├── .DS_Store ├── .gitattributes ├── .github └── workflows │ └── build.yml ├── .gitignore ├── .readthedocs.yaml ├── bootloader ├── .DS_Store ├── Core │ ├── Inc │ │ ├── bootloader.h │ │ ├── can.h │ │ ├── main.h │ │ ├── stm32g4xx_hal_conf.h │ │ ├── stm32g4xx_it.h │ │ └── working.txt │ └── Src │ │ ├── bootloader.c │ │ ├── can.c │ │ ├── main.c │ │ ├── stm32g4xx_hal_msp.c │ │ ├── stm32g4xx_hal_timebase_tim.c │ │ ├── stm32g4xx_it.c │ │ └── system_stm32g4xx.c ├── Makefile ├── STM32-for-VSCode.config.yaml ├── STM32G431CBUx_FLASH.ld ├── STM32Make.make ├── USB_Device │ ├── App │ │ ├── usb_device.c │ │ ├── usb_device.h │ │ ├── usbd_cdc_if.c │ │ ├── usbd_cdc_if.h │ │ ├── usbd_desc.c │ │ └── usbd_desc.h │ └── Target │ │ ├── usbd_conf.c │ │ └── usbd_conf.h ├── openocd.cfg ├── python │ ├── 16_bit_aligned.hex │ ├── convert_hex.py │ ├── enter_app.py │ ├── enter_bootloader.py │ ├── flash_CAN.py │ ├── flash_USB.py │ ├── progress_bar_test.py │ ├── read_hex.py │ ├── send_hex.py │ └── stm32bootloader.py └── startup_stm32g431xx.s ├── docs ├── .DS_Store ├── Doxyfile.in ├── Makefile ├── conf.py ├── firmware │ ├── app.md │ ├── comms.md │ ├── drive.md │ ├── foc.md │ └── index.md ├── hardware │ ├── index.md │ ├── known-faults.md │ └── media │ │ ├── components.jpg │ │ ├── connectors.jpg │ │ └── drive-front-back.jpg ├── index.md ├── make.bat └── requirements.txt ├── firmware ├── .DS_Store ├── .mxproject ├── 50x50_DRIVE.ioc ├── Core │ ├── .DS_Store │ ├── Inc │ │ ├── FreeRTOSConfig.h │ │ ├── app.h │ │ ├── app_timers.h │ │ ├── comms.h │ │ ├── comms_msgs.h │ │ ├── drive.h │ │ ├── foc.h │ │ ├── led.h │ │ ├── main.h │ │ ├── sensors.h │ │ ├── stm32g4xx_hal_conf.h │ │ ├── stm32g4xx_it.h │ │ ├── trig_luts.h │ │ └── utils.h │ └── Src │ │ ├── app.c │ │ ├── app_freertos.c │ │ ├── app_timers.c │ │ ├── comms.c │ │ ├── drive.c │ │ ├── foc.c │ │ ├── led.c │ │ ├── main.c │ │ ├── sensors.c │ │ ├── stm32g4xx_hal_msp.c │ │ ├── stm32g4xx_hal_timebase_tim.c │ │ ├── stm32g4xx_it.c │ │ ├── system_stm32g4xx.c │ │ ├── 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