├── .gitignore ├── CORE ├── core_cm4.h ├── core_cm4_simd.h ├── core_cmFunc.h ├── core_cmInstr.h └── startup_stm32f40_41xxx.s ├── DSP_LIB ├── Include │ ├── arm_common_tables.h │ ├── arm_const_structs.h │ ├── arm_math.h │ ├── core_cm0.h │ ├── core_cm0plus.h │ ├── core_cm3.h │ ├── core_cm4.h │ ├── core_cm4_simd.h │ ├── core_cmFunc.h │ ├── core_cmInstr.h │ ├── core_sc000.h │ └── core_sc300.h └── arm_cortexM4lf_math.lib ├── FWLIB ├── inc │ ├── misc.h │ ├── stm32f4xx_adc.h │ ├── stm32f4xx_can.h │ ├── stm32f4xx_crc.h │ ├── stm32f4xx_cryp.h │ ├── stm32f4xx_dac.h │ ├── stm32f4xx_dbgmcu.h │ ├── stm32f4xx_dcmi.h │ ├── stm32f4xx_dma.h │ ├── stm32f4xx_dma2d.h │ ├── stm32f4xx_exti.h │ ├── stm32f4xx_flash.h │ ├── stm32f4xx_flash_ramfunc.h │ ├── stm32f4xx_fmc.h │ ├── stm32f4xx_fsmc.h │ ├── stm32f4xx_gpio.h │ ├── stm32f4xx_hash.h │ ├── stm32f4xx_i2c.h │ ├── stm32f4xx_iwdg.h │ ├── stm32f4xx_ltdc.h │ ├── stm32f4xx_pwr.h │ ├── stm32f4xx_rcc.h │ ├── stm32f4xx_rng.h │ ├── stm32f4xx_rtc.h │ ├── stm32f4xx_sai.h │ ├── stm32f4xx_sdio.h │ ├── stm32f4xx_spi.h │ ├── stm32f4xx_syscfg.h │ ├── stm32f4xx_tim.h │ ├── stm32f4xx_usart.h │ └── stm32f4xx_wwdg.h └── src │ ├── misc.c │ ├── stm32f4xx_adc.c │ ├── stm32f4xx_can.c │ ├── stm32f4xx_crc.c │ ├── stm32f4xx_cryp.c │ ├── stm32f4xx_cryp_aes.c │ ├── stm32f4xx_cryp_des.c │ ├── stm32f4xx_cryp_tdes.c │ ├── stm32f4xx_dac.c │ ├── stm32f4xx_dbgmcu.c │ ├── stm32f4xx_dcmi.c │ ├── stm32f4xx_dma.c │ ├── stm32f4xx_dma2d.c │ ├── stm32f4xx_exti.c │ ├── stm32f4xx_flash.c │ ├── stm32f4xx_flash_ramfunc.c │ ├── stm32f4xx_fmc.c │ ├── stm32f4xx_fsmc.c │ ├── stm32f4xx_gpio.c │ ├── stm32f4xx_hash.c │ ├── stm32f4xx_hash_md5.c │ ├── stm32f4xx_hash_sha1.c │ ├── stm32f4xx_i2c.c │ ├── stm32f4xx_iwdg.c │ ├── stm32f4xx_ltdc.c │ ├── stm32f4xx_pwr.c │ ├── stm32f4xx_rcc.c │ ├── stm32f4xx_rng.c │ ├── stm32f4xx_rtc.c │ ├── stm32f4xx_sai.c │ ├── stm32f4xx_sdio.c │ ├── stm32f4xx_spi.c │ ├── stm32f4xx_syscfg.c │ ├── stm32f4xx_tim.c │ ├── stm32f4xx_usart.c │ └── stm32f4xx_wwdg.c ├── HARDWARE ├── AVOID │ ├── F407_FC.lib │ ├── F407_FC_6.lib │ ├── F407_FC_8.lib │ ├── OLDX_AVOID.lib │ ├── OLD_X_AVOID.h │ └── OLD_X_AVOID_types.h ├── BACK_UP │ ├── avoid.c │ ├── avoid.h │ ├── baro_ukf_oldx.h │ ├── baro_ukf_oldx.lib │ ├── baro_ukf_oldx_bias.h │ ├── baro_ukf_oldx_bias.lib │ ├── baro_ukf_oldx_bias_types.h │ ├── baro_ukf_oldx_types.h │ ├── filter.h │ ├── fliter.c │ ├── height_ctrl2.c │ ├── hml5833l.c │ ├── hml5833l.h │ ├── iic1.c │ ├── iic1.h │ ├── imu.c │ ├── imu.h │ ├── ms5611.h │ ├── pid.c │ ├── pid.h │ ├── rc.c │ └── rc.h ├── CONTROL │ ├── att.h │ ├── att_control.c │ ├── eso.c │ ├── eso.h │ ├── h_inf.c │ ├── h_inf.h │ ├── height_ctrl.c │ ├── height_ctrl.h │ ├── neuron_pid.c │ ├── neuron_pid.h │ ├── sonar_avoid.c │ ├── sonar_avoid.h │ ├── visual_contol.c │ └── visual_contol.h ├── DRIVER │ ├── dma.c │ ├── dma.h │ ├── flash.c │ ├── flash.h │ ├── iic.c │ ├── iic.h │ ├── iic1.c │ ├── iic1.h │ ├── pwm_out.c │ ├── pwm_out.h │ ├── rc_mine.c │ ├── rc_mine.h │ ├── time.c │ ├── time.h │ ├── usart_fc.c │ └── usart_fc.h ├── EKF_BARO │ ├── baro_ekf_oldx.h │ └── baro_ekf_oldx.lib ├── FUSHION │ ├── alt_kf.c │ ├── alt_kf.h │ ├── imu1.c │ ├── imu1.h │ ├── kf_oldx_yaw.h │ ├── kf_oldx_yaw.lib │ └── kf_oldx_yaw_types.h ├── KSW2_ert_rtw │ ├── KSW2.bat │ ├── KSW2.c │ ├── KSW2.h │ ├── KSW2.mk │ ├── KSW2_data.c │ ├── KSW2_private.h │ ├── KSW2_ref.rsp │ ├── KSW2_types.h │ ├── buildInfo.mat │ ├── codeInfo.mat │ ├── defines.txt │ ├── ert_main.c │ ├── modelsources.txt │ ├── rtw_proj.tmw │ ├── rtwtypes.h │ └── rtwtypeschksum.mat ├── MATH │ ├── Double.h │ ├── FastMath.c │ ├── FastMath.h │ ├── Matrix.c │ ├── Matrix.h │ ├── Quaternion.c │ ├── Quaternion.h │ ├── arm_math_m.h │ ├── math.h │ ├── miniMatrix.c │ ├── miniMatrix.h │ ├── my_math.c │ └── my_math.h ├── MEMS │ ├── hml_cal.c │ ├── hml_cal.h │ ├── hml_sample.c │ ├── hml_sample.h │ ├── mpu6050.c │ ├── mpu6050.h │ ├── ms5611_2.c │ ├── ms5611_2.h │ ├── ultrasonic.c │ └── ultrasonic.h ├── SYS_IDENT │ ├── CFFRELS.c │ ├── CFFRELS.h │ ├── ControlFGR.c │ ├── ControlFGR.h │ ├── LibMatrix.c │ ├── LibMatrix.h │ ├── LibMyMath.c │ ├── LibMyMath.h │ ├── PPCFFRELS.c │ ├── PPCFFRELS.h │ ├── RELS.c │ ├── RELS.h │ ├── STC_PP.c │ ├── STC_PP.h │ ├── STC_PP_PID.c │ ├── STC_PP_PID.h │ ├── ident.c │ └── ident.h ├── UKF_BARO │ ├── kf_oldx.h │ ├── kf_oldx.lib │ ├── kf_oldx_types.h │ ├── rt_nonfinite.h │ └── rtwtypes.h ├── W1_ert_rtw │ ├── W1.bat │ ├── W1.c │ ├── W1.h │ ├── W1.mk │ ├── W1_data.c │ ├── W1_private.h │ ├── W1_ref.rsp │ ├── W1_types.h │ ├── buildInfo.mat │ ├── codeInfo.mat │ ├── defines.txt │ ├── ert_main.c │ ├── modelsources.txt │ ├── rtw_proj.tmw │ ├── rtwtypes.h │ └── rtwtypeschksum.mat ├── datasheet.txt ├── define.h ├── error.c ├── error.h ├── include.h ├── parameter.c ├── parameter.h ├── ucos_task.c └── ucos_task.h ├── MALLOC ├── malloc.c └── malloc.h ├── OBJ ├── 24cxx.crf ├── 24cxx.d ├── 24cxx.o ├── ExtDll.iex ├── UCOSII-3.axf ├── UCOSII-3.build_log.htm ├── UCOSII-3.hex ├── UCOSII-3.htm ├── UCOSII-3.lnp ├── UCOSII-3.map ├── UCOSII-3.sct ├── UCOSII-3_UCOSII-3.dep ├── UCOSII.hex ├── alt_kf.crf ├── alt_kf.d ├── alt_kf.o ├── at2.crf ├── at2.d ├── at2.o ├── att_control.crf ├── att_control.d ├── att_control.o ├── avoid.crf ├── avoid.d ├── beep.crf ├── beep.d ├── beep.o ├── bmp_adc.crf ├── bmp_adc.d ├── bmp_adc.o ├── cffrels.crf ├── cffrels.d ├── cffrels.o ├── ckf.crf ├── ckf.d ├── ckf.o ├── controlfgr.crf ├── controlfgr.d ├── controlfgr.o ├── ctiic.crf ├── ctiic.d ├── ctiic.o ├── delay.crf ├── delay.d ├── delay.o ├── dma.crf ├── dma.d ├── dma.o ├── ekf.crf ├── ekf.d ├── ekf.o ├── ekf_ins.crf ├── ekf_ins.d ├── ekf_ins.o ├── ekf_ins2.crf ├── ekf_ins2.d ├── ekf_math.crf ├── ekf_math.d ├── ekf_math.o ├── ekf_px4.crf ├── ekf_px4.d ├── ekf_px4.o ├── error.crf ├── error.d ├── error.o ├── eso.crf ├── eso.d ├── eso.o ├── fastmath.crf ├── fastmath.d ├── fastmath.o ├── flash.crf ├── flash.d ├── flash.o ├── fliter.crf ├── fliter.d ├── fliter.o ├── ft5206.crf ├── ft5206.d ├── ft5206.o ├── gt9147.crf ├── gt9147.d ├── gt9147.o ├── h_inf.crf ├── h_inf.d ├── h_inf.o ├── height_ctrl.crf ├── height_ctrl.d ├── height_ctrl.o ├── hml5833l.crf ├── hml5833l.d ├── hml5833l.o ├── hml_sample.crf ├── hml_sample.d ├── hml_sample.o ├── ident.crf ├── ident.d ├── ident.o ├── iic.crf ├── iic.d ├── iic.o ├── iic1.crf ├── iic1.d ├── iic1.o ├── iic_2xx.crf ├── iic_2xx.d ├── iic_2xx.o ├── iic_fc.crf ├── iic_fc.d ├── iic_fc.o ├── iic_soft.crf ├── iic_soft.d ├── iic_soft.o ├── iic_sonar.crf ├── iic_sonar.d ├── iic_sonar.o ├── imu.crf ├── imu.d ├── imu.o ├── imu1.crf ├── imu1.d ├── imu1.o ├── imu_1.crf ├── imu_1.d ├── imu_1.o ├── key.crf ├── key.d ├── key.o ├── kf_oldx_yaw.crf ├── kf_oldx_yaw.d ├── kf_oldx_yaw.o ├── lcd.crf ├── lcd.d ├── lcd.o ├── led.crf ├── led.d ├── led.o ├── led_fc.crf ├── led_fc.d ├── led_fc.o ├── libmatrix.crf ├── libmatrix.d ├── libmatrix.o ├── libmymath.crf ├── libmymath.d ├── libmymath.o ├── main.crf ├── main.d ├── main.o ├── malloc.crf ├── malloc.d ├── malloc.o ├── matrix.crf ├── matrix.d ├── matrix.o ├── mini_arsh.crf ├── mini_arsh.d ├── mini_arsh.o ├── minimatrix.crf ├── minimatrix.d ├── minimatrix.o ├── misc.crf ├── misc.d ├── misc.o ├── mpu6050.crf ├── mpu6050.d ├── mpu6050.o ├── ms5611.crf ├── ms5611.d ├── ms5611.o ├── ms5611_2.crf ├── ms5611_2.d ├── ms5611_2.o ├── my_math.crf ├── my_math.d ├── my_math.o ├── myiic.crf ├── myiic.d ├── myiic.o ├── neuron_pid.crf ├── neuron_pid.d ├── neuron_pid.o ├── nrf.crf ├── nrf.d ├── nrf.o ├── os_core.crf ├── os_core.d ├── os_core.o ├── os_cpu_a.d ├── os_cpu_a.lst ├── os_cpu_a.o ├── os_cpu_c.crf ├── os_cpu_c.d ├── os_cpu_c.o ├── os_flag.crf ├── os_flag.d ├── os_flag.o ├── os_mbox.crf ├── os_mbox.d ├── os_mbox.o ├── os_mem.crf ├── os_mem.d ├── os_mem.o ├── os_mutex.crf ├── os_mutex.d ├── os_mutex.o ├── os_q.crf ├── os_q.d ├── os_q.o ├── os_sem.crf ├── os_sem.d ├── os_sem.o ├── os_task.crf ├── os_task.d ├── os_task.o ├── os_time.crf ├── os_time.d ├── os_time.o ├── os_tmr.crf ├── os_tmr.d ├── os_tmr.o ├── ott2001a.crf ├── ott2001a.d ├── ott2001a.o ├── parameter.crf ├── parameter.d ├── parameter.o ├── ppcffrels.crf ├── ppcffrels.d ├── ppcffrels.o ├── pwm_out.crf ├── pwm_out.d ├── pwm_out.o ├── quaternion.crf ├── quaternion.d ├── quaternion.o ├── rc.crf ├── rc.d ├── rc_mine.crf ├── rc_mine.d ├── rc_mine.o ├── rels.crf ├── rels.d ├── rels.o ├── rt_nonfinite.crf ├── rt_nonfinite.d ├── rt_nonfinite.o ├── rtgetinf.crf ├── rtgetinf.d ├── rtgetinf.o ├── rtgetnan.crf ├── rtgetnan.d ├── rtgetnan.o ├── sckf.crf ├── sckf.d ├── sckf.o ├── sonar_avoid.crf ├── sonar_avoid.d ├── sonar_avoid.o ├── spi_nrf.crf ├── spi_nrf.d ├── spi_nrf.o ├── startup_stm32f40_41xxx.d ├── startup_stm32f40_41xxx.lst ├── startup_stm32f40_41xxx.o ├── stc_pp.crf ├── stc_pp.d ├── stc_pp.o ├── stc_pp_pid.crf ├── stc_pp_pid.d ├── stc_pp_pid.o ├── stm32f4xx_adc.crf ├── stm32f4xx_adc.d ├── stm32f4xx_adc.o ├── stm32f4xx_dma.crf ├── stm32f4xx_dma.d ├── stm32f4xx_dma.o ├── stm32f4xx_exti.crf ├── stm32f4xx_exti.d ├── stm32f4xx_exti.o ├── stm32f4xx_flash.crf ├── stm32f4xx_flash.d ├── stm32f4xx_flash.o ├── stm32f4xx_fsmc.crf ├── stm32f4xx_fsmc.d ├── stm32f4xx_fsmc.o ├── stm32f4xx_gpio.crf ├── stm32f4xx_gpio.d ├── stm32f4xx_gpio.o ├── stm32f4xx_it.crf ├── stm32f4xx_it.d ├── stm32f4xx_it.o ├── stm32f4xx_pwr.crf ├── stm32f4xx_pwr.d ├── stm32f4xx_pwr.o ├── stm32f4xx_rcc.crf ├── stm32f4xx_rcc.d ├── stm32f4xx_rcc.o ├── stm32f4xx_spi.crf ├── stm32f4xx_spi.d ├── stm32f4xx_spi.o ├── stm32f4xx_syscfg.crf ├── stm32f4xx_syscfg.d ├── stm32f4xx_syscfg.o ├── stm32f4xx_tim.crf ├── stm32f4xx_tim.d ├── stm32f4xx_tim.o ├── stm32f4xx_usart.crf ├── stm32f4xx_usart.d ├── stm32f4xx_usart.o ├── sys.crf ├── sys.d ├── sys.o ├── system_stm32f4xx.crf ├── system_stm32f4xx.d ├── system_stm32f4xx.o ├── time.crf ├── time.d ├── time.o ├── touch.crf ├── touch.d ├── touch.o ├── tpad.crf ├── tpad.d ├── tpad.o ├── ucos_task.crf ├── ucos_task.d ├── ucos_task.o ├── ukf.crf ├── ukf.d ├── ukf.o ├── ukf_baro.crf ├── ukf_baro.d ├── ukf_baro.o ├── ukf_oldx_baro.crf ├── ukf_oldx_baro.d ├── ukf_oldx_baro.o ├── ultrasonic.crf ├── ultrasonic.d ├── ultrasonic.o ├── usart.crf ├── usart.d ├── usart.o ├── usart_fc.crf ├── usart_fc.d ├── usart_fc.o ├── visual_contol.crf ├── visual_contol.d └── visual_contol.o ├── README.md ├── SYSTEM ├── delay │ ├── delay.c │ └── delay.h ├── sys │ ├── sys.c │ └── sys.h └── usart │ ├── usart.c │ └── usart.h ├── UCOSII ├── CONFIG │ ├── includes.h │ └── os_cfg.h ├── CORE │ ├── os_core.c │ ├── os_flag.c │ ├── os_mbox.c │ ├── os_mem.c │ ├── os_mutex.c │ ├── os_q.c │ ├── os_sem.c │ ├── os_task.c │ ├── os_time.c │ ├── os_tmr.c │ ├── ucos_ii.c │ └── ucos_ii.h └── PORT │ ├── os_cpu.h │ ├── os_cpu_a.asm │ ├── os_cpu_c.c │ ├── os_dbg.c │ └── os_dbg_r.c ├── USER ├── DebugConfig │ └── UCOSII-3_STM32F407ZG.dbgconf ├── JLinkSettings.ini ├── UCOSII-3.uvguix.Administrator ├── UCOSII-3.uvguix.user ├── UCOSII-3.uvguix_Administrator.bak ├── UCOSII-3.uvguix_user.bak ├── UCOSII-3.uvoptx ├── UCOSII-3.uvprojx ├── UCOSII-3_UCOSII-3.dep ├── UCOSII-3_uvoptx.bak ├── UCOSII-3_uvprojx.bak ├── main.c ├── stm32f4xx.h ├── stm32f4xx_conf.h ├── stm32f4xx_it.c ├── stm32f4xx_it.h ├── system_stm32f4xx.c └── system_stm32f4xx.h └── keilkilll.bat /.gitignore: -------------------------------------------------------------------------------- 1 | *.o 2 | *.d 3 | *.crf 4 | *.dep 5 | *.hex 6 | *.axf 7 | *.map 8 | *.htm 9 | OBJ/ 10 | -------------------------------------------------------------------------------- /DSP_LIB/arm_cortexM4lf_math.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/DSP_LIB/arm_cortexM4lf_math.lib -------------------------------------------------------------------------------- /HARDWARE/AVOID/F407_FC.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/AVOID/F407_FC.lib -------------------------------------------------------------------------------- /HARDWARE/AVOID/F407_FC_6.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/AVOID/F407_FC_6.lib -------------------------------------------------------------------------------- /HARDWARE/AVOID/F407_FC_8.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/AVOID/F407_FC_8.lib -------------------------------------------------------------------------------- /HARDWARE/AVOID/OLDX_AVOID.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/AVOID/OLDX_AVOID.lib -------------------------------------------------------------------------------- /HARDWARE/AVOID/OLD_X_AVOID.h: -------------------------------------------------------------------------------- 1 | /* 2 | * File: OLD_X_AVOID.h 3 | * 4 | * MATLAB Coder version : 2.7 5 | * C/C++ source code generated on : 07-Nov-2016 15:10:05 6 | */ 7 | 8 | #ifndef __OLD_X_AVOID_H__ 9 | #define __OLD_X_AVOID_H__ 10 | 11 | /* Include Files */ 12 | #include 13 | #include 14 | #include 15 | #include "rtwtypes.h" 16 | #include "OLD_X_AVOID_types.h" 17 | 18 | /* Function Declarations */ 19 | extern void OLD_X_AVOID(const double DIS_IN[8], double A, double A_DEAD, 20 | unsigned int Max_try, double *x_mid, double *y_mid, double *r_mid); 21 | extern void OLD_X_AVOID_initialize(void); 22 | extern void OLD_X_AVOID_terminate(void); 23 | 24 | #endif 25 | 26 | /* 27 | * File trailer for OLD_X_AVOID.h 28 | * 29 | * [EOF] 30 | */ 31 | -------------------------------------------------------------------------------- /HARDWARE/AVOID/OLD_X_AVOID_types.h: -------------------------------------------------------------------------------- 1 | /* 2 | * File: OLD_X_AVOID_types.h 3 | * 4 | * MATLAB Coder version : 2.7 5 | * C/C++ source code generated on : 07-Nov-2016 15:10:05 6 | */ 7 | 8 | #ifndef __OLD_X_AVOID_TYPES_H__ 9 | #define __OLD_X_AVOID_TYPES_H__ 10 | 11 | /* Include Files */ 12 | #include "rtwtypes.h" 13 | 14 | #endif 15 | /* 16 | * File trailer for OLD_X_AVOID_types.h 17 | * 18 | * [EOF] 19 | */ 20 | -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/avoid.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/BACK_UP/avoid.c -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/avoid.h: -------------------------------------------------------------------------------- 1 | #include "includes.h" 2 | extern double DIS_IN[20]; 3 | void oldx_avoid(void); 4 | extern float avoid_trace[3]; 5 | extern u8 need_avoid; -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/baro_ukf_oldx.h: -------------------------------------------------------------------------------- 1 | /* 2 | * File: baro_ukf_oldx.h 3 | * 4 | * MATLAB Coder version : 2.7 5 | * C/C++ source code generated on : 02-Nov-2016 13:48:07 6 | */ 7 | 8 | #ifndef __BARO_UKF_OLDX_H__ 9 | #define __BARO_UKF_OLDX_H__ 10 | 11 | /* Include Files */ 12 | #include 13 | #include 14 | #include 15 | #include 16 | #include "rtwtypes.h" 17 | #include "baro_ukf_oldx_types.h" 18 | 19 | /* Function Declarations */ 20 | extern void BARO_UKF_OLDX(double Xr[3], double Pr[9], const double Zr[3], const 21 | double Qr[9], const double Rr[9], double T); 22 | extern void baro_ukf_oldx_initialize(void); 23 | extern void baro_ukf_oldx_terminate(void); 24 | 25 | #endif 26 | 27 | /* 28 | * File trailer for baro_ukf_oldx.h 29 | * 30 | * [EOF] 31 | */ 32 | -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/baro_ukf_oldx.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/BACK_UP/baro_ukf_oldx.lib -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/baro_ukf_oldx_bias.h: -------------------------------------------------------------------------------- 1 | /* 2 | * File: baro_ukf_oldx_bias.h 3 | * 4 | * MATLAB Coder version : 2.7 5 | * C/C++ source code generated on : 03-Nov-2016 17:13:22 6 | */ 7 | 8 | #ifndef __BARO_UKF_OLDX_BIAS_H__ 9 | #define __BARO_UKF_OLDX_BIAS_H__ 10 | 11 | /* Include Files */ 12 | #include 13 | #include 14 | #include 15 | #include 16 | #include "rtwtypes.h" 17 | #include "baro_ukf_oldx_bias_types.h" 18 | 19 | /* Function Declarations */ 20 | extern void baro_ukf_oldx_bias(const double ffunr[16], double Xr[4], double Pr 21 | [16], const double Zr[4], const double Qr[16], const double Rr[16], double T); 22 | extern void baro_ukf_oldx_bias_initialize(void); 23 | extern void baro_ukf_oldx_bias_terminate(void); 24 | 25 | #endif 26 | 27 | /* 28 | * File trailer for baro_ukf_oldx_bias.h 29 | * 30 | * [EOF] 31 | */ 32 | -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/baro_ukf_oldx_bias.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/BACK_UP/baro_ukf_oldx_bias.lib -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/baro_ukf_oldx_bias_types.h: -------------------------------------------------------------------------------- 1 | /* 2 | * File: baro_ukf_oldx_bias_types.h 3 | * 4 | * MATLAB Coder version : 2.7 5 | * C/C++ source code generated on : 03-Nov-2016 17:13:22 6 | */ 7 | 8 | #ifndef __BARO_UKF_OLDX_BIAS_TYPES_H__ 9 | #define __BARO_UKF_OLDX_BIAS_TYPES_H__ 10 | 11 | /* Include Files */ 12 | #include "rtwtypes.h" 13 | 14 | #endif 15 | /* 16 | * File trailer for baro_ukf_oldx_bias_types.h 17 | * 18 | * [EOF] 19 | */ 20 | -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/baro_ukf_oldx_types.h: -------------------------------------------------------------------------------- 1 | /* 2 | * File: baro_ukf_oldx_types.h 3 | * 4 | * MATLAB Coder version : 2.7 5 | * C/C++ source code generated on : 02-Nov-2016 13:48:07 6 | */ 7 | 8 | #ifndef __BARO_UKF_OLDX_TYPES_H__ 9 | #define __BARO_UKF_OLDX_TYPES_H__ 10 | 11 | /* Include Files */ 12 | #include "rtwtypes.h" 13 | 14 | #endif 15 | /* 16 | * File trailer for baro_ukf_oldx_types.h 17 | * 18 | * [EOF] 19 | */ 20 | -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/filter.h: -------------------------------------------------------------------------------- 1 | #ifndef __FILTER_H 2 | #define __FILTER_H 3 | 4 | #include "../HARDWARE/include.h" 5 | //float Moving_Average(u8 item,u8 width_num,float in); 6 | void Moving_Average(float in,float moavarray[],u16 len ,u16 fil_cnt[2],float *out); 7 | float Moving_Median(u8 item,u8 width_num,float in); 8 | extern double IIR_I_Filter(double InData, double *x, double *y, double *b, short nb, double *a, short na); 9 | extern fp32 LPF_1st(fp32 oldData, fp32 newData, fp32 lpf_factor); 10 | #define _xyz_f_t xyz_f_t 11 | void simple_3d_trans(_xyz_f_t *ref, _xyz_f_t *in, _xyz_f_t *out); 12 | double KalmanFilter(const double ResrcData,double ProcessNiose_Q,double MeasureNoise_R,double x_last,double p_last); 13 | 14 | #define LPF_1_(hz,t,in,out) ((out) += ( 1 / ( 1 + 1 / ( (hz) *6.28f *(t) ) ) ) *( (in) - (out) )) 15 | 16 | #define LPF_1(A,B,C,D) LPF_1_((A),(B),(C),*(D)); 17 | #endif 18 | -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/fliter.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/BACK_UP/fliter.c -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/height_ctrl2.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/BACK_UP/height_ctrl2.c -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/hml5833l.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/BACK_UP/hml5833l.c -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/hml5833l.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/BACK_UP/hml5833l.h -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/iic1.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/BACK_UP/iic1.c -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/iic1.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/BACK_UP/iic1.h -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/imu.c: -------------------------------------------------------------------------------- 1 | #include "imu1.h" 2 | #include "imu.h" 3 | #include "include.h" 4 | #include "hml5833l.h" 5 | #include "my_math.h" 6 | #include "filter.h" 7 | 8 | -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/imu.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/BACK_UP/imu.h -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/ms5611.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/BACK_UP/ms5611.h -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/rc.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/BACK_UP/rc.c -------------------------------------------------------------------------------- /HARDWARE/BACK_UP/rc.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/BACK_UP/rc.h -------------------------------------------------------------------------------- /HARDWARE/CONTROL/att.h: -------------------------------------------------------------------------------- 1 | #ifndef _CTRL_H 2 | #define _CTRL_H 3 | 4 | #include "../HARDWARE/define.h" 5 | #include "../HARDWARE/parameter.h" 6 | enum { 7 | PIDROLL, 8 | PIDPITCH, 9 | PIDYAW, 10 | PID4, 11 | PID5, 12 | PID6, 13 | 14 | PIDITEMS 15 | }; 16 | 17 | 18 | 19 | typedef struct 20 | { 21 | xyz_f_t err; 22 | xyz_f_t err_old; 23 | xyz_f_t err_i; 24 | xyz_f_t eliminate_I; 25 | xyz_f_t err_d; 26 | xyz_f_t damp; 27 | xyz_f_t out; 28 | pid_t PID[PIDITEMS]; 29 | xyz_f_t err_weight; 30 | float FB; 31 | 32 | }ctrl_t; 33 | 34 | extern ctrl_t ctrl_1; 35 | extern ctrl_t ctrl_2; 36 | extern ctrl_t ctrl_2_fuzzy; 37 | extern xyz_f_t except_AS; 38 | void CTRL_2(float); 39 | void CTRL_2_FUZZY(float); 40 | 41 | void CTRL_1(float); 42 | void Ctrl_Para_Init(void); 43 | void Thr_Ctrl(float); 44 | void All_Out(float x,float y,float z); 45 | 46 | extern u8 Thr_Low; 47 | extern float Thr_Weight; 48 | extern float motor[MAXMOTORS]; 49 | extern xyz_f_t ctrl_angle_offset; 50 | extern float thr_test; 51 | extern void GPS_calc_poshold(float T); 52 | 53 | extern xyz_f_t except_A ; 54 | extern float except_A_SB[2]; 55 | extern float actual_speed[2]; 56 | extern float tar_speed[2]; 57 | extern float now_position[2], target_position[2]; 58 | extern float nav[2]; 59 | extern float tar_speed[2]; 60 | extern float thr_value ,integrator[2];; 61 | #define LON 0 62 | #define LAT 1 63 | extern float nav_angle_ukf[2],nav_ukf_g[2]; 64 | extern int baro_to_ground; 65 | extern u16 att_tuning_thr_limit; 66 | extern s16 motor_out[MAXMOTORS]; 67 | extern float w_neuro[2]; 68 | #endif 69 | 70 | -------------------------------------------------------------------------------- /HARDWARE/CONTROL/att_control.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/CONTROL/att_control.c -------------------------------------------------------------------------------- /HARDWARE/CONTROL/eso.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/CONTROL/eso.c -------------------------------------------------------------------------------- /HARDWARE/CONTROL/eso.h: -------------------------------------------------------------------------------- 1 | #ifndef _ESO_H_ 2 | #define _ESO_H_ 3 | 4 | #include "stm32f4xx.h" 5 | 6 | typedef struct 7 | { 8 | float beta0,beta1,beta2,beta3; 9 | float disturb,disturb_u; 10 | float alfa1,alfa2,alfa0,tao,KP,KD,KI,e; 11 | float z[3]; 12 | float h,integer; 13 | u8 init,level; 14 | u8 n,out_mode,use_td; 15 | 16 | float v1,v2,h0,r0,b0,h1,r1,c,u; 17 | }ESO; 18 | 19 | extern ESO eso_att_outter[4],eso_att_inner[4]; 20 | extern ESO eso_att_outter_c[4],eso_att_inner_c[4],ESO_BMP; 21 | float fst(float x1,float x2,float w,float h); 22 | float fal(float e,float alfa,float delta); 23 | float fst2(float x1,float x2,float w, float h); 24 | float sign(float x); 25 | void ESO_BMP_INIT(ESO *eso_in); 26 | void SMOOTH_IN_ESO(ESO *eso_in,float in); 27 | extern float ESO_3N(ESO *eso_in,float v,float y,float u,float T,float MAX); 28 | extern float ESO_2N(ESO *eso_in,float v,float y,float u,float T,float MAX,float ero_px4); 29 | 30 | extern float ATT_CONTRL_OUTER_ESO_3(ESO *eso_in,float v,float y,float u,float T,float MAX,float ero_px4); 31 | extern float ATT_CONTRL_INNER_ESO_3(ESO *eso_in,float v,float y,float u,float T,float MAX); 32 | extern float HIGH_CONTROL_SPD_ESO(ESO *eso_in,float v,float y,float u,float T,float MAX); 33 | #endif 34 | 35 | -------------------------------------------------------------------------------- /HARDWARE/CONTROL/h_inf.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/CONTROL/h_inf.c -------------------------------------------------------------------------------- /HARDWARE/CONTROL/h_inf.h: -------------------------------------------------------------------------------- 1 | #ifndef _H_INF_H_ 2 | #define _H_INF_H_ 3 | 4 | #include "../HARDWARE/define.h" 5 | extern double ctrl_inf_att_out,ctrl_inf_att_out2; 6 | extern void h_inf_att_out(float set,float in); 7 | float h_inf_height_spd_out(float set,float in); 8 | 9 | #endif 10 | 11 | -------------------------------------------------------------------------------- /HARDWARE/CONTROL/height_ctrl.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/CONTROL/height_ctrl.c -------------------------------------------------------------------------------- /HARDWARE/CONTROL/height_ctrl.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/CONTROL/height_ctrl.h -------------------------------------------------------------------------------- /HARDWARE/CONTROL/neuron_pid.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/CONTROL/neuron_pid.c -------------------------------------------------------------------------------- /HARDWARE/CONTROL/neuron_pid.h: -------------------------------------------------------------------------------- 1 | #ifndef _NEURON_PID_H_ 2 | #define _NEURON_PID_H_ 3 | 4 | #include "stm32f4xx.h" 5 | 6 | typedef struct 7 | { 8 | float K,K1,Q,P,b0,c,V,V1,L,Kmax,Kmin; 9 | float w_k1[3],w_k[3],w[3],beta[3],alfa; 10 | float x[3]; 11 | float error,error1,error2; 12 | float u,u1; 13 | float integer; 14 | u8 init; 15 | 16 | 17 | }NEURON_PID_S; 18 | 19 | extern NEURON_PID_S neuron_pid_outter[4],neuron_pid_inner[4]; 20 | 21 | extern void NEURON_PID(NEURON_PID_S *neuron_pid,float ero,float rin, float MAX,float T); 22 | extern void NEURON_PID_LQ(NEURON_PID_S *neuron_pid,float ero,float rin ,float MAX,float T); 23 | extern float AWDF_P(float in1,float in2); 24 | extern float AWDF_R(float in1,float in2); 25 | #endif 26 | 27 | -------------------------------------------------------------------------------- /HARDWARE/CONTROL/sonar_avoid.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/CONTROL/sonar_avoid.c -------------------------------------------------------------------------------- /HARDWARE/CONTROL/sonar_avoid.h: -------------------------------------------------------------------------------- 1 | #ifndef _SONAR_AVOID_H 2 | #define _SONAR_AVOID_H 3 | 4 | #include "../HARDWARE/define.h" 5 | extern int sonar_avoid[8]; 6 | extern int sonar_avoid_c[2]; 7 | extern float angle_sonar[2]; 8 | extern double DIS_IN[20]; 9 | void oldx_avoid(void); 10 | extern float avoid_trace[3]; 11 | extern u8 need_avoid; 12 | #endif 13 | -------------------------------------------------------------------------------- /HARDWARE/CONTROL/visual_contol.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/CONTROL/visual_contol.c -------------------------------------------------------------------------------- /HARDWARE/CONTROL/visual_contol.h: -------------------------------------------------------------------------------- 1 | #ifndef _CIRCLE_H_ 2 | #define _CIRCLE_H_ 3 | 4 | #include "stm32f4xx.h" 5 | 6 | 7 | 8 | typedef struct 9 | { 10 | int x,y,z; 11 | int x_flp,y_flp; 12 | u8 check; 13 | u8 connect,lose_cnt; 14 | int control[2]; 15 | u16 r; 16 | float control_k_miss,control_k; 17 | float control_yaw; 18 | float forward; 19 | float forward_end_dj_pwm; 20 | u8 dj_fly_line; 21 | float pit,rol,yaw; 22 | }CIRCLE; 23 | 24 | 25 | typedef struct 26 | { 27 | int x,y; 28 | int x_flp,y_flp; 29 | u8 check; 30 | u8 connect,lose_cnt; 31 | int control[2]; 32 | 33 | int pos_set[2]; 34 | int pos_now[2]; 35 | int angle[3]; 36 | int Yaw_marker; 37 | float ero_m[2]; 38 | float target_speed_m[2]; 39 | }MARKER; 40 | 41 | extern CIRCLE circle,track; 42 | extern MARKER marker; 43 | extern float nav_circle[2],d_flow_watch[2];; 44 | extern void circle_control(float T); 45 | extern float Yaw_DJ,Pitch_DJ; 46 | #define MID_Y 152-40+14 47 | #define MID_X 182+60-38 48 | extern u16 Rc_Pwm_Out_mine[8]; 49 | void AUTO_LAND_FLYUP(float T); 50 | extern float nav_land[3]; 51 | extern u8 state_v; 52 | extern u8 mode_change; 53 | #endif -------------------------------------------------------------------------------- /HARDWARE/DRIVER/dma.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/DRIVER/dma.c -------------------------------------------------------------------------------- /HARDWARE/DRIVER/dma.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/DRIVER/dma.h -------------------------------------------------------------------------------- /HARDWARE/DRIVER/flash.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/DRIVER/flash.c -------------------------------------------------------------------------------- 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#ifndef _PWM_OUT_H_ 2 | #define _PWM_OUT_H_ 3 | #include "../HARDWARE/define.h" 4 | u8 PWM_Out_Init(uint16_t hz); 5 | u8 PWM_DJ_Init(uint16_t hz); 6 | void SetPwm(int16_t pwm[],s16 min,s16 max); 7 | void Set_DJ(float ang1,float ang2,float ang3,float ang4); 8 | extern u16 PWM_dj[4]; 9 | 10 | void LED_Init(); 11 | void LEDRGB(void); 12 | #endif 13 | 14 | -------------------------------------------------------------------------------- /HARDWARE/DRIVER/rc_mine.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/DRIVER/rc_mine.c -------------------------------------------------------------------------------- /HARDWARE/DRIVER/rc_mine.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/DRIVER/rc_mine.h -------------------------------------------------------------------------------- /HARDWARE/DRIVER/time.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/DRIVER/time.c -------------------------------------------------------------------------------- /HARDWARE/DRIVER/time.h: -------------------------------------------------------------------------------- 1 | #ifndef _TIME_H_ 2 | #define _TIME_H_ 3 | 4 | #include "stm32f4xx.h" 5 | #define GET_TIME_NUM (15) 6 | void TIM_INIT(void); 7 | void sys_time(void); 8 | 9 | u16 Get_Time(u8,u16,u16); 10 | 11 | float Get_Cycle_T(u8 ); 12 | 13 | void Cycle_Time_Init(void); 14 | extern volatile float Cycle_T[GET_TIME_NUM][3]; 15 | extern volatile uint32_t sysTickUptime; 16 | extern int time_1h,time_1m,time_1s,time_1ms; 17 | 18 | void Delay_us(uint32_t); 19 | void Delay_ms(uint32_t); 20 | void SysTick_Configuration(void); 21 | uint32_t GetSysTime_us(void); 22 | 23 | 24 | void Initial_Timer_SYS(void); 25 | uint32_t micros(void); 26 | 27 | void TIM3_Int_Init(u16 arr,u16 psc); 28 | #define GET_T_OUTTER 0 29 | #define GET_T_INNER 1 30 | #define GET_T_FLOW_UART 2 31 | #define GET_T_SONAR_SAMPLE 3 32 | #define GET_T_BARO_UKF 4 33 | #define GET_T_EKF 5 34 | #define GET_T_MS5611 6 35 | #define GET_T_INNER_TIM 7 36 | #define GET_T_INNER_TIM_USE 12 37 | #define GET_T_INNER_TIM_IMU 8 38 | #define GET_T_HIGH_CONTROL_I 9 39 | #define GET_T_HIGH_CONTROL_O 10 40 | #define GET_T_OUTTER_C 11 41 | #define GET_T_HIGH_CONTROL 12 42 | #define GET_T_HML_CAL 13 43 | #endif 44 | -------------------------------------------------------------------------------- /HARDWARE/DRIVER/usart_fc.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/DRIVER/usart_fc.c -------------------------------------------------------------------------------- /HARDWARE/DRIVER/usart_fc.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/DRIVER/usart_fc.h -------------------------------------------------------------------------------- /HARDWARE/EKF_BARO/baro_ekf_oldx.h: -------------------------------------------------------------------------------- 1 | #ifndef __BARO_EKF_OLDX__ 2 | #define __BARO_EKF_OLDX__ 3 | 4 | #include 5 | #include 6 | extern void BARO_EKF_OLDX(float x_apo[2], float P_apo[4],float xa_apo[2], float Pa_apo[4],const float z[2], float r_baro, float r_acc, float dt); 7 | #endif 8 | -------------------------------------------------------------------------------- /HARDWARE/EKF_BARO/baro_ekf_oldx.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/EKF_BARO/baro_ekf_oldx.lib -------------------------------------------------------------------------------- /HARDWARE/FUSHION/alt_kf.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/FUSHION/alt_kf.c -------------------------------------------------------------------------------- /HARDWARE/FUSHION/alt_kf.h: -------------------------------------------------------------------------------- 1 | #ifndef _alt_ukf_h 2 | #define _alt_ukf_h 3 | 4 | #include "../HARDWARE/define.h" 5 | #include "../HARDWARE/MATH/arm_math_m.h" 6 | 7 | extern float ALT_POS_BMP_EKF,ALT_VEL_BMP_EKF; 8 | extern float ALT_POS_BMP,ALT_VEL_BMP,accz_bmp; 9 | extern float ALT_POS_SONAR,ALT_VEL_SONAR,ALT_POS_SONAR2,ALT_POS_SONAR3,ALT_POS_BMP_UKF_OLDX,ALT_VEL_BMP_UKF_OLDX;; 10 | extern double X_ukf_baro[3]; 11 | extern float X_apo_height[2],x_tst[2],acc_bmp; 12 | void ukf_baro_task1(float T); 13 | extern float acc_body[3]; 14 | 15 | #endif 16 | -------------------------------------------------------------------------------- /HARDWARE/FUSHION/imu1.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/FUSHION/imu1.c -------------------------------------------------------------------------------- /HARDWARE/FUSHION/imu1.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/FUSHION/imu1.h -------------------------------------------------------------------------------- /HARDWARE/FUSHION/kf_oldx_yaw.h: -------------------------------------------------------------------------------- 1 | /* 2 | * File: kf_oldx_yaw.h 3 | * 4 | * MATLAB Coder version : 2.7 5 | * C/C++ source code generated on : 01-Dec-2016 10:33:45 6 | */ 7 | 8 | #ifndef __KF_OLDX_YAW_H__ 9 | #define __KF_OLDX_YAW_H__ 10 | 11 | /* Include Files */ 12 | #include 13 | #include 14 | #include 15 | #include "rtwtypes.h" 16 | #include "kf_oldx_yaw_types.h" 17 | 18 | /* Function Declarations */ 19 | extern void kf_oldx_yaw(double X[2], double P[4], const double Z[2], double U, 20 | double gh, double ga, double gw, double T); 21 | extern void kf_oldx_yaw_initialize(void); 22 | extern void kf_oldx_yaw_terminate(void); 23 | 24 | #endif 25 | 26 | /* 27 | * File trailer for kf_oldx_yaw.h 28 | * 29 | * [EOF] 30 | */ 31 | -------------------------------------------------------------------------------- /HARDWARE/FUSHION/kf_oldx_yaw.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/FUSHION/kf_oldx_yaw.lib -------------------------------------------------------------------------------- /HARDWARE/FUSHION/kf_oldx_yaw_types.h: -------------------------------------------------------------------------------- 1 | /* 2 | * File: kf_oldx_yaw_types.h 3 | * 4 | * MATLAB Coder version : 2.7 5 | * C/C++ source code generated on : 01-Dec-2016 10:33:45 6 | */ 7 | 8 | #ifndef __KF_OLDX_YAW_TYPES_H__ 9 | #define __KF_OLDX_YAW_TYPES_H__ 10 | 11 | /* Include Files */ 12 | #include "rtwtypes.h" 13 | 14 | #endif 15 | /* 16 | * File trailer for kf_oldx_yaw_types.h 17 | * 18 | * [EOF] 19 | */ 20 | -------------------------------------------------------------------------------- /HARDWARE/KSW2_ert_rtw/KSW2.bat: -------------------------------------------------------------------------------- 1 | call "%VS120COMNTOOLS%..\..\VC\vcvarsall.bat" AMD64 2 | 3 | cd . 4 | 5 | if "%1"=="" (nmake -f KSW2.mk all) else (nmake -f KSW2.mk %1) 6 | @if errorlevel 1 goto error_exit 7 | 8 | exit /B 0 9 | 10 | :error_exit 11 | echo The make command returned an error of %errorlevel% 12 | An_error_occurred_during_the_call_to_make 13 | -------------------------------------------------------------------------------- /HARDWARE/KSW2_ert_rtw/KSW2_data.c: -------------------------------------------------------------------------------- 1 | /* 2 | * File: KSW2_data.c 3 | * 4 | * Code generated for Simulink model 'KSW2'. 5 | * 6 | * Model version : 1.6 7 | * Simulink Coder version : 8.7 (R2014b) 08-Sep-2014 8 | * C/C++ source code generated on : Sun Jul 17 09:40:15 2016 9 | * 10 | * Target selection: ert.tlc 11 | * Embedded hardware selection: ARM Compatible->ARM Cortex 12 | * Code generation objective: Execution efficiency 13 | * Validation result: Passed (8), Warnings (4), Error (0) 14 | */ 15 | 16 | #include "KSW2.h" 17 | #include "KSW2_private.h" 18 | 19 | /* Block parameters (auto storage) */ 20 | P_KSW2_T KSW2_P = { 21 | /* Expression: [num_ksw2] 22 | * Referenced by: '/Discrete Transfer Fcn' 23 | */ 24 | { -22.91960530643335, 55.863236449114417, -46.234824076371609, 25 | 14.836550081136389, -1.5777110577081896 }, 26 | 27 | /* Expression: [den_ksw2] 28 | * Referenced by: '/Discrete Transfer Fcn' 29 | */ 30 | { 1.0, -1.4463283168646583, 0.60020596999636588, -0.096140362969290974, 31 | 0.0051582868802154454 }, 32 | 0.0 /* Expression: 0 33 | * Referenced by: '/Discrete Transfer Fcn' 34 | */ 35 | }; 36 | 37 | /* 38 | * File trailer for generated code. 39 | * 40 | * [EOF] 41 | */ 42 | -------------------------------------------------------------------------------- /HARDWARE/KSW2_ert_rtw/KSW2_private.h: -------------------------------------------------------------------------------- 1 | /* 2 | * File: KSW2_private.h 3 | * 4 | * Code generated for Simulink model 'KSW2'. 5 | * 6 | * Model version : 1.6 7 | * Simulink Coder version : 8.7 (R2014b) 08-Sep-2014 8 | * C/C++ source code generated on : Sun Jul 17 09:40:15 2016 9 | * 10 | * Target selection: ert.tlc 11 | * Embedded hardware selection: ARM Compatible->ARM Cortex 12 | * Code generation objective: Execution efficiency 13 | * Validation result: Passed (8), Warnings (4), Error (0) 14 | */ 15 | 16 | #ifndef RTW_HEADER_KSW2_private_h_ 17 | #define RTW_HEADER_KSW2_private_h_ 18 | #include "rtwtypes.h" 19 | #endif /* RTW_HEADER_KSW2_private_h_ */ 20 | 21 | /* 22 | * File trailer for generated code. 23 | * 24 | * [EOF] 25 | */ 26 | -------------------------------------------------------------------------------- /HARDWARE/KSW2_ert_rtw/KSW2_ref.rsp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/KSW2_ert_rtw/KSW2_ref.rsp -------------------------------------------------------------------------------- /HARDWARE/KSW2_ert_rtw/KSW2_types.h: -------------------------------------------------------------------------------- 1 | /* 2 | * File: KSW2_types.h 3 | * 4 | * Code generated for Simulink model 'KSW2'. 5 | * 6 | * Model version : 1.6 7 | * Simulink Coder version : 8.7 (R2014b) 08-Sep-2014 8 | * C/C++ source code generated on : Sun Jul 17 09:40:15 2016 9 | * 10 | * Target selection: ert.tlc 11 | * Embedded hardware selection: ARM Compatible->ARM Cortex 12 | * Code generation objective: Execution efficiency 13 | * Validation result: Passed (8), Warnings (4), Error (0) 14 | */ 15 | 16 | #ifndef RTW_HEADER_KSW2_types_h_ 17 | #define RTW_HEADER_KSW2_types_h_ 18 | #include "rtwtypes.h" 19 | 20 | /* Parameters (auto storage) */ 21 | typedef struct P_KSW2_T_ P_KSW2_T; 22 | 23 | /* Forward declaration for rtModel */ 24 | typedef struct tag_RTM_KSW2_T RT_MODEL_KSW2_T; 25 | 26 | #endif /* RTW_HEADER_KSW2_types_h_ */ 27 | 28 | /* 29 | * File trailer for generated code. 30 | * 31 | * [EOF] 32 | */ 33 | -------------------------------------------------------------------------------- /HARDWARE/KSW2_ert_rtw/buildInfo.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/KSW2_ert_rtw/buildInfo.mat -------------------------------------------------------------------------------- /HARDWARE/KSW2_ert_rtw/codeInfo.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/KSW2_ert_rtw/codeInfo.mat -------------------------------------------------------------------------------- /HARDWARE/KSW2_ert_rtw/defines.txt: -------------------------------------------------------------------------------- 1 | MODEL=KSW2 2 | NUMST=1 3 | NCSTATES=0 4 | HAVESTDIO 5 | ONESTEPFCN=1 6 | TERMFCN=1 7 | MAT_FILE=0 8 | MULTI_INSTANCE_CODE=0 9 | INTEGER_CODE=0 10 | MT=0 11 | CLASSIC_INTERFACE=0 12 | ALLOCATIONFCN=0 13 | TID01EQ=0 14 | -------------------------------------------------------------------------------- /HARDWARE/KSW2_ert_rtw/modelsources.txt: -------------------------------------------------------------------------------- 1 | KSW2.c 2 | -------------------------------------------------------------------------------- /HARDWARE/KSW2_ert_rtw/rtw_proj.tmw: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/KSW2_ert_rtw/rtw_proj.tmw -------------------------------------------------------------------------------- /HARDWARE/KSW2_ert_rtw/rtwtypeschksum.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/KSW2_ert_rtw/rtwtypeschksum.mat -------------------------------------------------------------------------------- /HARDWARE/MATH/Double.h: -------------------------------------------------------------------------------- 1 | /* 2 | The MIT License (MIT) 3 | 4 | Copyright (c) 2015-? suhetao 5 | 6 | Permission is hereby granted, free of charge, to any person obtaining a copy of 7 | this software and associated documentation files (the "Software"), to deal in 8 | the Software without restriction, including without limitation the rights to 9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of 10 | the Software, and to permit persons to whom the Software is furnished to do so, 11 | subject to the following conditions: 12 | 13 | The above copyright notice and this permission notice shall be included in all 14 | copies or substantial portions of the Software. 15 | 16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS 18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR 19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER 20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN 21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 22 | */ 23 | 24 | #ifndef _DOUBLE_H 25 | #define _DOUBLE_H 26 | 27 | ////////////////////////////////////////////////////////////////////////// 28 | //algorithm from the book 29 | //<> 30 | //References: 31 | //Emulated double precision Double single routine from nvidia developer zone 32 | ////////////////////////////////////////////////////////////////////////// 33 | //define my own double struct 34 | typedef struct 35 | { 36 | float hi; 37 | float lo; 38 | } Double; 39 | 40 | 41 | #endif 42 | -------------------------------------------------------------------------------- /HARDWARE/MATH/Matrix.h: -------------------------------------------------------------------------------- 1 | /* 2 | The MIT License (MIT) 3 | 4 | Copyright (c) 2015-? suhetao 5 | 6 | Permission is hereby granted, free of charge, to any person obtaining a copy of 7 | this software and associated documentation files (the "Software"), to deal in 8 | the Software without restriction, including without limitation the rights to 9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of 10 | the Software, and to permit persons to whom the Software is furnished to do so, 11 | subject to the following conditions: 12 | 13 | The above copyright notice and this permission notice shall be included in all 14 | copies or substantial portions of the Software. 15 | 16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS 18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR 19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER 20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN 21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 22 | */ 23 | 24 | #ifndef _MATRIX_H_ 25 | #define _MATRIX_H_ 26 | 27 | #include "arm_math.h" 28 | 29 | void arm_mat_zero_f32(arm_matrix_instance_f32* s); 30 | arm_status mat_identity(float32_t *pData, uint16_t numRows, uint16_t numCols, float32_t value); 31 | arm_status arm_mat_identity_f32(arm_matrix_instance_f32* s, float32_t value); 32 | arm_status arm_mat_fill_f32(arm_matrix_instance_f32* s, float32_t *pData, uint32_t blockSize); 33 | arm_status arm_mat_chol_f32(arm_matrix_instance_f32* s); 34 | arm_status arm_mat_remainlower_f32(arm_matrix_instance_f32* s); 35 | 36 | void arm_mat_getsubmatrix_f32(arm_matrix_instance_f32* s, arm_matrix_instance_f32 *a, int row, int col); 37 | void arm_mat_setsubmatrix_f32(arm_matrix_instance_f32* a, arm_matrix_instance_f32 *s, int row, int col); 38 | 39 | void arm_mat_getcolumn_f32(arm_matrix_instance_f32* s, float32_t *x, uint32_t col); 40 | void arm_mat_setcolumn_f32(arm_matrix_instance_f32* s, float32_t *x, uint32_t col); 41 | void arm_mat_cumsum_f32(arm_matrix_instance_f32* s, float32_t *tmp, float32_t *x); 42 | int arm_mat_qr_decompositionT_f32(arm_matrix_instance_f32 *A, arm_matrix_instance_f32 *R); 43 | 44 | #endif 45 | -------------------------------------------------------------------------------- /HARDWARE/MATH/Quaternion.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/MATH/Quaternion.c -------------------------------------------------------------------------------- /HARDWARE/MATH/miniMatrix.h: -------------------------------------------------------------------------------- 1 | /* 2 | The MIT License (MIT) 3 | 4 | Copyright (c) 2015-? suhetao 5 | 6 | Permission is hereby granted, free of charge, to any person obtaining a copy of 7 | this software and associated documentation files (the "Software"), to deal in 8 | the Software without restriction, including without limitation the rights to 9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of 10 | the Software, and to permit persons to whom the Software is furnished to do so, 11 | subject to the following conditions: 12 | 13 | The above copyright notice and this permission notice shall be included in all 14 | copies or substantial portions of the Software. 15 | 16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS 18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR 19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER 20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN 21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 22 | */ 23 | 24 | #ifndef _MAXTRIX_H_ 25 | #define _MAXTRIX_H_ 26 | 27 | #include "FastMath.h" 28 | 29 | ////////////////////////////////////////////////////////////////////////// 30 | // 31 | 32 | void Matrix_Zero(float *A, unsigned short numRows, unsigned short numCols); 33 | void Matrix_Copy(float *pSrc, unsigned short numRows, unsigned short numCols, float *pDst); 34 | int Maxtrix_Add(float *pSrcA, unsigned short numRows, unsigned short numCols, float *pSrcB, float *pDst); 35 | int Maxtrix_Sub(float *pSrcA, unsigned short numRows, unsigned short numCols, float *pSrcB, float *pDst); 36 | int Matrix_Multiply(float* pSrcA, unsigned short numRowsA, unsigned short numColsA, float* pSrcB, unsigned short numColsB, float* pDst); 37 | void Matrix_Multiply_With_Transpose(float *A, unsigned short nrows, unsigned short ncols, float *B, unsigned short mrows, float *C); 38 | void Maxtrix_Transpose(float *pSrc, unsigned short nRows, unsigned short nCols, float *pDst); 39 | int Matrix_Inverse(float* pDst, unsigned short n, float * pSrc); 40 | 41 | #endif 42 | -------------------------------------------------------------------------------- /HARDWARE/MATH/my_math.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/MATH/my_math.c -------------------------------------------------------------------------------- /HARDWARE/MATH/my_math.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/MATH/my_math.h -------------------------------------------------------------------------------- /HARDWARE/MEMS/hml_cal.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/MEMS/hml_cal.c -------------------------------------------------------------------------------- /HARDWARE/MEMS/hml_cal.h: -------------------------------------------------------------------------------- 1 | #include "../HARDWARE/include.h" 2 | #define NUM1 8 3 | 4 | typedef struct 5 | { 6 | float ox[NUM1]; 7 | float oy[NUM1]; 8 | float oz[NUM1]; 9 | float kx[NUM1]; 10 | float ky[NUM1]; 11 | float kz[NUM1]; 12 | 13 | float Ox; 14 | float Oy; 15 | float Oz; 16 | float Kx; 17 | float Ky; 18 | float Kz; 19 | 20 | u8 state; 21 | u8 mode; 22 | }HML_CAL; 23 | 24 | extern HML_CAL cycle_hml_cal; 25 | extern u8 HML_SAMPLE(u8 en,int hx,int hy,int hz,float pit ,float rol,float gx,float gy,float gz,float T); -------------------------------------------------------------------------------- /HARDWARE/MEMS/hml_sample.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/MEMS/hml_sample.c -------------------------------------------------------------------------------- /HARDWARE/MEMS/hml_sample.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/MEMS/hml_sample.h -------------------------------------------------------------------------------- /HARDWARE/MEMS/mpu6050.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/MEMS/mpu6050.c -------------------------------------------------------------------------------- /HARDWARE/MEMS/ms5611_2.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/MEMS/ms5611_2.c -------------------------------------------------------------------------------- /HARDWARE/MEMS/ms5611_2.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/MEMS/ms5611_2.h -------------------------------------------------------------------------------- /HARDWARE/MEMS/ultrasonic.c: -------------------------------------------------------------------------------- 1 | #include "../HARDWARE/include.h" 2 | #include "../HARDWARE/MEMS/ultrasonic.h" 3 | #include "../HARDWARE/DRIVER/usart_fc.h" 4 | #include "../HARDWARE/error.h" 5 | #include "../HARDWARE/MATH/my_math.h" 6 | s8 ultra_start_f; 7 | u8 ultra_ok = 1; 8 | int ultra_distance,ultra_distance_r; 9 | float ultra_delta; 10 | 11 | -------------------------------------------------------------------------------- /HARDWARE/MEMS/ultrasonic.h: -------------------------------------------------------------------------------- 1 | #ifndef _ULTRASONIC_H 2 | #define _ULTRASONIC_H 3 | 4 | #include "stm32f4xx.h" 5 | 6 | void Ultrasonic_Init(void); 7 | void Ultra_Duty(void); 8 | void Ultra_Duty_SCL(void); 9 | void Ultra_Get(u8); 10 | 11 | extern s8 ultra_start_f; 12 | extern int ultra_distance,ultra_distance_r; 13 | extern float ultra_delta; 14 | extern double x_pred ; // m 0 15 | extern double v_pred ; // 1 16 | extern u8 ultra_ok ; 17 | extern float sonar_filter(float hight,float dt_sonar); 18 | 19 | extern double x_pred_bmp ; // m 0 20 | extern double v_pred_bmp ; // 1 21 | extern float sonar_filter_bmp (float hight,float dt_sonar); 22 | #endif 23 | 24 | 25 | -------------------------------------------------------------------------------- /HARDWARE/SYS_IDENT/CFFRELS.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/SYS_IDENT/CFFRELS.c -------------------------------------------------------------------------------- /HARDWARE/SYS_IDENT/CFFRELS.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/SYS_IDENT/CFFRELS.h -------------------------------------------------------------------------------- /HARDWARE/SYS_IDENT/ControlFGR.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/SYS_IDENT/ControlFGR.c -------------------------------------------------------------------------------- /HARDWARE/SYS_IDENT/ControlFGR.h: -------------------------------------------------------------------------------- 1 | #ifndef _ControlFGR_h_ 2 | #define _ControlFGR_h_ 3 | 4 | 5 | float ControlFGR(float CDataYr[], float CDataY[], float CDataU[], float F[], int lengthF, float G[], int lengthG, float R[], int lengthR); 6 | 7 | 8 | #endif 9 | -------------------------------------------------------------------------------- /HARDWARE/SYS_IDENT/LibMatrix.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/SYS_IDENT/LibMatrix.c -------------------------------------------------------------------------------- /HARDWARE/SYS_IDENT/LibMatrix.h: -------------------------------------------------------------------------------- 1 | #ifndef __LIBMATRIX_H 2 | #define __LIBMATRIX_H 3 | 4 | 5 | void matrix_init0(float* A, int m, int n); 6 | // Initialize A Matrix (Set All Elements 0) 7 | 8 | void matrix_copy(float* A, int m, int n, float* C); 9 | // Matrix Copy Routine 10 | 11 | void matrix_eye(float* A, int n); 12 | // Initialize A Matrix to An Eye Matrix 13 | 14 | void matrix_multiply(float* A, float* B, int m, int p, int n, float* C); 15 | // Matrix Multiplication Routine 16 | 17 | void matrix_multiply_k(float* A, float k, int m, int n, float* C); 18 | // Matrix Multiplication with K Routine 19 | 20 | void matrix_addition(float* A, float* B, int m, int n, float* C); 21 | // Matrix Addition Routine 22 | 23 | void matrix_minus(float* A, float* B, int m, int n, float* C); 24 | // Matrix Minus Routine 25 | 26 | void matrix_negate(float* A, int m, int n, float* C); 27 | // Matrix Negate Routine 28 | 29 | void matrix_subtraction(float* A, float* B, int m, int n, float* C); 30 | // Matrix Subtraction Routine 31 | 32 | void matrix_transpose(float* A, int m, int n, float* C); 33 | // Matrix Transpose Routine 34 | 35 | 36 | 37 | int matrix_inversion(float* A, int n, float* AInverse); 38 | // Matrix Inversion Routine 39 | 40 | //static void matrix_print(float* A, int m, int n) 41 | //// Matrix print. 42 | //{ 43 | // // A = input matrix (m x n) 44 | // // m = number of rows in A 45 | // // n = number of columns in A 46 | // int i, j; 47 | // for (i=0;i 13 | #include 14 | #include 15 | #include "rt_nonfinite.h" 16 | #include "rtwtypes.h" 17 | #include "kf_oldx_types.h" 18 | 19 | /* Function Declarations */ 20 | extern void kf_oldx(double X[3], double P[9], const double Z[3], double U, 21 | double gh, double ga, double gw, double T); 22 | extern void kf_oldx_initialize(void); 23 | extern void kf_oldx_terminate(void); 24 | 25 | #endif 26 | 27 | /* 28 | * File trailer for kf_oldx.h 29 | * 30 | * [EOF] 31 | */ 32 | -------------------------------------------------------------------------------- /HARDWARE/UKF_BARO/kf_oldx.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/UKF_BARO/kf_oldx.lib -------------------------------------------------------------------------------- /HARDWARE/UKF_BARO/kf_oldx_types.h: -------------------------------------------------------------------------------- 1 | /* 2 | * File: kf_oldx_types.h 3 | * 4 | * MATLAB Coder version : 2.7 5 | * C/C++ source code generated on : 26-Nov-2016 14:12:33 6 | */ 7 | 8 | #ifndef __KF_OLDX_TYPES_H__ 9 | #define __KF_OLDX_TYPES_H__ 10 | 11 | /* Include Files */ 12 | #include "rtwtypes.h" 13 | 14 | #endif 15 | /* 16 | * File trailer for kf_oldx_types.h 17 | * 18 | * [EOF] 19 | */ 20 | -------------------------------------------------------------------------------- /HARDWARE/UKF_BARO/rt_nonfinite.h: -------------------------------------------------------------------------------- 1 | /* 2 | * File: rt_nonfinite.h 3 | * 4 | * MATLAB Coder version : 2.7 5 | * C/C++ source code generated on : 26-Nov-2016 14:12:33 6 | */ 7 | 8 | #ifndef __RT_NONFINITE_H__ 9 | #define __RT_NONFINITE_H__ 10 | 11 | #if defined(_MSC_VER) && (_MSC_VER <= 1200) 12 | #include 13 | #endif 14 | #include 15 | #include "rtwtypes.h" 16 | 17 | extern real_T rtInf; 18 | extern real_T rtMinusInf; 19 | extern real_T rtNaN; 20 | extern real32_T rtInfF; 21 | extern real32_T rtMinusInfF; 22 | extern real32_T rtNaNF; 23 | extern void rt_InitInfAndNaN(size_t realSize); 24 | extern boolean_T rtIsInf(real_T value); 25 | extern boolean_T rtIsInfF(real32_T value); 26 | extern boolean_T rtIsNaN(real_T value); 27 | extern boolean_T rtIsNaNF(real32_T value); 28 | 29 | typedef struct { 30 | struct { 31 | uint32_T wordH; 32 | uint32_T wordL; 33 | } words; 34 | } BigEndianIEEEDouble; 35 | 36 | typedef struct { 37 | struct { 38 | uint32_T wordL; 39 | uint32_T wordH; 40 | } words; 41 | } LittleEndianIEEEDouble; 42 | 43 | typedef struct { 44 | union { 45 | real32_T wordLreal; 46 | uint32_T wordLuint; 47 | } wordL; 48 | } IEEESingle; 49 | 50 | #endif 51 | /* 52 | * File trailer for rt_nonfinite.h 53 | * 54 | * [EOF] 55 | */ 56 | -------------------------------------------------------------------------------- /HARDWARE/W1_ert_rtw/W1.bat: -------------------------------------------------------------------------------- 1 | call "%VS120COMNTOOLS%..\..\VC\vcvarsall.bat" AMD64 2 | 3 | cd . 4 | 5 | if "%1"=="" (nmake -f W1.mk all) else (nmake -f W1.mk %1) 6 | @if errorlevel 1 goto error_exit 7 | 8 | exit /B 0 9 | 10 | :error_exit 11 | echo The make command returned an error of %errorlevel% 12 | An_error_occurred_during_the_call_to_make 13 | -------------------------------------------------------------------------------- /HARDWARE/W1_ert_rtw/W1_data.c: -------------------------------------------------------------------------------- 1 | /* 2 | * File: W1_data.c 3 | * 4 | * Code generated for Simulink model 'W1'. 5 | * 6 | * Model version : 1.6 7 | * Simulink Coder version : 8.7 (R2014b) 08-Sep-2014 8 | * C/C++ source code generated on : Sun Jul 17 09:34:03 2016 9 | * 10 | * Target selection: ert.tlc 11 | * Embedded hardware selection: ARM Compatible->ARM Cortex 12 | * Code generation objective: Execution efficiency 13 | * Validation result: Passed (8), Warnings (4), Error (0) 14 | */ 15 | 16 | #include "W1.h" 17 | #include "W1_private.h" 18 | 19 | /* Block parameters (auto storage) */ 20 | P_W1_T W1_P = { 21 | /* Expression: [num_w1] 22 | * Referenced by: '/Discrete Transfer Fcn' 23 | */ 24 | { 450.0, 224.99999999999989 }, 25 | 26 | /* Expression: [den_w1] 27 | * Referenced by: '/Discrete Transfer Fcn' 28 | */ 29 | { 1.0, -1.0 }, 30 | 0.0 /* Expression: 0 31 | * Referenced by: '/Discrete Transfer Fcn' 32 | */ 33 | }; 34 | 35 | /* 36 | * File trailer for generated code. 37 | * 38 | * [EOF] 39 | */ 40 | -------------------------------------------------------------------------------- /HARDWARE/W1_ert_rtw/W1_private.h: -------------------------------------------------------------------------------- 1 | /* 2 | * File: W1_private.h 3 | * 4 | * Code generated for Simulink model 'W1'. 5 | * 6 | * Model version : 1.6 7 | * Simulink Coder version : 8.7 (R2014b) 08-Sep-2014 8 | * C/C++ source code generated on : Sun Jul 17 09:34:03 2016 9 | * 10 | * Target selection: ert.tlc 11 | * Embedded hardware selection: ARM Compatible->ARM Cortex 12 | * Code generation objective: Execution efficiency 13 | * Validation result: Passed (8), Warnings (4), Error (0) 14 | */ 15 | 16 | #ifndef RTW_HEADER_W1_private_h_ 17 | #define RTW_HEADER_W1_private_h_ 18 | #include "rtwtypes.h" 19 | #endif /* RTW_HEADER_W1_private_h_ */ 20 | 21 | /* 22 | * File trailer for generated code. 23 | * 24 | * [EOF] 25 | */ 26 | -------------------------------------------------------------------------------- /HARDWARE/W1_ert_rtw/W1_ref.rsp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/W1_ert_rtw/W1_ref.rsp -------------------------------------------------------------------------------- /HARDWARE/W1_ert_rtw/W1_types.h: -------------------------------------------------------------------------------- 1 | /* 2 | * File: W1_types.h 3 | * 4 | * Code generated for Simulink model 'W1'. 5 | * 6 | * Model version : 1.6 7 | * Simulink Coder version : 8.7 (R2014b) 08-Sep-2014 8 | * C/C++ source code generated on : Sun Jul 17 09:34:03 2016 9 | * 10 | * Target selection: ert.tlc 11 | * Embedded hardware selection: ARM Compatible->ARM Cortex 12 | * Code generation objective: Execution efficiency 13 | * Validation result: Passed (8), Warnings (4), Error (0) 14 | */ 15 | 16 | #ifndef RTW_HEADER_W1_types_h_ 17 | #define RTW_HEADER_W1_types_h_ 18 | #include "rtwtypes.h" 19 | 20 | /* Parameters (auto storage) */ 21 | typedef struct P_W1_T_ P_W1_T; 22 | 23 | /* Forward declaration for rtModel */ 24 | typedef struct tag_RTM_W1_T RT_MODEL_W1_T; 25 | 26 | #endif /* RTW_HEADER_W1_types_h_ */ 27 | 28 | /* 29 | * File trailer for generated code. 30 | * 31 | * [EOF] 32 | */ 33 | -------------------------------------------------------------------------------- /HARDWARE/W1_ert_rtw/buildInfo.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/W1_ert_rtw/buildInfo.mat -------------------------------------------------------------------------------- /HARDWARE/W1_ert_rtw/codeInfo.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/W1_ert_rtw/codeInfo.mat -------------------------------------------------------------------------------- /HARDWARE/W1_ert_rtw/defines.txt: -------------------------------------------------------------------------------- 1 | MODEL=W1 2 | NUMST=1 3 | NCSTATES=0 4 | HAVESTDIO 5 | ONESTEPFCN=1 6 | TERMFCN=1 7 | MAT_FILE=0 8 | MULTI_INSTANCE_CODE=0 9 | INTEGER_CODE=0 10 | MT=0 11 | CLASSIC_INTERFACE=0 12 | ALLOCATIONFCN=0 13 | TID01EQ=0 14 | -------------------------------------------------------------------------------- /HARDWARE/W1_ert_rtw/modelsources.txt: -------------------------------------------------------------------------------- 1 | W1.c 2 | -------------------------------------------------------------------------------- /HARDWARE/W1_ert_rtw/rtw_proj.tmw: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/W1_ert_rtw/rtw_proj.tmw -------------------------------------------------------------------------------- /HARDWARE/W1_ert_rtw/rtwtypeschksum.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/W1_ert_rtw/rtwtypeschksum.mat -------------------------------------------------------------------------------- /HARDWARE/datasheet.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/datasheet.txt -------------------------------------------------------------------------------- /HARDWARE/define.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/define.h -------------------------------------------------------------------------------- /HARDWARE/error.h: -------------------------------------------------------------------------------- 1 | #ifndef _ERROR_H_ 2 | #define _ERROR_H_ 3 | 4 | #include "stm32f4xx.h" 5 | 6 | 7 | typedef struct 8 | { 9 | u8 ero_att,ero_hight,ero_rst_h,ero_rst_att; 10 | 11 | }ERO; 12 | 13 | extern ERO ero; 14 | 15 | typedef struct 16 | { 17 | u8 mpu6050; 18 | u8 hml5833; 19 | u8 ms5611; 20 | u8 flow; 21 | u8 circle; 22 | u8 gps; 23 | u8 sonar; 24 | u8 avoid; 25 | }SYS_STATE; 26 | 27 | extern SYS_STATE sys; 28 | void att_ero_check(void); 29 | void hight_ero_check(void); 30 | #endif 31 | 32 | -------------------------------------------------------------------------------- /HARDWARE/include.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/include.h -------------------------------------------------------------------------------- /HARDWARE/parameter.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/parameter.c -------------------------------------------------------------------------------- /HARDWARE/parameter.h: -------------------------------------------------------------------------------- 1 | #ifndef _PARAMETER_H 2 | #define _PARAMETER_H 3 | 4 | #include "../HARDWARE/define.h" 5 | 6 | typedef struct 7 | { 8 | float kp; 9 | float kd; 10 | float ki; 11 | float kdamp; 12 | 13 | }pid_t; 14 | 15 | typedef struct 16 | { 17 | float x; 18 | float y; 19 | float z; 20 | }xyz_f_t; 21 | 22 | 23 | typedef struct 24 | { 25 | s16 x; 26 | s16 y; 27 | s16 z; 28 | 29 | }xyz_s16_t; 30 | 31 | 32 | typedef union 33 | { 34 | uint8_t raw_data[64]; 35 | struct 36 | { 37 | xyz_f_t Accel; 38 | xyz_f_t Gyro; 39 | xyz_f_t Mag; 40 | uint32_t Baro; 41 | float Temperature; 42 | }Offset; 43 | }sensor_setup_t; 44 | 45 | typedef struct{ 46 | pid_t roll; 47 | pid_t pitch; 48 | pid_t yaw; 49 | }pid_group_t; 50 | 51 | typedef union 52 | { 53 | uint8_t raw_data[128]; 54 | struct{ 55 | pid_group_t ctrl1; 56 | pid_group_t ctrl2; 57 | }groups; 58 | }pid_setup_t; 59 | 60 | 61 | void Senser_Calibrat_Read(void); 62 | void PID_Para_Read(void); 63 | void Para_Init(void); 64 | 65 | void Para_ResetToFactorySetup(void); 66 | void Param_SavePID(void); 67 | void Param_SaveAccelOffset(xyz_f_t *offset); 68 | void Param_SaveGyroOffset(xyz_f_t *offset); 69 | void Param_SaveMagOffset(xyz_f_t *offset); 70 | void Parameter_Save(void); 71 | 72 | #endif 73 | 74 | -------------------------------------------------------------------------------- /HARDWARE/ucos_task.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/ucos_task.c -------------------------------------------------------------------------------- /HARDWARE/ucos_task.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/HARDWARE/ucos_task.h -------------------------------------------------------------------------------- /MALLOC/malloc.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/MALLOC/malloc.c -------------------------------------------------------------------------------- /MALLOC/malloc.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/MALLOC/malloc.h -------------------------------------------------------------------------------- /OBJ/24cxx.crf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/OBJ/24cxx.crf -------------------------------------------------------------------------------- /OBJ/24cxx.d: -------------------------------------------------------------------------------- 1 | ..\obj\24cxx.o: ..\HARDWARE\24CXX\24cxx.c 2 | ..\obj\24cxx.o: ..\HARDWARE\24CXX\24cxx.h 3 | ..\obj\24cxx.o: ..\HARDWARE\IIC\myiic.h 4 | ..\obj\24cxx.o: ..\SYSTEM\sys\sys.h 5 | ..\obj\24cxx.o: ..\USER\stm32f4xx.h 6 | ..\obj\24cxx.o: ..\CORE\core_cm4.h 7 | ..\obj\24cxx.o: d:\Keil_v5\ARM\ARMCC\bin\..\include\stdint.h 8 | ..\obj\24cxx.o: ..\CORE\core_cmInstr.h 9 | ..\obj\24cxx.o: ..\CORE\core_cmFunc.h 10 | ..\obj\24cxx.o: ..\CORE\core_cm4_simd.h 11 | ..\obj\24cxx.o: ..\USER\system_stm32f4xx.h 12 | ..\obj\24cxx.o: ..\USER\stm32f4xx_conf.h 13 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_adc.h 14 | ..\obj\24cxx.o: ..\USER\stm32f4xx.h 15 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_crc.h 16 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h 17 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_dma.h 18 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_exti.h 19 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_flash.h 20 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_gpio.h 21 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_i2c.h 22 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_iwdg.h 23 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_pwr.h 24 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_rcc.h 25 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_rtc.h 26 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_sdio.h 27 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_spi.h 28 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_syscfg.h 29 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_tim.h 30 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_usart.h 31 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_wwdg.h 32 | ..\obj\24cxx.o: ..\FWLIB\inc\misc.h 33 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_cryp.h 34 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_hash.h 35 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_rng.h 36 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_can.h 37 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_dac.h 38 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_dcmi.h 39 | ..\obj\24cxx.o: ..\FWLIB\inc\stm32f4xx_fsmc.h 40 | ..\obj\24cxx.o: ..\SYSTEM\delay\delay.h 41 | -------------------------------------------------------------------------------- /OBJ/24cxx.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/OBJ/24cxx.o -------------------------------------------------------------------------------- /OBJ/ExtDll.iex: -------------------------------------------------------------------------------- 1 | [EXTDLL] 2 | Count=0 3 | -------------------------------------------------------------------------------- /OBJ/UCOSII-3.axf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/OBJ/UCOSII-3.axf -------------------------------------------------------------------------------- /OBJ/UCOSII-3.build_log.htm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/OBJ/UCOSII-3.build_log.htm -------------------------------------------------------------------------------- /OBJ/UCOSII-3.lnp: -------------------------------------------------------------------------------- 1 | --cpu Cortex-M4.fp 2 | "..\obj\main.o" 3 | "..\obj\parameter.o" 4 | "..\obj\ucos_task.o" 5 | "..\obj\startup_stm32f40_41xxx.o" 6 | "..\obj\stm32f4xx_it.o" 7 | "..\obj\system_stm32f4xx.o" 8 | "..\obj\delay.o" 9 | "..\obj\sys.o" 10 | "..\obj\misc.o" 11 | "..\obj\stm32f4xx_gpio.o" 12 | "..\obj\stm32f4xx_fsmc.o" 13 | "..\obj\stm32f4xx_rcc.o" 14 | "..\obj\stm32f4xx_syscfg.o" 15 | "..\obj\stm32f4xx_usart.o" 16 | "..\obj\stm32f4xx_tim.o" 17 | "..\obj\stm32f4xx_flash.o" 18 | "..\obj\stm32f4xx_exti.o" 19 | "..\obj\stm32f4xx_pwr.o" 20 | "..\obj\stm32f4xx_spi.o" 21 | "..\obj\stm32f4xx_dma.o" 22 | "..\obj\stm32f4xx_adc.o" 23 | "..\obj\os_core.o" 24 | "..\obj\os_flag.o" 25 | "..\obj\os_mbox.o" 26 | "..\obj\os_mem.o" 27 | "..\obj\os_mutex.o" 28 | "..\obj\os_q.o" 29 | "..\obj\os_sem.o" 30 | "..\obj\os_task.o" 31 | "..\obj\os_time.o" 32 | "..\obj\os_tmr.o" 33 | "..\obj\os_cpu_a.o" 34 | "..\obj\os_cpu_c.o" 35 | "..\obj\flash.o" 36 | "..\obj\iic.o" 37 | "..\obj\dma.o" 38 | "..\obj\pwm_out.o" 39 | "..\obj\time.o" 40 | "..\obj\error.o" 41 | "..\obj\iic1.o" 42 | "..\obj\rc_mine.o" 43 | "..\obj\usart_fc.o" 44 | "..\obj\hml_sample.o" 45 | "..\obj\mpu6050.o" 46 | "..\obj\ms5611_2.o" 47 | "..\obj\ultrasonic.o" 48 | "..\obj\hml_cal.o" 49 | "..\obj\att_control.o" 50 | "..\obj\eso.o" 51 | "..\obj\h_inf.o" 52 | "..\obj\height_ctrl.o" 53 | "..\obj\visual_contol.o" 54 | "..\DSP_LIB\arm_cortexM4lf_math.lib" 55 | "..\obj\fastmath.o" 56 | "..\obj\matrix.o" 57 | "..\obj\minimatrix.o" 58 | "..\obj\my_math.o" 59 | "..\obj\quaternion.o" 60 | "..\HARDWARE\UKF_BARO\kf_oldx.lib" 61 | "..\HARDWARE\EKF_BARO\baro_ekf_oldx.lib" 62 | "..\obj\imu1.o" 63 | "..\obj\alt_kf.o" 64 | "..\HARDWARE\FUSHION\kf_oldx_yaw.lib" 65 | "..\obj\sonar_avoid.o" 66 | --strict --scatter "..\OBJ\UCOSII-3.sct" 67 | --summary_stderr --info summarysizes --map --xref --callgraph --symbols 68 | --info sizes --info totals --info unused --info veneers 69 | --list "..\OBJ\UCOSII-3.map" -o ..\OBJ\UCOSII-3.axf -------------------------------------------------------------------------------- /OBJ/UCOSII-3.sct: -------------------------------------------------------------------------------- 1 | ; ************************************************************* 2 | ; *** Scatter-Loading Description File generated by uVision *** 3 | ; ************************************************************* 4 | 5 | LR_IROM1 0x08000000 0x00100000 { ; load region size_region 6 | ER_IROM1 0x08000000 0x00100000 { ; load address = execution address 7 | *.o (RESET, +First) 8 | *(InRoot$$Sections) 9 | .ANY (+RO) 10 | } 11 | RW_IRAM1 0x20000000 0x00020000 { ; RW data 12 | .ANY (+RW +ZI) 13 | } 14 | } 15 | 16 | -------------------------------------------------------------------------------- /OBJ/UCOSII-3_UCOSII-3.dep: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/OBJ/UCOSII-3_UCOSII-3.dep -------------------------------------------------------------------------------- /OBJ/alt_kf.crf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/OBJ/alt_kf.crf -------------------------------------------------------------------------------- /OBJ/alt_kf.o: 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..\CORE\core_cmFunc.h 10 | ..\obj\at2.o: ..\CORE\core_cm4_simd.h 11 | ..\obj\at2.o: ..\USER\system_stm32f4xx.h 12 | ..\obj\at2.o: ..\USER\stm32f4xx_conf.h 13 | ..\obj\at2.o: ..\FWLIB\inc\stm32f4xx_adc.h 14 | ..\obj\at2.o: ..\USER\stm32f4xx.h 15 | ..\obj\at2.o: ..\FWLIB\inc\stm32f4xx_crc.h 16 | ..\obj\at2.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h 17 | ..\obj\at2.o: ..\FWLIB\inc\stm32f4xx_dma.h 18 | ..\obj\at2.o: ..\FWLIB\inc\stm32f4xx_exti.h 19 | ..\obj\at2.o: ..\FWLIB\inc\stm32f4xx_flash.h 20 | ..\obj\at2.o: ..\FWLIB\inc\stm32f4xx_gpio.h 21 | ..\obj\at2.o: ..\FWLIB\inc\stm32f4xx_i2c.h 22 | ..\obj\at2.o: ..\FWLIB\inc\stm32f4xx_iwdg.h 23 | ..\obj\at2.o: ..\FWLIB\inc\stm32f4xx_pwr.h 24 | ..\obj\at2.o: ..\FWLIB\inc\stm32f4xx_rcc.h 25 | ..\obj\at2.o: ..\FWLIB\inc\stm32f4xx_rtc.h 26 | ..\obj\at2.o: ..\FWLIB\inc\stm32f4xx_sdio.h 27 | ..\obj\at2.o: ..\FWLIB\inc\stm32f4xx_spi.h 28 | ..\obj\at2.o: ..\FWLIB\inc\stm32f4xx_syscfg.h 29 | ..\obj\at2.o: ..\FWLIB\inc\stm32f4xx_tim.h 30 | ..\obj\at2.o: 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..\FWLIB\inc\stm32f4xx_dcmi.h 37 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_fsmc.h 38 | -------------------------------------------------------------------------------- /OBJ/stm32f4xx_gpio.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/OBJ/stm32f4xx_gpio.o -------------------------------------------------------------------------------- /OBJ/stm32f4xx_it.crf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/OBJ/stm32f4xx_it.crf -------------------------------------------------------------------------------- /OBJ/stm32f4xx_it.d: -------------------------------------------------------------------------------- 1 | ..\obj\stm32f4xx_it.o: stm32f4xx_it.c 2 | ..\obj\stm32f4xx_it.o: stm32f4xx_it.h 3 | ..\obj\stm32f4xx_it.o: stm32f4xx.h 4 | 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d:\Keil_v5\ARM\ARMCC\bin\..\include\stdint.h 7 | ..\obj\touch.o: ..\CORE\core_cmInstr.h 8 | ..\obj\touch.o: ..\CORE\core_cmFunc.h 9 | ..\obj\touch.o: ..\CORE\core_cm4_simd.h 10 | ..\obj\touch.o: ..\USER\system_stm32f4xx.h 11 | ..\obj\touch.o: ..\USER\stm32f4xx_conf.h 12 | ..\obj\touch.o: ..\FWLIB\inc\stm32f4xx_adc.h 13 | ..\obj\touch.o: ..\USER\stm32f4xx.h 14 | ..\obj\touch.o: ..\FWLIB\inc\stm32f4xx_crc.h 15 | ..\obj\touch.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h 16 | ..\obj\touch.o: ..\FWLIB\inc\stm32f4xx_dma.h 17 | ..\obj\touch.o: ..\FWLIB\inc\stm32f4xx_exti.h 18 | ..\obj\touch.o: ..\FWLIB\inc\stm32f4xx_flash.h 19 | ..\obj\touch.o: ..\FWLIB\inc\stm32f4xx_gpio.h 20 | ..\obj\touch.o: ..\FWLIB\inc\stm32f4xx_i2c.h 21 | ..\obj\touch.o: ..\FWLIB\inc\stm32f4xx_iwdg.h 22 | ..\obj\touch.o: ..\FWLIB\inc\stm32f4xx_pwr.h 23 | ..\obj\touch.o: ..\FWLIB\inc\stm32f4xx_rcc.h 24 | ..\obj\touch.o: ..\FWLIB\inc\stm32f4xx_rtc.h 25 | ..\obj\touch.o: ..\FWLIB\inc\stm32f4xx_sdio.h 26 | ..\obj\touch.o: 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..\HARDWARE\24CXX\24cxx.h 47 | ..\obj\touch.o: ..\HARDWARE\IIC\myiic.h 48 | -------------------------------------------------------------------------------- /OBJ/touch.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/OBJ/touch.o -------------------------------------------------------------------------------- /OBJ/tpad.crf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/OBJ/tpad.crf -------------------------------------------------------------------------------- /OBJ/tpad.d: -------------------------------------------------------------------------------- 1 | ..\obj\tpad.o: ..\HARDWARE\TPAD\tpad.c 2 | ..\obj\tpad.o: ..\HARDWARE\TPAD\tpad.h 3 | ..\obj\tpad.o: ..\SYSTEM\sys\sys.h 4 | ..\obj\tpad.o: ..\USER\stm32f4xx.h 5 | ..\obj\tpad.o: 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..\obj\tpad.o: ..\FWLIB\inc\stm32f4xx_spi.h 27 | ..\obj\tpad.o: ..\FWLIB\inc\stm32f4xx_syscfg.h 28 | ..\obj\tpad.o: ..\FWLIB\inc\stm32f4xx_tim.h 29 | ..\obj\tpad.o: ..\FWLIB\inc\stm32f4xx_usart.h 30 | ..\obj\tpad.o: ..\FWLIB\inc\stm32f4xx_wwdg.h 31 | ..\obj\tpad.o: ..\FWLIB\inc\misc.h 32 | ..\obj\tpad.o: ..\FWLIB\inc\stm32f4xx_cryp.h 33 | ..\obj\tpad.o: ..\FWLIB\inc\stm32f4xx_hash.h 34 | ..\obj\tpad.o: ..\FWLIB\inc\stm32f4xx_rng.h 35 | ..\obj\tpad.o: ..\FWLIB\inc\stm32f4xx_can.h 36 | ..\obj\tpad.o: ..\FWLIB\inc\stm32f4xx_dac.h 37 | ..\obj\tpad.o: ..\FWLIB\inc\stm32f4xx_dcmi.h 38 | ..\obj\tpad.o: ..\FWLIB\inc\stm32f4xx_fsmc.h 39 | ..\obj\tpad.o: ..\SYSTEM\delay\delay.h 40 | ..\obj\tpad.o: ..\SYSTEM\usart\usart.h 41 | ..\obj\tpad.o: d:\Keil_v5\ARM\ARMCC\bin\..\include\stdio.h 42 | -------------------------------------------------------------------------------- /OBJ/tpad.o: -------------------------------------------------------------------------------- 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https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/UCOSII/PORT/os_dbg_r.c -------------------------------------------------------------------------------- /USER/DebugConfig/UCOSII-3_STM32F407ZG.dbgconf: -------------------------------------------------------------------------------- 1 | // <<< Use Configuration Wizard in Context Menu >>> 2 | 3 | // Debug MCU Configuration 4 | // DBG_SLEEP Debug Sleep Mode 5 | // DBG_STOP Debug Stop Mode 6 | // DBG_STANDBY Debug Standby Mode 7 | // 8 | DbgMCU_CR = 0x00000007; 9 | 10 | // Debug MCU APB1 Freeze 11 | // DBG_TIM2_STOP Timer 2 Stopped when Core is halted 12 | // DBG_TIM3_STOP Timer 3 Stopped when Core is halted 13 | // DBG_TIM4_STOP Timer 4 Stopped when Core is halted 14 | // DBG_TIM5_STOP Timer 5 Stopped when Core is halted 15 | // DBG_TIM6_STOP Timer 6 Stopped when Core is halted 16 | // DBG_TIM7_STOP Timer 7 Stopped when Core is halted 17 | // DBG_TIM12_STOP Timer 12 Stopped when Core is halted 18 | // DBG_TIM13_STOP Timer 13 Stopped when Core is halted 19 | // DBG_TIM14_STOP Timer 14 Stopped when Core is halted 20 | // DBG_RTC_STOP RTC Stopped when Core is halted 21 | // DBG_WWDG_STOP Window Watchdog Stopped when Core is halted 22 | // DBG_IWDG_STOP Independent Watchdog Stopped when Core is halted 23 | // DBG_I2C1_SMBUS_TIMEOUT I2C1 SMBUS Timeout Mode Stopped when Core is halted 24 | // DBG_I2C2_SMBUS_TIMEOUT I2C2 SMBUS Timeout Mode Stopped when Core is halted 25 | // DBG_I2C3_SMBUS_TIMEOUT I2C3 SMBUS Timeout Mode Stopped when Core is halted 26 | // DBG_CAN1_STOP CAN1 Stopped when Core is halted 27 | // DBG_CAN2_STOP CAN2 Stopped when Core is halted 28 | // 29 | DbgMCU_APB1_Fz = 0x00000000; 30 | 31 | 32 | // Debug MCU APB2 Freeze 33 | // DBG_TIM1_STOP Timer 1 Stopped when Core is halted 34 | // DBG_TIM8_STOP Timer 8 Stopped when Core is halted 35 | // DBG_TIM9_STOP Timer 9 Stopped when Core is halted 36 | // DBG_TIM10_STOP Timer 10 Stopped when Core is halted 37 | // DBG_TIM11_STOP Timer 11 Stopped when Core is halted 38 | // 39 | DbgMCU_APB2_Fz = 0x00000000; 40 | 41 | // <<< end of configuration section >>> -------------------------------------------------------------------------------- /USER/JLinkSettings.ini: -------------------------------------------------------------------------------- 1 | [BREAKPOINTS] 2 | ShowInfoWin = 1 3 | EnableFlashBP = 2 4 | BPDuringExecution = 0 5 | [CFI] 6 | CFISize = 0x00 7 | CFIAddr = 0x00 8 | [CPU] 9 | OverrideMemMap = 0 10 | AllowSimulation = 1 11 | ScriptFile="" 12 | [FLASH] 13 | CacheExcludeSize = 0x00 14 | CacheExcludeAddr = 0x00 15 | MinNumBytesFlashDL = 0 16 | SkipProgOnCRCMatch = 1 17 | VerifyDownload = 1 18 | AllowCaching = 1 19 | EnableFlashDL = 2 20 | Override = 0 21 | Device="UNSPECIFIED" 22 | [GENERAL] 23 | WorkRAMSize = 0x00 24 | WorkRAMAddr = 0x00 25 | RAMUsageLimit = 0x00 26 | [SWO] 27 | SWOLogFile="" 28 | [MEM] 29 | RdOverrideOrMask = 0x00 30 | RdOverrideAndMask = 0xFFFFFFFF 31 | RdOverrideAddr = 0xFFFFFFFF 32 | WrOverrideOrMask = 0x00 33 | WrOverrideAndMask = 0xFFFFFFFF 34 | WrOverrideAddr = 0xFFFFFFFF 35 | -------------------------------------------------------------------------------- /USER/main.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/USER/main.c -------------------------------------------------------------------------------- /USER/stm32f4xx.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/USER/stm32f4xx.h -------------------------------------------------------------------------------- /keilkilll.bat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/golaced/OLD-X-FC/6c58f91c59984c4f4fb3b4d64c6d80b8d02f5141/keilkilll.bat 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