├── .vscode ├── launch.json └── tasks.json ├── Board └── v3 │ ├── Inc │ ├── FreeRTOSConfig.h │ ├── adc.h │ ├── board.h │ ├── can.h │ ├── dma.h │ ├── gpio.h │ ├── i2c.h │ ├── main.h │ ├── mxconstants.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 │ ├── Odrive.ioc │ ├── STM32F405RGTx_FLASH.ld │ ├── STM32F40x.svd │ ├── Src │ ├── adc.c │ ├── can.c │ ├── dma.c │ ├── freertos.c │ ├── gpio.c │ ├── i2c.c │ ├── main.c │ ├── spi.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_hal_timebase_TIM.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ ├── tim.c │ ├── usart.c │ ├── usb_device.c │ ├── usbd_cdc_if.c │ ├── usbd_conf.c │ └── usbd_desc.c │ ├── board.cpp │ └── startup_stm32f405xx.s ├── Display ├── oled.cpp ├── oled.hpp └── oledfont.hpp ├── Drivers ├── DRV8301 │ ├── drv8301.cpp │ └── drv8301.hpp ├── STM32 │ ├── stm32_gpio.cpp │ ├── stm32_gpio.hpp │ ├── stm32_nvm.c │ ├── stm32_nvm.h │ ├── stm32_spi_arbiter.cpp │ ├── stm32_spi_arbiter.hpp │ ├── stm32_system.cpp │ ├── stm32_system.h │ └── stm32_timer.hpp └── gate_driver.hpp ├── FreeRTOS-openocd.c ├── Makefile ├── MotorControl ├── acim_estimator.cpp ├── acim_estimator.hpp ├── arm_cos_f32.c ├── arm_sin_f32.c ├── axis.cpp ├── axis.hpp ├── component.hpp ├── controller.cpp ├── controller.hpp ├── current_limiter.hpp ├── encoder.cpp ├── encoder.hpp ├── endstop.cpp ├── endstop.hpp ├── example.json ├── foc.cpp ├── foc.hpp ├── low_level.cpp ├── low_level.h ├── main.cpp ├── mechanical_brake.cpp ├── mechanical_brake.hpp ├── motor.cpp ├── motor.hpp ├── nvm_config.hpp ├── odrive_main.h ├── open_loop_controller.cpp ├── open_loop_controller.hpp ├── oscilloscope.cpp ├── oscilloscope.hpp ├── phase_control_law.hpp ├── pwm_input.cpp ├── pwm_input.hpp ├── sensorless_estimator.cpp ├── sensorless_estimator.hpp ├── task_timer.hpp ├── thermistor.cpp ├── thermistor.hpp ├── timer.hpp ├── trapTraj.cpp ├── trapTraj.hpp ├── utils.cpp └── utils.hpp ├── ThirdParty ├── CMSIS │ ├── Device │ │ └── ST │ │ │ └── STM32F4xx │ │ │ └── Include │ │ │ ├── stm32f405xx.h │ │ │ ├── stm32f4xx.h │ │ │ └── system_stm32f4xx.h │ ├── Include │ │ ├── arm_common_tables.h │ │ ├── arm_const_structs.h │ │ ├── arm_math.h │ │ ├── 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 │ │ └── GCC │ │ └── libarm_cortexM4lf_math.a ├── 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 │ │ ├── GCC │ │ │ ├── ARM_CM4F │ │ │ │ ├── port.c │ │ │ │ └── portmacro.h │ │ │ └── ARM_CM7 │ │ │ │ └── r0p1 │ │ │ │ ├── port.c │ │ │ │ └── portmacro.h │ │ └── MemMang │ │ │ └── heap_4.c │ │ ├── queue.c │ │ ├── stream_buffer.c │ │ ├── tasks.c │ │ └── timers.c ├── 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_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.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_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_dma.c │ │ ├── stm32f4xx_hal_dma_ex.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_spi.c │ │ ├── stm32f4xx_hal_tim.c │ │ ├── stm32f4xx_hal_tim_ex.c │ │ ├── stm32f4xx_hal_uart.c │ │ └── stm32f4xx_ll_usb.c └── 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 ├── autogen ├── endpoints.hpp ├── function_stubs.hpp ├── interfaces.hpp ├── type_info.hpp └── version.c ├── communication ├── ascii_protocol.cpp ├── ascii_protocol.hpp ├── can │ ├── can_helpers.hpp │ ├── can_simple.cpp │ ├── can_simple.hpp │ ├── canbus.hpp │ ├── odrive_can.cpp │ └── odrive_can.hpp ├── communication.cpp ├── communication.h ├── interface_can.hpp ├── interface_i2c.cpp ├── interface_i2c.h ├── interface_uart.cpp ├── interface_uart.h ├── interface_usb.cpp └── interface_usb.h ├── fibre-cpp ├── channel_discoverer.cpp ├── crc.hpp ├── endpoints_template.j2 ├── fibre.cpp ├── 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