├── .gitignore ├── .gitmodules ├── .vscode ├── c_cpp_properties.json └── launch.json ├── LICENSE ├── README.md ├── Yumud.code-workspace ├── algo ├── encrypt │ ├── aes.hpp │ ├── base64.hpp │ ├── cobs.hpp │ ├── crc.hpp │ ├── curve25519.hpp │ ├── curve25519_cstyle.hpp │ ├── lz77.hpp │ └── sha256.hpp ├── interpolation │ ├── Linear.hpp │ ├── circular.cpp │ ├── circular.hpp │ ├── cubic.cpp │ ├── cubic.hpp │ ├── interpolation.cpp │ ├── interpolation.hpp │ ├── polynomial.cpp │ ├── polynomial.hpp │ ├── quadratic.cpp │ └── quadratic.hpp └── random │ ├── random_generator.cpp │ └── random_generator.hpp ├── core ├── arch.hpp ├── arch │ ├── arm │ │ ├── arm_cm0.hpp │ │ ├── arm_cm3.hpp │ │ └── arm_cm4.hpp │ ├── loongarch │ │ └── loongarch_la264.hpp │ ├── riscv │ │ ├── atomic.hpp │ │ ├── cpu.hpp │ │ ├── qkv4.hpp │ │ ├── riscv_v3c.hpp │ │ ├── riscv_v4b.hpp │ │ └── riscv_v4c.hpp │ └── xtensa │ │ └── xtensa_lx106.hpp ├── clock │ ├── clock.cpp │ ├── clock.hpp │ ├── time.hpp │ └── time_stamp.hpp ├── constants │ ├── concepts.hpp │ ├── enums.cpp │ ├── enums.hpp │ └── units.hpp ├── container │ ├── atomic_ringbuf.hpp │ ├── bitarray.hpp │ ├── bitspan.hpp │ ├── inline_vector.hpp │ ├── lifo.hpp │ ├── ring_memento.hpp │ └── ringbuf.hpp ├── debug │ ├── debug.cpp │ └── debug.hpp ├── fp │ ├── matchit.hpp │ └── zip.hpp ├── io │ └── regs.hpp ├── isr.cpp ├── isr.hpp ├── magic │ ├── args_traits.hpp │ ├── enum_traits.hpp │ ├── function_traits.hpp │ ├── magic_details.hpp │ ├── serialize_traits.hpp │ └── size_traits.hpp ├── math │ ├── batch │ │ └── conv.hpp │ ├── bithack │ │ └── bithack.hpp │ ├── fastmath │ │ ├── atan2.hpp │ │ ├── fastsqrt.hpp │ │ ├── hypot.hpp │ │ └── sqrt.hpp │ ├── float │ │ ├── bf16.cpp │ │ ├── bf16.hpp │ │ ├── fp16.hpp │ │ ├── fp32.hpp │ │ ├── fp64.hpp │ │ └── fp8.hpp │ ├── int │ │ └── int_t.hpp │ ├── iq │ │ ├── _literals.ipp │ │ ├── details │ │ │ ├── _IQNasin_acos.hpp │ │ │ ├── _IQNatan2.hpp │ │ │ ├── _IQNconv.hpp │ │ │ ├── _IQNdiv.hpp │ │ │ ├── _IQNexp.hpp │ │ │ ├── _IQNlog.hpp │ │ │ ├── _IQNsin_cos.hpp │ │ │ ├── _IQNsqrt.hpp │ │ │ ├── _IQNtables.hpp │ │ │ ├── rts_support.hpp │ │ │ └── support.hpp │ │ ├── fixed_t.hpp │ │ ├── iqmath.hpp │ │ └── simulates │ │ │ ├── iqsin.py │ │ │ └── iqtable.py │ ├── matrix │ │ ├── ceres │ │ │ ├── ceres.hpp │ │ │ └── ceres_rotation.hpp │ │ ├── determinant_utils.hpp │ │ ├── matrix.hpp │ │ ├── matrix.tpp │ │ ├── matrix_utils.hpp │ │ └── static_matrix.hpp │ ├── real.hpp │ ├── realmath.hpp │ └── uint24_t.hpp ├── math_defs.hpp ├── os │ └── tasker │ │ ├── tasker.cpp │ │ └── tasker.hpp ├── platform.hpp ├── polymorphism │ ├── metaclass.hpp │ ├── proxy.hpp │ ├── reflect.hpp │ └── traits.hpp ├── sdk.hpp ├── stream │ ├── BufStream.hpp │ ├── CharOpTraits.hpp │ ├── dummy_stream.hpp │ ├── fixed_string_stream.hpp │ ├── ostream.cpp │ └── ostream.hpp ├── string │ ├── ascii_string.hpp │ ├── char_array.hpp │ ├── encoding │ │ ├── ascii.hpp │ │ ├── gbk.hpp │ │ └── unicode.hpp │ ├── fp │ │ └── split.hpp │ ├── gbk_string.hpp │ ├── heapless_string.hpp │ ├── string_ref.hpp │ ├── string_view.cpp │ ├── string_view.hpp │ ├── u8_string.hpp │ └── utils │ │ ├── atox.cpp │ │ ├── legacy.cpp │ │ ├── multiline_split.hpp │ │ ├── prelude.hpp │ │ ├── strconv.cpp │ │ ├── strconv.hpp │ │ ├── strconv2.hpp │ │ ├── streamed_string_splitter.hpp │ │ └── xtoa.cpp ├── sync │ ├── barrier.hpp │ ├── spinlock.hpp │ ├── timer.hpp │ └── utils.hpp ├── sys_defs.hpp ├── syscalls.cpp ├── syscalls.hpp ├── system.cpp ├── system.hpp ├── tmp │ ├── bits │ │ └── width.hpp │ ├── container │ │ ├── static_string.hpp │ │ └── type_stack.hpp │ ├── implfor.hpp │ ├── integral.hpp │ ├── reflect │ │ └── type_name.hpp │ └── tmp_primitive.hpp └── utils │ ├── Errno.hpp │ ├── Match.hpp │ ├── Option.hpp │ ├── Result.hpp │ ├── Unit.hpp │ ├── Variant.hpp │ ├── any.hpp │ ├── bits │ ├── BitField.hpp │ ├── atomic_bitset.hpp │ ├── bitflag.hpp │ ├── bits_array.hpp │ ├── bits_caster.hpp │ ├── bits_ref.hpp │ ├── bits_set.hpp │ ├── bitsqueue.hpp │ ├── from_bits_debinder.hpp │ └── unit_test.cpp │ ├── bytes │ ├── BytesIterator.hpp │ └── bytes_provider.hpp │ ├── combo_counter.hpp │ ├── cpp_stl │ ├── experimental │ │ ├── __p0009_bits │ │ │ ├── compressed_pair.hpp │ │ │ ├── config.hpp │ │ │ ├── default_accessor.hpp │ │ │ ├── dynamic_extent.hpp │ │ │ ├── extents.hpp │ │ │ ├── full_extent_t.hpp │ │ │ ├── layout_left.hpp │ │ │ ├── layout_right.hpp │ │ │ ├── layout_stride.hpp │ │ │ ├── macros.hpp │ │ │ ├── mdspan.hpp │ │ │ ├── no_unique_address.hpp │ │ │ ├── trait_backports.hpp │ │ │ ├── type_list.hpp │ │ │ └── utility.hpp │ │ ├── __p1684_bits │ │ │ └── mdarray.hpp │ │ ├── __p2389_bits │ │ │ └── dims.hpp │ │ ├── __p2630_bits │ │ │ ├── strided_slice.hpp │ │ │ ├── submdspan.hpp │ │ │ ├── submdspan_extents.hpp │ │ │ └── submdspan_mapping.hpp │ │ ├── __p2642_bits │ │ │ ├── layout_padded.hpp │ │ │ └── layout_padded_fwd.hpp │ │ ├── mdarray │ │ └── mdspan │ ├── hive.hpp │ └── mdspan │ │ ├── mdarray.hpp │ │ └── mdspan.hpp │ ├── data_iter.hpp │ ├── default.hpp │ ├── delayed_semphr.hpp │ ├── details │ └── unwrap_util.hpp │ ├── enum │ ├── enum_array.hpp │ ├── enum_dict.hpp │ ├── enum_list.hpp │ └── strong_type_gradation.hpp │ ├── handle_status.hpp │ ├── hash_func.hpp │ ├── nth.hpp │ ├── phantom_marker.hpp │ ├── reflecter.hpp │ ├── scope_guard.hpp │ ├── serde.hpp │ ├── setget │ ├── Getter.hpp │ └── Setter.hpp │ ├── static_function.hpp │ ├── stdrange.hpp │ ├── sumtype.hpp │ └── zero.hpp ├── digipw ├── SVPWM │ └── svpwm3.hpp ├── buck │ └── zvs │ │ └── details │ │ └── calc.hpp ├── convertor │ ├── buck.hpp │ ├── pmdc.hpp │ └── spread_cycle.hpp ├── ctrl │ ├── pi_controller.hpp │ └── qpr_controller.hpp ├── designer.hpp ├── prelude │ ├── abdq.hpp │ └── uvw.hpp ├── pwmgen │ ├── interleaved_pwmgen3.hpp │ └── stepper_pwmgen.hpp ├── solar │ ├── mppt_incc.hpp │ └── mppt_pno.hpp └── spll │ ├── sogi.hpp │ ├── spll_1ph_notch.hpp │ ├── spll_1ph_sogi.hpp │ ├── spll_1ph_sogi_fll.hpp │ ├── spll_1ph_sogi_iq.hpp │ ├── spll_3ph_ddsrf.hpp │ └── spll_3ph_srf.hpp ├── doc └── setup_environment.md ├── drivers ├── Actuator │ └── servo │ │ ├── pwm_servo │ │ └── pwm_servo.hpp │ │ └── servo.hpp ├── Adc │ ├── AD7606 │ │ ├── AD7606.cpp │ │ └── AD7606.hpp │ ├── ADS1115 │ │ ├── ads1115.cpp │ │ ├── ads1115.hpp │ │ └── ads1115_prelude.hpp │ ├── ADS1118 │ │ └── ads1118_prelude.hpp │ ├── ADS112C04 │ │ ├── ads112c04.cpp │ │ ├── ads112c04.hpp │ │ └── ads112c04_prelude.hpp │ ├── ADS7830 │ │ ├── ADS7830.hpp │ │ ├── ads7830.cpp │ │ └── ads7830_prelude.hpp │ ├── FDC2X1X │ │ ├── fdc2x1x.cpp │ │ ├── fdc2x1x.hpp │ │ └── fdc2x1x_prelude.hpp │ ├── HX711 │ │ ├── hx711.cpp │ │ └── hx711.hpp │ ├── INA219 │ │ ├── INA219.cpp │ │ ├── INA219.hpp │ │ └── ina219_prelude.hpp │ ├── INA226 │ │ ├── ina226.cpp │ │ ├── ina226.hpp │ │ └── ina226_prelude.hpp │ ├── INA228 │ │ ├── INA228.cpp │ │ ├── INA228.hpp │ │ └── details │ │ │ ├── INA228_phy.hpp │ │ │ └── INA228_prelude.hpp │ ├── INA3221 │ │ ├── doc │ │ │ └── ina3221_read_6ch.sr │ │ ├── ina3221.cpp │ │ ├── ina3221.hpp │ │ └── ina3221_prelude.hpp │ ├── SGM58031 │ │ ├── sgm58031.cpp │ │ ├── sgm58031.hpp │ │ └── sgm58031_prelude.hpp │ └── TM7705 │ │ ├── TM7705.cpp │ │ └── TM7705.hpp ├── Audio │ └── JQ8900 │ │ ├── JQ8900.cpp │ │ └── JQ8900.hpp ├── Camera │ ├── MT9V034 │ │ ├── mt9v034.cpp │ │ └── mt9v034.hpp │ ├── OV2640 │ │ ├── OV2640.cpp │ │ └── OV2640.hpp │ └── TSL1401 │ │ └── tsl1401.hpp ├── CommonIO │ ├── Key │ │ ├── FunctionalKey.hpp │ │ ├── Key.hpp │ │ └── KeyTrait.hpp │ └── Led │ │ ├── Led.cpp │ │ ├── Led.hpp │ │ ├── WS2812 │ │ ├── WS2812.cpp │ │ └── ws2812.hpp │ │ └── rgbLed.hpp ├── Converter │ ├── AW32001 │ │ ├── aw32001.cpp │ │ ├── aw32001.hpp │ │ └── aw32001_prelude.hpp │ ├── AXP192 │ │ ├── axp192.cpp │ │ ├── axp192.hpp │ │ └── axp192_prelude.hpp │ ├── AXP2101 │ │ ├── axp2101.cpp │ │ ├── axp2101.hpp │ │ └── axp2101_prelude.hpp │ ├── DRV2605L │ │ ├── DRV2605L.cpp │ │ ├── DRV2605L.hpp │ │ └── drv2605l_prelude.hpp │ ├── MP2980 │ │ ├── MP2980.cpp │ │ ├── MP2980.hpp │ │ └── mp2980_prelude.hpp │ ├── MP6570 │ │ ├── MP6570.cpp │ │ ├── MP6570.hpp │ │ └── mp6570_prelude.hpp │ ├── SC8721 │ │ ├── SC8721.cpp │ │ ├── SC8721.hpp │ │ └── sc8721_prelude.hpp │ ├── SC8815 │ │ ├── SC8815.cpp │ │ ├── SC8815.hpp │ │ └── sc8815_prelude.hpp │ └── SW3538 │ │ └── sw3538_prelude.hpp ├── DDS │ ├── AD5933 │ │ ├── ad5933.cpp │ │ └── ad5933.hpp │ ├── AD7607 │ │ ├── ad7607.cpp │ │ └── ad7607.hpp │ ├── AD9833 │ │ ├── ad9833.cpp │ │ └── ad9833.hpp │ ├── AD9854 │ │ ├── ad9854.cpp │ │ └── ad9854.hpp │ ├── AD9910 │ │ ├── ad9910.cpp │ │ └── ad9910.hpp │ ├── AD9959 │ │ ├── ad9959.cpp │ │ └── ad9959.hpp │ ├── SI5351 │ │ ├── si5351.cpp │ │ └── si5351.hpp │ └── Si5351C │ │ ├── Si5351C.cpp │ │ └── Si5351C.hpp ├── Dac │ ├── DAC128S085 │ │ └── dac128s085.hpp │ ├── MCP4725 │ │ ├── MCP4725.hpp │ │ └── mcp4725_prelude.hpp │ └── TM8211 │ │ └── tm8211.hpp ├── Display │ ├── Monochrome │ │ └── SSD1306 │ │ │ ├── ssd1306.cpp │ │ │ ├── ssd1306.hpp │ │ │ └── ssd1306_prelude.hpp │ ├── Polychrome │ │ └── ST7789 │ │ │ ├── st7789.cpp │ │ │ ├── st7789.hpp │ │ │ ├── st7789_phy.hpp │ │ │ ├── st7789_prelude.hpp │ │ │ └── st7789v3_phy.hpp │ ├── TJC │ │ └── TJC.hpp │ └── prelude │ │ └── prelude.hpp ├── Encoder │ ├── ABEncoder.hpp │ ├── AnalogEncoder.hpp │ ├── Encoder.hpp │ ├── MagEnc │ │ ├── AS5047 │ │ │ ├── AS5047.cpp │ │ │ ├── AS5047.hpp │ │ │ └── as5047_prelude.hpp │ │ ├── AS5600 │ │ │ ├── as5600.cpp │ │ │ ├── as5600.hpp │ │ │ └── as5600_prelude.hpp │ │ ├── KTH7823 │ │ │ ├── KTH7823.cpp │ │ │ ├── KTH7823.hpp │ │ │ └── kth7823_prelude.hpp │ │ ├── MA730 │ │ │ ├── ma730.cpp │ │ │ ├── ma730.hpp │ │ │ └── ma730_prelude.hpp │ │ ├── MT6701 │ │ │ ├── mt6701.cpp │ │ │ ├── mt6701.hpp │ │ │ └── mt6701_prelude.hpp │ │ ├── MT6816 │ │ │ ├── mt6816.cpp │ │ │ └── mt6816.hpp │ │ ├── MT6825 │ │ │ ├── mt6825.cpp │ │ │ └── mt6825.hpp │ │ ├── MT6826S │ │ │ ├── mt6826s.cpp │ │ │ └── mt6826s_prelude.hpp │ │ ├── MT6835 │ │ │ ├── MT6835.cpp │ │ │ ├── MT6835.hpp │ │ │ └── mt6835_prelude.hpp │ │ ├── TLE5012 │ │ │ ├── TLE5012.hpp │ │ │ └── tle5012_prelude.hpp │ │ ├── VCE2755 │ │ │ ├── vce2755.cpp │ │ │ ├── vce2755.hpp │ │ │ └── vce2755_prelude.hpp │ │ └── VCE2758 │ │ │ └── vce2758_prelude.hpp │ ├── MagEncoder.hpp │ ├── SpeedCapture.hpp │ ├── encoder.cpp │ └── qei │ │ └── gpio_qei.hpp ├── GateDriver │ ├── DRV8301 │ │ ├── DRV8301.cpp │ │ ├── DRV8301.hpp │ │ └── drv8301_prelude.hpp │ ├── DRV832X │ │ ├── DRV832X.hpp │ │ ├── drv8323h.cpp │ │ ├── drv8323r.cpp │ │ └── drv832x_prelude.hpp │ ├── MP6540 │ │ └── mp6540.hpp │ └── uvw_pwmgen.hpp ├── HID │ ├── CH455 │ │ ├── CH455.cpp │ │ ├── CH455.hpp │ │ └── details │ │ │ └── CH455_prelude.hpp │ ├── Event.hpp │ ├── FT6336U │ │ ├── ft6336u.cpp │ │ ├── ft6336u.hpp │ │ └── ft6336u_prelude.hpp │ ├── GT911 │ │ ├── gt911.cpp │ │ ├── gt911.hpp │ │ └── gt911_prelude.hpp │ ├── HT16K33 │ │ ├── HT16K33.cpp │ │ ├── HT16K33.hpp │ │ └── ht16k33_prelude.hpp │ ├── ST1615 │ │ ├── ST1615.cpp │ │ ├── ST1615.hpp │ │ └── st1615_prelude.hpp │ ├── TCA8418 │ │ ├── TCA8418.cpp │ │ ├── TCA8418.hpp │ │ └── details │ │ │ ├── TCA8418_phy.hpp │ │ │ ├── TCA8418_prelude.hpp │ │ │ └── TCA8418_regmap.hpp │ ├── TM1637 │ │ ├── TM1637.cpp │ │ ├── TM1637.hpp │ │ ├── doc │ │ │ └── tm1637_write_display.sr │ │ └── tm1637_prelude.hpp │ ├── TM1650 │ │ ├── TM1650.cpp │ │ ├── TM1650.hpp │ │ └── tm1650_prelude.hpp │ ├── TM1668 │ │ ├── TM1668.cpp │ │ ├── TM1668.hpp │ │ └── tm1668_prelude.hpp │ ├── prelude │ │ ├── axis_input.hpp │ │ ├── button_input.hpp │ │ ├── gamepad.hpp │ │ ├── keycode.cpp │ │ ├── keycode.hpp │ │ └── segcode.hpp │ └── ps2_joystick │ │ ├── ps2_joystick.cpp │ │ └── ps2_joystick.hpp ├── HumitureSensor │ ├── BH1750 │ │ ├── BH1750.cpp │ │ └── BH1750.hpp │ ├── HPTA32x32 │ │ ├── htpa32x32_app.hpp │ │ ├── htpa32x32_constants.hpp │ │ └── htpa32x32_prelude.hpp │ ├── MAX30100 │ │ └── max30100_prelude.hpp │ ├── MAX31855 │ │ ├── MAX31855.hpp │ │ └── max31855_prelude.hpp │ ├── MLX90333 │ │ ├── MLX90333.cpp │ │ ├── MLX90333.hpp │ │ └── mlx90333_prelude.hpp │ ├── MLX90393 │ │ ├── MLX90393.cpp │ │ ├── MLX90393.hpp │ │ └── mlx90393_prelude.hpp │ ├── MLX90614 │ │ └── mlx90614_prelude.hpp │ ├── MLX90640 │ │ ├── mlx90640.cpp │ │ ├── mlx90640.hpp │ │ └── mlx90640_prelude.hpp │ ├── NTC.hpp │ └── TCS34725 │ │ ├── tcs34725.cpp │ │ ├── tcs34725.hpp │ │ └── tcs34725_prelude.hpp ├── IMU │ ├── Axis3 │ │ ├── L3G4200D │ │ │ ├── L3G4200D.cpp │ │ │ └── L3G4200D.hpp │ │ ├── LIS2DW12 │ │ │ ├── LIS2DW12.cpp │ │ │ └── LIS2DW12.hpp │ │ └── LIS3DH │ │ │ ├── LIS3DH.cpp │ │ │ └── LIS3DH.hpp │ ├── Axis6 │ │ ├── ADXL345 │ │ │ ├── adxl345.cpp │ │ │ ├── adxl345.hpp │ │ │ └── adxl345_prelude.hpp │ │ ├── BMI088 │ │ │ ├── BMI088.hpp │ │ │ ├── bmi088_acc.cpp │ │ │ ├── bmi088_gyr.cpp │ │ │ ├── bmi088_prelude.hpp │ │ │ └── profile.cpp │ │ ├── BMI160 │ │ │ ├── bmi160.cpp │ │ │ ├── bmi160.hpp │ │ │ └── bmi160_prelude.hpp │ │ ├── BMI270 │ │ │ ├── BMI270.cpp │ │ │ ├── BMI270.hpp │ │ │ ├── bmi270_prelude.hpp │ │ │ └── bmi270_regs.ipp │ │ ├── BMI323 │ │ │ └── bmi323_prelude.hpp │ │ ├── ICM42605 │ │ │ ├── ICM42605.cpp │ │ │ ├── ICM42605.hpp │ │ │ └── icm42605_prelude.hpp │ │ ├── ICM42688 │ │ │ ├── details │ │ │ │ ├── ICM42688_prelude.hpp │ │ │ │ └── icm42688_fifo.hpp │ │ │ ├── icm42688.cpp │ │ │ └── icm42688.hpp │ │ ├── ICM45686 │ │ │ ├── ICM45686.cpp │ │ │ ├── ICM45686.hpp │ │ │ └── icm45686_prelude.hpp │ │ ├── LSM303 │ │ │ ├── LSM303.cpp │ │ │ ├── LSM303.hpp │ │ │ └── details │ │ │ │ └── LSM303_prelude.hpp │ │ └── MPU6050 │ │ │ ├── mpu6050.cpp │ │ │ ├── mpu6050.hpp │ │ │ └── mpu6050_prelude.hpp │ ├── Axis9 │ │ ├── BNO055 │ │ │ ├── BNO055.cpp │ │ │ ├── BNO055.hpp │ │ │ └── bno055_prelude.hpp │ │ └── ICM20948 │ │ │ ├── ICM20948.cpp │ │ │ ├── ICM20948.hpp │ │ │ └── details │ │ │ └── ICM20948_prelude.hpp │ ├── IMU.hpp │ ├── Magnetometer │ │ ├── AK09911C │ │ │ ├── AK09911C.cpp │ │ │ ├── AK09911C.hpp │ │ │ └── ak09911c_prelude.hpp │ │ ├── AK8963 │ │ │ ├── AK8963.cpp │ │ │ ├── AK8963.hpp │ │ │ └── ak8963_prelude.hpp │ │ ├── AK8975 │ │ │ ├── ak8975.cpp │ │ │ └── ak8975.hpp │ │ ├── BMM150 │ │ │ ├── bmm150.cpp │ │ │ ├── bmm150.hpp │ │ │ └── bmm150_prelude.hpp │ │ ├── BMM350 │ │ │ └── bmm350.hpp │ │ ├── HMC5883L │ │ │ ├── hmc5883l.cpp │ │ │ ├── hmc5883l.hpp │ │ │ └── hmc5883l_prelude.hpp │ │ ├── IST8310 │ │ │ ├── IST8310.cpp │ │ │ ├── IST8310.hpp │ │ │ └── ist8310_prelude.hpp │ │ ├── MMC5603 │ │ │ ├── mmc5603.cpp │ │ │ ├── mmc5603.hpp │ │ │ └── mmc5603_prelude.hpp │ │ ├── MMC5983 │ │ │ ├── MMC5983.cpp │ │ │ ├── MMC5983.hpp │ │ │ └── mmc5983_prelude.hpp │ │ ├── QMC5883L │ │ │ ├── qmc5883l.cpp │ │ │ ├── qmc5883l.hpp │ │ │ └── qmc5883l_prelude.hpp │ │ └── RM3100 │ │ │ ├── RM3100.cpp │ │ │ └── RM3100.hpp │ ├── details │ │ ├── AnalogDeviceIMU.hpp │ │ ├── AsahiKaseiIMU.hpp │ │ ├── BoschIMU.hpp │ │ ├── InvensenseIMU.hpp │ │ └── STMicroIMU.hpp │ └── imu.cpp ├── Manometer │ ├── BMP085 │ │ ├── BMP085.cpp │ │ ├── BMP085.hpp │ │ └── bmp085_prelude.hpp │ ├── BMP280 │ │ ├── bmp280.cpp │ │ ├── bmp280.hpp │ │ └── details │ │ │ ├── BMP280_phy.hpp │ │ │ └── BMP280_prelude.hpp │ ├── BMP390 │ │ └── bmp390_prelude.hpp │ └── HP203B │ │ └── hp203b_prelude.hpp ├── Modem │ ├── Nec │ │ ├── NecDecoder.hpp │ │ └── NecEncoder.hpp │ ├── RzEnconder.hpp │ └── dshot │ │ ├── dshot.cpp │ │ └── dshot.hpp ├── Net │ ├── LAN8742 │ │ ├── LAN8742.cpp │ │ └── LAN8742.hpp │ ├── YT8512 │ │ ├── YT8512C.cpp │ │ └── YT8512C.hpp │ └── w5500 │ │ ├── W5500.cpp │ │ └── W5500.hpp ├── Proximeter │ ├── ALX_AOA │ │ ├── alx_aoa.cpp │ │ └── alx_aoa_prelude.hpp │ ├── DW1000 │ │ ├── dw1000_device.hpp │ │ ├── dw1000_prelude.hpp │ │ ├── dw1000_ranging.hpp │ │ ├── dw1000_timestamp.hpp │ │ ├── hl │ │ │ └── dw1000_ready.hpp │ │ └── ieee802154 │ │ │ └── mac │ │ │ └── frame │ │ │ └── header.cpp │ ├── HLK_LD2402 │ │ └── hlk_ld2402_prelude.hpp │ ├── LD19 │ │ ├── LD19.cpp │ │ └── LD19.hpp │ ├── LDS14 │ │ ├── LDS14.cpp │ │ └── LDS14.hpp │ ├── M10 │ │ ├── m10.cpp │ │ └── m10_prelude.hpp │ ├── MK8000TR │ │ ├── mk8000tr_uart.cpp │ │ └── mk8000tr_uart.hpp │ ├── PAJ7620 │ │ ├── details │ │ │ └── data.hpp │ │ ├── paj7620.cpp │ │ ├── paj7620.hpp │ │ └── paj7620_prelude.hpp │ ├── PAW3220 │ │ └── PAW3220.cpp │ ├── PAW3395 │ │ ├── PAW3395.cpp │ │ ├── PAW3395.hpp │ │ └── details │ │ │ └── PAW3395_prelude.hpp │ ├── PMW3901 │ │ ├── PMW3901.cpp │ │ └── PMW3901.hpp │ ├── TDC_GP22 │ │ ├── TDC_GP22.cpp │ │ ├── TDC_GP22.hpp │ │ └── details │ │ │ └── tdc_gp22_prelude.hpp │ ├── VL53L0X │ │ ├── vl53l0x.cpp │ │ └── vl53l0x.hpp │ ├── VL53L1X │ │ ├── VL53L1X.hpp │ │ └── details │ │ │ └── reg_map.hpp │ ├── VL53L5CX │ │ ├── details │ │ │ ├── vl53l5cx_buffers.hpp │ │ │ ├── vl53l5cx_firmware.ipp │ │ │ └── vl53l5cx_prelude.hpp │ │ ├── vl53l5cx.cpp │ │ └── vl53l5cx.hpp │ ├── VL6180X │ │ ├── VL6180X.cpp │ │ ├── VL6180X.hpp │ │ ├── details │ │ │ └── vl6180x_prelude.hpp │ │ └── doc │ │ │ └── vl6180x_polling_and_request.sr │ └── vl53l3cx │ │ └── vl53l3cx.hpp ├── Recognition │ └── U13T │ │ ├── U13T.cpp │ │ └── U13T.hpp ├── Storage │ ├── EEprom │ │ └── AT24CXX │ │ │ ├── at24cxx.cpp │ │ │ └── at24cxx.hpp │ ├── Flash │ │ ├── W25QXX │ │ │ ├── w25q16.cpp │ │ │ └── w25q16.hpp │ │ ├── X25QXX.cpp │ │ └── X25QXX.hpp │ └── SDcard │ │ ├── SDcard.cpp │ │ ├── SDcard.hpp │ │ ├── bsp_spi_sdcard.hpp │ │ └── sdcard_test.hpp ├── VirtualBus │ ├── CH9431 │ │ ├── CH9431.cpp │ │ ├── CH9431.hpp │ │ └── details │ │ │ ├── CH9431_phy.hpp │ │ │ ├── CH9431_regmap.hpp │ │ │ └── ch9431_prelude.hpp │ ├── CH9434 │ │ ├── ch9434.cpp │ │ ├── ch9434.hpp │ │ └── details │ │ │ └── ch9434_constants.hpp │ ├── TCA9548A │ │ ├── TCA9548A.cpp │ │ └── TCA9548A.hpp │ └── TCAN1145 │ │ ├── tcan1145.cpp │ │ ├── tcan1145.hpp │ │ └── tcan1145_prelude.hpp ├── VirtualIO │ ├── AW9523 │ │ ├── aw9523.cpp │ │ ├── aw9523.hpp │ │ └── aw9523_prelude.hpp │ ├── HC595 │ │ └── HC595.hpp │ ├── MPR121 │ │ ├── MPR121.cpp │ │ ├── MPR121.hpp │ │ └── mpr121_prelude.hpp │ ├── NCA9555 │ │ ├── NCA9555.cpp │ │ └── NCA9555.hpp │ ├── PCA9685 │ │ ├── details │ │ │ └── PCA9685_prelude.hpp │ │ ├── pca9685.cpp │ │ └── pca9685.hpp │ ├── PCF8574 │ │ └── pcf8574.hpp │ ├── PCF8575 │ │ └── PCF8575.hpp │ └── TTP229 │ │ ├── TTP229.cpp │ │ └── ttp229.hpp └── Wireless │ └── Radio │ ├── CH9141 │ ├── CH9141.cpp │ └── CH9141.hpp │ ├── E104BT10 │ └── E104BT10.hpp │ ├── ECB02 │ ├── ECB02.cpp │ └── ECB02.hpp │ ├── HC12 │ ├── HC12.cpp │ └── HC12.hpp │ ├── LT8920 │ ├── lt8920.cpp │ ├── lt8920.hpp │ └── lt8920_prelude.hpp │ ├── LT8960 │ ├── LT8960L.cpp │ ├── LT8960L.hpp │ └── details │ │ ├── LT8960L_Basics.cpp │ │ ├── LT8960L_Errno.hpp │ │ ├── LT8960L_Regs.hpp │ │ └── LT8960L_prelude.hpp │ ├── NRF24L01 │ ├── NRF24L01.cpp │ └── NRF24L01.hpp │ ├── SI24R1 │ ├── si24r1.cpp │ ├── si24r1.hpp │ └── si24r1_prelude.hpp │ ├── XL2400 │ ├── xl2400.cpp │ ├── xl2400.hpp │ └── xl2400_prelude.hpp │ ├── XL2400P │ ├── XL2400P.cpp │ ├── XL2400P.hpp │ └── xl2400p_prelude.hpp │ └── XN297L │ ├── XN297L.cpp │ ├── XN297L.hpp │ └── details │ └── XN297L_collections.hpp ├── dsp ├── constexprmath │ └── ConstexprMath.hpp ├── controller │ ├── adrc │ │ ├── command_shaper.hpp │ │ ├── fhan.hpp │ │ ├── leso.hpp │ │ ├── ltd2o.hpp │ │ ├── nleso.hpp │ │ ├── nltd2o.hpp │ │ └── utils.hpp │ ├── dead_beat │ │ ├── dead_beat_ctrl.hpp │ │ └── v2 │ │ │ └── dead_beat_buck_ctrl.hpp │ ├── efc │ │ ├── efc_ctrl.hpp │ │ └── sim │ │ │ ├── ifd.drawio │ │ │ ├── ifd.py │ │ │ └── s2z.py │ ├── integrator.hpp │ ├── lqr │ │ └── lqr.hpp │ ├── pid_ctrl.hpp │ └── smc │ │ └── sliding_mode_ctrl.hpp ├── cordic │ └── cordic.hpp ├── filter │ ├── EKF.hpp │ ├── IIR.hpp │ ├── average_filter.hpp │ ├── butterworth │ │ ├── ButterBandFilter.hpp │ │ ├── ButterSideFilter.hpp │ │ └── Order4ZeroPhaseShiftButterWothLowpassFilter.hpp │ ├── firstorder │ │ ├── hpf.hpp │ │ └── lpf.hpp │ ├── homebrew │ │ ├── SchmittFilter.hpp │ │ ├── burr_filter.hpp │ │ ├── complementary_filter.hpp │ │ └── debounce_filter.hpp │ ├── kalman │ │ ├── kalman_filter.hpp │ │ └── kalman_filter_1d.hpp │ └── second_order │ │ └── second_order_lpf.hpp ├── homebrew │ └── edge_counter.hpp ├── lti.hpp ├── motor_ctrl │ ├── ctrl_law.hpp │ ├── detector │ │ └── stall_detector.hpp │ ├── elecrad_compsator.hpp │ ├── filter │ │ └── notch_filter.hpp │ ├── loop │ │ └── speed_loop.hpp │ ├── position_filter.hpp │ ├── sensored │ │ ├── calibrate_sample.hpp │ │ ├── calibrate_table.hpp │ │ └── position_corrector.hpp │ └── sensorless │ │ ├── hfi_observer.hpp │ │ ├── luenberger_observer.hpp │ │ ├── nonlinear_flux_observer.hpp │ │ ├── slide_mode_observer.hpp │ │ └── smo │ │ └── StaSmo.hpp ├── siggen │ ├── dtmf.hpp │ └── noise │ │ ├── GaussianNoiseSiggen.hpp │ │ └── LCGNoiseSiggen.hpp ├── sigproc │ ├── comb_allpass.hpp │ ├── delay.hpp │ ├── dual_tau_smoother.hpp │ ├── note.hpp │ ├── poly_synth.hpp │ ├── thrian_dispersion.hpp │ └── tunning_filter.hpp ├── state_vector.hpp └── z_transformation.hpp ├── hal ├── analog │ ├── adc │ │ ├── adc.cpp │ │ ├── adc.hpp │ │ ├── adc_channel.hpp │ │ ├── adc_primitive.cpp │ │ ├── adc_primitive.hpp │ │ ├── adc_utils.hpp │ │ ├── adcs │ │ │ ├── adc1.cpp │ │ │ └── adc1.hpp │ │ ├── hw_singleton.hpp │ │ ├── injected_channel.cpp │ │ ├── injected_channel.hpp │ │ ├── regular_channel.cpp │ │ └── regular_channel.hpp │ ├── dac │ │ ├── Dac.cpp │ │ ├── Dac.hpp │ │ └── dac_utils.hpp │ └── opa │ │ ├── opa.cpp │ │ └── opa.hpp ├── bkp │ ├── bkp.cpp │ └── bkp.hpp ├── bus │ ├── bus_base.hpp │ ├── bus_enums.hpp │ ├── can │ │ ├── can.cpp │ │ ├── can.hpp │ │ ├── can_filter.cpp │ │ ├── can_filter.hpp │ │ ├── can_trait.hpp │ │ ├── candrv.hpp │ │ └── hw_singleton.hpp │ ├── dvp │ │ ├── dvp.cpp │ │ └── dvp.hpp │ ├── i2c │ │ ├── hw_singleton.hpp │ │ ├── i2c.cpp │ │ ├── i2c.hpp │ │ ├── i2c_primitive.hpp │ │ ├── i2cdrv.cpp │ │ ├── i2cdrv.hpp │ │ ├── i2chw.cpp │ │ ├── i2chw.hpp │ │ ├── i2csw.cpp │ │ ├── i2csw.hpp │ │ └── sxx32 │ │ │ └── i2c_def.hpp │ ├── i2s │ │ ├── i2s.hpp │ │ ├── i2sSw.hpp │ │ └── i2sdrv.hpp │ ├── linbus │ │ └── LinBus.hpp │ ├── pmbus │ │ └── pmbus.hpp │ ├── sccb │ │ ├── sccb.hpp │ │ ├── sccb_drv.cpp │ │ └── sccb_drv.hpp │ ├── sdi │ │ ├── sdi.cpp │ │ └── sdi.hpp │ ├── sdio │ │ ├── sd.cpp │ │ ├── sd.hpp │ │ ├── sdio.cpp │ │ └── sdio.hpp │ ├── smbus │ │ └── smbus.hpp │ ├── spi │ │ ├── SpiMapping.hpp │ │ ├── hw_singleton.hpp │ │ ├── spi.cpp │ │ ├── spi.hpp │ │ ├── spi_primitive.hpp │ │ ├── spidrv.cpp │ │ ├── spidrv.hpp │ │ ├── spihw.cpp │ │ ├── spihw.hpp │ │ ├── spisw.cpp │ │ └── spisw.hpp │ └── uart │ │ ├── hw_singleton.hpp │ │ ├── sxx32 │ │ └── uart_def.hpp │ │ ├── uart.cpp │ │ ├── uart.hpp │ │ ├── uart_primitive.cpp │ │ ├── uart_primitive.hpp │ │ ├── uarthw.cpp │ │ ├── uarthw.hpp │ │ ├── uartsw.cpp │ │ └── uartsw.hpp ├── crc │ ├── crc.cpp │ └── crc.hpp ├── dma │ ├── dma.cpp │ ├── dma.hpp │ └── dma_utils.hpp ├── exti │ ├── exti.cpp │ └── exti.hpp ├── gpio │ ├── gpio.cpp │ ├── gpio.hpp │ ├── gpio_intf.hpp │ ├── gpio_port.cpp │ ├── gpio_port.hpp │ ├── gpio_port_intf.hpp │ ├── gpio_tag.hpp │ ├── gpio_utils.hpp │ ├── sxx32 │ │ └── gpio_def.hpp │ ├── vgpio.hpp │ └── vport.hpp ├── nvic │ ├── nvic.cpp │ └── nvic.hpp ├── rcc │ ├── rcc.cpp │ └── rcc.hpp ├── rng │ ├── rng.cpp │ └── rng.hpp ├── storage │ └── flash │ │ ├── flash.cpp │ │ └── flash.hpp ├── timer │ ├── bipolarity_abstract.hpp │ ├── capture │ │ └── capture_channel.hpp │ ├── hw_singleton.hpp │ ├── instance │ │ ├── timer_hw.cpp │ │ └── timer_hw.hpp │ ├── pwm │ │ ├── gpio_pwm.hpp │ │ └── pwm_module.hpp │ ├── timer.cpp │ ├── timer.hpp │ ├── timer_channel.cpp │ ├── timer_channel.hpp │ ├── timer_ic.cpp │ ├── timer_ic.hpp │ ├── timer_oc.cpp │ ├── timer_oc.hpp │ ├── timer_primitive.hpp │ ├── timer_utils.cpp │ └── timer_utils.hpp └── usb │ └── usbfs │ ├── usbfs.cpp │ └── usbfs.hpp ├── middlewares ├── reactive │ └── cellprobe.hpp ├── repl │ └── repl_service.hpp ├── rpc │ ├── imgtrans │ │ ├── img_trans.cpp │ │ └── img_trans.hpp │ └── rpc.hpp └── tween │ └── Tween.hpp ├── nvcv2 ├── decode │ ├── apriltag │ │ ├── apriltag.cpp │ │ ├── apriltag.hpp │ │ ├── apriltag_utils.hpp │ │ ├── dec_16h5.hpp │ │ └── rec.hpp │ └── qrcode │ │ ├── qrcode.cpp │ │ └── qrcode.hpp ├── geometry │ ├── geometry.cpp │ ├── geometry.hpp │ └── perspective │ │ └── test.py ├── match │ ├── data │ │ ├── apriltaggen.py │ │ ├── numbergen.py │ │ └── numbershow.py │ ├── match.cpp │ └── match.hpp ├── mnist │ ├── mnist.cpp │ ├── mnist.hpp │ ├── tinymaix.h │ ├── tm_layers.cpp │ ├── tm_model.cpp │ └── tm_port.h ├── nvcv2.hpp ├── pixels │ ├── pixels.cpp │ └── pixels.hpp ├── seprate │ ├── flood_fill.cpp │ ├── flood_fill.hpp │ ├── two_pass.cpp │ └── two_pass.hpp ├── shaders.hpp ├── shape │ ├── shape.cpp │ └── shape.hpp └── template │ ├── template.cpp │ └── template.hpp ├── primitive ├── PerUnit.hpp ├── analog_channel.hpp ├── arithmetic │ ├── angle.hpp │ ├── angle_range.hpp │ ├── db.hpp │ ├── fraction.hpp │ ├── percentage.hpp │ ├── progress.hpp │ └── rescaler.hpp ├── can │ ├── bxcan_frame.cpp │ ├── bxcan_frame.hpp │ ├── bxcan_payload.hpp │ ├── can_dlc.cpp │ ├── can_dlc.hpp │ ├── can_enum.cpp │ ├── can_enum.hpp │ ├── can_id.cpp │ ├── can_id.hpp │ ├── can_identifier.hpp │ ├── can_idmask.hpp │ ├── canfd_frame.hpp │ ├── platform_spec │ │ ├── sxx32_can_identifier.hpp │ │ └── sxx32_can_idmask.hpp │ └── unit_test.cpp ├── colors │ ├── color │ │ ├── color.hpp │ │ └── color.tpp │ └── rgb │ │ ├── rgb.cpp │ │ └── rgb.hpp ├── font │ └── prelude.hpp ├── hal_result.cpp ├── hal_result.hpp ├── image │ ├── font │ │ ├── font.hpp │ │ └── font_res.hpp │ ├── image.hpp │ ├── image.tpp │ ├── image_basics.hpp │ ├── image_span.hpp │ ├── packed_image.hpp │ └── painter │ │ ├── painter.cpp │ │ ├── painter.hpp │ │ ├── painter_base.cpp │ │ └── painter_base.hpp ├── memory.hpp ├── misc │ ├── author.hpp │ ├── build_date.hpp │ └── release_info.hpp ├── nearest_freq.hpp ├── net │ ├── ipv4.hpp │ └── mac_address.hpp ├── pwm_channel.hpp ├── storage.cpp ├── storage.hpp └── storage │ ├── jedec.cpp │ └── jedec.hpp ├── ral ├── ch32 │ ├── ch32_common_can_def.hpp │ ├── ch32_common_crc_def.hpp │ ├── ch32_common_dma_def.hpp │ ├── ch32_common_gpio_def.hpp │ ├── ch32_common_i2c_def.hpp │ ├── ch32_common_spi_def.hpp │ ├── ch32_common_tim_def.hpp │ ├── ch32_common_uart_def.hpp │ ├── ch32h417_dfsdm_def.hpp │ ├── ch32h417_gpha_def.hpp │ ├── ch32h417_ltdc_def.hpp │ ├── ch32h417_qspi_def.hpp │ ├── ch32h417_sai_def.hpp │ ├── ch32h417_sdio_def.hpp │ ├── ch32h417_serdes_def.hpp │ ├── ch32h417_swpmi_def.hpp │ ├── ch32l103_afio_def.hpp │ ├── ch32l103_can_def.hpp │ ├── ch32l103_lptim_def.hpp │ ├── ch32l103_opa_def.hpp │ ├── ch32l103_pfic.hpp │ ├── ch32l103_usbfs_def.hpp │ ├── ch32l103_usbpd_def.hpp │ ├── ch32v00x_afio_def.hpp │ ├── ch32v00x_opa_def.hpp │ ├── ch32v00x_sltm_def.hpp │ ├── ch32v203_chip_def.hpp │ ├── ch32v203_opa_def.hpp │ ├── ch32v20x_adc_def.hpp │ ├── ch32v20x_afio_def.hpp │ ├── ch32v20x_bkp_def.hpp │ ├── ch32v20x_crc_def.hpp │ ├── ch32v20x_iwdg_def.hpp │ ├── ch32v20x_rcc_def.hpp │ ├── ch32v20x_rtc_def.hpp │ ├── ch32v20x_sdio_def.hpp │ ├── ch32v30x_dvp_def.hpp │ ├── ch32v30x_eth_def.hpp │ ├── ch32v30x_fsmc_def.hpp │ ├── ch32v30x_rng_def.hpp │ ├── ch32v30x_sdio_def.hpp │ ├── ch32x035_afio_def.hpp │ ├── ch32x035_awu_def.hpp │ ├── ch32x035_i2c_def.hpp │ ├── ch32x035_iwdg_def.hpp │ ├── ch32x035_opa_def.hpp │ ├── ch32x035_pioc_def.hpp │ ├── ch32x035_rcc_def.hpp │ ├── ch32x035_usbpd_def.hpp │ ├── ch32x035_wwdg_def.hpp │ ├── chipname.hpp │ └── startup │ │ ├── ch32v20x_startup.cpp │ │ └── ch32v20x_startup.hpp ├── chip.hpp ├── common_ipcore │ └── musb │ │ ├── musb.cpp │ │ ├── musb.hpp │ │ └── musb.md ├── hc32 │ ├── hc32f460_timer_4_def.hpp │ ├── hc32f460_timer_6_def.hpp │ ├── hc32f460_timer_a_def.hpp │ └── hc32f4a0_hrtimer_def.hpp ├── py32 │ ├── py32f002b_syscfg_def.hpp │ ├── py32f003_gpio_def.hpp │ ├── py32f003_i2c_def.hpp │ ├── py32f003_spi_def.hpp │ ├── py32f003_usart_def.hpp │ └── py32f403_canfd_def.hpp └── stm32 │ ├── startup │ ├── stm32f30x_startup.cpp │ └── stm32f30x_startup.hpp │ ├── stm32f30x.hpp │ ├── stm32f30x_adc_def.hpp │ ├── stm32f30x_can_def.hpp │ ├── stm32f30x_dac_def.hpp │ ├── stm32f30x_dma_def.hpp │ ├── stm32f30x_hrtim_def.hpp │ ├── stm32f30x_hrtim_pl.hpp │ ├── stm32f30x_i2c_def.hpp │ ├── stm32f30x_rcc_def.hpp │ └── stm32f30x_tim_def.hpp ├── robots ├── actions │ ├── ActionConcept.hpp │ ├── ActionQueue.hpp │ └── CombinedAction.hpp ├── ai │ ├── ActivationFunc.hpp │ ├── InitWFunc.hpp │ ├── Layer.hpp │ ├── LossFunc.hpp │ ├── NeuralNet.hpp │ ├── Neuron.hpp │ └── Training.hpp ├── autodrive │ ├── Estimator.cpp │ ├── Map.hpp │ ├── Planner.hpp │ ├── geometry │ │ └── GeometryUtils.hpp │ └── sequence │ │ ├── Seg7Solver_t.hpp │ │ ├── SequenceUtils.hpp │ │ ├── Sequencer.cpp │ │ ├── Sequencer.hpp │ │ ├── SigmoidSolver_t.hpp │ │ └── TrapezoidSolver_t.hpp ├── behaviour_tree │ ├── BtNode.cpp │ ├── BtNode.hpp │ ├── composite │ │ ├── BtComposite.cpp │ │ ├── BtComposite.hpp │ │ ├── BtParallel.cpp │ │ ├── BtParallel.hpp │ │ ├── BtSelector.cpp │ │ ├── BtSelector.hpp │ │ ├── BtSequence.cpp │ │ └── BtSequence.hpp │ ├── decorator │ │ ├── BtDecorator.cpp │ │ ├── BtDecorator.hpp │ │ ├── BtInverter.cpp │ │ ├── BtInverter.hpp │ │ ├── BtRepeat.cpp │ │ └── BtRepeat.hpp │ ├── factory │ │ ├── BtFactory.cpp │ │ └── BtFactory.hpp │ ├── node │ │ ├── BtAction.cpp │ │ ├── BtAction.hpp │ │ ├── BtCheck.cpp │ │ ├── BtCheck.hpp │ │ ├── BtLambda.cpp │ │ └── BtLambda.hpp │ └── root │ │ ├── BtRoot.cpp │ │ └── BtRoot.hpp ├── canopen │ ├── Entry.cpp │ ├── Entry.hpp │ ├── ObjectDict.cpp │ ├── ObjectDict.hpp │ ├── PdoObjDict.cpp │ ├── PdoObjDict.hpp │ ├── SdoObjDict.cpp │ ├── SdoObjDict.hpp │ ├── canopen_tb.cpp │ ├── cia301.cpp │ ├── cia301.hpp │ ├── cia402.cpp │ ├── cia402.hpp │ ├── proto │ │ ├── NmtProtocol.cpp │ │ ├── NmtProtocol.hpp │ │ ├── PdoProtocol.cpp │ │ ├── PdoProtocol.hpp │ │ ├── PdoSession.cpp │ │ ├── PdoSession.hpp │ │ ├── ProtocolBase.hpp │ │ ├── SdoProtocol.cpp │ │ ├── SdoProtocol.hpp │ │ ├── SdoSession.cpp │ │ └── SdoSession.hpp │ └── utils.hpp ├── commands │ ├── gcode_commands.hpp │ ├── joint_commands.hpp │ ├── machine_commands.hpp │ ├── nmt_commands.hpp │ └── vehicle_commands.hpp ├── curve │ ├── CurveConcept_t.hpp │ ├── CurveTrapezoid_t.hpp │ ├── shape.hpp │ ├── trajectory.cpp │ └── trajectory.hpp ├── foc │ ├── components │ │ └── statled │ │ │ ├── statled.cpp │ │ │ └── statled.hpp │ ├── focmotor.cpp │ ├── focmotor.hpp │ ├── misc │ │ ├── motor_enums.hpp │ │ └── motor_scexpr.hpp │ ├── motor_utils.hpp │ ├── protocol │ │ ├── ascii_protocol.cpp │ │ └── can_protocol.cpp │ ├── remote │ │ ├── remote.cpp │ │ └── remote.hpp │ └── stepper │ │ ├── archive │ │ ├── archive.cpp │ │ └── archive.hpp │ │ ├── ctrls │ │ ├── ctrls.cpp │ │ └── ctrls.hpp │ │ ├── observer │ │ ├── observer.cpp │ │ └── observer.hpp │ │ ├── stepper.cpp │ │ ├── stepper.hpp │ │ └── tasks │ │ ├── active.cpp │ │ ├── cali.cpp │ │ ├── cali.hpp │ │ ├── selfcheck.cpp │ │ ├── selfcheck.hpp │ │ ├── tone.cpp │ │ └── tone.hpp ├── gcode │ ├── gcode.hpp │ └── mcode.hpp ├── gesture │ ├── comp_est.hpp │ ├── mag_cali.hpp │ ├── mahony.cpp │ └── mahony.hpp ├── kinematics │ ├── CRT │ │ └── crt_kinematics.hpp │ ├── Cross │ │ └── cross_kinematics.hpp │ ├── Mecanum4 │ │ └── mecanum4_kinematics.hpp │ ├── RRS3 │ │ └── rrs3_kinematics.hpp │ ├── Scara5 │ │ └── scara5_kinematics.hpp │ ├── WheelLeg │ │ └── wheelleg_kinematics.hpp │ ├── kinematics_utils.hpp │ └── prelude.hpp ├── machine │ ├── actuator │ │ ├── actuator.hpp │ │ ├── jointlr.cpp │ │ ├── jointlr.hpp │ │ ├── zaxis.cpp │ │ ├── zaxis.hpp │ │ ├── zaxis_cross.cpp │ │ └── zaxis_cross.hpp │ ├── chassis_actions.hpp │ ├── chassis_ctrl.cpp │ ├── chassis_ctrl.hpp │ ├── chassis_module.cpp │ ├── chassis_module.hpp │ ├── grab_actions.hpp │ ├── grab_module.cpp │ ├── grab_module.hpp │ ├── motion_module.hpp │ ├── scara │ │ ├── claw.cpp │ │ ├── claw.hpp │ │ ├── nozzle.cpp │ │ ├── nozzle.hpp │ │ ├── scara.cpp │ │ └── scara.hpp │ └── wheel │ │ ├── wheel.cpp │ │ ├── wheel.hpp │ │ ├── wheels.cpp │ │ └── wheels.hpp ├── mock │ ├── mock_burshed_motor.hpp │ └── mock_servo.hpp ├── nodes │ ├── msg_factory.hpp │ └── node_role.hpp ├── protocols │ ├── cannet │ │ ├── asciican_phy.hpp │ │ ├── asciican_primitive.hpp │ │ ├── asciican_utils.cpp │ │ ├── asciican_utils.hpp │ │ ├── can_chain.hpp │ │ ├── canopen │ │ │ ├── canopen_msg │ │ │ │ ├── canopen_msg_serde.hpp │ │ │ │ ├── canopen_nmt_msg.hpp │ │ │ │ ├── canopen_sdo_msg.hpp │ │ │ │ ├── flex_assert.hpp │ │ │ │ ├── try_unwrap.hpp │ │ │ │ └── unit_test │ │ │ │ │ ├── test_nmt_msg.cpp │ │ │ │ │ └── test_sdo_msg.cpp │ │ │ ├── canopen_object │ │ │ │ ├── canopen_nmt_object.hpp │ │ │ │ ├── misc.hpp │ │ │ │ └── unit_test.cpp │ │ │ ├── canopen_primitive │ │ │ │ ├── canopen_funccode.hpp │ │ │ │ ├── canopen_nmt_primitive.hpp │ │ │ │ ├── canopen_obj.hpp │ │ │ │ ├── canopen_pdo_primitive.hpp │ │ │ │ ├── canopen_primitive.hpp │ │ │ │ ├── canopen_primitive_base.hpp │ │ │ │ ├── canopen_sdo_primitive.hpp │ │ │ │ └── cast.hpp │ │ │ ├── canopen_session │ │ │ │ ├── canopen_pdo_session.hpp │ │ │ │ ├── canopen_sdo_client_session.hpp │ │ │ │ └── canopen_sdo_server_session.hpp │ │ │ └── specification │ │ │ │ ├── cia301_primitive.cpp │ │ │ │ ├── cia301_primitive.hpp │ │ │ │ ├── cia402.hpp │ │ │ │ └── cia402_primitive.hpp │ │ ├── eccan │ │ │ ├── eccan.cpp │ │ │ └── eccan.hpp │ │ ├── slcan │ │ │ ├── slcan.cpp │ │ │ └── slcan.hpp │ │ └── uavcan │ │ │ ├── bitfiller.hpp │ │ │ ├── uavcan_msgs.hpp │ │ │ ├── uavcan_primitive.hpp │ │ │ └── uvacan_crc.hpp │ ├── cyphal │ │ ├── cyphal_crc.hpp │ │ ├── cyphal_primitive.hpp │ │ └── transport │ │ │ ├── cyphal_can.hpp │ │ │ └── cyphal_serial.hpp │ ├── mavlink │ │ ├── mavlink_basics.hpp │ │ ├── mavlink_enum.hpp │ │ ├── mavlink_msgs.hpp │ │ └── mavlink_prelude.hpp │ ├── modbus │ │ ├── modbus_primitive.cpp │ │ └── modbus_primitive.hpp │ └── nano_modbus │ │ ├── nanomodbus_pp.cpp │ │ └── nanomodbus_pp.hpp ├── slam │ ├── icp.hpp │ └── svd.hpp └── vendor │ ├── DJI │ ├── DR16 │ │ ├── dr16.cpp │ │ └── dr16.hpp │ └── M3508 │ │ ├── m3508.cpp │ │ └── m3508.hpp │ ├── bmkj │ ├── m1502e_de.hpp │ ├── m1502e_msgs.hpp │ ├── m1502e_primitive.hpp │ ├── m1502e_ser.hpp │ └── unit_test.cpp │ ├── damiao │ ├── DM9008 │ │ └── DM9008.hpp │ └── prelude.hpp │ ├── dfrobot │ └── CDS55XX │ │ ├── CDS55XX.cpp │ │ └── CDS55XX.hpp │ ├── dynamixel │ ├── prelude.hpp │ └── protocol2.hpp │ ├── lobot │ └── SerialServo │ │ ├── LobotSerialServo.cpp │ │ └── LobotSerialServo.hpp │ ├── mit │ └── cybergear │ │ ├── MotorCyberGear.cpp │ │ └── MotorCyberGear.hpp │ ├── mks │ ├── details │ │ ├── mks_stepper_prelude.hpp │ │ └── mks_stepper_utils.hpp │ ├── mks_stepper.cpp │ └── mks_stepper.hpp │ ├── steadywin │ ├── can_simple │ │ ├── steadywin_can_simple_de.hpp │ │ ├── steadywin_can_simple_primitive.hpp │ │ ├── steadywin_can_simple_ser.hpp │ │ └── unit_test.cpp │ └── modbus │ │ └── steadywin_modbus_rtu_primitive.hpp │ ├── xdrive │ ├── unit_test.cpp │ └── xdrive_can_protocol.hpp │ ├── yahboom │ ├── quat_motor_driver.cpp │ └── quat_motor_driver.hpp │ └── zdt │ ├── zdt_stepper.cpp │ ├── zdt_stepper.hpp │ ├── zdt_stepper_phy.cpp │ ├── zdt_stepper_phy.hpp │ └── zdt_stepper_prelude.hpp ├── scripts └── translator │ ├── input.txt │ └── translator.py ├── sdk ├── ch32v203 │ ├── Core │ │ ├── core_riscv.c │ │ └── core_riscv.h │ ├── Ld │ │ ├── C8T6.ld │ │ └── F8P6.ld │ ├── Peripheral │ │ ├── inc │ │ │ ├── ch32v20x.h │ │ │ ├── ch32v20x_adc.h │ │ │ ├── ch32v20x_bkp.h │ │ │ ├── ch32v20x_can.h │ │ │ ├── ch32v20x_conf.h │ │ │ ├── ch32v20x_crc.h │ │ │ ├── ch32v20x_dbgmcu.h │ │ │ ├── ch32v20x_dma.h │ │ │ ├── ch32v20x_exti.h │ │ │ ├── ch32v20x_flash.h │ │ │ ├── ch32v20x_gpio.h │ │ │ ├── ch32v20x_i2c.h │ │ │ ├── ch32v20x_iwdg.h │ │ │ ├── ch32v20x_misc.h │ │ │ ├── ch32v20x_opa.h │ │ │ ├── ch32v20x_pwr.h │ │ │ ├── ch32v20x_rcc.h │ │ │ ├── ch32v20x_rtc.h │ │ │ ├── ch32v20x_spi.h │ │ │ ├── ch32v20x_tim.h │ │ │ ├── ch32v20x_usart.h │ │ │ └── ch32v20x_wwdg.h │ │ └── src │ │ │ ├── ch32v20x_adc.c │ │ │ ├── ch32v20x_bkp.c │ │ │ ├── ch32v20x_can.c │ │ │ ├── ch32v20x_crc.c │ │ │ ├── ch32v20x_dbgmcu.c │ │ │ ├── ch32v20x_dma.c │ │ │ ├── ch32v20x_exti.c │ │ │ ├── ch32v20x_flash.c │ │ │ ├── ch32v20x_gpio.c │ │ │ ├── ch32v20x_i2c.c │ │ │ ├── ch32v20x_iwdg.c │ │ │ ├── ch32v20x_misc.c │ │ │ ├── ch32v20x_opa.c │ │ │ ├── ch32v20x_pwr.c │ │ │ ├── ch32v20x_rcc.c │ │ │ ├── ch32v20x_rtc.c │ │ │ ├── ch32v20x_spi.c │ │ │ ├── ch32v20x_tim.c │ │ │ ├── ch32v20x_usart.c │ │ │ └── ch32v20x_wwdg.c │ ├── Startup │ │ └── startup_ch32v20x_D6.S │ ├── system_ch32v20x.c │ └── system_ch32v20x.h └── ch32v307 │ ├── Core │ ├── core_riscv.c │ └── core_riscv.h │ ├── Ld │ └── VCT6.ld │ ├── Peripheral │ ├── inc │ │ ├── ch32v30x.h │ │ ├── ch32v30x_adc.h │ │ ├── ch32v30x_bkp.h │ │ ├── ch32v30x_can.h │ │ ├── ch32v30x_conf.h │ │ ├── ch32v30x_crc.h │ │ ├── ch32v30x_dac.h │ │ ├── ch32v30x_dbgmcu.h │ │ ├── ch32v30x_dma.h │ │ ├── ch32v30x_dvp.h │ │ ├── ch32v30x_eth.h │ │ ├── ch32v30x_exti.h │ │ ├── ch32v30x_flash.h │ │ ├── ch32v30x_fsmc.h │ │ ├── ch32v30x_gpio.h │ │ ├── ch32v30x_i2c.h │ │ ├── ch32v30x_iwdg.h │ │ ├── ch32v30x_misc.h │ │ ├── ch32v30x_opa.h │ │ ├── ch32v30x_pwr.h │ │ ├── ch32v30x_rcc.h │ │ ├── ch32v30x_rng.h │ │ ├── ch32v30x_rtc.h │ │ ├── ch32v30x_sdio.h │ │ ├── ch32v30x_spi.h │ │ ├── ch32v30x_tim.h │ │ ├── ch32v30x_usart.h │ │ └── ch32v30x_wwdg.h │ └── src │ │ ├── ch32v30x_adc.c │ │ ├── ch32v30x_bkp.c │ │ ├── ch32v30x_can.c │ │ ├── ch32v30x_crc.c │ │ ├── ch32v30x_dac.c │ │ ├── ch32v30x_dbgmcu.c │ │ ├── ch32v30x_dma.c │ │ ├── ch32v30x_dvp.c │ │ ├── ch32v30x_eth.c │ │ ├── ch32v30x_exti.c │ │ ├── ch32v30x_flash.c │ │ ├── ch32v30x_fsmc.c │ │ ├── ch32v30x_gpio.c │ │ ├── ch32v30x_i2c.c │ │ ├── ch32v30x_iwdg.c │ │ ├── ch32v30x_misc.c │ │ ├── ch32v30x_opa.c │ │ ├── ch32v30x_pwr.c │ │ ├── ch32v30x_rcc.c │ │ ├── ch32v30x_rng.c │ │ ├── ch32v30x_rtc.c │ │ ├── ch32v30x_sdio.c │ │ ├── ch32v30x_spi.c │ │ ├── ch32v30x_tim.c │ │ ├── ch32v30x_usart.c │ │ └── ch32v30x_wwdg.c │ ├── Startup │ └── startup_ch32v30x_D8C.S │ ├── system_ch32v30x.c │ └── system_ch32v30x.h ├── targets ├── CH32V20X │ ├── .clangd │ ├── .vscode │ │ ├── .cortex-debug.peripherals.state.json │ │ ├── .cortex-debug.registers.state.json │ │ ├── launch.json │ │ ├── settings.json │ │ └── tasks.json │ ├── LearnADC.code-workspace │ └── src │ │ ├── app │ │ ├── digiPW │ │ │ ├── digipw.cpp │ │ │ └── digipw.hpp │ │ ├── dspapp │ │ │ ├── FFT.hpp │ │ │ ├── ParticleSwarmOptimization.hpp │ │ │ ├── dsp_tb.cpp │ │ │ ├── dtmf_tb.cpp │ │ │ ├── fft_tb.cpp │ │ │ ├── func_eval.hpp │ │ │ ├── liir.hpp │ │ │ └── pso_tb.cpp │ │ ├── game_engine │ │ │ ├── filesys_main.cpp │ │ │ ├── frame_buffer.hpp │ │ │ ├── fs │ │ │ │ └── fat │ │ │ │ │ ├── fat.cpp │ │ │ │ │ └── fat.hpp │ │ │ ├── prelude │ │ │ │ ├── io_result.hpp │ │ │ │ ├── path.hpp │ │ │ │ └── permissions.hpp │ │ │ ├── render_main.cpp │ │ │ ├── script_main.cpp │ │ │ ├── sound_main.cpp │ │ │ └── tuple_tmp.hpp │ │ ├── legacy │ │ │ ├── eyetrack │ │ │ │ ├── etk.cpp │ │ │ │ ├── etk.hpp │ │ │ │ ├── eyeparser.hpp │ │ │ │ └── eyetrack.hpp │ │ │ ├── gui │ │ │ │ ├── apriltag.hpp │ │ │ │ ├── coro_task.hpp │ │ │ │ ├── elements.hpp │ │ │ │ ├── future.hpp │ │ │ │ ├── gui.cpp │ │ │ │ ├── gui.hpp │ │ │ │ ├── sdcard │ │ │ │ │ ├── sdcard.cpp │ │ │ │ │ └── sdcard.hpp │ │ │ │ └── ucoro.hpp │ │ │ ├── gxmatch │ │ │ │ ├── async │ │ │ │ │ └── Node.hpp │ │ │ │ ├── common │ │ │ │ │ ├── decl │ │ │ │ │ │ ├── InventoryInfo.hpp │ │ │ │ │ │ ├── rotorinfo.hpp │ │ │ │ │ │ └── rowinfo.hpp │ │ │ │ │ ├── enum.hpp │ │ │ │ │ └── inc.hpp │ │ │ │ ├── config.cpp │ │ │ │ ├── config.hpp │ │ │ │ ├── gxmatch.cpp │ │ │ │ ├── gxmatch.hpp │ │ │ │ ├── misc.cpp │ │ │ │ ├── misc.hpp │ │ │ │ └── new_energy.cpp │ │ │ ├── net │ │ │ │ └── can_actor.cpp │ │ │ ├── os │ │ │ │ ├── offset_table.hpp │ │ │ │ ├── os.cpp │ │ │ │ └── os.hpp │ │ │ ├── robomaster │ │ │ │ ├── detectors │ │ │ │ │ ├── SecondOrderTransferFunc.hpp │ │ │ │ │ ├── ShockDetector.hpp │ │ │ │ │ ├── TrackingDifferentiator.hpp │ │ │ │ │ └── sim │ │ │ │ │ │ └── shock_detector.py │ │ │ │ ├── rmst_tb.cpp │ │ │ │ ├── utils.hpp │ │ │ │ └── wheeleg │ │ │ │ │ └── kinematics │ │ │ │ │ ├── LegKinematics.cpp │ │ │ │ │ └── LegKinematics.hpp │ │ │ ├── sdc │ │ │ │ └── sdc.cpp │ │ │ └── smc │ │ │ │ ├── body.hpp │ │ │ │ ├── cli.hpp │ │ │ │ ├── config.hpp │ │ │ │ ├── ctrl.cpp │ │ │ │ ├── ctrl.hpp │ │ │ │ ├── elements.hpp │ │ │ │ ├── events.cpp │ │ │ │ ├── fans.hpp │ │ │ │ ├── finder.cpp │ │ │ │ ├── finder.hpp │ │ │ │ ├── smc.cpp │ │ │ │ ├── smc.h │ │ │ │ ├── smc_debug.h │ │ │ │ └── smc_main.cpp │ │ ├── modern_ctrl │ │ │ ├── adrc_main.cpp │ │ │ ├── brushed_motor_simu.cpp │ │ │ ├── pinv.hpp │ │ │ └── playground.cpp │ │ ├── motor │ │ │ ├── async_channel.hpp │ │ │ ├── grade_counter.hpp │ │ │ ├── linear_regression.hpp │ │ │ ├── misc.cpp │ │ │ ├── myesc.cpp │ │ │ ├── myservo.cpp │ │ │ ├── odrive │ │ │ │ ├── Component.hpp │ │ │ │ ├── Critical.cpp │ │ │ │ ├── Critical.hpp │ │ │ │ └── TaskTimer.hpp │ │ │ ├── sensored_foc.cpp │ │ │ ├── sensorless_bdc_main.cpp │ │ │ ├── 参考文献.md │ │ │ ├── 无感参数辨识.md │ │ │ └── 栅极功耗计算.md │ │ ├── nuedc │ │ │ ├── _2021F │ │ │ │ └── algo │ │ │ │ │ └── algo.hpp │ │ │ ├── _2023E │ │ │ │ ├── actuator.hpp │ │ │ │ ├── nuedc_2023e.cpp │ │ │ │ ├── prelude.hpp │ │ │ │ ├── rigid.hpp │ │ │ │ └── service.hpp │ │ │ ├── _2024E │ │ │ │ └── algo │ │ │ │ │ ├── minimax_tmp.hpp │ │ │ │ │ ├── prelude.hpp │ │ │ │ │ ├── tictactoe.cpp │ │ │ │ │ └── tictactoe.hpp │ │ │ └── _2025E │ │ │ │ ├── nuedc_2025e_common.hpp │ │ │ │ ├── nuedc_2025e_joint.cpp │ │ │ │ └── nuedc_2025e_laser.cpp │ │ ├── robotctrl │ │ │ ├── common_service.hpp │ │ │ ├── details │ │ │ │ ├── gcode_file.hpp │ │ │ │ └── polar_robot_curvedata.hpp │ │ │ ├── dffspd_vehicle.cpp │ │ │ ├── g2o.hpp │ │ │ ├── gcode │ │ │ │ └── gcode.hpp │ │ │ ├── ik.hpp │ │ │ ├── joints.hpp │ │ │ ├── polar_robot.cpp │ │ │ ├── rrs_robot.cpp │ │ │ ├── simulations │ │ │ │ └── smc_pendulum.py │ │ │ └── windp_robot.cpp │ │ ├── smc2025 │ │ │ ├── render.hpp │ │ │ ├── scenes.cpp │ │ │ ├── scenes.hpp │ │ │ └── smc2025.cpp │ │ └── stepper │ │ │ ├── archive.hpp │ │ │ ├── calibrate_utils.hpp │ │ │ ├── config.hpp │ │ │ ├── ctrl.hpp │ │ │ ├── meta_utils.hpp │ │ │ ├── mystepper.cpp │ │ │ └── tasks.hpp │ │ ├── defines │ │ ├── defs.h │ │ ├── embd_defs.h │ │ ├── oled_defs.h │ │ ├── periph_defs.h │ │ ├── smc_defs.h │ │ ├── user_defs.h │ │ ├── v2defs.h │ │ └── v3defs.h │ │ ├── main.cpp │ │ └── testbench │ │ ├── algo │ │ ├── encrypt_tb.cpp │ │ ├── enum.cpp │ │ ├── floyd.cpp │ │ ├── hive.cpp │ │ ├── reflect_tb.cpp │ │ └── reg.cpp │ │ ├── async │ │ └── coro_tb.cpp │ │ ├── basics │ │ ├── adc_tb.cpp │ │ ├── dma_tb.cpp │ │ ├── eeprom_tb.cpp │ │ ├── gpio_tb.cpp │ │ ├── pwm_tb.cpp │ │ ├── uart_tb.cpp │ │ └── ws2812_tb.cpp │ │ ├── can │ │ ├── can_comm_tb.cpp │ │ ├── can_ring_tb.cpp │ │ └── slcan_tb.cpp │ │ ├── comm │ │ ├── ch9141_tb.cpp │ │ ├── lt8920_tb.cpp │ │ └── lt8960_tb.cpp │ │ ├── dds │ │ ├── ad9959_tb.cpp │ │ └── osc_tb.cpp │ │ ├── displayer │ │ ├── mlx90640_tb.cpp │ │ ├── st7789_tb.cpp │ │ └── st77xx_tb_legacy.cpp │ │ ├── dsp │ │ └── filter_tb.cpp │ │ ├── genshin │ │ ├── bitfield_layout.cpp │ │ ├── lazy.cpp │ │ ├── reflect.cpp │ │ ├── rust_builder.cpp │ │ ├── rust_enum.hpp │ │ ├── rust_impl.cpp │ │ └── serde_tb.cpp │ │ ├── graphics │ │ ├── cubic │ │ │ ├── cubic_tb.cpp │ │ │ └── data.hpp │ │ └── light_tracking │ │ │ ├── data.hpp │ │ │ ├── light_tracking2_tb.cpp │ │ │ ├── types.hpp │ │ │ └── utils.hpp │ │ ├── hid │ │ ├── joystick_tb.cpp │ │ └── usbcdc_tb.cpp │ │ ├── i2c │ │ ├── ads7830_tb.cpp │ │ ├── aw9523_tb.cpp │ │ ├── ft6336_tb.cpp │ │ ├── ht16k33_tb.cpp │ │ ├── i2c_dev.cpp │ │ ├── i2c_scanner_tb.cpp │ │ ├── st1615_tb.cpp │ │ ├── tm1637_tb.cpp │ │ ├── vl53l5cx_tb.cpp │ │ └── vl6180x_tb.cpp │ │ ├── imu │ │ ├── ak09911c_tb.cpp │ │ ├── bmi088_tb.cpp │ │ ├── bmi160_tb.cpp │ │ ├── icm42688_tb.cpp │ │ ├── mmc5983_tb.cpp │ │ ├── mpu6050_tb.cpp │ │ └── sim │ │ │ └── fibonacci_project.py │ │ ├── lua_tb.cpp │ │ ├── math │ │ ├── calc_tb.cpp │ │ ├── curve_tb.cpp │ │ ├── div_tb.cpp │ │ ├── ekf_tb.cpp │ │ ├── float_tb.cpp │ │ ├── functional_tb.cpp │ │ ├── math_tb.cpp │ │ ├── norm_tb.cpp │ │ ├── simulate │ │ │ └── ekf2d.py │ │ ├── sincos_tb.cpp │ │ └── svd_tb.cpp │ │ ├── memory │ │ ├── heap_tb.cpp │ │ └── pmr_tb.cpp │ │ ├── motor │ │ ├── m1502e_tb.cpp │ │ ├── m2006_tb.cpp │ │ ├── m3508_tb.cpp │ │ ├── mks_tb.cpp │ │ ├── myactuator_tb.cpp │ │ ├── stepper_tb.cpp │ │ └── zdt_tb.cpp │ │ ├── oled_tb.cpp │ │ ├── polymorphism │ │ ├── metaclass_tb.cpp │ │ ├── proxy3_tb.cpp │ │ └── traits_tb.cpp │ │ ├── pwm │ │ ├── co_ab.cpp │ │ ├── doc │ │ │ ├── interleaved_svpwm3.sr │ │ │ ├── pfm_zvs.sr │ │ │ └── sincos_interleaved.sr │ │ ├── dshot_tb.cpp │ │ ├── pfm_zvs.cpp │ │ ├── phase3_pwm_tb.cpp │ │ ├── sincos_pwm_tb.cpp │ │ └── svpwm3_tb.cpp │ │ ├── sensors │ │ ├── ads1115_tb.cpp │ │ ├── ina3221_tb.cpp │ │ ├── kth7823_tb.cpp │ │ ├── ma730_tb.cpp │ │ ├── paj7620_tb.cpp │ │ ├── pmw3901_tb.cpp │ │ └── tcs34725_tb.cpp │ │ ├── tb.h │ │ ├── uart │ │ └── half_line_uart.cpp │ │ ├── uwb │ │ ├── alx_aoa_tb.cpp │ │ ├── geometry.hpp │ │ ├── ld19_tb.cpp │ │ ├── m10_tb.cpp │ │ ├── measure_barrier.hpp │ │ ├── mk8000tr_tb.cpp │ │ ├── sim │ │ │ └── ekf.py │ │ └── static_test.cpp │ │ └── vio │ │ ├── pca_tb.cpp │ │ └── tca9548_tb.cpp └── N32G45X │ ├── .clang-format │ ├── .gitignore │ ├── .pack │ └── Nationstech │ │ └── N32G45x_DFP.1.0.5 │ │ ├── Flash │ │ └── N32G45x.FLM │ │ ├── Nationstech.N32G45x_DFP.1.0.5.pdsc │ │ └── svd │ │ ├── N32G452.svd │ │ ├── N32G455.svd │ │ └── N32G457.svd │ ├── .vscode │ ├── .cortex-debug.peripherals.state.json │ ├── .cortex-debug.registers.state.json │ ├── c_cpp_properties.json │ ├── settings.json │ └── tasks.json │ ├── N32G45X.code-workspace │ ├── RTE_Components.h │ └── src │ └── main.cpp ├── tools ├── wch-interface.cfg └── wch-target.cfg └── types ├── gesture ├── camview2.hpp ├── isometry2.hpp ├── isometry3.hpp ├── rotation2.hpp ├── rotation3.hpp ├── twist2.hpp └── twist3.hpp ├── regions ├── Line2.hpp ├── Ray2.hpp ├── Rect2.hpp ├── Segment2.hpp ├── aabb.hpp ├── details │ └── RANSAC.hpp ├── perspective_rect.hpp ├── plane.hpp ├── range2.hpp └── ray3.hpp ├── shapes ├── annular_sector.hpp ├── arc2.hpp ├── bezier2.hpp ├── box_rect.hpp ├── bresenham_iter.hpp ├── circle2.hpp ├── dot.hpp ├── gridmap2.hpp ├── horizon_spectrum.hpp ├── line_iter.hpp ├── oval2.hpp ├── polygon.hpp ├── prelude.hpp ├── 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/drivers/Encoder/SpeedCapture.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Left-Hand/Yumud/HEAD/drivers/Encoder/SpeedCapture.hpp -------------------------------------------------------------------------------- /drivers/Encoder/encoder.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Left-Hand/Yumud/HEAD/drivers/Encoder/encoder.cpp -------------------------------------------------------------------------------- /drivers/Encoder/qei/gpio_qei.hpp: -------------------------------------------------------------------------------- 1 | #pragma once -------------------------------------------------------------------------------- /drivers/GateDriver/MP6540/mp6540.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Left-Hand/Yumud/HEAD/drivers/GateDriver/MP6540/mp6540.hpp 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-------------------------------------------------------------------------------- 1 | #include "rm3100.hpp" -------------------------------------------------------------------------------- /drivers/IMU/details/BoschIMU.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Left-Hand/Yumud/HEAD/drivers/IMU/details/BoschIMU.hpp -------------------------------------------------------------------------------- /drivers/IMU/details/STMicroIMU.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Left-Hand/Yumud/HEAD/drivers/IMU/details/STMicroIMU.hpp -------------------------------------------------------------------------------- /drivers/IMU/imu.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Left-Hand/Yumud/HEAD/drivers/IMU/imu.cpp 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https://raw.githubusercontent.com/Left-Hand/Yumud/HEAD/drivers/Proximeter/M10/m10.cpp -------------------------------------------------------------------------------- /drivers/Proximeter/vl53l3cx/vl53l3cx.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | namespace ymd::drivers{ 4 | 5 | } -------------------------------------------------------------------------------- /drivers/Recognition/U13T/U13T.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Left-Hand/Yumud/HEAD/drivers/Recognition/U13T/U13T.cpp -------------------------------------------------------------------------------- /drivers/Recognition/U13T/U13T.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Left-Hand/Yumud/HEAD/drivers/Recognition/U13T/U13T.hpp 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-------------------------------------------------------------------------------- /drivers/VirtualBus/CH9431/CH9431.cpp: -------------------------------------------------------------------------------- 1 | #include "CH9431.hpp" -------------------------------------------------------------------------------- /drivers/VirtualBus/CH9431/CH9431.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Left-Hand/Yumud/HEAD/drivers/VirtualBus/CH9431/CH9431.hpp -------------------------------------------------------------------------------- /drivers/VirtualBus/CH9434/ch9434.cpp: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /drivers/VirtualBus/CH9434/ch9434.hpp: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- /drivers/VirtualIO/MPR121/MPR121.cpp: -------------------------------------------------------------------------------- 1 | #include "MPR121.hpp" 2 | 3 | using namespace ymd::drivers; 4 | 5 | -------------------------------------------------------------------------------- /drivers/VirtualIO/MPR121/MPR121.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Left-Hand/Yumud/HEAD/drivers/VirtualIO/MPR121/MPR121.hpp -------------------------------------------------------------------------------- /drivers/VirtualIO/TTP229/TTP229.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Left-Hand/Yumud/HEAD/drivers/VirtualIO/TTP229/TTP229.cpp -------------------------------------------------------------------------------- /drivers/VirtualIO/TTP229/ttp229.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Left-Hand/Yumud/HEAD/drivers/VirtualIO/TTP229/ttp229.hpp -------------------------------------------------------------------------------- /drivers/Wireless/Radio/ECB02/ECB02.cpp: -------------------------------------------------------------------------------- 1 | #include "ECB02.hpp" -------------------------------------------------------------------------------- /drivers/Wireless/Radio/HC12/HC12.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Left-Hand/Yumud/HEAD/drivers/Wireless/Radio/HC12/HC12.cpp -------------------------------------------------------------------------------- /drivers/Wireless/Radio/HC12/HC12.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Left-Hand/Yumud/HEAD/drivers/Wireless/Radio/HC12/HC12.hpp 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/hal/analog/adc/adc_primitive.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Left-Hand/Yumud/HEAD/hal/analog/adc/adc_primitive.hpp -------------------------------------------------------------------------------- /hal/analog/adc/adc_utils.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Left-Hand/Yumud/HEAD/hal/analog/adc/adc_utils.hpp -------------------------------------------------------------------------------- /hal/analog/adc/adcs/adc1.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Left-Hand/Yumud/HEAD/hal/analog/adc/adcs/adc1.cpp -------------------------------------------------------------------------------- /hal/analog/adc/adcs/adc1.hpp: -------------------------------------------------------------------------------- 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