├── .clang-format ├── .github └── workflows │ └── ci.yml ├── .gitignore ├── .gitmodules ├── Dockerfile ├── LICENSE ├── README.md ├── control ├── CMakeLists.txt ├── external │ └── CMakeLists.txt ├── include │ ├── drivers │ │ ├── AVR910.hpp │ │ ├── Battery.hpp │ │ ├── FPGA.hpp │ │ ├── GenericRadio.hpp │ │ ├── ICM20948.hpp │ │ ├── ICM42605.hpp │ │ ├── IOExpanderDigitalInOut.hpp │ │ ├── ISM43340.hpp │ │ ├── Internal │ │ │ ├── I2Cdev.h │ │ │ └── helper_3dmath.h │ │ ├── KickerBoard.hpp │ │ ├── MCP23017.hpp │ │ ├── MPU6050.h │ │ └── RotarySelector.hpp │ ├── macro.hpp │ ├── robocup.hpp │ ├── robocup │ │ ├── LockedStruct.hpp │ │ ├── MicroPackets.hpp │ │ ├── iodefs.h │ │ ├── modules │ │ │ ├── BatteryModule.hpp │ │ │ ├── BlinkModule.hpp │ │ │ ├── FPGAModule.hpp │ │ │ ├── GenericModule.hpp │ │ │ ├── IMUModule.hpp │ │ │ ├── KickerModule.hpp │ │ │ ├── LEDModule.hpp │ │ │ ├── MotionControlModule.hpp │ │ │ ├── RadioModule.hpp │ │ │ └── RotaryDialModule.hpp │ │ ├── motion-control │ │ │ ├── DribblerController.hpp │ │ │ ├── RobotController.hpp │ │ │ └── RobotEstimator.hpp │ │ └── radio │ │ │ └── RadioLink.hpp │ └── test │ │ └── motor.hpp ├── mtrain │ ├── API │ │ ├── c │ │ │ ├── CMakeLists.txt │ │ │ ├── Inc │ │ │ │ ├── analog_in.h │ │ │ │ ├── delay.h │ │ │ │ ├── digital_in.h │ │ │ │ ├── digital_out.h │ │ │ │ ├── interrupt_in.h │ │ │ │ ├── mtrain.h │ │ │ │ ├── pin_defs.h │ │ │ │ └── timer.h │ │ │ └── Src │ │ │ │ ├── analog_in.c │ │ │ │ ├── delay.c │ │ │ │ ├── digital_in.c │ │ │ │ ├── digital_out.c │ │ │ │ ├── interrupt_in.c │ │ │ │ └── timer.c │ │ └── cpp │ │ │ ├── CMakeLists.txt │ │ │ ├── Inc │ │ │ ├── AnalogIn.hpp │ │ │ ├── DigitalIn.hpp │ │ │ ├── DigitalOut.hpp │ │ │ ├── I2C.hpp │ │ │ ├── PinDefs.hpp │ │ │ ├── SPI.hpp │ │ │ └── mtrain.hpp │ │ │ └── Src │ │ │ ├── AnalogIn.cpp │ │ │ ├── DigitalIn.cpp │ │ │ ├── DigitalOut.cpp │ │ │ ├── I2C.cpp │ │ │ └── SPI.cpp │ ├── BSP │ │ ├── .clang-format │ │ ├── CMakeLists.txt │ │ ├── Inc │ │ │ ├── bsp.h │ │ │ ├── qspi.h │ │ │ └── usbd_cdc_interface.h │ │ ├── Src │ │ │ ├── bsp.c │ │ │ ├── default_handlers.c │ │ │ ├── interrupt_handlers.c │ │ │ ├── qspi.c │ │ │ ├── rtos_hooks.c │ │ │ ├── stm32f7xx_hal_msp.c │ │ │ └── usbd_cdc_interface.c │ │ ├── config │ │ │ ├── hal │ │ │ │ └── stm32f7xx_hal_conf.h │ │ │ └── usb │ │ │ │ ├── usbd_conf.c │ │ │ │ ├── usbd_conf.h │ │ │ │ ├── usbd_desc.c │ │ │ │ └── usbd_desc.h │ │ ├── flash.ld │ │ └── startup.s │ ├── CMakeLists.txt │ ├── Dockerfile │ ├── LICENSE │ ├── README.md │ ├── cmake │ │ └── mtrain-toolchain.cmake │ ├── doc │ │ ├── Doxyfile │ │ ├── DoxygenLayout.xml │ │ ├── ExternalResources.md │ │ ├── IntroTomTrain.md │ │ ├── doxygen.css │ │ └── images │ │ │ └── rj_logo.png │ ├── external │ │ ├── .clang-format │ │ ├── CMSIS │ │ │ ├── CMSIS_END_USER_LICENCE_AGREEMENT.rtf │ │ │ ├── DSP_Lib │ │ │ │ ├── BasicMathFunctions │ │ │ │ │ ├── arm_abs_f32.c │ │ │ │ │ ├── arm_abs_q15.c │ │ │ │ │ ├── arm_abs_q31.c │ │ │ │ │ ├── arm_abs_q7.c │ │ │ │ │ ├── arm_add_f32.c │ │ │ │ │ ├── arm_add_q15.c │ │ │ │ │ ├── arm_add_q31.c │ │ │ │ │ ├── arm_add_q7.c │ │ │ │ │ ├── arm_dot_prod_f32.c │ │ │ │ │ ├── arm_dot_prod_q15.c │ │ │ │ │ ├── arm_dot_prod_q31.c │ │ │ │ │ ├── arm_dot_prod_q7.c │ │ │ │ │ ├── arm_mult_f32.c │ │ │ │ │ ├── arm_mult_q15.c │ │ │ │ │ ├── arm_mult_q31.c │ │ │ │ │ ├── arm_mult_q7.c │ │ │ │ │ ├── arm_negate_f32.c │ │ │ │ │ ├── arm_negate_q15.c │ │ │ │ │ ├── arm_negate_q31.c │ │ │ │ │ ├── arm_negate_q7.c │ │ │ │ │ ├── arm_offset_f32.c │ │ │ │ │ ├── arm_offset_q15.c │ │ │ │ │ ├── arm_offset_q31.c │ │ │ │ │ ├── arm_offset_q7.c │ │ │ │ │ ├── arm_scale_f32.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_f32.c │ │ │ │ │ ├── arm_sub_q15.c │ │ │ │ │ ├── arm_sub_q31.c │ │ │ │ │ └── arm_sub_q7.c │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── CommonTables │ │ │ │ │ ├── arm_common_tables.c │ │ │ │ │ └── arm_const_structs.c │ │ │ │ ├── ComplexMathFunctions │ │ │ │ │ ├── arm_cmplx_conj_f32.c │ │ │ │ │ ├── arm_cmplx_conj_q15.c │ │ │ │ │ ├── arm_cmplx_conj_q31.c │ │ │ │ │ ├── arm_cmplx_dot_prod_f32.c │ │ │ │ │ ├── arm_cmplx_dot_prod_q15.c │ │ │ │ │ ├── arm_cmplx_dot_prod_q31.c │ │ │ │ │ ├── arm_cmplx_mag_f32.c │ │ │ │ │ ├── arm_cmplx_mag_q15.c │ │ │ │ │ ├── arm_cmplx_mag_q31.c │ │ │ │ │ ├── arm_cmplx_mag_squared_f32.c │ │ │ │ │ ├── arm_cmplx_mag_squared_q15.c │ │ │ │ │ ├── arm_cmplx_mag_squared_q31.c │ │ │ │ │ ├── arm_cmplx_mult_cmplx_f32.c │ │ │ │ │ ├── arm_cmplx_mult_cmplx_q15.c │ │ │ │ │ ├── arm_cmplx_mult_cmplx_q31.c │ │ │ │ │ ├── arm_cmplx_mult_real_f32.c │ │ │ │ │ ├── arm_cmplx_mult_real_q15.c │ │ │ │ │ └── arm_cmplx_mult_real_q31.c │ │ │ │ ├── ControllerFunctions │ │ │ │ │ ├── arm_pid_init_f32.c │ │ │ │ │ ├── arm_pid_init_q15.c │ │ │ │ │ ├── arm_pid_init_q31.c │ │ │ │ │ ├── arm_pid_reset_f32.c │ │ │ │ │ ├── arm_pid_reset_q15.c │ │ │ │ │ ├── arm_pid_reset_q31.c │ │ │ │ │ ├── arm_sin_cos_f32.c │ │ │ │ │ └── arm_sin_cos_q31.c │ │ │ │ ├── FastMathFunctions │ │ │ │ │ ├── arm_cos_f32.c │ │ │ │ │ ├── arm_cos_q15.c │ │ │ │ │ ├── arm_cos_q31.c │ │ │ │ │ ├── arm_sin_f32.c │ │ │ │ │ ├── arm_sin_q15.c │ │ │ │ │ ├── arm_sin_q31.c │ │ │ │ │ ├── arm_sqrt_q15.c │ │ │ │ │ └── arm_sqrt_q31.c │ │ │ │ ├── FilteringFunctions │ │ │ │ │ ├── arm_biquad_cascade_df1_32x64_init_q31.c │ │ │ │ │ ├── arm_biquad_cascade_df1_32x64_q31.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_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_f32.c │ │ │ │ │ ├── arm_biquad_cascade_df2T_f64.c │ │ │ │ │ ├── arm_biquad_cascade_df2T_init_f32.c │ │ │ │ │ ├── arm_biquad_cascade_df2T_init_f64.c │ │ │ │ │ ├── arm_biquad_cascade_stereo_df2T_f32.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_f32.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_fast_q15.c │ │ │ │ │ ├── arm_fir_decimate_fast_q31.c │ │ │ │ │ ├── arm_fir_decimate_init_f32.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_f32.c │ │ │ │ │ ├── arm_fir_fast_q15.c │ │ │ │ │ ├── arm_fir_fast_q31.c │ │ │ │ │ ├── arm_fir_init_f32.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_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 │ │ │ │ ├── MatrixFunctions │ │ │ │ │ ├── arm_mat_add_f32.c │ │ │ │ │ ├── arm_mat_add_q15.c │ │ │ │ │ ├── arm_mat_add_q31.c │ │ │ │ │ ├── arm_mat_cmplx_mult_f32.c │ │ │ │ │ ├── arm_mat_cmplx_mult_q15.c │ │ │ │ │ ├── arm_mat_cmplx_mult_q31.c │ │ │ │ │ ├── arm_mat_init_f32.c │ │ │ │ │ ├── arm_mat_init_q15.c │ │ │ │ │ ├── arm_mat_init_q31.c │ │ │ │ │ ├── arm_mat_inverse_f32.c │ │ │ │ │ ├── arm_mat_inverse_f64.c │ │ │ │ │ ├── arm_mat_mult_f32.c │ │ │ │ │ ├── arm_mat_mult_fast_q15.c │ │ │ │ │ ├── arm_mat_mult_fast_q31.c │ │ │ │ │ ├── arm_mat_mult_q15.c │ │ │ │ │ ├── arm_mat_mult_q31.c │ │ │ │ │ ├── arm_mat_scale_f32.c │ │ │ │ │ ├── arm_mat_scale_q15.c │ │ │ │ │ ├── arm_mat_scale_q31.c │ │ │ │ │ ├── arm_mat_sub_f32.c │ │ │ │ │ ├── arm_mat_sub_q15.c │ │ │ │ │ ├── arm_mat_sub_q31.c │ │ │ │ │ ├── arm_mat_trans_f32.c │ │ │ │ │ ├── arm_mat_trans_q15.c │ │ │ │ │ └── arm_mat_trans_q31.c │ │ │ │ ├── StatisticsFunctions │ │ │ │ │ ├── arm_max_f32.c │ │ │ │ │ ├── arm_max_q15.c │ │ │ │ │ ├── arm_max_q31.c │ │ │ │ │ ├── arm_max_q7.c │ │ │ │ │ ├── arm_mean_f32.c │ │ │ │ │ ├── arm_mean_q15.c │ │ │ │ │ ├── arm_mean_q31.c │ │ │ │ │ ├── arm_mean_q7.c │ │ │ │ │ ├── arm_min_f32.c │ │ │ │ │ ├── arm_min_q15.c │ │ │ │ │ ├── arm_min_q31.c │ │ │ │ │ ├── arm_min_q7.c │ │ │ │ │ ├── arm_power_f32.c │ │ │ │ │ ├── arm_power_q15.c │ │ │ │ │ ├── arm_power_q31.c │ │ │ │ │ ├── arm_power_q7.c │ │ │ │ │ ├── arm_rms_f32.c │ │ │ │ │ ├── arm_rms_q15.c │ │ │ │ │ ├── arm_rms_q31.c │ │ │ │ │ ├── arm_std_f32.c │ │ │ │ │ ├── arm_std_q15.c │ │ │ │ │ ├── arm_std_q31.c │ │ │ │ │ ├── arm_var_f32.c │ │ │ │ │ ├── arm_var_q15.c │ │ │ │ │ └── arm_var_q31.c │ │ │ │ ├── SupportFunctions │ │ │ │ │ ├── arm_copy_f32.c │ │ │ │ │ ├── arm_copy_q15.c │ │ │ │ │ ├── arm_copy_q31.c │ │ │ │ │ ├── arm_copy_q7.c │ │ │ │ │ ├── arm_fill_f32.c │ │ │ │ │ ├── arm_fill_q15.c │ │ │ │ │ ├── arm_fill_q31.c │ │ │ │ │ ├── arm_fill_q7.c │ │ │ │ │ ├── arm_float_to_q15.c │ │ │ │ │ ├── arm_float_to_q31.c │ │ │ │ │ ├── arm_float_to_q7.c │ │ │ │ │ ├── arm_q15_to_float.c │ │ │ │ │ ├── arm_q15_to_q31.c │ │ │ │ │ ├── arm_q15_to_q7.c │ │ │ │ │ ├── arm_q31_to_float.c │ │ │ │ │ ├── arm_q31_to_q15.c │ │ │ │ │ ├── arm_q31_to_q7.c │ │ │ │ │ ├── arm_q7_to_float.c │ │ │ │ │ ├── arm_q7_to_q15.c │ │ │ │ │ └── arm_q7_to_q31.c │ │ │ │ ├── TransformFunctions │ │ │ │ │ ├── arm_bitreversal.c │ │ │ │ │ ├── arm_bitreversal2.S │ │ │ │ │ ├── arm_cfft_f32.c │ │ │ │ │ ├── arm_cfft_q15.c │ │ │ │ │ ├── arm_cfft_q31.c │ │ │ │ │ ├── arm_cfft_radix2_f32.c │ │ │ │ │ ├── arm_cfft_radix2_init_f32.c │ │ │ │ │ ├── arm_cfft_radix2_init_q15.c │ │ │ │ │ ├── arm_cfft_radix2_init_q31.c │ │ │ │ │ ├── arm_cfft_radix2_q15.c │ │ │ │ │ ├── arm_cfft_radix2_q31.c │ │ │ │ │ ├── arm_cfft_radix4_f32.c │ │ │ │ │ ├── arm_cfft_radix4_init_f32.c │ │ │ │ │ ├── arm_cfft_radix4_init_q15.c │ │ │ │ │ ├── arm_cfft_radix4_init_q31.c │ │ │ │ │ ├── arm_cfft_radix4_q15.c │ │ │ │ │ ├── arm_cfft_radix4_q31.c │ │ │ │ │ ├── arm_cfft_radix8_f32.c │ │ │ │ │ ├── arm_dct4_f32.c │ │ │ │ │ ├── arm_dct4_init_f32.c │ │ │ │ │ ├── arm_dct4_init_q15.c │ │ │ │ │ ├── arm_dct4_init_q31.c │ │ │ │ │ ├── arm_dct4_q15.c │ │ │ │ │ ├── arm_dct4_q31.c │ │ │ │ │ ├── arm_rfft_f32.c │ │ │ │ │ ├── arm_rfft_fast_f32.c │ │ │ │ │ ├── arm_rfft_fast_init_f32.c │ │ │ │ │ ├── arm_rfft_init_f32.c │ │ │ │ │ ├── arm_rfft_init_q15.c │ │ │ │ │ ├── arm_rfft_init_q31.c │ │ │ │ │ ├── arm_rfft_q15.c │ │ │ │ │ └── arm_rfft_q31.c │ │ │ │ └── license.txt │ │ │ ├── Device │ │ │ │ └── STM32F7xx │ │ │ │ │ ├── Include │ │ │ │ │ ├── stm32f769xx.h │ │ │ │ │ ├── stm32f7xx.h │ │ │ │ │ └── system_stm32f7xx.h │ │ │ │ │ └── Src │ │ │ │ │ └── system_stm32f7xx.c │ │ │ └── Include │ │ │ │ ├── arm_common_tables.h │ │ │ │ ├── arm_const_structs.h │ │ │ │ ├── arm_math.h │ │ │ │ ├── cmsis_armcc.h │ │ │ │ ├── cmsis_armcc_V6.h │ │ │ │ ├── cmsis_gcc.h │ │ │ │ ├── core_cm0.h │ │ │ │ ├── core_cm0plus.h │ │ │ │ ├── core_cm3.h │ │ │ │ ├── core_cm4.h │ │ │ │ ├── core_cm7.h │ │ │ │ ├── core_cmFunc.h │ │ │ │ ├── core_cmInstr.h │ │ │ │ ├── core_cmSimd.h │ │ │ │ ├── core_sc000.h │ │ │ │ └── core_sc300.h │ │ ├── CMakeLists.txt │ │ ├── STM32F7xx_HAL_Drivers │ │ │ ├── Inc │ │ │ │ ├── Legacy │ │ │ │ │ └── stm32_hal_legacy.h │ │ │ │ ├── stm32_assert_template.h │ │ │ │ ├── stm32f7xx_hal.h │ │ │ │ ├── stm32f7xx_hal_adc.h │ │ │ │ ├── stm32f7xx_hal_adc_ex.h │ │ │ │ ├── stm32f7xx_hal_can.h │ │ │ │ ├── stm32f7xx_hal_cec.h │ │ │ │ ├── stm32f7xx_hal_conf_template.h │ │ │ │ ├── stm32f7xx_hal_cortex.h │ │ │ │ ├── stm32f7xx_hal_crc.h │ │ │ │ ├── stm32f7xx_hal_crc_ex.h │ │ │ │ ├── stm32f7xx_hal_cryp.h │ │ │ │ ├── stm32f7xx_hal_cryp_ex.h │ │ │ │ ├── stm32f7xx_hal_dac.h │ │ │ │ ├── stm32f7xx_hal_dac_ex.h │ │ │ │ ├── stm32f7xx_hal_dcmi.h │ │ │ │ ├── stm32f7xx_hal_dcmi_ex.h │ │ │ │ ├── stm32f7xx_hal_def.h │ │ │ │ ├── stm32f7xx_hal_dfsdm.h │ │ │ │ ├── stm32f7xx_hal_dma.h │ │ │ │ ├── stm32f7xx_hal_dma2d.h │ │ │ │ ├── stm32f7xx_hal_dma_ex.h │ │ │ │ ├── stm32f7xx_hal_dsi.h │ │ │ │ ├── stm32f7xx_hal_eth.h │ │ │ │ ├── stm32f7xx_hal_flash.h │ │ │ │ ├── stm32f7xx_hal_flash_ex.h │ │ │ │ ├── stm32f7xx_hal_gpio.h │ │ │ │ ├── stm32f7xx_hal_gpio_ex.h │ │ │ │ ├── stm32f7xx_hal_hash.h │ │ │ │ ├── stm32f7xx_hal_hash_ex.h │ │ │ │ ├── stm32f7xx_hal_hcd.h │ │ │ │ ├── stm32f7xx_hal_i2c.h │ │ │ │ ├── stm32f7xx_hal_i2c_ex.h │ │ │ │ ├── stm32f7xx_hal_i2s.h │ │ │ │ ├── stm32f7xx_hal_irda.h │ │ │ │ ├── stm32f7xx_hal_irda_ex.h │ │ │ │ ├── stm32f7xx_hal_iwdg.h │ │ │ │ ├── stm32f7xx_hal_jpeg.h │ │ │ │ ├── stm32f7xx_hal_lptim.h │ │ │ │ ├── stm32f7xx_hal_ltdc.h │ │ │ │ ├── stm32f7xx_hal_ltdc_ex.h │ │ │ │ ├── stm32f7xx_hal_mdios.h │ │ │ │ ├── stm32f7xx_hal_mmc.h │ │ │ │ ├── stm32f7xx_hal_nand.h │ │ │ │ ├── stm32f7xx_hal_nor.h │ │ │ │ ├── stm32f7xx_hal_pcd.h │ │ │ │ ├── stm32f7xx_hal_pcd_ex.h │ │ │ │ ├── stm32f7xx_hal_pwr.h │ │ │ │ ├── stm32f7xx_hal_pwr_ex.h │ │ │ │ ├── stm32f7xx_hal_qspi.h │ │ │ │ ├── stm32f7xx_hal_rcc.h │ │ │ │ ├── stm32f7xx_hal_rcc_ex.h │ │ │ │ ├── stm32f7xx_hal_rng.h │ │ │ │ ├── stm32f7xx_hal_rtc.h │ │ │ │ ├── stm32f7xx_hal_rtc_ex.h │ │ │ │ ├── stm32f7xx_hal_sai.h │ │ │ │ ├── stm32f7xx_hal_sai_ex.h │ │ │ │ ├── stm32f7xx_hal_sd.h │ │ │ │ ├── stm32f7xx_hal_sdram.h │ │ │ │ ├── stm32f7xx_hal_smartcard.h │ │ │ │ ├── stm32f7xx_hal_smartcard_ex.h │ │ │ │ ├── stm32f7xx_hal_smbus.h │ │ │ │ ├── stm32f7xx_hal_spdifrx.h │ │ │ │ ├── stm32f7xx_hal_spi.h │ │ │ │ ├── stm32f7xx_hal_sram.h │ │ │ │ ├── stm32f7xx_hal_tim.h │ │ │ │ ├── stm32f7xx_hal_tim_ex.h │ │ │ │ ├── stm32f7xx_hal_uart.h │ │ │ │ ├── stm32f7xx_hal_uart_ex.h │ │ │ │ ├── stm32f7xx_hal_usart.h │ │ │ │ ├── stm32f7xx_hal_usart_ex.h │ │ │ │ ├── stm32f7xx_hal_wwdg.h │ │ │ │ ├── stm32f7xx_ll_adc.h │ │ │ │ ├── stm32f7xx_ll_bus.h │ │ │ │ ├── stm32f7xx_ll_cortex.h │ │ │ │ ├── stm32f7xx_ll_crc.h │ │ │ │ ├── stm32f7xx_ll_dac.h │ │ │ │ ├── stm32f7xx_ll_dma.h │ │ │ │ ├── stm32f7xx_ll_dma2d.h │ │ │ │ ├── stm32f7xx_ll_exti.h │ │ │ │ ├── stm32f7xx_ll_fmc.h │ │ │ │ ├── stm32f7xx_ll_gpio.h │ │ │ │ ├── stm32f7xx_ll_i2c.h │ │ │ │ ├── stm32f7xx_ll_iwdg.h │ │ │ │ ├── stm32f7xx_ll_lptim.h │ │ │ │ ├── stm32f7xx_ll_pwr.h │ │ │ │ ├── stm32f7xx_ll_rcc.h │ │ │ │ ├── stm32f7xx_ll_rng.h │ │ │ │ ├── stm32f7xx_ll_rtc.h │ │ │ │ ├── stm32f7xx_ll_sdmmc.h │ │ │ │ ├── stm32f7xx_ll_spi.h │ │ │ │ ├── stm32f7xx_ll_system.h │ │ │ │ ├── stm32f7xx_ll_tim.h │ │ │ │ ├── stm32f7xx_ll_usart.h │ │ │ │ ├── stm32f7xx_ll_usb.h │ │ │ │ ├── stm32f7xx_ll_utils.h │ │ │ │ └── stm32f7xx_ll_wwdg.h │ │ │ └── Src │ │ │ │ ├── stm32f7xx_hal.c │ │ │ │ ├── stm32f7xx_hal_adc.c │ │ │ │ ├── stm32f7xx_hal_adc_ex.c │ │ │ │ ├── stm32f7xx_hal_can.c │ │ │ │ ├── stm32f7xx_hal_cec.c │ │ │ │ ├── stm32f7xx_hal_cortex.c │ │ │ │ ├── stm32f7xx_hal_crc.c │ │ │ │ ├── stm32f7xx_hal_crc_ex.c │ │ │ │ ├── stm32f7xx_hal_cryp.c │ │ │ │ ├── stm32f7xx_hal_cryp_ex.c │ │ │ │ ├── stm32f7xx_hal_dac.c │ │ │ │ ├── stm32f7xx_hal_dac_ex.c │ │ │ │ ├── stm32f7xx_hal_dcmi.c │ │ │ │ ├── stm32f7xx_hal_dcmi_ex.c │ │ │ │ ├── stm32f7xx_hal_dfsdm.c │ │ │ │ ├── stm32f7xx_hal_dma.c │ │ │ │ ├── stm32f7xx_hal_dma2d.c │ │ │ │ ├── stm32f7xx_hal_dma_ex.c │ │ │ │ ├── stm32f7xx_hal_dsi.c │ │ │ │ ├── stm32f7xx_hal_eth.c │ │ │ │ ├── stm32f7xx_hal_flash.c │ │ │ │ ├── stm32f7xx_hal_flash_ex.c │ │ │ │ ├── stm32f7xx_hal_gpio.c │ │ │ │ ├── stm32f7xx_hal_hash.c │ │ │ │ ├── stm32f7xx_hal_hash_ex.c │ │ │ │ ├── stm32f7xx_hal_hcd.c │ │ │ │ ├── stm32f7xx_hal_i2c.c │ │ │ │ ├── stm32f7xx_hal_i2c_ex.c │ │ │ │ ├── stm32f7xx_hal_i2s.c │ │ │ │ ├── stm32f7xx_hal_irda.c │ │ │ │ ├── stm32f7xx_hal_iwdg.c │ │ │ │ ├── stm32f7xx_hal_jpeg.c │ │ │ │ ├── stm32f7xx_hal_lptim.c │ │ │ │ ├── stm32f7xx_hal_ltdc.c │ │ │ │ ├── stm32f7xx_hal_ltdc_ex.c │ │ │ │ ├── stm32f7xx_hal_mdios.c │ │ │ │ ├── stm32f7xx_hal_mmc.c │ │ │ │ ├── stm32f7xx_hal_msp_template.c │ │ │ │ ├── stm32f7xx_hal_nand.c │ │ │ │ ├── stm32f7xx_hal_nor.c │ │ │ │ ├── stm32f7xx_hal_pcd.c │ │ │ │ ├── stm32f7xx_hal_pcd_ex.c │ │ │ │ ├── stm32f7xx_hal_pwr.c │ │ │ │ ├── stm32f7xx_hal_pwr_ex.c │ │ │ │ ├── stm32f7xx_hal_qspi.c │ │ │ │ ├── stm32f7xx_hal_rcc.c │ │ │ │ ├── stm32f7xx_hal_rcc_ex.c │ │ │ │ ├── stm32f7xx_hal_rng.c │ │ │ │ ├── stm32f7xx_hal_rtc.c │ │ │ │ ├── stm32f7xx_hal_rtc_ex.c │ │ │ │ ├── stm32f7xx_hal_sai.c │ │ │ │ ├── stm32f7xx_hal_sai_ex.c │ │ │ │ ├── stm32f7xx_hal_sd.c │ │ │ │ ├── stm32f7xx_hal_sdram.c │ │ │ │ ├── stm32f7xx_hal_smartcard.c │ │ │ │ ├── stm32f7xx_hal_smartcard_ex.c │ │ │ │ ├── stm32f7xx_hal_smbus.c │ │ │ │ ├── stm32f7xx_hal_spdifrx.c │ │ │ │ ├── stm32f7xx_hal_spi.c │ │ │ │ ├── stm32f7xx_hal_sram.c │ │ │ │ ├── stm32f7xx_hal_tim.c │ │ │ │ ├── stm32f7xx_hal_tim_ex.c │ │ │ │ ├── stm32f7xx_hal_timebase_rtc_alarm_template.c │ │ │ │ ├── stm32f7xx_hal_timebase_rtc_wakeup_template.c │ │ │ │ ├── stm32f7xx_hal_timebase_tim_template.c │ │ │ │ ├── stm32f7xx_hal_uart.c │ │ │ │ ├── stm32f7xx_hal_usart.c │ │ │ │ ├── stm32f7xx_hal_wwdg.c │ │ │ │ ├── stm32f7xx_ll_adc.c │ │ │ │ ├── stm32f7xx_ll_crc.c │ │ │ │ ├── stm32f7xx_ll_dac.c │ │ │ │ ├── stm32f7xx_ll_dma.c │ │ │ │ ├── stm32f7xx_ll_dma2d.c │ │ │ │ ├── stm32f7xx_ll_exti.c │ │ │ │ ├── stm32f7xx_ll_fmc.c │ │ │ │ ├── stm32f7xx_ll_gpio.c │ │ │ │ ├── stm32f7xx_ll_i2c.c │ │ │ │ ├── stm32f7xx_ll_lptim.c │ │ │ │ ├── stm32f7xx_ll_pwr.c │ │ │ │ ├── stm32f7xx_ll_rcc.c │ │ │ │ ├── stm32f7xx_ll_rng.c │ │ │ │ ├── stm32f7xx_ll_rtc.c │ │ │ │ ├── stm32f7xx_ll_sdmmc.c │ │ │ │ ├── stm32f7xx_ll_spi.c │ │ │ │ ├── stm32f7xx_ll_tim.c │ │ │ │ ├── stm32f7xx_ll_usart.c │ │ │ │ ├── stm32f7xx_ll_usb.c │ │ │ │ └── stm32f7xx_ll_utils.c │ │ └── middleware │ │ │ ├── FatFs │ │ │ └── src │ │ │ │ ├── 00readme.txt │ │ │ │ ├── diskio.c │ │ │ │ ├── diskio.h │ │ │ │ ├── drivers │ │ │ │ ├── sd_diskio.c │ │ │ │ ├── sd_diskio.h │ │ │ │ ├── sdram_diskio.c │ │ │ │ ├── sdram_diskio.h │ │ │ │ ├── sram_diskio.c │ │ │ │ ├── sram_diskio.h │ │ │ │ ├── usbh_diskio.c │ │ │ │ └── usbh_diskio.h │ │ │ │ ├── ff.c │ │ │ │ ├── ff.h │ │ │ │ ├── ff_gen_drv.c │ │ │ │ ├── ff_gen_drv.h │ │ │ │ ├── ffconf_template.h │ │ │ │ ├── history.txt │ │ │ │ ├── integer.h │ │ │ │ ├── option │ │ │ │ ├── cc932.c │ │ │ │ ├── cc936.c │ │ │ │ ├── cc949.c │ │ │ │ ├── cc950.c │ │ │ │ ├── ccsbcs.c │ │ │ │ ├── syscall.c │ │ │ │ └── unicode.c │ │ │ │ └── st_readme.txt │ │ │ ├── FreeRTOS │ │ │ ├── CMakeLists.txt │ │ │ ├── license.txt │ │ │ ├── readme.txt │ │ │ ├── src │ │ │ │ ├── CMSIS_RTOS │ │ │ │ │ ├── cmsis_os.c │ │ │ │ │ └── cmsis_os.h │ │ │ │ ├── croutine.c │ │ │ │ ├── event_groups.c │ │ │ │ ├── include │ │ │ │ │ ├── FreeRTOS.h │ │ │ │ │ ├── FreeRTOSConfig.h │ │ │ │ │ ├── FreeRTOSConfig_template.h │ │ │ │ │ ├── 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 │ │ │ │ ├── list.c │ │ │ │ ├── portable │ │ │ │ │ ├── Common │ │ │ │ │ │ └── mpu_wrappers.c │ │ │ │ │ ├── GCC │ │ │ │ │ │ ├── ARM_CM0 │ │ │ │ │ │ │ ├── port.c │ │ │ │ │ │ │ └── portmacro.h │ │ │ │ │ │ ├── ARM_CM3 │ │ │ │ │ │ │ ├── port.c │ │ │ │ │ │ │ └── portmacro.h │ │ │ │ │ │ ├── ARM_CM3_MPU │ │ │ │ │ │ │ ├── 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 │ │ │ │ │ ├── MemMang │ │ │ │ │ │ ├── ReadMe.url │ │ │ │ │ │ ├── heap_1.c │ │ │ │ │ │ ├── heap_2.c │ │ │ │ │ │ ├── heap_3.c │ │ │ │ │ │ ├── heap_4.c │ │ │ │ │ │ └── heap_5.c │ │ │ │ │ └── readme.txt │ │ │ │ ├── queue.c │ │ │ │ ├── tasks.c │ │ │ │ └── timers.c │ │ │ └── st_readme.txt │ │ │ └── STM32_USB_Device_Library │ │ │ ├── CMakeLists.txt │ │ │ ├── Class │ │ │ ├── AUDIO │ │ │ │ ├── Inc │ │ │ │ │ ├── usbd_audio.h │ │ │ │ │ └── usbd_audio_if_template.h │ │ │ │ └── Src │ │ │ │ │ ├── usbd_audio.c │ │ │ │ │ └── usbd_audio_if_template.c │ │ │ ├── CDC │ │ │ │ ├── Inc │ │ │ │ │ └── usbd_cdc.h │ │ │ │ └── Src │ │ │ │ │ └── usbd_cdc.c │ │ │ ├── CustomHID │ │ │ │ ├── Inc │ │ │ │ │ ├── usbd_customhid.h │ │ │ │ │ └── usbd_customhid_if_template.h │ │ │ │ └── Src │ │ │ │ │ ├── usbd_customhid.c │ │ │ │ │ └── usbd_customhid_if_template.c │ │ │ ├── DFU │ │ │ │ ├── Inc │ │ │ │ │ ├── usbd_dfu.h │ │ │ │ │ └── usbd_dfu_media_template.h │ │ │ │ └── Src │ │ │ │ │ ├── usbd_dfu.c │ │ │ │ │ └── usbd_dfu_media_template.c │ │ │ ├── HID │ │ │ │ ├── Inc │ │ │ │ │ └── usbd_hid.h │ │ │ │ └── Src │ │ │ │ │ └── usbd_hid.c │ │ │ ├── MSC │ │ │ │ ├── Inc │ │ │ │ │ ├── usbd_msc.h │ │ │ │ │ ├── usbd_msc_bot.h │ │ │ │ │ ├── usbd_msc_data.h │ │ │ │ │ ├── usbd_msc_scsi.h │ │ │ │ │ └── usbd_msc_storage_template.h │ │ │ │ └── Src │ │ │ │ │ ├── usbd_msc.c │ │ │ │ │ ├── usbd_msc_bot.c │ │ │ │ │ ├── usbd_msc_data.c │ │ │ │ │ ├── usbd_msc_scsi.c │ │ │ │ │ └── usbd_msc_storage_template.c │ │ │ └── Template │ │ │ │ ├── Inc │ │ │ │ └── usbd_template.h │ │ │ │ └── Src │ │ │ │ └── usbd_template.c │ │ │ └── Core │ │ │ ├── Inc │ │ │ ├── usbd_core.h │ │ │ ├── usbd_ctlreq.h │ │ │ ├── usbd_def.h │ │ │ └── usbd_ioreq.h │ │ │ └── Src │ │ │ ├── usbd_core.c │ │ │ ├── usbd_ctlreq.c │ │ │ └── usbd_ioreq.c │ ├── makefile │ ├── tests │ │ └── cpp │ │ │ ├── CMakeLists.txt │ │ │ ├── adc.cpp │ │ │ ├── blink.cpp │ │ │ ├── gpio.cpp │ │ │ ├── i2c.cpp │ │ │ ├── i2c_bus_recovery.cpp │ │ │ ├── spi.cpp │ │ │ └── usb_serial.cpp │ └── util │ │ ├── cubemx-configs │ │ └── mtrain.ioc │ │ ├── flash.py │ │ ├── macos-packages.txt │ │ ├── macos-setup │ │ ├── ubuntu-packages.txt │ │ ├── ubuntu-setup │ │ └── wsl-setup ├── src │ ├── drivers │ │ ├── AVR910.cpp │ │ ├── Battery.cpp │ │ ├── FPGA.cpp │ │ ├── I2Cdev.cpp │ │ ├── ICM20948.cpp │ │ ├── ICM42605.cpp │ │ ├── ISM43340.cpp │ │ ├── KickerBoard.cpp │ │ ├── MCP23017.cpp │ │ └── MPU6050.cpp │ └── robocup │ │ ├── main.cpp │ │ ├── modules │ │ ├── BatteryModule.cpp │ │ ├── FPGAModule.cpp │ │ ├── IMUModule.cpp │ │ ├── KickerModule.cpp │ │ ├── LEDModule.cpp │ │ ├── MotionControlModule.cpp │ │ ├── RadioModule.cpp │ │ └── RotaryDialModule.cpp │ │ ├── motion-control │ │ ├── DribblerController.cpp │ │ ├── RobotController.cpp │ │ ├── RobotEstimator.cpp │ │ └── VelocityKalmanTuner │ │ │ ├── KalmanFilter.py │ │ │ ├── KalmanFilterGains.py │ │ │ ├── LinearDynamics.py │ │ │ ├── LinearDynamicsGains.py │ │ │ ├── README.md │ │ │ ├── RobotModel.py │ │ │ ├── SteadyStateKalmanFilter.py │ │ │ ├── UI.py │ │ │ ├── dynamics.py │ │ │ ├── observer.py │ │ │ ├── requirements.txt │ │ │ └── vkt.py │ │ └── radio │ │ └── RadioLink.cpp └── test │ ├── CMakeLists.txt │ ├── icm-20498-angle.cpp │ ├── icm-20498-rate.cpp │ ├── icm-42605-angle.cpp │ ├── radio-test.cpp │ ├── radio_test.py │ └── rtos.cpp ├── doc ├── CommandLineBasics.md ├── Contributing.md ├── Doxyfile ├── DoxygenLayout.xml ├── ErrorLEDGuide.md ├── FPGA.md ├── Firmware.md ├── GDB.md ├── GDBExercise.md ├── GettingStarted.md ├── Git.md ├── Kicker.md ├── doxygen.css ├── images │ └── rj_logo.png ├── mTrainFlashingAndDebugging.md └── screen-howto.md ├── fpga ├── 6-step-pwm.png ├── CMakeLists.txt ├── README.md ├── perm-bin │ └── fpga_bin.h ├── robocup.ucf ├── sim │ ├── .gitignore │ ├── hall_effect_tb.v │ ├── motor_driver_tb.v.v │ ├── pwm_tb.v │ ├── robocup_top_tb.v │ └── spi_master_tb.v └── src │ ├── BLDC │ ├── BLDC_Driver.v │ ├── BLDC_Encoder_Checker.v │ ├── BLDC_Encoder_Counter.v │ ├── BLDC_Hall_Counter.v │ ├── BLDC_Motor.v │ └── BLDC_Motor_No_Encoder.v │ ├── ClkDivide.v │ ├── Hall_Effect_Sensor.v │ ├── Hall_Effect_Sensor_6StepPWM.v │ ├── Hall_Effect_Sensor_PWMonPWM.v │ ├── IIR_LowPass_Filter.v │ ├── Phase_Driver.v │ ├── SPI_Master.v │ ├── SPI_Slave.v │ ├── log2-macro.v │ ├── robocup.v │ └── robocup.vh ├── kicker ├── CMakeLists.txt ├── atmega_toolchain.cmake ├── convert.py ├── kicker_commands.h ├── kicker_config.h ├── main.c ├── pins.h ├── test.c ├── util.c └── util.h ├── makefile ├── setup.cfg └── util ├── ISM43340_M4G_L44_SPI_C6.2.1.8.bin ├── ISM43341_M4G_L44_SPI_C3.5.2.5.bin ├── flash-mtrain ├── flash-mtrain-test ├── flash-mtrain.jlink ├── flash-radio ├── macos-packages.txt ├── macos-setup ├── radio.jlink ├── style ├── clang-format-diff.py ├── clang-format.json └── flake8.json ├── ubuntu-packages.txt ├── ubuntu-setup └── wsl-setup /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboJackets/robocup-firmware/HEAD/.clang-format -------------------------------------------------------------------------------- /.github/workflows/ci.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboJackets/robocup-firmware/HEAD/.github/workflows/ci.yml -------------------------------------------------------------------------------- /.gitignore: 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