├── LICENSE ├── README.md ├── README_en.md ├── android ├── .gradle │ ├── 7.2 │ │ ├── dependencies-accessors │ │ │ ├── dependencies-accessors.lock │ │ │ └── gc.properties │ │ ├── executionHistory │ │ │ ├── executionHistory.bin │ │ │ └── executionHistory.lock │ │ ├── fileChanges │ │ │ └── last-build.bin │ │ ├── fileHashes │ │ │ ├── fileHashes.bin │ │ │ ├── fileHashes.lock │ │ │ └── resourceHashesCache.bin │ │ └── gc.properties │ ├── buildOutputCleanup │ │ ├── buildOutputCleanup.lock │ │ ├── cache.properties │ │ └── outputFiles.bin │ ├── checksums │ │ ├── checksums.lock │ │ └── sha1-checksums.bin │ └── vcs-1 │ │ └── gc.properties ├── .idea │ ├── .gitignore │ ├── .name │ ├── compiler.xml │ ├── gradle.xml │ ├── libraries │ │ ├── Gradle__androidx_activity_activity_1_2_3_aar.xml │ │ ├── Gradle__androidx_annotation_annotation_1_2_0.xml │ │ ├── Gradle__androidx_annotation_annotation_experimental_1_0_0_aar.xml │ │ ├── Gradle__androidx_appcompat_appcompat_1_3_0_aar.xml │ │ ├── Gradle__androidx_appcompat_appcompat_resources_1_3_0_aar.xml │ │ ├── Gradle__androidx_arch_core_core_common_2_1_0.xml │ │ ├── Gradle__androidx_arch_core_core_runtime_2_0_0_aar.xml │ │ ├── Gradle__androidx_arch_core_core_runtime_2_1_0_aar.xml │ │ ├── Gradle__androidx_cardview_cardview_1_0_0_aar.xml │ │ ├── Gradle__androidx_collection_collection_1_1_0.xml │ │ ├── Gradle__androidx_constraintlayout_constraintlayout_2_0_4_aar.xml │ │ ├── Gradle__androidx_constraintlayout_constraintlayout_solver_2_0_4.xml │ │ ├── Gradle__androidx_coordinatorlayout_coordinatorlayout_1_1_0_aar.xml │ │ ├── Gradle__androidx_core_core_1_5_0_aar.xml │ │ ├── Gradle__androidx_cursoradapter_cursoradapter_1_0_0_aar.xml │ │ ├── Gradle__androidx_customview_customview_1_0_0_aar.xml │ │ ├── Gradle__androidx_documentfile_documentfile_1_0_0_aar.xml │ │ ├── Gradle__androidx_drawerlayout_drawerlayout_1_0_0_aar.xml │ │ ├── Gradle__androidx_dynamicanimation_dynamicanimation_1_0_0_aar.xml │ │ ├── Gradle__androidx_fragment_fragment_1_3_4_aar.xml │ │ ├── Gradle__androidx_interpolator_interpolator_1_0_0_aar.xml │ │ ├── Gradle__androidx_legacy_legacy_support_core_utils_1_0_0_aar.xml │ │ ├── Gradle__androidx_lifecycle_lifecycle_common_2_3_1.xml │ │ ├── Gradle__androidx_lifecycle_lifecycle_livedata_2_0_0_aar.xml │ │ ├── Gradle__androidx_lifecycle_lifecycle_livedata_core_2_3_1_aar.xml │ │ ├── Gradle__androidx_lifecycle_lifecycle_runtime_2_3_1_aar.xml │ │ ├── Gradle__androidx_lifecycle_lifecycle_viewmodel_2_3_1_aar.xml │ │ ├── Gradle__androidx_lifecycle_lifecycle_viewmodel_savedstate_2_3_1_aar.xml │ │ ├── Gradle__androidx_loader_loader_1_0_0_aar.xml │ │ ├── Gradle__androidx_localbroadcastmanager_localbroadcastmanager_1_0_0_aar.xml │ │ ├── Gradle__androidx_print_print_1_0_0_aar.xml │ │ ├── Gradle__androidx_recyclerview_recyclerview_1_1_0_aar.xml │ │ ├── Gradle__androidx_savedstate_savedstate_1_1_0_aar.xml │ │ ├── Gradle__androidx_test_core_1_4_0_aar.xml │ │ ├── Gradle__androidx_test_espresso_espresso_core_3_4_0_aar.xml │ │ ├── Gradle__androidx_test_espresso_espresso_idling_resource_3_4_0_aar.xml │ │ ├── Gradle__androidx_test_ext_junit_1_1_3_aar.xml │ │ ├── Gradle__androidx_test_monitor_1_4_0_aar.xml │ │ ├── Gradle__androidx_test_runner_1_4_0_aar.xml │ │ ├── Gradle__androidx_test_services_storage_1_4_0_aar.xml │ │ ├── Gradle__androidx_transition_transition_1_2_0_aar.xml │ │ ├── Gradle__androidx_vectordrawable_vectordrawable_1_1_0_aar.xml │ │ ├── Gradle__androidx_vectordrawable_vectordrawable_animated_1_1_0_aar.xml │ │ ├── Gradle__androidx_versionedparcelable_versionedparcelable_1_1_1_aar.xml │ │ ├── Gradle__androidx_viewpager2_viewpager2_1_0_0_aar.xml │ │ ├── Gradle__androidx_viewpager_viewpager_1_0_0_aar.xml │ │ ├── Gradle__com_google_android_material_material_1_4_0_aar.xml │ │ ├── Gradle__com_google_code_findbugs_jsr305_2_0_1.xml │ │ ├── Gradle__com_squareup_javawriter_2_1_1.xml │ │ ├── Gradle__javax_inject_javax_inject_1.xml │ │ ├── Gradle__junit_junit_4_12.xml │ │ ├── Gradle__junit_junit_4_13_2.xml │ │ ├── Gradle__org_hamcrest_hamcrest_core_1_3.xml │ │ ├── Gradle__org_hamcrest_hamcrest_integration_1_3.xml │ │ └── Gradle__org_hamcrest_hamcrest_library_1_3.xml │ ├── misc.xml │ ├── modules.xml │ ├── modules │ │ ├── BalanceBot.iml │ │ └── app │ │ │ └── BalanceBot.app.iml │ └── vcs.xml ├── README.md ├── README_en.md ├── app │ ├── .gitignore │ ├── build.gradle │ ├── proguard-rules.pro │ └── src │ │ ├── androidTest │ │ └── java │ │ │ └── com │ │ │ └── skythinker │ │ │ └── balancebot │ │ │ └── ExampleInstrumentedTest.java │ │ ├── main │ │ ├── AndroidManifest.xml │ │ ├── assets │ │ │ ├── streamview.html │ │ │ └── transparent.png │ │ ├── java │ │ │ └── com │ │ │ │ └── skythinker │ │ │ │ └── balancebot │ │ │ │ ├── Bluetooth.java │ │ │ │ ├── CtrlView.java │ │ │ │ ├── MainActivity.java │ │ │ │ └── WifiClient.java │ │ └── res │ │ │ ├── drawable-v24 │ │ │ └── ic_launcher_foreground.xml │ │ │ ├── drawable │ │ │ ├── bt_off.png │ │ │ ├── bt_on.png │ │ │ ├── ic_launcher_background.xml │ │ │ ├── icon.png │ │ │ ├── rocker.png │ │ │ ├── video_off.png │ │ │ └── video_on.png │ │ │ ├── layout │ │ │ └── activity_main.xml │ │ │ ├── mipmap-anydpi-v26 │ │ │ ├── ic_launcher.xml │ │ │ └── ic_launcher_round.xml │ │ │ ├── mipmap-hdpi │ │ │ ├── ic_launcher.webp │ │ │ └── ic_launcher_round.webp │ │ │ ├── mipmap-mdpi │ │ │ ├── ic_launcher.webp │ │ │ └── ic_launcher_round.webp │ │ │ ├── mipmap-xhdpi │ │ │ ├── ic_launcher.webp │ │ │ └── ic_launcher_round.webp │ │ │ ├── mipmap-xxhdpi │ │ │ ├── ic_launcher.webp │ │ │ └── ic_launcher_round.webp │ │ │ ├── mipmap-xxxhdpi │ │ │ ├── ic_launcher.webp │ │ │ └── ic_launcher_round.webp │ │ │ ├── values-night │ │ │ └── themes.xml │ │ │ └── values │ │ │ ├── colors.xml │ │ │ ├── strings.xml │ │ │ └── themes.xml │ │ └── test │ │ └── java │ │ └── com │ │ └── skythinker │ │ └── balancebot │ │ └── ExampleUnitTest.java ├── balancebot.apk ├── build.gradle ├── gradle.properties ├── gradle │ └── wrapper │ │ ├── gradle-wrapper.jar │ │ └── gradle-wrapper.properties ├── gradlew ├── gradlew.bat ├── local.properties ├── readme-img │ ├── app.png │ ├── config.png │ ├── connect.png │ └── view.png └── settings.gradle ├── esp32-controller ├── README.md ├── README_en.md ├── hardware │ ├── ESP32CTRL_AD_PCB.pcbdoc │ ├── ESP32CTRL_AD_SCH.schdoc │ ├── ESP32CTRL_LCEDA_PCB.json │ ├── ESP32CTRL_LCEDA_SCH.json │ └── ESP32CTRL_SVG.svg ├── readme-img │ └── design.png └── software │ ├── .gitignore │ ├── .vscode │ ├── extensions.json │ └── settings.json │ ├── CMakeLists.txt │ ├── include │ └── README │ ├── lib │ └── README │ ├── partition.csv │ ├── platformio.ini │ ├── sdkconfig.esp32dev │ ├── sdkconfig.esp32dev.old │ ├── src │ ├── CMakeLists.txt │ ├── PID.c │ ├── PID.h │ ├── debug.c │ ├── debug.h │ ├── leg_conv.c │ ├── leg_conv.h │ ├── leg_pos.c │ ├── leg_pos.h │ ├── leg_spd.c │ ├── leg_spd.h │ ├── lqr_k.c │ ├── lqr_k.h │ └── main.cpp │ └── test │ └── README ├── linux-fpv ├── README.md ├── README_en.md ├── python │ ├── ctrl-proxy.py │ └── requirements.txt ├── readme-img │ ├── connect.png │ └── nanopi.png └── scripts │ ├── ctrl-proxy.service │ ├── ffserver.conf │ ├── mjpg-ffserver.service │ └── start-ffmpeg.sh ├── matlab ├── README.md ├── README_en.md ├── leg_conv.m ├── leg_func_calc.m ├── leg_pos.m ├── leg_sim.slx ├── leg_sim_2020a.slx ├── leg_spd.m ├── lqr_k.m ├── sys_calc.m ├── sys_sim.slx └── sys_sim_2020a.slx ├── readme-img ├── accel.png ├── app.png ├── cover.jpg ├── fall.png ├── mechanical.png └── simulation.png ├── solidworks ├── 2804电机.SLDPRT ├── 4010电机.SLDPRT ├── MISUMI_C-SE604ZZ_不锈钢小径滚珠轴承.SLDPRT ├── MISUMI_CBSTSR4-16_内六角螺栓（盖螺栓）.SLDPRT ├── NanoPi.SLDPRT ├── NanoPi支架.SLDPRT ├── OV5640镜头.SLDPRT ├── README.md ├── README_en.md ├── cross recessed pan head screws gb.sldprt ├── hex nuts, style 1-grades ab gb.sldprt ├── readme-img │ ├── 2804.png │ ├── 4010.png │ ├── battery.png │ ├── explode.jpg │ └── tire.png ├── 主控支撑铜柱.SLDPRT ├── 主控支架.SLDPRT ├── 主控板PCB.SLDPRT ├── 关节电机支架.SLDPRT ├── 动力锂电池.SLDPRT ├── 大腿.SLDPRT ├── 大腿垫高.SLDPRT ├── 小腿.SLDPRT ├── 底板.SLDPRT ├── 总装.SLDASM ├── 推力轴承.SLDPRT ├── 电池支撑铜柱.SLDPRT ├── 电池架.SLDPRT ├── 编码器磁铁.SLDPRT ├── 车轮.SLDPRT ├── 轮胎.SLDPRT └── 驱动板.SLDPRT └── stm32-foc ├── README.md ├── README_en.md ├── hardware ├── SCH_SVG.svg ├── STM32FOC_AD_PCB.pcbdoc ├── STM32FOC_AD_SCH.schdoc ├── STM32FOC_LCEDA_PCB.json └── STM32FOC_LCEDA_SCH.json ├── readme-img └── design.png └── software ├── .mxproject ├── C6T6SimpleFoc.ioc ├── Drivers ├── CMSIS │ ├── Core │ │ ├── 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 │ │ └── Template │ │ │ └── ARMv8-M │ │ │ ├── main_s.c │ │ │ └── tz_context.c │ ├── Core_A │ │ ├── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_cp15.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── core_ca.h │ │ │ └── irq_ctrl.h │ │ └── Source │ │ │ └── irq_ctrl_gic.c │ ├── DSP │ │ ├── DSP_Lib_TestSuite │ │ │ ├── Common │ │ │ │ ├── JTest │ │ │ │ │ ├── inc │ │ │ │ │ │ ├── arr_desc │ │ │ │ │ │ │ └── arr_desc.h │ │ │ │ │ │ ├── jtest.h │ │ │ │ │ │ ├── jtest_cycle.h │ │ │ │ │ │ ├── jtest_define.h │ │ │ │ │ │ ├── jtest_fw.h │ │ │ │ │ │ ├── jtest_group.h │ │ │ │ │ │ ├── jtest_group_call.h │ │ │ │ │ │ ├── jtest_group_define.h │ │ │ │ │ │ ├── jtest_pf.h │ │ │ │ │ │ ├── jtest_systick.h │ │ │ │ │ │ ├── jtest_test.h │ │ │ │ │ │ ├── jtest_test_call.h │ │ │ │ │ │ ├── jtest_test_define.h │ │ │ │ │ │ ├── jtest_test_ret.h │ │ │ │ │ │ ├── jtest_util.h │ │ │ │ │ │ ├── opt_arg │ │ │ │ │ │ │ ├── opt_arg.h │ │ │ │ │ │ │ ├── pp_narg.h │ │ │ │ │ │ │ └── splice.h │ │ │ │ │ │ └── util │ │ │ │ │ │ │ └── util.h │ │ │ │ │ └── src │ │ │ │ │ │ ├── jtest_cycle.c │ │ │ │ │ │ ├── jtest_dump_str_segments.c │ │ │ │ │ │ ├── jtest_fw.c │ │ │ │ │ │ └── jtest_trigger_action.c │ │ │ │ ├── inc │ │ │ │ │ ├── all_tests.h │ │ │ │ │ ├── basic_math_tests │ │ │ │ │ │ ├── basic_math_templates.h │ │ │ │ │ │ ├── basic_math_test_data.h │ │ │ │ │ │ ├── basic_math_test_group.h │ │ │ │ │ │ └── basic_math_tests.h │ │ │ │ │ ├── complex_math_tests │ │ │ │ │ │ ├── complex_math_templates.h │ │ │ │ │ │ ├── complex_math_test_data.h │ │ │ │ │ │ ├── complex_math_test_group.h │ │ │ │ │ │ └── complex_math_tests.h │ │ │ │ │ ├── controller_tests │ │ │ │ │ │ ├── controller_templates.h │ │ │ │ │ │ ├── controller_test_data.h │ │ │ │ │ │ ├── controller_test_group.h │ │ │ │ │ │ └── controller_tests.h │ │ │ │ │ ├── fast_math_tests │ │ │ │ │ │ ├── fast_math_templates.h │ │ │ │ │ │ ├── fast_math_test_data.h │ │ │ │ │ │ └── fast_math_test_group.h │ │ │ │ │ ├── filtering_tests │ │ │ │ │ │ ├── filtering_templates.h │ │ │ │ │ │ ├── filtering_test_data.h │ │ │ │ │ │ ├── filtering_test_group.h │ │ │ │ │ │ └── filtering_tests.h │ │ │ │ │ ├── intrinsics_tests │ │ │ │ │ │ ├── intrinsics_templates.h │ │ │ │ │ │ ├── intrinsics_test_data.h │ │ │ │ │ │ └── intrinsics_test_group.h │ │ │ │ │ ├── math_helper.h │ │ │ │ │ ├── matrix_tests │ │ │ │ │ │ ├── matrix_templates.h │ │ │ │ │ │ ├── matrix_test_data.h │ │ │ │ │ │ ├── matrix_test_group.h │ │ │ │ │ │ └── matrix_tests.h │ │ │ │ │ ├── statistics_tests │ │ │ │ │ │ ├── statistics_templates.h │ │ │ │ │ │ ├── statistics_test_data.h │ │ │ │ │ │ ├── statistics_test_group.h │ │ │ │ │ │ └── statistics_tests.h │ │ │ │ │ ├── support_tests │ │ │ │ │ │ ├── support_templates.h │ │ │ │ │ │ ├── support_test_data.h │ │ │ │ │ │ ├── support_test_group.h │ │ │ │ │ │ └── support_tests.h │ │ │ │ │ ├── templates │ │ │ │ │ │ ├── template.h │ │ │ │ │ │ └── test_templates.h │ │ │ │ │ ├── transform_tests │ │ │ │ │ │ ├── transform_templates.h │ │ │ │ │ │ ├── transform_test_data.h │ │ │ │ │ │ ├── transform_test_group.h │ │ │ │ │ │ └── transform_tests.h │ │ │ │ │ └── type_abbrev.h │ │ │ │ ├── platform │ │ │ │ │ ├── ARMCC │ │ │ │ │ │ ├── Retarget.c │ │ │ │ │ │ ├── startup_armv6-m.s │ │ │ │ │ │ └── startup_armv7-m.s │ │ │ │ │ ├── ARMCLANG │ │ │ │ │ │ ├── startup_armv6-m.S │ │ │ │ │ │ └── startup_armv7-m.S │ │ │ │ │ ├── GCC │ │ │ │ │ │ ├── Retarget.c │ │ │ │ │ │ ├── startup_armv6-m.S │ │ │ │ │ │ └── startup_armv7-m.S │ │ │ │ │ ├── startup_generic.S │ │ │ │ │ ├── system_ARMCM0.c │ │ │ │ │ ├── system_ARMCM23.c │ │ │ │ │ ├── system_ARMCM3.c │ │ │ │ │ ├── system_ARMCM33.c │ │ │ │ │ ├── system_ARMCM4.c │ │ │ │ │ ├── system_ARMCM7.c │ │ │ │ │ ├── system_ARMSC000.c │ │ │ │ │ ├── system_ARMSC300.c │ │ │ │ │ ├── system_ARMv8MBL.c │ │ │ │ │ ├── system_ARMv8MML.c │ │ │ │ │ └── system_generic.c │ │ │ │ └── src │ │ │ │ │ ├── all_tests.c │ │ │ │ │ ├── basic_math_tests │ │ │ │ │ ├── abs_tests.c │ │ │ │ │ ├── add_tests.c │ │ │ │ │ ├── basic_math_test_common_data.c │ │ │ │ │ ├── basic_math_test_group.c │ │ │ │ │ ├── dot_prod_tests.c │ │ │ │ │ ├── mult_tests.c │ │ │ │ │ ├── negate_tests.c │ │ │ │ │ ├── offset_tests.c │ │ │ │ │ ├── scale_tests.c │ │ │ │ │ ├── shift_tests.c │ │ │ │ │ └── sub_tests.c │ │ │ │ │ ├── complex_math_tests │ │ │ │ │ ├── cmplx_conj_tests.c │ │ │ │ │ ├── cmplx_dot_prod_tests.c │ │ │ │ │ ├── cmplx_mag_squared_tests.c │ │ │ │ │ ├── cmplx_mag_tests.c │ │ │ │ │ ├── cmplx_mult_cmplx_tests.c │ │ │ │ │ ├── cmplx_mult_real_test.c │ │ │ │ │ ├── complex_math_test_common_data.c │ │ │ │ │ └── complex_math_test_group.c │ │ │ │ │ ├── controller_tests │ │ │ │ │ ├── controller_test_common_data.c │ │ │ │ │ ├── controller_test_group.c │ │ │ │ │ ├── pid_reset_tests.c │ │ │ │ │ ├── pid_tests.c │ │ │ │ │ └── sin_cos_tests.c │ │ │ │ │ ├── fast_math_tests │ │ │ │ │ ├── fast_math_tests.c │ │ │ │ │ └── fast_math_tests_common_data.c │ │ │ │ │ ├── filtering_tests │ │ │ │ │ ├── biquad_tests.c │ │ │ │ │ ├── conv_tests.c │ │ │ │ │ ├── correlate_tests.c │ │ │ │ │ ├── filtering_test_common_data.c │ │ │ │ │ ├── filtering_test_group.c │ │ │ │ │ ├── fir_tests.c │ │ │ │ │ ├── iir_tests.c │ │ │ │ │ └── lms_tests.c │ │ │ │ │ ├── intrinsics_tests │ │ │ │ │ ├── intrinsics_tests.c │ │ │ │ │ └── intrinsics_tests_common_data.c │ │ │ │ │ ├── main.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ ├── matrix_tests │ │ │ │ │ ├── mat_add_tests.c │ │ │ │ │ ├── mat_cmplx_mult_tests.c │ │ │ │ │ ├── mat_init_tests.c │ │ │ │ │ ├── mat_inverse_tests.c │ │ │ │ │ ├── mat_mult_fast_tests.c │ │ │ │ │ ├── mat_mult_tests.c │ │ │ │ │ ├── mat_scale_tests.c │ │ │ │ │ ├── mat_sub_tests.c │ │ │ │ │ ├── mat_trans_tests.c │ │ │ │ │ ├── matrix_test_common_data.c │ │ │ │ │ └── matrix_test_group.c │ │ │ │ │ ├── statistics_tests │ │ │ │ │ ├── max_tests.c │ │ │ │ │ ├── mean_tests.c │ │ │ │ │ ├── min_tests.c │ │ │ │ │ ├── power_tests.c │ │ │ │ │ ├── rms_tests.c │ │ │ │ │ ├── statistics_test_common_data.c │ │ │ │ │ ├── statistics_test_group.c │ │ │ │ │ ├── std_tests.c │ │ │ │ │ └── var_tests.c │ │ │ │ │ ├── support_tests │ │ │ │ │ ├── copy_tests.c │ │ │ │ │ ├── fill_tests.c │ │ │ │ │ ├── support_test_common_data.c │ │ │ │ │ ├── support_test_group.c │ │ │ │ │ └── x_to_y_tests.c │ │ │ │ │ └── transform_tests │ │ │ │ │ ├── cfft_family_tests.c │ │ │ │ │ ├── cfft_tests.c │ │ │ │ │ ├── dct4_tests.c │ │ │ │ │ ├── rfft_fast_tests.c │ │ │ │ │ ├── rfft_tests.c │ │ │ │ │ ├── transform_test_group.c │ │ │ │ │ └── transform_tests_common_data.c │ │ │ └── RefLibs │ │ │ │ ├── inc │ │ │ │ └── ref.h │ │ │ │ └── src │ │ │ │ ├── BasicMathFunctions │ │ │ │ ├── abs.c │ │ │ │ ├── add.c │ │ │ │ ├── dot_prod.c │ │ │ │ ├── mult.c │ │ │ │ ├── negate.c │ │ │ │ ├── offset.c │ │ │ │ ├── scale.c │ │ │ │ ├── shift.c │ │ │ │ └── sub.c │ │ │ │ ├── ComplexMathFunctions │ │ │ │ ├── cmplx_conj.c │ │ │ │ ├── cmplx_dot_prod.c │ │ │ │ ├── cmplx_mag.c │ │ │ │ ├── cmplx_mag_squared.c │ │ │ │ ├── cmplx_mult_cmplx.c │ │ │ │ └── cmplx_mult_real.c │ │ │ │ ├── ControllerFunctions │ │ │ │ ├── pid.c │ │ │ │ └── sin_cos.c │ │ │ │ ├── FastMathFunctions │ │ │ │ ├── cos.c │ │ │ │ ├── sin.c │ │ │ │ └── sqrt.c │ │ │ │ ├── FilteringFunctions │ │ │ │ ├── biquad.c │ │ │ │ ├── conv.c │ │ │ │ ├── correlate.c │ │ │ │ ├── fir.c │ │ │ │ ├── fir_decimate.c │ │ │ │ ├── fir_interpolate.c │ │ │ │ ├── fir_lattice.c │ │ │ │ ├── fir_sparse.c │ │ │ │ ├── iir_lattice.c │ │ │ │ └── lms.c │ │ │ │ ├── HelperFunctions │ │ │ │ ├── mat_helper.c │ │ │ │ └── ref_helper.c │ │ │ │ ├── Intrinsics │ │ │ │ └── intrinsics.c │ │ │ │ ├── MatrixFunctions │ │ │ │ ├── mat_add.c │ │ │ │ ├── mat_cmplx_mult.c │ │ │ │ ├── mat_inverse.c │ │ │ │ ├── mat_mult.c │ │ │ │ ├── mat_scale.c │ │ │ │ ├── mat_sub.c │ │ │ │ └── mat_trans.c │ │ │ │ ├── StatisticsFunctions │ │ │ │ ├── max.c │ │ │ │ ├── mean.c │ │ │ │ ├── min.c │ │ │ │ ├── power.c │ │ │ │ ├── rms.c │ │ │ │ ├── std.c │ │ │ │ └── var.c │ │ │ │ ├── SupportFunctions │ │ │ │ ├── copy.c │ │ │ │ ├── fill.c │ │ │ │ ├── fixed_to_fixed.c │ │ │ │ ├── fixed_to_float.c │ │ │ │ └── float_to_fixed.c │ │ │ │ └── TransformFunctions │ │ │ │ ├── bitreversal.c │ │ │ │ ├── cfft.c │ │ │ │ ├── dct4.c │ │ │ │ └── rfft.c │ │ ├── Examples │ │ │ └── ARM │ │ │ │ ├── arm_class_marks_example │ │ │ │ └── arm_class_marks_example_f32.c │ │ │ │ ├── arm_convolution_example │ │ │ │ ├── arm_convolution_example_f32.c │ │ │ │ ├── math_helper.c │ │ │ │ └── math_helper.h │ │ │ │ ├── arm_dotproduct_example │ │ │ │ └── arm_dotproduct_example_f32.c │ │ │ │ ├── arm_fft_bin_example │ │ │ │ ├── arm_fft_bin_data.c │ │ │ │ └── arm_fft_bin_example_f32.c │ │ │ │ ├── arm_fir_example │ │ │ │ ├── arm_fir_data.c │ │ │ │ ├── arm_fir_example_f32.c │ │ │ │ ├── math_helper.c │ │ │ │ └── math_helper.h │ │ │ │ ├── arm_graphic_equalizer_example │ │ │ │ ├── arm_graphic_equalizer_data.c │ │ │ │ ├── arm_graphic_equalizer_example_q31.c │ │ │ │ ├── math_helper.c │ │ │ │ └── math_helper.h │ │ │ │ ├── arm_linear_interp_example │ │ │ │ ├── arm_linear_interp_data.c │ │ │ │ ├── arm_linear_interp_example_f32.c │ │ │ │ ├── math_helper.c │ │ │ │ └── math_helper.h │ │ │ │ ├── arm_matrix_example │ │ │ │ ├── arm_matrix_example_f32.c │ │ │ │ ├── math_helper.c │ │ │ │ └── math_helper.h │ │ │ │ ├── arm_signal_converge_example │ │ │ │ ├── arm_signal_converge_data.c │ │ │ │ ├── arm_signal_converge_example_f32.c │ │ │ │ ├── math_helper.c │ │ │ │ └── math_helper.h │ │ │ │ ├── arm_sin_cos_example │ │ │ │ └── arm_sin_cos_example_f32.c │ │ │ │ └── arm_variance_example │ │ │ │ └── arm_variance_example_f32.c │ │ ├── Include │ │ │ ├── arm_common_tables.h │ │ │ ├── arm_const_structs.h │ │ │ └── arm_math.h │ │ └── Source │ │ │ ├── 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 │ │ │ ├── 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 │ ├── Device │ │ └── ST │ │ │ └── STM32F1xx │ │ │ ├── Include │ │ │ ├── stm32f100xb.h │ │ │ ├── stm32f100xe.h │ │ │ ├── stm32f101x6.h │ │ │ ├── stm32f101xb.h │ │ │ ├── stm32f101xe.h │ │ │ ├── stm32f101xg.h │ │ │ ├── stm32f102x6.h │ │ │ ├── stm32f102xb.h │ │ │ ├── stm32f103x6.h │ │ │ ├── stm32f103xb.h │ │ │ ├── stm32f103xe.h │ │ │ ├── stm32f103xg.h │ │ │ ├── stm32f105xc.h │ │ │ ├── stm32f107xc.h │ │ │ ├── stm32f1xx.h │ │ │ └── system_stm32f1xx.h │ │ │ └── Source │ │ │ └── Templates │ │ │ ├── arm │ │ │ ├── startup_stm32f100xb.s │ │ │ ├── startup_stm32f100xe.s │ │ │ ├── startup_stm32f101x6.s │ │ │ ├── startup_stm32f101xb.s │ │ │ ├── startup_stm32f101xe.s │ │ │ ├── startup_stm32f101xg.s │ │ │ ├── startup_stm32f102x6.s │ │ │ ├── startup_stm32f102xb.s │ │ │ ├── startup_stm32f103x6.s │ │ │ ├── startup_stm32f103xb.s │ │ │ ├── startup_stm32f103xe.s │ │ │ ├── startup_stm32f103xg.s │ │ │ ├── startup_stm32f105xc.s │ │ │ └── startup_stm32f107xc.s │ │ │ ├── gcc │ │ │ ├── startup_stm32f100xb.s │ │ │ ├── startup_stm32f100xe.s │ │ │ ├── startup_stm32f101x6.s │ │ │ ├── startup_stm32f101xb.s │ │ │ ├── startup_stm32f101xe.s │ │ │ ├── startup_stm32f101xg.s │ │ │ ├── startup_stm32f102x6.s │ │ │ ├── startup_stm32f102xb.s │ │ │ ├── startup_stm32f103x6.s │ │ │ ├── startup_stm32f103xb.s │ │ │ ├── startup_stm32f103xe.s │ │ │ ├── startup_stm32f103xg.s │ │ │ ├── startup_stm32f105xc.s │ │ │ └── startup_stm32f107xc.s │ │ │ ├── iar │ │ │ ├── linker │ │ │ │ ├── stm32f100xb_flash.icf │ │ │ │ ├── stm32f100xb_sram.icf │ │ │ │ ├── stm32f100xe_flash.icf │ │ │ │ ├── stm32f100xe_sram.icf │ │ │ │ ├── stm32f101x6_flash.icf │ │ │ │ ├── stm32f101x6_sram.icf │ │ │ │ ├── stm32f101xb_flash.icf │ │ │ │ ├── stm32f101xb_sram.icf │ │ │ │ ├── stm32f101xe_flash.icf │ │ │ │ ├── stm32f101xe_sram.icf │ │ │ │ ├── stm32f101xg_flash.icf │ │ │ │ ├── stm32f101xg_sram.icf │ │ │ │ ├── stm32f102x6_flash.icf │ │ │ │ ├── stm32f102x6_sram.icf │ │ │ │ ├── stm32f102xb_flash.icf │ │ │ │ ├── stm32f102xb_sram.icf │ │ │ │ ├── stm32f103x6_flash.icf │ │ │ │ ├── stm32f103x6_sram.icf │ │ │ │ ├── stm32f103xb_flash.icf │ │ │ │ ├── stm32f103xb_sram.icf │ │ │ │ ├── stm32f103xe_flash.icf │ │ │ │ ├── stm32f103xe_sram.icf │ │ │ │ ├── stm32f103xg_flash.icf │ │ │ │ ├── stm32f103xg_sram.icf │ │ │ │ ├── stm32f105xc_flash.icf │ │ │ │ ├── stm32f105xc_sram.icf │ │ │ │ ├── stm32f107xc_flash.icf │ │ │ │ └── stm32f107xc_sram.icf │ │ │ ├── startup_stm32f100xb.s │ │ │ ├── startup_stm32f100xe.s │ │ │ ├── startup_stm32f101x6.s │ │ │ ├── startup_stm32f101xb.s │ │ │ ├── startup_stm32f101xe.s │ │ │ ├── startup_stm32f101xg.s │ │ │ ├── startup_stm32f102x6.s │ │ │ ├── startup_stm32f102xb.s │ │ │ ├── startup_stm32f103x6.s │ │ │ ├── startup_stm32f103xb.s │ │ │ ├── startup_stm32f103xe.s │ │ │ ├── startup_stm32f103xg.s │ │ │ ├── startup_stm32f105xc.s │ │ │ └── startup_stm32f107xc.s │ │ │ └── system_stm32f1xx.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 │ ├── Lib │ │ ├── ARM │ │ │ ├── arm_cortexM3b_math.lib │ │ │ └── arm_cortexM3l_math.lib │ │ ├── GCC │ │ │ └── libarm_cortexM3l_math.a │ │ └── IAR │ │ │ ├── iar_cortexM3b_math.a │ │ │ └── iar_cortexM3l_math.a │ ├── NN │ │ ├── Examples │ │ │ └── ARM │ │ │ │ └── arm_nn_examples │ │ │ │ ├── cifar10 │ │ │ │ ├── RTE │ │ │ │ │ ├── Compiler │ │ │ │ │ │ └── EventRecorderConf.h │ │ │ │ │ ├── _ARMCM0 │ │ │ │ │ │ └── RTE_Components.h │ │ │ │ │ ├── _ARMCM3 │ │ │ │ │ │ └── RTE_Components.h │ │ │ │ │ ├── _ARMCM4_FP │ │ │ │ │ │ └── RTE_Components.h │ │ │ │ │ └── _ARMCM7_SP │ │ │ │ │ │ └── RTE_Components.h │ │ │ │ ├── arm_nnexamples_cifar10.cpp │ │ │ │ ├── arm_nnexamples_cifar10_inputs.h │ │ │ │ ├── arm_nnexamples_cifar10_parameter.h │ │ │ │ └── arm_nnexamples_cifar10_weights.h │ │ │ │ └── gru │ │ │ │ ├── RTE │ │ │ │ ├── Compiler │ │ │ │ │ └── EventRecorderConf.h │ │ │ │ ├── _ARMCM0 │ │ │ │ │ └── RTE_Components.h │ │ │ │ ├── _ARMCM3 │ │ │ │ │ └── RTE_Components.h │ │ │ │ ├── _ARMCM4_FP │ │ │ │ │ └── RTE_Components.h │ │ │ │ └── _ARMCM7_SP │ │ │ │ │ └── RTE_Components.h │ │ │ │ ├── arm_nnexamples_gru.cpp │ │ │ │ └── arm_nnexamples_gru_test_data.h │ │ ├── Include │ │ │ ├── arm_nn_tables.h │ │ │ ├── arm_nnfunctions.h │ │ │ └── arm_nnsupportfunctions.h │ │ ├── NN_Lib_Tests │ │ │ └── nn_test │ │ │ │ ├── RTE │ │ │ │ ├── _ARMCM0 │ │ │ │ │ └── RTE_Components.h │ │ │ │ ├── _ARMCM3 │ │ │ │ │ └── RTE_Components.h │ │ │ │ ├── _ARMCM4_FP │ │ │ │ │ └── RTE_Components.h │ │ │ │ └── _ARMCM7_SP │ │ │ │ │ └── RTE_Components.h │ │ │ │ ├── Ref_Implementations │ │ │ │ ├── arm_convolve_HWC_q15_ref.c │ │ │ │ ├── arm_convolve_HWC_q15_ref_nonsquare.c │ │ │ │ ├── arm_convolve_HWC_q7_ref.c │ │ │ │ ├── arm_convolve_HWC_q7_ref_nonsquare.c │ │ │ │ ├── arm_depthwise_separable_conv_HWC_q7_ref.c │ │ │ │ ├── arm_depthwise_separable_conv_HWC_q7_ref_nonsquare.c │ │ │ │ ├── arm_fully_connected_mat_q7_vec_q15_opt_ref.c │ │ │ │ ├── arm_fully_connected_mat_q7_vec_q15_ref.c │ │ │ │ ├── arm_fully_connected_q15_opt_ref.c │ │ │ │ ├── arm_fully_connected_q15_ref.c │ │ │ │ ├── arm_fully_connected_q7_opt_ref.c │ │ │ │ ├── arm_fully_connected_q7_ref.c │ │ │ │ ├── arm_nn_mult_ref.c │ │ │ │ ├── arm_pool_ref.c │ │ │ │ ├── arm_relu_ref.c │ │ │ │ ├── fully_connected_testing_weights.h │ │ │ │ └── ref_functions.h │ │ │ │ ├── arm_nnexamples_nn_test.cpp │ │ │ │ └── arm_nnexamples_nn_test.h │ │ └── Source │ │ │ ├── ActivationFunctions │ │ │ ├── arm_nn_activations_q15.c │ │ │ ├── arm_nn_activations_q7.c │ │ │ ├── arm_relu_q15.c │ │ │ └── arm_relu_q7.c │ │ │ ├── ConvolutionFunctions │ │ │ ├── arm_convolve_1x1_HWC_q7_fast_nonsquare.c │ │ │ ├── arm_convolve_HWC_q15_basic.c │ │ │ ├── arm_convolve_HWC_q15_fast.c │ │ │ ├── arm_convolve_HWC_q15_fast_nonsquare.c │ │ │ ├── arm_convolve_HWC_q7_RGB.c │ │ │ ├── arm_convolve_HWC_q7_basic.c │ │ │ ├── arm_convolve_HWC_q7_basic_nonsquare.c │ │ │ ├── arm_convolve_HWC_q7_fast.c │ │ │ ├── arm_convolve_HWC_q7_fast_nonsquare.c │ │ │ ├── arm_depthwise_separable_conv_HWC_q7.c │ │ │ ├── arm_depthwise_separable_conv_HWC_q7_nonsquare.c │ │ │ ├── arm_nn_mat_mult_kernel_q7_q15.c │ │ │ └── arm_nn_mat_mult_kernel_q7_q15_reordered.c │ │ │ ├── FullyConnectedFunctions │ │ │ ├── arm_fully_connected_mat_q7_vec_q15.c │ │ │ ├── arm_fully_connected_mat_q7_vec_q15_opt.c │ │ │ ├── arm_fully_connected_q15.c │ │ │ ├── arm_fully_connected_q15_opt.c │ │ │ ├── arm_fully_connected_q7.c │ │ │ └── arm_fully_connected_q7_opt.c │ │ │ ├── NNSupportFunctions │ │ │ ├── arm_nn_mult_q15.c │ │ │ ├── arm_nn_mult_q7.c │ │ │ ├── arm_nntables.c │ │ │ ├── arm_q7_to_q15_no_shift.c │ │ │ └── arm_q7_to_q15_reordered_no_shift.c │ │ │ ├── PoolingFunctions │ │ │ └── arm_pool_q7_HWC.c │ │ │ └── SoftmaxFunctions │ │ │ ├── arm_softmax_q15.c │ │ │ └── arm_softmax_q7.c │ ├── RTOS │ │ └── Template │ │ │ └── cmsis_os.h │ └── RTOS2 │ │ ├── Include │ │ ├── cmsis_os2.h │ │ └── os_tick.h │ │ ├── Source │ │ ├── os_systick.c │ │ ├── os_tick_gtim.c │ │ └── os_tick_ptim.c │ │ └── Template │ │ ├── cmsis_os.h │ │ └── cmsis_os1.c └── STM32F1xx_HAL_Driver │ ├── Inc │ ├── Legacy │ │ ├── stm32_hal_legacy.h │ │ ├── stm32f1xx_hal_can_ex_legacy.h │ │ └── stm32f1xx_hal_can_legacy.h │ ├── stm32_assert_template.h │ ├── stm32f1xx_hal.h │ ├── stm32f1xx_hal_adc.h │ ├── stm32f1xx_hal_adc_ex.h │ ├── stm32f1xx_hal_can.h │ ├── stm32f1xx_hal_cec.h │ ├── stm32f1xx_hal_conf_template.h │ ├── stm32f1xx_hal_cortex.h │ ├── stm32f1xx_hal_crc.h │ ├── stm32f1xx_hal_dac.h │ ├── stm32f1xx_hal_dac_ex.h │ ├── stm32f1xx_hal_def.h │ ├── stm32f1xx_hal_dma.h │ ├── stm32f1xx_hal_dma_ex.h │ ├── stm32f1xx_hal_eth.h │ ├── stm32f1xx_hal_exti.h │ ├── stm32f1xx_hal_flash.h │ ├── stm32f1xx_hal_flash_ex.h │ ├── stm32f1xx_hal_gpio.h │ ├── stm32f1xx_hal_gpio_ex.h │ ├── stm32f1xx_hal_hcd.h │ ├── stm32f1xx_hal_i2c.h │ ├── stm32f1xx_hal_i2s.h │ ├── stm32f1xx_hal_irda.h │ ├── stm32f1xx_hal_iwdg.h │ ├── stm32f1xx_hal_mmc.h │ ├── stm32f1xx_hal_nand.h │ ├── stm32f1xx_hal_nor.h │ ├── stm32f1xx_hal_pccard.h │ ├── stm32f1xx_hal_pcd.h │ ├── stm32f1xx_hal_pcd_ex.h │ ├── stm32f1xx_hal_pwr.h │ ├── stm32f1xx_hal_rcc.h │ ├── stm32f1xx_hal_rcc_ex.h │ ├── stm32f1xx_hal_rtc.h │ ├── stm32f1xx_hal_rtc_ex.h │ ├── stm32f1xx_hal_sd.h │ ├── stm32f1xx_hal_smartcard.h │ ├── stm32f1xx_hal_spi.h │ ├── stm32f1xx_hal_sram.h │ ├── stm32f1xx_hal_tim.h │ ├── stm32f1xx_hal_tim_ex.h │ ├── stm32f1xx_hal_uart.h │ ├── stm32f1xx_hal_usart.h │ ├── stm32f1xx_hal_wwdg.h │ ├── stm32f1xx_ll_adc.h │ ├── stm32f1xx_ll_bus.h │ ├── stm32f1xx_ll_cortex.h │ ├── stm32f1xx_ll_crc.h │ ├── stm32f1xx_ll_dac.h │ ├── stm32f1xx_ll_dma.h │ ├── stm32f1xx_ll_exti.h │ ├── stm32f1xx_ll_fsmc.h │ ├── stm32f1xx_ll_gpio.h │ ├── stm32f1xx_ll_i2c.h │ ├── stm32f1xx_ll_iwdg.h │ ├── stm32f1xx_ll_pwr.h │ ├── stm32f1xx_ll_rcc.h │ ├── stm32f1xx_ll_rtc.h │ ├── stm32f1xx_ll_sdmmc.h │ ├── stm32f1xx_ll_spi.h │ ├── stm32f1xx_ll_system.h │ ├── stm32f1xx_ll_tim.h │ ├── stm32f1xx_ll_usart.h │ ├── stm32f1xx_ll_usb.h │ ├── stm32f1xx_ll_utils.h │ └── stm32f1xx_ll_wwdg.h │ └── Src │ ├── stm32f1xx_hal.c │ ├── stm32f1xx_hal_adc.c │ ├── stm32f1xx_hal_adc_ex.c │ ├── stm32f1xx_hal_can.c │ ├── stm32f1xx_hal_cec.c │ ├── stm32f1xx_hal_cortex.c │ ├── stm32f1xx_hal_crc.c │ ├── stm32f1xx_hal_dac.c │ ├── stm32f1xx_hal_dac_ex.c │ ├── stm32f1xx_hal_dma.c │ ├── stm32f1xx_hal_eth.c │ ├── stm32f1xx_hal_exti.c │ ├── stm32f1xx_hal_flash.c │ ├── stm32f1xx_hal_flash_ex.c │ ├── stm32f1xx_hal_gpio.c │ ├── stm32f1xx_hal_gpio_ex.c │ ├── stm32f1xx_hal_hcd.c │ ├── stm32f1xx_hal_i2c.c │ ├── stm32f1xx_hal_i2s.c │ ├── stm32f1xx_hal_irda.c │ ├── stm32f1xx_hal_iwdg.c │ ├── stm32f1xx_hal_mmc.c │ ├── stm32f1xx_hal_msp_template.c │ ├── stm32f1xx_hal_nand.c │ ├── stm32f1xx_hal_nor.c │ ├── stm32f1xx_hal_pccard.c │ ├── stm32f1xx_hal_pcd.c │ ├── stm32f1xx_hal_pcd_ex.c │ ├── stm32f1xx_hal_pwr.c │ ├── stm32f1xx_hal_rcc.c │ ├── stm32f1xx_hal_rcc_ex.c │ ├── stm32f1xx_hal_rtc.c │ ├── stm32f1xx_hal_rtc_ex.c │ ├── stm32f1xx_hal_sd.c │ ├── stm32f1xx_hal_smartcard.c │ ├── stm32f1xx_hal_spi.c │ ├── stm32f1xx_hal_sram.c │ ├── stm32f1xx_hal_tim.c │ ├── stm32f1xx_hal_tim_ex.c │ ├── stm32f1xx_hal_timebase_rtc_alarm_template.c │ ├── stm32f1xx_hal_timebase_tim_template.c │ ├── stm32f1xx_hal_uart.c │ ├── stm32f1xx_hal_usart.c │ ├── stm32f1xx_hal_wwdg.c │ ├── stm32f1xx_ll_adc.c │ ├── stm32f1xx_ll_crc.c │ ├── stm32f1xx_ll_dac.c │ ├── stm32f1xx_ll_dma.c │ ├── stm32f1xx_ll_exti.c │ ├── stm32f1xx_ll_fsmc.c │ ├── stm32f1xx_ll_gpio.c │ ├── stm32f1xx_ll_i2c.c │ ├── stm32f1xx_ll_pwr.c │ ├── stm32f1xx_ll_rcc.c │ ├── stm32f1xx_ll_rtc.c │ ├── stm32f1xx_ll_sdmmc.c │ ├── stm32f1xx_ll_spi.c │ ├── stm32f1xx_ll_tim.c │ ├── stm32f1xx_ll_usart.c │ ├── stm32f1xx_ll_usb.c │ └── stm32f1xx_ll_utils.c ├── Inc ├── can.h ├── gpio.h ├── main.h ├── stm32f1xx_hal_conf.h ├── stm32f1xx_it.h └── tim.h ├── MDK-ARM ├── C6T6SimpleFoc.uvoptx ├── C6T6SimpleFoc.uvprojx ├── DebugConfig │ └── C6T6SimpleFoc_STM32F103C6_1.0.0.dbgconf ├── RTE │ └── RTE_Components.h ├── startup_stm32f103x6.lst └── startup_stm32f103x6.s ├── Src ├── can.c ├── gpio.c ├── main.c ├── stm32f1xx_hal_msp.c ├── stm32f1xx_it.c ├── system_stm32f1xx.c └── tim.c └── USER ├── BLDCMotor.c ├── BLDCMotor.h ├── FOCMotor.c ├── FOCMotor.h ├── FlashStorage.c ├── FlashStorage.h ├── MagneticSensor.c ├── MagneticSensor.h ├── foc_utils.c └── foc_utils.h /LICENSE: -------------------------------------------------------------------------------- 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