├── .github └── workflows │ ├── build.yml │ ├── cunit.yml │ └── kicad.yml ├── .gitignore ├── LICENSE ├── README.md ├── README_CN.md ├── circuit ├── bldc_driver │ ├── .gitignore │ ├── BLDC_Driver.pretty │ │ ├── AMASS_XT30U-M_1x02_P5.0mm_Vertical.kicad_mod │ │ ├── C_0603_1608Metric.kicad_mod │ │ ├── C_1206_3216Metric.kicad_mod │ │ ├── Crystal_SMD_3225-4Pin_3.2x2.5mm.kicad_mod │ │ ├── JST_GH_BM06B-GHS-TBT_1x06-1MP_P1.25mm_Vertical.kicad_mod │ │ ├── JST_GH_SM03B-GHS-TB_1x03-1MP_P1.25mm_Horizontal.kicad_mod │ │ ├── LED_0603_1608Metric.kicad_mod │ │ ├── L_6.3x6.3_H3.kicad_mod │ │ ├── MR30_Vertical.kicad_mod │ │ ├── PinSocket_1x04_P2.54mm_Vertical.kicad_mod │ │ ├── QFN-48-1EP_6x6mm_P0.4mm_EP4.2x4.2mm.kicad_mod │ │ ├── R_0603_1608Metric.kicad_mod │ │ ├── R_1206_3216Metric.kicad_mod │ │ ├── SOT-23-6.kicad_mod │ │ ├── SOT-23.kicad_mod │ │ ├── SOT-353_SC-70-5.kicad_mod │ │ └── TDSON-8-1.kicad_mod │ ├── Driver.kicad_sch │ ├── Library.kicad_sym │ ├── connector.kicad_sch │ ├── controller.kicad_sch │ ├── default.kicad_wks │ ├── fp-lib-table │ ├── power.kicad_sch │ ├── project.kicad_pcb │ ├── project.kicad_pro │ ├── project.kicad_sch │ └── sym-lib-table ├── control_board │ ├── .gitignore │ ├── Compass&Storage.kicad_sch │ ├── ControlBoard.pretty │ │ ├── BAT_CR1220.kicad_mod │ │ ├── C_0603_1608Metric.kicad_mod │ │ ├── Cap_SinkBoard.kicad_mod │ │ ├── Crystal_SMD_3225-4Pin_3.2x2.5mm.kicad_mod │ │ ├── Gernic_Debugger.kicad_mod │ │ ├── InvenSense_QFN-24_4x4mm_P0.5mm.kicad_mod │ │ ├── JST_PH_S8B-PH-K_1x08_P2.00mm_Horizontal.kicad_mod │ │ ├── LED_0603_1608Metric.kicad_mod │ │ ├── LGA-16-3.35mm_3.53mm.kicad_mod │ │ ├── LGA-8060_8.kicad_mod │ │ ├── LOGO.kicad_mod │ │ ├── LQFP-144_20x20mm_P0.5mm.kicad_mod │ │ ├── LQFP-64_10x10mm_P0.5mm.kicad_mod │ │ ├── L_0603_1608Metric.kicad_mod │ │ ├── PN13101.kicad_mod │ │ ├── PN13104.kicad_mod │ │ ├── QFN-28-1EP_4x4mm_P0.4mm_EP2.4x2.4mm.kicad_mod │ │ ├── R_0603_1608Metric.kicad_mod │ │ ├── SMA_Molex_73251-2200_Horizontal.kicad_mod │ │ ├── SOIC-8_5.23x5.23mm_P1.27mm.kicad_mod │ │ ├── SOP-8_3.9x4.9mm_P1.27mm.kicad_mod │ │ ├── SOT-23-5.kicad_mod │ │ ├── SSOP-20_5.3x7.2mm_P0.65mm.kicad_mod │ │ ├── SWD_Connector.kicad_mod │ │ ├── SW_DIP_SPSTx02_Slide_Copal_CHS-02B_W7.62mm_P1.27mm.kicad_mod │ │ ├── TFT-LCD1.8inch.kicad_mod │ │ ├── TSSOP-16_4.4x5mm_P0.65mm.kicad_mod │ │ ├── USB_C_Receptacle_HRO_TYPE-C-31-M-12.kicad_mod │ │ └── ublox_NEO.kicad_mod │ ├── ControlMCU.kicad_sch │ ├── Coprocessor.kicad_sch │ ├── Debugger.kicad_sch │ ├── Flash&USB.kicad_sch │ ├── IMU.kicad_sch │ ├── Integrated-circuit_storage.kicad_sym │ ├── LCD&GPS.kicad_sch │ ├── MM32_Periph.kicad_sym │ ├── Power.kicad_sch │ ├── ProcessMCU.kicad_sch │ ├── default.kicad_wks │ ├── fp-lib-table │ ├── project.kicad_pcb │ ├── project.kicad_pro │ ├── project.kicad_sch │ ├── project.round-tracks-config │ └── sym-lib-table ├── geomagnetometer │ ├── .gitignore │ ├── default.kicad_wks │ ├── fp-lib-table │ ├── geomagnetometer.kicad_pcb │ ├── geomagnetometer.kicad_pro │ ├── geomagnetometer.kicad_sch │ └── sym-lib-table ├── power_board │ ├── .gitignore │ ├── Connector.kicad_sch │ ├── Controller.kicad_sch │ ├── Power.kicad_sch │ ├── PowerLibrary.pretty │ │ ├── AMASS_XT30UPB-F_1x02_P5.0mm_Vertical.kicad_mod │ │ ├── AMASS_XT60-M_1x02_P7.20mm_Vertical.kicad_mod │ │ ├── CP_Radial_D6.3mm_P2.50mm.kicad_mod │ │ ├── C_0603_1608Metric_Pad1.08x0.95mm_HandSolder.kicad_mod │ │ ├── C_1206_3216Metric_Pad1.33x1.80mm_HandSolder.kicad_mod │ │ ├── C_1210_3225Metric_Pad1.33x2.70mm_HandSolder.kicad_mod │ │ ├── D_SMB.kicad_mod │ │ ├── D_SMC.kicad_mod │ │ ├── D_SOD-323_HandSoldering.kicad_mod │ │ ├── Fuse_2512_6332Metric.kicad_mod │ │ ├── IND-SMD_L4.6-W4.2_SMMS0420.kicad_mod │ │ ├── JST_GH_SM03B-GHS-TB_1x03-1MP_P1.25mm_Horizontal.kicad_mod │ │ ├── JST_GH_SM08B-GHS-TB_1x08-1MP_P1.25mm_Horizontal.kicad_mod │ │ ├── LED_0603_1608Metric.kicad_mod │ │ ├── LQFP-64_10x10mm_P0.5mm.kicad_mod │ │ ├── L_10.4x10.4_H4.8.kicad_mod │ │ ├── PRPAK-8_L3.0-W3.0-P0.65-BL-EP.kicad_mod │ │ ├── PinHeader_1x07_P2.54mm_Vertical.kicad_mod │ │ ├── PinHeader_2x05_P2.54mm_Vertical.kicad_mod │ │ ├── PinSocket_1x01_P2.54mm_Vertical.kicad_mod │ │ ├── PinSocket_1x03_P2.54mm_Vertical.kicad_mod │ │ ├── R_0603_1608Metric_Pad0.98x0.95mm_HandSolder.kicad_mod │ │ ├── R_0805_2012Metric_Pad1.20x1.40mm_HandSolder.kicad_mod │ │ ├── R_1206_3216Metric.kicad_mod │ │ ├── R_2512_6332Metric.kicad_mod │ │ ├── SOIC-8-1EP_3.9x4.9mm_P1.27mm_EP2.29x3mm.kicad_mod │ │ ├── SOT-23-5.kicad_mod │ │ ├── SOT-23-6.kicad_mod │ │ ├── SOT-23.kicad_mod │ │ ├── SW_SPST_CK_RS282G05A3.kicad_mod │ │ ├── TO-252-2.kicad_mod │ │ ├── TSOT-23-6.kicad_mod │ │ └── TSOT-23-8.kicad_mod │ ├── default.kicad_wks │ ├── fp-lib-table │ ├── power_board.kicad_pcb │ ├── power_board.kicad_pro │ ├── power_board.kicad_sch │ └── sym-lib-table ├── uart_tt_mcu │ ├── .gitignore │ ├── TTLibrary.kicad_sym │ ├── TTLibrary.pretty │ │ ├── C_0603_1608Metric.kicad_mod │ │ ├── E220-900T22S.kicad_mod │ │ ├── PinHeader_2x03_P2.54mm_Vertical.kicad_mod │ │ ├── PinHeader_2x04_P1.27mm_Vertical_SMD.kicad_mod │ │ ├── R_0603_1608Metric.kicad_mod │ │ ├── SOIC-8_3.9x4.9mm_P1.27mm.kicad_mod │ │ ├── SOT-23-5.kicad_mod │ │ ├── SOT-23-6.kicad_mod │ │ └── USB_C_Receptacle_HRO_TYPE-C-31-M-12.kicad_mod │ ├── default.kicad_wks │ ├── fp-lib-table │ ├── project.kicad_pcb │ ├── project.kicad_pro │ ├── project.kicad_sch │ └── sym-lib-table ├── uart_tt_pc │ ├── .gitignore │ ├── TTLibrary.kicad_sym │ ├── TTLibrary.pretty │ │ ├── C_0603_1608Metric.kicad_mod │ │ ├── E220-900T22S.kicad_mod │ │ ├── PinHeader_2x03_P2.54mm_Vertical.kicad_mod │ │ ├── R_0603_1608Metric.kicad_mod │ │ ├── SOIC-8_3.9x4.9mm_P1.27mm.kicad_mod │ │ ├── SOT-23-5.kicad_mod │ │ ├── SOT-23-6.kicad_mod │ │ └── USB_C_Receptacle_HRO_TYPE-C-31-M-12.kicad_mod │ ├── default.kicad_wks │ ├── fp-lib-table │ ├── project.kicad_pcb │ ├── project.kicad_pro │ ├── project.kicad_sch │ └── sym-lib-table └── wireless_debugger │ ├── .gitignore │ ├── ESP8266.kicad_pcb │ ├── ESP8266.kicad_pro │ ├── ESP8266.kicad_sch │ ├── ESP8266.kicad_sym │ ├── ESP8266.pretty │ ├── C_0603_1608Metric.kicad_mod │ ├── Crystal_SMD_3225-4Pin_3.2x2.5mm.kicad_mod │ ├── ESP8266.kicad_mod │ ├── IPEX 1G.kicad_mod │ ├── LED_0603_1608Metric.kicad_mod │ ├── L_0603_1608Metric.kicad_mod │ ├── PinHeader_2x04_P1.27mm_Vertical_SMD.kicad_mod │ ├── R_0603_1608Metric.kicad_mod │ ├── SOIC-8_3.9x4.9mm_P1.27mm.kicad_mod │ ├── SOIC-8_5.23x5.23mm_P1.27mm.kicad_mod │ ├── SOT-23-5.kicad_mod │ ├── SW_Push_SPST_NO_Alps_SKRK.kicad_mod │ └── USB_C_Receptacle_HRO_TYPE-C-31-M-12.kicad_mod │ ├── default.kicad_wks │ ├── fp-lib-table │ └── sym-lib-table ├── docs ├── _config.yml ├── circuit │ ├── bldc_driver_ibom.html │ ├── control_board_ibom.html │ ├── geomagnetometer_ibom.html │ ├── uart_tt_mcu_ibom.html │ ├── uart_tt_pc_ibom.html │ └── wireless_debugger_ibom.html ├── images │ └── Acme_LOGO.png ├── index.md ├── unit_test │ ├── CUnit-List.dtd │ ├── CUnit-List.xsl │ ├── CUnit-Run.dtd │ ├── CUnit-Run.xsl │ ├── Report-Listing.xml │ └── Report-Results.xml └── update │ └── updates.json ├── mechanical ├── baterry_mount.STL ├── car_shell.stl ├── controlboard_mount.STL └── magnometer_mount.STL ├── program ├── .gitignore ├── .idea │ ├── .gitignore │ ├── .name │ ├── codeStyles │ │ ├── Project.xml │ │ └── codeStyleConfig.xml │ ├── inspectionProfiles │ │ └── Project_Default.xml │ ├── main_program.iml │ ├── misc.xml │ ├── modules.xml │ ├── runConfigurations │ │ └── .gitignore │ ├── saveactions_settings.xml │ └── vcs.xml ├── CMakeLists.txt ├── Doxygen.cfg ├── MM32F3277.svd ├── board_daplink.cfg ├── board_stlink.cfg ├── ctrl_mcu │ ├── config.h │ ├── main.c │ ├── main.h │ ├── mm32f3x_it.c │ ├── mm32f3x_it.h │ └── pin.h ├── debug │ ├── cm_backtrace.c │ ├── cm_backtrace.h │ ├── cmb_cfg.h │ ├── cmb_def.h │ ├── cmb_fault.s │ ├── debugger.c │ └── debugger.h ├── device │ ├── at24c02.c │ ├── at24c02.h │ ├── gps.c │ ├── gps.h │ ├── sensor_decode.c │ ├── sensor_decode.h │ ├── tfcard.c │ ├── tfcard.h │ ├── tft_lcd.c │ ├── tft_lcd.h │ ├── xpt2046.c │ └── xpt2046.h ├── fatfs │ ├── diskio.c │ ├── diskio.h │ ├── ff.c │ ├── ff.h │ ├── ffconf.h │ ├── ffsystem.c │ ├── ffunicode.c │ ├── fstest.c │ └── fstest.h ├── form │ ├── calibrate_form │ │ ├── calibrate_form.c │ │ ├── calibrate_form.h │ │ ├── calibrate_mag_form.c │ │ ├── calibrate_mag_form.h │ │ ├── calibrate_touch_form.c │ │ └── calibrate_touch_form.h │ ├── fusion_form │ │ ├── fusion_form.c │ │ └── fusion_form.h │ ├── main_form.c │ ├── main_form.h │ └── origin_form │ │ ├── orgin_gnss_form.c │ │ ├── orgin_gnss_form.h │ │ ├── orgin_sensor_form.c │ │ ├── orgin_sensor_form.h │ │ ├── orign_form.c │ │ └── orign_form.h ├── freertos │ ├── FreeRTOS.h │ ├── StackMacros.h │ ├── atomic.h │ ├── deprecated_definitions.h │ ├── event_groups.c │ ├── event_groups.h │ ├── heap_4.c │ ├── list.c │ ├── list.h │ ├── message_buffer.h │ ├── mpu_prototypes.h │ ├── mpu_wrappers.h │ ├── port.c │ ├── portable.h │ ├── portmacro.h │ ├── projdefs.h │ ├── queue.c │ ├── queue.h │ ├── semphr.h │ ├── stack_macros.h │ ├── stream_buffer.c │ ├── stream_buffer.h │ ├── task.h │ ├── tasks.c │ ├── timers.c │ └── timers.h ├── gitversion.cmake ├── gui │ ├── color.h │ ├── font.h │ ├── gui_base.c │ ├── gui_base.h │ ├── gui_button.c │ ├── gui_button.h │ ├── gui_form.c │ ├── gui_form.h │ ├── gui_label.c │ └── gui_label.h ├── hardware │ ├── dma.c │ ├── dma.h │ ├── gpio.c │ ├── gpio.h │ ├── iic.c │ ├── iic.h │ ├── led.c │ ├── led.h │ ├── spi.c │ ├── spi.h │ ├── timer.c │ ├── timer.h │ ├── uart.c │ └── uart.h ├── library │ ├── include │ │ ├── dtype.h │ │ ├── hal_adc.h │ │ ├── hal_bkp.h │ │ ├── hal_can.h │ │ ├── hal_comp.h │ │ ├── hal_conf.h │ │ ├── hal_crc.h │ │ ├── hal_crs.h │ │ ├── hal_dac.h │ │ ├── hal_dbg.h │ │ ├── hal_device.h │ │ ├── hal_dma.h │ │ ├── hal_eth.h │ │ ├── hal_eth_conf.h │ │ ├── hal_exti.h │ │ ├── hal_flash.h │ │ ├── hal_fsmc.h │ │ ├── hal_gpio.h │ │ ├── hal_i2c.h │ │ ├── hal_iwdg.h │ │ ├── hal_misc.h │ │ ├── hal_pwr.h │ │ ├── hal_rcc.h │ │ ├── hal_redefine.h │ │ ├── hal_rtc.h │ │ ├── hal_sdio.h │ │ ├── hal_spi.h │ │ ├── hal_syscfg.h │ │ ├── hal_tim.h │ │ ├── hal_uart.h │ │ ├── hal_uid.h │ │ ├── hal_ver.h │ │ └── hal_wwdg.h │ ├── regs │ │ ├── mm32_device.h │ │ ├── mm32_reg.h │ │ ├── mm32_reg_redefine_v1.h │ │ ├── reg_adc.h │ │ ├── reg_bkp.h │ │ ├── reg_can.h │ │ ├── reg_common.h │ │ ├── reg_comp.h │ │ ├── reg_crc.h │ │ ├── reg_crs.h │ │ ├── reg_dac.h │ │ ├── reg_dbg.h │ │ ├── reg_dma.h │ │ ├── reg_eth.h │ │ ├── reg_exti.h │ │ ├── reg_flash.h │ │ ├── reg_fsmc.h │ │ ├── reg_gpio.h │ │ ├── reg_i2c.h │ │ ├── reg_iwdg.h │ │ ├── reg_pwm.h │ │ ├── reg_pwr.h │ │ ├── reg_rcc.h │ │ ├── reg_root.h │ │ ├── reg_rtc.h │ │ ├── reg_sdio.h │ │ ├── reg_spi.h │ │ ├── reg_syscfg.h │ │ ├── reg_tim.h │ │ ├── reg_uart.h │ │ ├── reg_usb.h │ │ ├── reg_usb_otg_fs.h │ │ ├── reg_wwdg.h │ │ └── types.h │ └── source │ │ ├── hal_adc.c │ │ ├── hal_bkp.c │ │ ├── hal_can.c │ │ ├── hal_comp.c │ │ ├── hal_crc.c │ │ ├── hal_crs.c │ │ ├── hal_dac.c │ │ ├── hal_dbg.c │ │ ├── hal_dma.c │ │ ├── hal_eth.c │ │ ├── hal_exti.c │ │ ├── hal_flash.c │ │ ├── hal_fsmc.c │ │ ├── hal_gpio.c │ │ ├── hal_i2c.c │ │ ├── hal_iwdg.c │ │ ├── hal_misc.c │ │ ├── hal_pwr.c │ │ ├── hal_rcc.c │ │ ├── hal_rtc.c │ │ ├── hal_sdio.c │ │ ├── hal_spi.c │ │ ├── hal_tim.c │ │ ├── hal_uart.c │ │ ├── hal_uid.c │ │ ├── hal_ver.c │ │ └── hal_wwdg.c ├── math │ ├── const_table.h │ ├── data_conversion.c │ ├── data_conversion.h │ ├── fast_math.c │ ├── fast_math.h │ ├── filter.c │ ├── filter.h │ ├── kalman.c │ ├── kalman.h │ ├── mag_calibrate.c │ ├── mag_calibrate.h │ ├── path.c │ ├── path.h │ ├── qfplib.h │ ├── qfplib.s │ ├── riccati_solver.c │ ├── riccati_solver.h │ ├── sort.c │ ├── sort.h │ ├── verification.c │ └── verification.h ├── mm32f3277.ld ├── proc_mcu │ ├── FreeRTOSConfig.h │ ├── config.h │ ├── main.c │ ├── main.h │ ├── mm32f3x_it.c │ ├── mm32f3x_it.h │ └── pin.h ├── protocol │ ├── gps_parser.c │ ├── gps_parser.h │ ├── mdtp_pack.c │ ├── mdtp_pack.h │ ├── mdtp_unpack.c │ ├── mdtp_unpack.h │ ├── sdtp_pack.c │ ├── sdtp_pack.h │ ├── sdtp_unpack.c │ └── sdtp_unpack.h └── system │ ├── .gitignore │ ├── cmsis │ ├── arm_common_tables.h │ ├── arm_const_structs.h │ ├── arm_math.h │ ├── cmsis_armcc.h │ ├── cmsis_armclang.h │ ├── cmsis_compiler.h │ ├── cmsis_gcc.h │ ├── core_armv8mbl.h │ ├── core_armv8mml.h │ ├── core_cm0.h │ ├── core_cm0plus.h │ ├── core_cm23.h │ ├── core_cm3.h │ ├── core_cm33.h │ ├── core_cm4.h │ ├── core_cm7.h │ ├── core_sc000.h │ ├── core_sc300.h │ └── tz_context.h │ ├── delay.c │ ├── delay.h │ ├── official │ ├── startup_mm32f327.s │ ├── system.c │ ├── system.h │ └── system_mm32f327x.c │ ├── printf.c │ └── printf.h ├── scripts ├── filter_designer.py ├── getpip.py ├── lqr_control.py ├── requirements.txt ├── system_analyse.py └── trajectory.txt ├── testbench ├── .gitignore ├── .idea │ ├── .gitignore │ ├── codeStyles │ │ ├── Project.xml │ │ └── codeStyleConfig.xml │ ├── dictionaries │ │ └── Lao_Zhu.xml │ ├── misc.xml │ ├── modules.xml │ ├── saveactions_settings.xml │ ├── testbench.iml │ └── vcs.xml ├── CMakeLists.txt ├── gui │ ├── mainform.c │ ├── mainform.h │ ├── simulate.c │ ├── simulate.h │ ├── simulate_line.c │ └── simulate_line.h ├── magfile.txt ├── main.c ├── main.h ├── script │ ├── mdtp_test.c │ ├── mdtp_test.h │ ├── operations_test.c │ ├── operations_test.h │ ├── sensor_decode_test.c │ ├── sensor_decode_test.h │ ├── solver_test.c │ ├── solver_test.h │ ├── sort_test.c │ ├── sort_test.h │ ├── test_data.c │ ├── test_data.h │ ├── verification_test.c │ └── verification_test.h └── unit_test.c └── tools ├── .gitignore ├── CMakeLists.txt ├── CMakeLists.txt.user ├── app_win32.rc ├── form ├── compass.cpp ├── compass.h ├── compass.ui ├── customplot.cpp ├── main.cpp ├── mainwindow.cpp ├── mainwindow.h ├── mainwindow.ui ├── qcustomplot.cpp ├── qcustomplot.h └── serial.cpp ├── icon.ico ├── pack ├── .gitignore └── configuration.iss ├── protocol ├── decrypt.cpp ├── encrypt.cpp ├── joy_thread.cpp ├── joy_thread.h ├── joystick.cpp └── joystick.h ├── updater.exe └── updater ├── Downloader.cpp ├── Downloader.h ├── Downloader.ui ├── QSimpleUpdater.cpp ├── QSimpleUpdater.h ├── Updater.cpp ├── Updater.h ├── qsimpleupdater.qrc └── update.png /.github/workflows/build.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZhuYanzhen1/MM32_CLion/HEAD/.github/workflows/build.yml -------------------------------------------------------------------------------- /.github/workflows/cunit.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZhuYanzhen1/MM32_CLion/HEAD/.github/workflows/cunit.yml -------------------------------------------------------------------------------- /.github/workflows/kicad.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZhuYanzhen1/MM32_CLion/HEAD/.github/workflows/kicad.yml 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