SparseCore ├── AmbiVector.h ├── CompressedStorage.h ├── ConservativeSparseSparseProduct.h ├── InternalHeaderCheck.h ├── SparseAssign.h ├── SparseBlock.h ├── SparseColEtree.h ├── SparseCompressedBase.h ├── SparseCwiseBinaryOp.h ├── SparseCwiseUnaryOp.h ├── SparseDenseProduct.h ├── SparseDiagonalProduct.h ├── SparseDot.h ├── SparseFuzzy.h ├── SparseMap.h ├── SparseMatrix.h ├── SparseMatrixBase.h ├── SparsePermutation.h ├── SparseProduct.h ├── SparseRedux.h ├── SparseRef.h ├── SparseSelfAdjointView.h ├── SparseSolverBase.h ├── SparseSparseProductWithPruning.h ├── SparseTranspose.h ├── SparseTriangularView.h ├── SparseUtil.h ├── SparseVector.h ├── SparseView.h └── TriangularSolver.h ├── SparseLU ├── InternalHeaderCheck.h ├── SparseLU.h ├── SparseLUImpl.h ├── SparseLU_Memory.h ├── SparseLU_Structs.h ├── SparseLU_SupernodalMatrix.h ├── SparseLU_Utils.h ├── SparseLU_column_bmod.h ├── SparseLU_column_dfs.h ├── SparseLU_copy_to_ucol.h ├── SparseLU_heap_relax_snode.h ├── SparseLU_kernel_bmod.h ├── SparseLU_panel_bmod.h ├── SparseLU_panel_dfs.h ├── SparseLU_pivotL.h ├── SparseLU_pruneL.h └── SparseLU_relax_snode.h ├── SparseQR ├── InternalHeaderCheck.h └── SparseQR.h ├── StlSupport ├── StdDeque.h ├── StdList.h ├── StdVector.h └── details.h ├── SuperLUSupport ├── InternalHeaderCheck.h └── SuperLUSupport.h ├── ThreadPool ├── Barrier.h ├── CoreThreadPoolDevice.h ├── EventCount.h ├── InternalHeaderCheck.h ├── NonBlockingThreadPool.h ├── RunQueue.h ├── ThreadCancel.h ├── ThreadEnvironment.h ├── ThreadLocal.h ├── 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