├── .gitignore ├── 0.new_cubemx_program ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ └── stm32f4xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ └── stm32f4xx_hal_tim_ex.c ├── Inc │ ├── gpio.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ └── stm32f4xx_it.h ├── MDK-ARM │ ├── startup_stm32f407xx.s │ └── zero_program.uvprojx ├── Src │ ├── gpio.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ └── system_stm32f4xx.c ├── keilkilll.bat ├── user_program.bin └── zero_program.ioc ├── 1.light_led ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ └── stm32f4xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ └── stm32f4xx_hal_tim_ex.c ├── Inc │ ├── gpio.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ └── stm32f4xx_it.h ├── MDK-ARM │ ├── light_led.uvprojx │ └── startup_stm32f407xx.s ├── Src │ ├── gpio.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ └── system_stm32f4xx.c ├── keilkilll.bat └── light_led.ioc ├── 10.flash_read_and_write ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ └── stm32f4xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ └── stm32f4xx_hal_tim_ex.c ├── Inc │ ├── gpio.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ └── stm32f4xx_it.h ├── MDK-ARM │ ├── flash_read_and_write.uvprojx │ └── startup_stm32f407xx.s ├── Src │ ├── gpio.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ └── system_stm32f4xx.c ├── bsp │ └── boards │ │ ├── bsp_flash.c │ │ ├── bsp_flash.h │ │ └── struct_typedef.h ├── flash_read_and_write.ioc └── keilkilll.bat ├── 11.ist8310 ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_i2c.h │ │ ├── stm32f4xx_hal_i2c_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ └── stm32f4xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_i2c.c │ │ ├── stm32f4xx_hal_i2c_ex.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ └── stm32f4xx_hal_tim_ex.c ├── Inc │ ├── gpio.h │ ├── i2c.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ └── stm32f4xx_it.h ├── MDK-ARM │ ├── ist8310.uvprojx │ └── startup_stm32f407xx.s ├── Src │ ├── gpio.c │ ├── i2c.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ └── system_stm32f4xx.c ├── bsp │ └── boards │ │ ├── ist8310driver.c │ │ ├── ist8310driver.h │ │ ├── ist8310driver_middleware.c │ │ ├── ist8310driver_middleware.h │ │ └── struct_typedef.h ├── ist8310.ioc └── keilkilll.bat ├── 12.oled ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_i2c.h │ │ ├── stm32f4xx_hal_i2c_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ └── stm32f4xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_i2c.c │ │ ├── stm32f4xx_hal_i2c_ex.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ └── stm32f4xx_hal_tim_ex.c ├── Inc │ ├── gpio.h │ ├── i2c.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ └── stm32f4xx_it.h ├── MDK-ARM │ ├── oled.uvprojx │ └── startup_stm32f407xx.s ├── Src │ ├── gpio.c │ ├── i2c.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ └── system_stm32f4xx.c ├── bsp │ └── boards │ │ ├── OLED.c │ │ ├── OLED.h │ │ ├── oledfont.h │ │ └── struct_typedef.h ├── keilkilll.bat └── oled.ioc ├── 13.spi_bmi088 ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_spi.h │ │ ├── stm32f4xx_hal_tim.h │ │ └── stm32f4xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_spi.c │ │ ├── stm32f4xx_hal_tim.c │ │ └── stm32f4xx_hal_tim_ex.c ├── Inc │ ├── dma.h │ ├── gpio.h │ ├── main.h │ ├── spi.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ └── tim.h ├── MDK-ARM │ ├── spi_bmi088.uvprojx │ └── startup_stm32f407xx.s ├── Middlewares │ └── Third_Party │ │ └── FreeRTOS │ │ └── Source │ │ ├── CMSIS_RTOS │ │ ├── cmsis_os.c │ │ └── cmsis_os.h │ │ ├── croutine.c │ │ ├── event_groups.c │ │ ├── include │ │ ├── FreeRTOS.h │ │ ├── FreeRTOSConfig_template.h │ │ ├── StackMacros.h │ │ ├── croutine.h │ │ ├── deprecated_definitions.h │ │ ├── event_groups.h │ │ ├── list.h │ │ ├── message_buffer.h │ │ ├── mpu_prototypes.h │ │ ├── mpu_wrappers.h │ │ ├── portable.h │ │ ├── projdefs.h │ │ ├── queue.h │ │ ├── semphr.h │ │ ├── stack_macros.h │ │ ├── stream_buffer.h │ │ ├── task.h │ │ └── timers.h │ │ ├── list.c │ │ ├── portable │ │ ├── MemMang │ │ │ ├── heap_1.c │ │ │ ├── heap_2.c │ │ │ ├── heap_3.c │ │ │ ├── heap_4.c │ │ │ └── heap_5.c │ │ └── RVDS │ │ │ └── ARM_CM4F │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ ├── queue.c │ │ ├── stream_buffer.c │ │ ├── tasks.c │ │ └── timers.c ├── Src │ ├── dma.c │ ├── gpio.c │ ├── main.c │ ├── spi.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ └── tim.c ├── bsp │ └── boards │ │ └── struct_typedef.h ├── component │ └── devices │ │ ├── BMI088Middleware.c │ │ ├── BMI088Middleware.h │ │ ├── BMI088driver.c │ │ ├── BMI088driver.h │ │ └── BMI088reg.h ├── keilkilll.bat └── spi_bmi088.ioc ├── 14.CAN ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_can.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ └── stm32f4xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_can.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ └── stm32f4xx_hal_tim_ex.c ├── Inc │ ├── can.h │ ├── gpio.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ └── stm32f4xx_it.h ├── MDK-ARM │ ├── can.uvprojx │ └── startup_stm32f407xx.s ├── Src │ ├── can.c │ ├── gpio.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ └── system_stm32f4xx.c ├── application │ ├── CAN_receive.c │ ├── CAN_receive.h │ └── struct_typedef.h ├── bsp │ └── boards │ │ ├── bsp_can.c │ │ └── bsp_can.h ├── can.ioc └── keilkilll.bat ├── 14.PWM_SNAIL ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ ├── stm32f4xx_hal_tim_ex.h │ │ └── stm32f4xx_hal_uart.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ ├── stm32f4xx_hal_tim_ex.c │ │ └── stm32f4xx_hal_uart.c ├── Inc │ ├── dma.h │ ├── gpio.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ ├── tim.h │ └── usart.h ├── MDK-ARM │ ├── pwm_snail.uvprojx │ └── startup_stm32f407xx.s ├── Src │ ├── dma.c │ ├── gpio.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ ├── tim.c │ └── usart.c ├── applications │ ├── remote_control.c │ └── remote_control.h ├── bsp │ └── boards │ │ ├── bsp_fric.c │ │ ├── bsp_fric.h │ │ ├── bsp_rc.c │ │ ├── bsp_rc.h │ │ └── struct_typedef.h ├── keilkilll.bat └── pwm_snail.ioc ├── 15.freeRTOS_LED ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ └── stm32f4xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ └── stm32f4xx_hal_tim_ex.c ├── Inc │ ├── FreeRTOSConfig.h │ ├── gpio.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ └── stm32f4xx_it.h ├── MDK-ARM │ ├── RTE │ │ └── _freeRTOS_LED │ │ │ └── RTE_Components.h │ ├── freeRTOS_LED.uvprojx │ └── startup_stm32f407xx.s ├── Middlewares │ └── Third_Party │ │ └── FreeRTOS │ │ └── Source │ │ ├── CMSIS_RTOS │ │ ├── cmsis_os.c │ │ └── cmsis_os.h │ │ ├── croutine.c │ │ ├── event_groups.c │ │ ├── include │ │ ├── FreeRTOS.h │ │ ├── StackMacros.h │ │ ├── croutine.h │ │ ├── deprecated_definitions.h │ │ ├── event_groups.h │ │ ├── list.h │ │ ├── message_buffer.h │ │ ├── mpu_prototypes.h │ │ ├── mpu_wrappers.h │ │ ├── portable.h │ │ ├── projdefs.h │ │ ├── queue.h │ │ ├── semphr.h │ │ ├── stack_macros.h │ │ ├── stream_buffer.h │ │ ├── task.h │ │ └── timers.h │ │ ├── list.c │ │ ├── portable │ │ ├── MemMang │ │ │ └── heap_4.c │ │ └── RVDS │ │ │ └── ARM_CM4F │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ ├── queue.c │ │ ├── stream_buffer.c │ │ ├── tasks.c │ │ └── timers.c ├── Src │ ├── freertos.c │ ├── gpio.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ └── system_stm32f4xx.c ├── applications │ ├── blue_led_task.c │ ├── blue_led_task.h │ ├── green_led_task.c │ ├── green_led_task.h │ ├── red_led_task.c │ ├── red_led_task.h │ └── struct_typedef.h ├── freeRTOS_LED.ioc └── keilkilll.bat ├── 16.imu_temperature_control_task ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_spi.h │ │ ├── stm32f4xx_hal_tim.h │ │ └── stm32f4xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_spi.c │ │ ├── stm32f4xx_hal_tim.c │ │ └── stm32f4xx_hal_tim_ex.c ├── Inc │ ├── FreeRTOSConfig.h │ ├── dma.h │ ├── gpio.h │ ├── main.h │ ├── spi.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ └── tim.h ├── MDK-ARM │ ├── imu_temperature_control_task.uvprojx │ └── startup_stm32f407xx.s ├── Middlewares │ └── Third_Party │ │ └── FreeRTOS │ │ └── Source │ │ ├── CMSIS_RTOS │ │ ├── cmsis_os.c │ │ └── cmsis_os.h │ │ ├── croutine.c │ │ ├── event_groups.c │ │ ├── include │ │ ├── FreeRTOS.h │ │ ├── StackMacros.h │ │ ├── croutine.h │ │ ├── deprecated_definitions.h │ │ ├── event_groups.h │ │ ├── list.h │ │ ├── message_buffer.h │ │ ├── mpu_prototypes.h │ │ ├── mpu_wrappers.h │ │ ├── portable.h │ │ ├── projdefs.h │ │ ├── queue.h │ │ ├── semphr.h │ │ ├── stack_macros.h │ │ ├── stream_buffer.h │ │ ├── task.h │ │ └── timers.h │ │ ├── list.c │ │ ├── portable │ │ ├── MemMang │ │ │ └── heap_4.c │ │ └── RVDS │ │ │ └── ARM_CM4F │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ ├── queue.c │ │ ├── stream_buffer.c │ │ ├── tasks.c │ │ └── timers.c ├── Src │ ├── dma.c │ ├── freertos.c │ ├── gpio.c │ ├── main.c │ ├── spi.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ └── tim.c ├── applications │ ├── imu_temp_control_task.c │ ├── imu_temp_control_task.h │ ├── pid.c │ └── pid.h ├── bsp │ └── boards │ │ ├── bsp_imu_pwm.c │ │ ├── bsp_imu_pwm.h │ │ └── struct_typedef.h ├── component │ └── devices │ │ ├── BMI088Middleware.c │ │ ├── BMI088Middleware.h │ │ ├── BMI088driver.c │ │ ├── BMI088driver.h │ │ └── BMI088reg.h ├── imu_temperature_control_task.ioc └── keilkilll.bat ├── 17.chassis_task ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_can.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_i2c.h │ │ ├── stm32f4xx_hal_i2c_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_rtc.h │ │ ├── stm32f4xx_hal_rtc_ex.h │ │ ├── stm32f4xx_hal_spi.h │ │ ├── stm32f4xx_hal_tim.h │ │ ├── stm32f4xx_hal_tim_ex.h │ │ └── stm32f4xx_hal_uart.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_can.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_i2c.c │ │ ├── stm32f4xx_hal_i2c_ex.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_rtc.c │ │ ├── stm32f4xx_hal_rtc_ex.c │ │ ├── stm32f4xx_hal_spi.c │ │ ├── stm32f4xx_hal_tim.c │ │ ├── stm32f4xx_hal_tim_ex.c │ │ └── stm32f4xx_hal_uart.c ├── Inc │ ├── FreeRTOSConfig.h │ ├── can.h │ ├── dma.h │ ├── gpio.h │ ├── i2c.h │ ├── main.h │ ├── rtc.h │ ├── spi.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ ├── tim.h │ └── usart.h ├── MDK-ARM │ ├── chassis_task.uvprojx │ └── startup_stm32f407xx.s ├── Middlewares │ └── Third_Party │ │ └── FreeRTOS │ │ └── Source │ │ ├── CMSIS_RTOS │ │ ├── cmsis_os.c │ │ └── cmsis_os.h │ │ ├── croutine.c │ │ ├── event_groups.c │ │ ├── include │ │ ├── FreeRTOS.h │ │ ├── StackMacros.h │ │ ├── croutine.h │ │ ├── deprecated_definitions.h │ │ ├── event_groups.h │ │ ├── list.h │ │ ├── message_buffer.h │ │ ├── mpu_prototypes.h │ │ ├── mpu_wrappers.h │ │ ├── portable.h │ │ ├── projdefs.h │ │ ├── queue.h │ │ ├── semphr.h │ │ ├── stack_macros.h │ │ ├── stream_buffer.h │ │ ├── task.h │ │ └── timers.h │ │ ├── list.c │ │ ├── portable │ │ ├── MemMang │ │ │ └── heap_4.c │ │ └── RVDS │ │ │ └── ARM_CM4F │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ ├── queue.c │ │ ├── stream_buffer.c │ │ ├── tasks.c │ │ └── timers.c ├── Src │ ├── adc.c │ ├── can.c │ ├── crc.c │ ├── dma.c │ ├── freertos.c │ ├── gpio.c │ ├── i2c.c │ ├── main.c │ ├── rng.c │ ├── rtc.c │ ├── spi.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ ├── tim.c │ ├── usart.c │ ├── usb_device.c │ ├── usb_otg.c │ ├── usbd_cdc_if.c │ ├── usbd_conf.c │ └── usbd_desc.c ├── application │ ├── CAN_receive.c │ ├── CAN_receive.h │ ├── INS_task.c │ ├── INS_task.h │ ├── calibrate_task.c │ ├── calibrate_task.h │ ├── chassis_behaviour.c │ ├── chassis_behaviour.h │ ├── chassis_task.c │ ├── chassis_task.h │ ├── detect_task.c │ ├── detect_task.h │ ├── gimbal_task.h │ ├── led_flow_task.c │ ├── led_flow_task.h │ ├── remote_control.c │ ├── remote_control.h │ ├── struct_typedef.h │ ├── test_task.c │ └── test_task.h ├── bsp │ └── boards │ │ ├── bsp_buzzer.c │ │ ├── bsp_buzzer.h │ │ ├── bsp_can.c │ │ ├── bsp_can.h │ │ ├── bsp_delay.c │ │ ├── bsp_delay.h │ │ ├── bsp_flash.c │ │ ├── bsp_flash.h │ │ ├── bsp_imu_pwm.c │ │ ├── bsp_imu_pwm.h │ │ ├── bsp_led.c │ │ ├── bsp_led.h │ │ ├── bsp_rc.c │ │ ├── bsp_rc.h │ │ ├── bsp_spi.c │ │ └── bsp_spi.h ├── chassis_task.ioc ├── components │ ├── algorithm │ │ ├── AHRS.h │ │ ├── AHRS.lib │ │ ├── AHRS_middleware.c │ │ ├── AHRS_middleware.h │ │ ├── Include │ │ │ ├── arm_common_tables.h │ │ │ ├── arm_const_structs.h │ │ │ ├── arm_math.h │ │ │ ├── core_sc000.h │ │ │ └── core_sc300.h │ │ ├── arm_cortexM4lf_math.lib │ │ ├── user_lib.c │ │ └── user_lib.h │ ├── controller │ │ ├── pid.c │ │ └── pid.h │ └── devices │ │ ├── BMI088Middleware.c │ │ ├── BMI088Middleware.h │ │ ├── BMI088driver.c │ │ ├── BMI088driver.h │ │ ├── BMI088reg.h │ │ ├── ist8310driver.c │ │ ├── ist8310driver.h │ │ ├── ist8310driver_middleware.c │ │ └── ist8310driver_middleware.h └── keilkilll.bat ├── 18.ins_task ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_i2c.h │ │ ├── stm32f4xx_hal_i2c_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_spi.h │ │ ├── stm32f4xx_hal_tim.h │ │ └── stm32f4xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_i2c.c │ │ ├── stm32f4xx_hal_i2c_ex.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_spi.c │ │ ├── stm32f4xx_hal_tim.c │ │ └── stm32f4xx_hal_tim_ex.c ├── Inc │ ├── FreeRTOSConfig.h │ ├── dma.h │ ├── gpio.h │ ├── i2c.h │ ├── main.h │ ├── spi.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ └── tim.h ├── MDK-ARM │ ├── ins_task.uvprojx │ └── startup_stm32f407xx.s ├── Middlewares │ └── Third_Party │ │ └── FreeRTOS │ │ └── Source │ │ ├── CMSIS_RTOS │ │ ├── cmsis_os.c │ │ └── cmsis_os.h │ │ ├── croutine.c │ │ ├── event_groups.c │ │ ├── include │ │ ├── FreeRTOS.h │ │ ├── StackMacros.h │ │ ├── croutine.h │ │ ├── deprecated_definitions.h │ │ ├── event_groups.h │ │ ├── list.h │ │ ├── message_buffer.h │ │ ├── mpu_prototypes.h │ │ ├── mpu_wrappers.h │ │ ├── portable.h │ │ ├── projdefs.h │ │ ├── queue.h │ │ ├── semphr.h │ │ ├── stack_macros.h │ │ ├── stream_buffer.h │ │ ├── task.h │ │ └── timers.h │ │ ├── list.c │ │ ├── portable │ │ ├── MemMang │ │ │ └── heap_4.c │ │ └── RVDS │ │ │ └── ARM_CM4F │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ ├── queue.c │ │ ├── stream_buffer.c │ │ ├── tasks.c │ │ └── timers.c ├── Src │ ├── dma.c │ ├── freertos.c │ ├── gpio.c │ ├── i2c.c │ ├── main.c │ ├── spi.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ └── tim.c ├── application │ ├── INS_task.c │ ├── INS_task.h │ ├── led_flow_task.c │ ├── led_flow_task.h │ ├── struct_typedef.h │ ├── test_task.c │ └── test_task.h ├── bsp │ └── boards │ │ ├── bsp_delay.c │ │ ├── bsp_delay.h │ │ ├── bsp_imu_pwm.c │ │ ├── bsp_imu_pwm.h │ │ ├── bsp_led.c │ │ ├── bsp_led.h │ │ ├── bsp_spi.c │ │ └── bsp_spi.h ├── components │ ├── algorithm │ │ ├── MahonyAHRS.c │ │ ├── MahonyAHRS.h │ │ ├── user_lib.c │ │ └── user_lib.h │ ├── controller │ │ ├── pid.c │ │ └── pid.h │ └── devices │ │ ├── BMI088Middleware.c │ │ ├── BMI088Middleware.h │ │ ├── BMI088driver.c │ │ ├── BMI088driver.h │ │ ├── BMI088reg.h │ │ ├── ist8310driver.c │ │ ├── ist8310driver.h │ │ ├── ist8310driver_middleware.c │ │ └── ist8310driver_middleware.h ├── ins_task.ioc └── keilkilll.bat ├── 19.gimbal_task ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ ├── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ │ │ └── Source │ │ │ │ └── Templates │ │ │ │ └── system_stm32f4xx.c │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_can.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_i2c.h │ │ ├── stm32f4xx_hal_i2c_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_rtc.h │ │ ├── stm32f4xx_hal_rtc_ex.h │ │ ├── stm32f4xx_hal_spi.h │ │ ├── stm32f4xx_hal_tim.h │ │ ├── stm32f4xx_hal_tim_ex.h │ │ └── stm32f4xx_hal_uart.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_can.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_i2c.c │ │ ├── stm32f4xx_hal_i2c_ex.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_rtc.c │ │ ├── stm32f4xx_hal_rtc_ex.c │ │ ├── stm32f4xx_hal_spi.c │ │ ├── stm32f4xx_hal_tim.c │ │ ├── stm32f4xx_hal_tim_ex.c │ │ └── stm32f4xx_hal_uart.c ├── Inc │ ├── FreeRTOSConfig.h │ ├── can.h │ ├── dma.h │ ├── gpio.h │ ├── i2c.h │ ├── main.h │ ├── rtc.h │ ├── spi.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ ├── tim.h │ └── usart.h ├── MDK-ARM │ ├── gimbal_task.uvprojx │ └── startup_stm32f407xx.s ├── Middlewares │ └── Third_Party │ │ └── FreeRTOS │ │ └── Source │ │ ├── CMSIS_RTOS │ │ ├── cmsis_os.c │ │ └── cmsis_os.h │ │ ├── croutine.c │ │ ├── event_groups.c │ │ ├── include │ │ ├── FreeRTOS.h │ │ ├── StackMacros.h │ │ ├── croutine.h │ │ ├── deprecated_definitions.h │ │ ├── event_groups.h │ │ ├── list.h │ │ ├── message_buffer.h │ │ ├── mpu_prototypes.h │ │ ├── mpu_wrappers.h │ │ ├── portable.h │ │ ├── projdefs.h │ │ ├── queue.h │ │ ├── semphr.h │ │ ├── stack_macros.h │ │ ├── stream_buffer.h │ │ ├── task.h │ │ └── timers.h │ │ ├── list.c │ │ ├── portable │ │ ├── MemMang │ │ │ └── heap_4.c │ │ └── RVDS │ │ │ └── ARM_CM4F │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ ├── queue.c │ │ ├── stream_buffer.c │ │ ├── tasks.c │ │ └── timers.c ├── Src │ ├── can.c │ ├── dma.c │ ├── freertos.c │ ├── gpio.c │ ├── i2c.c │ ├── main.c │ ├── rtc.c │ ├── spi.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ ├── tim.c │ └── usart.c ├── application │ ├── CAN_receive.c │ ├── CAN_receive.h │ ├── INS_task.c │ ├── INS_task.h │ ├── calibrate_task.c │ ├── calibrate_task.h │ ├── detect_task.c │ ├── detect_task.h │ ├── gimbal_behaviour.c │ ├── gimbal_behaviour.h │ ├── gimbal_task.c │ ├── gimbal_task.h │ ├── led_flow_task.c │ ├── led_flow_task.h │ ├── remote_control.c │ ├── remote_control.h │ ├── struct_typedef.h │ ├── test_task.c │ └── test_task.h ├── bsp │ └── boards │ │ ├── bsp_buzzer.c │ │ ├── bsp_buzzer.h │ │ ├── bsp_can.c │ │ ├── bsp_can.h │ │ ├── bsp_delay.c │ │ ├── bsp_delay.h │ │ ├── bsp_flash.c │ │ ├── bsp_flash.h │ │ ├── bsp_imu_pwm.c │ │ ├── bsp_imu_pwm.h │ │ ├── bsp_led.c │ │ ├── bsp_led.h │ │ ├── bsp_rc.c │ │ ├── bsp_rc.h │ │ ├── bsp_spi.c │ │ └── bsp_spi.h ├── components │ ├── algorithm │ │ ├── AHRS.h │ │ ├── AHRS.lib │ │ ├── AHRS_middleware.c │ │ ├── AHRS_middleware.h │ │ ├── Include │ │ │ ├── arm_common_tables.h │ │ │ ├── arm_const_structs.h │ │ │ ├── arm_math.h │ │ │ ├── core_sc000.h │ │ │ └── core_sc300.h │ │ ├── arm_cortexM4lf_math.lib │ │ ├── user_lib.c │ │ └── user_lib.h │ ├── controller │ │ ├── pid.c │ │ └── pid.h │ └── devices │ │ ├── BMI088Middleware.c │ │ ├── BMI088Middleware.h │ │ ├── BMI088driver.c │ │ ├── BMI088driver.h │ │ ├── BMI088reg.h │ │ ├── ist8310driver.c │ │ ├── ist8310driver.h │ │ ├── ist8310driver_middleware.c │ │ └── ist8310driver_middleware.h ├── gimbal_task.ioc └── keilkilll.bat ├── 2.flash_light ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ └── stm32f4xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ └── stm32f4xx_hal_tim_ex.c ├── Inc │ ├── gpio.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ └── stm32f4xx_it.h ├── MDK-ARM │ ├── flash_light.uvprojx │ └── startup_stm32f407xx.s ├── Src │ ├── gpio.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ └── system_stm32f4xx.c ├── flash_light.ioc └── keilkilll.bat ├── 20.standard_robot ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ ├── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ │ │ └── Source │ │ │ │ └── Templates │ │ │ │ └── system_stm32f4xx.c │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_adc.h │ │ ├── stm32f4xx_hal_adc_ex.h │ │ ├── stm32f4xx_hal_can.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_crc.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_i2c.h │ │ ├── stm32f4xx_hal_i2c_ex.h │ │ ├── stm32f4xx_hal_pcd.h │ │ ├── stm32f4xx_hal_pcd_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_rng.h │ │ ├── stm32f4xx_hal_rtc.h │ │ ├── stm32f4xx_hal_rtc_ex.h │ │ ├── stm32f4xx_hal_spi.h │ │ ├── stm32f4xx_hal_tim.h │ │ ├── stm32f4xx_hal_tim_ex.h │ │ ├── stm32f4xx_hal_uart.h │ │ └── stm32f4xx_ll_usb.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_adc.c │ │ ├── stm32f4xx_hal_adc_ex.c │ │ ├── stm32f4xx_hal_can.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_crc.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_i2c.c │ │ ├── stm32f4xx_hal_i2c_ex.c │ │ ├── stm32f4xx_hal_pcd.c │ │ ├── stm32f4xx_hal_pcd_ex.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_rng.c │ │ ├── stm32f4xx_hal_rtc.c │ │ ├── stm32f4xx_hal_rtc_ex.c │ │ ├── stm32f4xx_hal_spi.c │ │ ├── stm32f4xx_hal_tim.c │ │ ├── stm32f4xx_hal_tim_ex.c │ │ ├── stm32f4xx_hal_uart.c │ │ └── stm32f4xx_ll_usb.c ├── Inc │ ├── FreeRTOSConfig.h │ ├── adc.h │ ├── can.h │ ├── crc.h │ ├── dma.h │ ├── gpio.h │ ├── i2c.h │ ├── main.h │ ├── rng.h │ ├── rtc.h │ ├── spi.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ ├── tim.h │ ├── usart.h │ ├── usb_device.h │ ├── usbd_cdc_if.h │ ├── usbd_conf.h │ └── usbd_desc.h ├── MDK-ARM │ ├── standard_robot.uvprojx │ └── startup_stm32f407xx.s ├── Middlewares │ ├── ST │ │ └── STM32_USB_Device_Library │ │ │ ├── Class │ │ │ └── CDC │ │ │ │ ├── Inc │ │ │ │ └── usbd_cdc.h │ │ │ │ └── Src │ │ │ │ └── usbd_cdc.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 │ └── Third_Party │ │ └── FreeRTOS │ │ └── Source │ │ ├── CMSIS_RTOS │ │ ├── cmsis_os.c │ │ └── cmsis_os.h │ │ ├── croutine.c │ │ ├── event_groups.c │ │ ├── include │ │ ├── FreeRTOS.h │ │ ├── StackMacros.h │ │ ├── croutine.h │ │ ├── deprecated_definitions.h │ │ ├── event_groups.h │ │ ├── list.h │ │ ├── message_buffer.h │ │ ├── mpu_prototypes.h │ │ ├── mpu_wrappers.h │ │ ├── portable.h │ │ ├── projdefs.h │ │ ├── queue.h │ │ ├── semphr.h │ │ ├── stack_macros.h │ │ ├── stream_buffer.h │ │ ├── task.h │ │ └── timers.h │ │ ├── list.c │ │ ├── portable │ │ ├── MemMang │ │ │ └── heap_4.c │ │ └── RVDS │ │ │ └── ARM_CM4F │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ ├── queue.c │ │ ├── stream_buffer.c │ │ ├── tasks.c │ │ └── timers.c ├── Src │ ├── adc.c │ ├── can.c │ ├── crc.c │ ├── dma.c │ ├── freertos.c │ ├── gpio.c │ ├── i2c.c │ ├── main.c │ ├── rng.c │ ├── rtc.c │ ├── spi.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ ├── tim.c │ ├── usart.c │ ├── usb_device.c │ ├── usb_otg.c │ ├── usbd_cdc_if.c │ ├── usbd_conf.c │ └── usbd_desc.c ├── application │ ├── CAN_receive.c │ ├── CAN_receive.h │ ├── INS_task.c │ ├── INS_task.h │ ├── calibrate_task.c │ ├── calibrate_task.h │ ├── chassis_behaviour.c │ ├── chassis_behaviour.h │ ├── chassis_power_control.c │ ├── chassis_power_control.h │ ├── chassis_task.c │ ├── chassis_task.h │ ├── detect_task.c │ ├── detect_task.h │ ├── gimbal_behaviour.c │ ├── gimbal_behaviour.h │ ├── gimbal_task.c │ ├── gimbal_task.h │ ├── led_flow_task.c │ ├── led_flow_task.h │ ├── oled_task.c │ ├── oled_task.h │ ├── protocol │ │ └── protocol.h │ ├── referee.c │ ├── referee.h │ ├── referee_usart_task.c │ ├── referee_usart_task.h │ ├── remote_control.c │ ├── remote_control.h │ ├── servo_task.c │ ├── servo_task.h │ ├── shoot.c │ ├── shoot.h │ ├── struct_typedef.h │ ├── test_task.c │ ├── test_task.h │ ├── usb_task.c │ ├── usb_task.h │ ├── voltage_task.c │ └── voltage_task.h ├── bsp │ └── boards │ │ ├── bsp_adc.c │ │ ├── bsp_adc.h │ │ ├── bsp_buzzer.c │ │ ├── bsp_buzzer.h │ │ ├── bsp_can.c │ │ ├── bsp_can.h │ │ ├── bsp_crc32.c │ │ ├── bsp_crc32.h │ │ ├── bsp_delay.c │ │ ├── bsp_delay.h │ │ ├── bsp_flash.c │ │ ├── bsp_flash.h │ │ ├── bsp_fric.c │ │ ├── bsp_fric.h │ │ ├── bsp_i2c.c │ │ ├── bsp_i2c.h │ │ ├── bsp_imu_pwm.c │ │ ├── bsp_imu_pwm.h │ │ ├── bsp_laser.c │ │ ├── bsp_laser.h │ │ ├── bsp_led.c │ │ ├── bsp_led.h │ │ ├── bsp_rc.c │ │ ├── bsp_rc.h │ │ ├── bsp_rng.c │ │ ├── bsp_rng.h │ │ ├── bsp_servo_pwm.c │ │ ├── bsp_servo_pwm.h │ │ ├── bsp_spi.c │ │ ├── bsp_spi.h │ │ ├── bsp_usart.c │ │ └── bsp_usart.h ├── components │ ├── algorithm │ │ ├── AHRS.h │ │ ├── AHRS.lib │ │ ├── AHRS_middleware.c │ │ ├── AHRS_middleware.h │ │ ├── Include │ │ │ ├── arm_common_tables.h │ │ │ ├── arm_const_structs.h │ │ │ ├── arm_math.h │ │ │ ├── core_sc000.h │ │ │ └── core_sc300.h │ │ ├── arm_cortexM4lf_math.lib │ │ ├── user_lib.c │ │ └── user_lib.h │ ├── controller │ │ ├── pid.c │ │ └── pid.h │ ├── devices │ │ ├── BMI088Middleware.c │ │ ├── BMI088Middleware.h │ │ ├── BMI088driver.c │ │ ├── BMI088driver.h │ │ ├── BMI088reg.h │ │ ├── OLED.c │ │ ├── OLED.h │ │ ├── ist8310driver.c │ │ ├── ist8310driver.h │ │ ├── ist8310driver_middleware.c │ │ ├── ist8310driver_middleware.h │ │ └── oledfont.h │ └── support │ │ ├── CRC8_CRC16.c │ │ ├── CRC8_CRC16.h │ │ ├── fifo.c │ │ ├── fifo.h │ │ ├── linux_list.h │ │ ├── macro_mutex.h │ │ ├── mem_mang.h │ │ └── mem_mang4.c ├── keilkilll.bat └── standard_robot.ioc ├── 3.tim_light ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ └── stm32f4xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ └── stm32f4xx_hal_tim_ex.c ├── Inc │ ├── gpio.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ └── tim.h ├── MDK-ARM │ ├── startup_stm32f407xx.s │ └── tim_light.uvprojx ├── Src │ ├── gpio.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ └── tim.c ├── keilkilll.bat └── tim_light.ioc ├── 4.PWM_light ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ └── stm32f4xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ └── stm32f4xx_hal_tim_ex.c ├── Inc │ ├── gpio.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ └── tim.h ├── MDK-ARM │ ├── pwm_light.uvprojx │ └── startup_stm32f407xx.s ├── Src │ ├── gpio.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ └── tim.c ├── bsp │ └── boards │ │ ├── bsp_led.c │ │ ├── bsp_led.h │ │ └── struct_typedef.h ├── keilkilll.bat └── pwm_light.ioc ├── 4.homework_flow_led ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ └── stm32f4xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ └── stm32f4xx_hal_tim_ex.c ├── Inc │ ├── gpio.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ └── tim.h ├── MDK-ARM │ ├── flow_led.uvprojx │ └── startup_stm32f407xx.s ├── Src │ ├── gpio.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ └── tim.c ├── bsp │ └── board │ │ ├── bsp_led.c │ │ ├── bsp_led.h │ │ └── struct_typedef.h ├── flow_led.ioc └── keilkilll.bat ├── 5.buzzer ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ └── stm32f4xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ └── stm32f4xx_hal_tim_ex.c ├── Inc │ ├── gpio.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ └── tim.h ├── MDK-ARM │ ├── buzzer.uvprojx │ └── startup_stm32f407xx.s ├── Src │ ├── gpio.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ └── tim.c ├── bsp │ └── boards │ │ ├── bsp_buzzer.c │ │ ├── bsp_buzzer.h │ │ └── struct_typedef.h ├── buzzer.ioc └── keilkilll.bat ├── 5.servo_motor ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ └── stm32f4xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ └── stm32f4xx_hal_tim_ex.c ├── Inc │ ├── gpio.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ └── tim.h ├── MDK-ARM │ ├── servo_motor.uvprojx │ └── startup_stm32f407xx.s ├── Src │ ├── gpio.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ └── tim.c ├── keilkilll.bat └── servo_motor.ioc ├── 6.key_exit ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ └── stm32f4xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ └── stm32f4xx_hal_tim_ex.c ├── Inc │ ├── gpio.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ └── stm32f4xx_it.h ├── MDK-ARM │ ├── key_exit.uvprojx │ └── startup_stm32f407xx.s ├── Src │ ├── gpio.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ └── system_stm32f4xx.c ├── keilkilll.bat └── key_exit.ioc ├── 7.ADC_24V_power ├── .mxproject ├── ADC_24_power.ioc ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_adc.h │ │ ├── stm32f4xx_hal_adc_ex.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ └── stm32f4xx_hal_tim_ex.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_adc.c │ │ ├── stm32f4xx_hal_adc_ex.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ └── stm32f4xx_hal_tim_ex.c ├── Inc │ ├── adc.h │ ├── gpio.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ └── stm32f4xx_it.h ├── MDK-ARM │ ├── ADC_24_power.uvprojx │ └── startup_stm32f407xx.s ├── Src │ ├── adc.c │ ├── gpio.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ └── system_stm32f4xx.c ├── bsp │ └── boards │ │ ├── bsp_adc.c │ │ ├── bsp_adc.h │ │ └── struct_typedef.h └── keilkilll.bat ├── 8.USART_receive_and_send ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ ├── stm32f4xx_hal_tim_ex.h │ │ └── stm32f4xx_hal_uart.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ ├── stm32f4xx_hal_tim_ex.c │ │ └── stm32f4xx_hal_uart.c ├── Inc │ ├── gpio.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ └── usart.h ├── MDK-ARM │ ├── startup_stm32f407xx.s │ └── usart.uvprojx ├── Src │ ├── gpio.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ └── usart.c ├── keilkilll.bat └── usart.ioc ├── 9.remote_control_dma ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ ├── stm32f4xx_hal_tim_ex.h │ │ └── stm32f4xx_hal_uart.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ ├── stm32f4xx_hal_tim_ex.c │ │ └── stm32f4xx_hal_uart.c ├── Inc │ ├── dma.h │ ├── gpio.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ └── usart.h ├── MDK-ARM │ ├── remote_control.uvprojx │ └── startup_stm32f407xx.s ├── Src │ ├── dma.c │ ├── gpio.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ └── usart.c ├── applications │ ├── remote_control.c │ └── remote_control.h ├── bsp │ └── boards │ │ ├── bsp_rc.c │ │ ├── bsp_rc.h │ │ └── struct_typedef.h ├── keilkilll.bat └── remote_control.ioc ├── 9.remote_control_printf_pc ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ ├── stm32f4xx_hal_tim_ex.h │ │ └── stm32f4xx_hal_uart.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ ├── stm32f4xx_hal_tim_ex.c │ │ └── stm32f4xx_hal_uart.c ├── Inc │ ├── dma.h │ ├── gpio.h │ ├── main.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ └── usart.h ├── MDK-ARM │ ├── remote_control.uvprojx │ └── startup_stm32f407xx.s ├── Src │ ├── dma.c │ ├── gpio.c │ ├── main.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ └── usart.c ├── applications │ ├── remote_control.c │ └── remote_control.h ├── bsp │ └── boards │ │ ├── bsp_rc.c │ │ ├── bsp_rc.h │ │ ├── bsp_usart.c │ │ ├── bsp_usart.h │ │ └── 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