├── .cproject ├── .gitattributes ├── .gitignore ├── .mxproject ├── .project ├── .settings ├── com.st.stm32cube.ide.mcu.sfrview.prefs ├── language.settings.xml ├── org.eclipse.cdt.core.prefs ├── org.eclipse.core.resources.prefs └── stm32cubeide.project.prefs ├── Application ├── Inc │ ├── CAN_receive.h │ ├── IMU.h │ ├── IMUFilter.h │ ├── MadgwickAHRS.h │ ├── MahonyAHRS.h │ ├── PID.h │ ├── chassis.h │ ├── gimbal.h │ ├── kalman.h │ ├── messageQueue.h │ ├── remote_control.h │ ├── shoot.h │ ├── tim_control.h │ └── user_lib.h └── Src │ ├── CAN_receive.c │ ├── IMU.c │ ├── IMUFilter.c │ ├── MadgwickAHRS.c │ ├── MahonyAHRS.c │ ├── PID.c │ ├── chassis.c │ ├── gimbal.c │ ├── kalman.c │ ├── messageQueue.c │ ├── remote_control.c │ ├── shoot.c │ ├── tim_control.c │ └── user_lib.c ├── BSP ├── Inc │ ├── BMI088_Middleware.h │ ├── BMI088driver.h │ ├── BMI088reg.h │ ├── anotc.h │ ├── bsp_adc.h │ ├── bsp_beep.h │ ├── bsp_can.h │ ├── bsp_gpio.h │ ├── bsp_oled.h │ ├── bsp_spi.h │ ├── bsp_usart.h │ ├── ch100.h │ ├── ist8310driver.h │ ├── ist8310driver_middleware.h │ ├── oledfont.h │ └── struct_typedef.h └── Src │ ├── BMI088_Middleware.c │ ├── BMI088driver.c │ ├── anotc.c │ ├── bsp_adc.c │ ├── bsp_beep.c │ ├── bsp_can.c │ ├── bsp_gpio.c │ ├── bsp_oled.c │ ├── bsp_spi.c │ ├── bsp_usart.c │ ├── ch100.c │ ├── ist8310driver.c │ └── ist8310driver_middleware.c ├── Core ├── Inc │ ├── FreeRTOSConfig.h │ ├── adc.h │ ├── can.h │ ├── crc.h │ ├── dma.h │ ├── gpio.h │ ├── i2c.h │ ├── main.h │ ├── spi.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ ├── tim.h │ └── usart.h ├── Src │ ├── adc.c │ ├── can.c │ ├── crc.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 │ ├── syscalls.c │ ├── sysmem.c │ ├── system_stm32f4xx.c │ ├── tim.c │ └── usart.c └── Startup │ └── startup_stm32f407ighx.s ├── Drivers ├── CMSIS │ ├── Device │ │ └── ST │ │ │ └── STM32F4xx │ │ │ ├── Include │ │ │ ├── stm32f407xx.h │ │ │ ├── stm32f4xx.h │ │ │ └── system_stm32f4xx.h │ │ │ └── LICENSE.txt │ ├── Include │ │ ├── cmsis_armcc.h │ │ ├── cmsis_armclang.h │ │ ├── cmsis_compiler.h │ │ ├── cmsis_gcc.h │ │ ├── cmsis_iccarm.h │ │ ├── cmsis_version.h │ │ ├── core_armv8mbl.h │ │ ├── core_armv8mml.h │ │ ├── core_cm0.h │ │ ├── core_cm0plus.h │ │ ├── core_cm1.h │ │ ├── core_cm23.h │ │ ├── core_cm3.h │ │ ├── core_cm33.h │ │ ├── core_cm4.h │ │ ├── core_cm7.h │ │ ├── core_sc000.h │ │ ├── core_sc300.h │ │ ├── mpu_armv7.h │ │ ├── mpu_armv8.h │ │ └── tz_context.h │ └── LICENSE.txt └── STM32F4xx_HAL_Driver │ ├── Inc │ ├── Legacy │ │ └── stm32_hal_legacy.h │ ├── stm32f4xx_hal.h │ ├── stm32f4xx_hal_adc.h │ ├── stm32f4xx_hal_adc_ex.h │ ├── stm32f4xx_hal_can.h │ ├── stm32f4xx_hal_cortex.h │ ├── stm32f4xx_hal_crc.h │ ├── stm32f4xx_hal_def.h │ ├── stm32f4xx_hal_dma.h │ ├── stm32f4xx_hal_dma_ex.h │ ├── stm32f4xx_hal_exti.h │ ├── stm32f4xx_hal_flash.h │ ├── stm32f4xx_hal_flash_ex.h │ ├── stm32f4xx_hal_flash_ramfunc.h │ ├── stm32f4xx_hal_gpio.h │ ├── stm32f4xx_hal_gpio_ex.h │ ├── stm32f4xx_hal_i2c.h │ ├── stm32f4xx_hal_i2c_ex.h │ ├── stm32f4xx_hal_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_adc.h │ ├── LICENSE.txt │ └── Src │ ├── stm32f4xx_hal.c │ ├── stm32f4xx_hal_adc.c │ ├── stm32f4xx_hal_adc_ex.c │ ├── stm32f4xx_hal_can.c │ ├── stm32f4xx_hal_cortex.c │ ├── stm32f4xx_hal_crc.c │ ├── stm32f4xx_hal_dma.c │ ├── stm32f4xx_hal_dma_ex.c │ ├── stm32f4xx_hal_exti.c │ ├── stm32f4xx_hal_flash.c │ ├── stm32f4xx_hal_flash_ex.c │ ├── stm32f4xx_hal_flash_ramfunc.c │ ├── stm32f4xx_hal_gpio.c │ ├── stm32f4xx_hal_i2c.c │ ├── stm32f4xx_hal_i2c_ex.c │ ├── stm32f4xx_hal_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_adc.c ├── LICENSE ├── Library ├── BasicMathFunctions │ ├── arm_abs_f32.c │ ├── arm_add_f32.c │ ├── arm_dot_prod_f32.c │ ├── arm_mult_f32.c │ ├── arm_negate_f32.c │ ├── arm_offset_f32.c │ ├── arm_scale_f32.c │ ├── arm_shift_q31.c │ └── arm_sub_f32.c └── MatrixFunctions │ ├── arm_mat_add_f32.c │ ├── arm_mat_init_f32.c │ ├── arm_mat_inverse_f32.c │ ├── arm_mat_mult_f32.c │ ├── arm_mat_sub_f32.c │ └── arm_mat_trans_f32.c ├── Middlewares ├── ST │ └── ARM │ │ └── DSP │ │ └── Inc │ │ └── arm_math.h └── Third_Party │ └── FreeRTOS │ └── Source │ ├── CMSIS_RTOS │ ├── cmsis_os.c │ └── cmsis_os.h │ ├── LICENSE │ ├── croutine.c │ ├── event_groups.c │ ├── include │ ├── FreeRTOS.h │ ├── StackMacros.h │ ├── atomic.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 │ └── MemMang │ │ └── heap_4.c │ ├── queue.c │ ├── stream_buffer.c │ ├── tasks.c │ └── timers.c ├── Pic ├── Banner.png └── CodeArchitecture.png ├── README.md ├── STM32F407IGHX_FLASH.ld ├── STM32F407IGHX_RAM.ld ├── UpdateHistory.md └── Zero.ioc /.cproject: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ittuann/RoboMaster-NEFU-Ares-UAVGimbal/HEAD/.cproject -------------------------------------------------------------------------------- /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ittuann/RoboMaster-NEFU-Ares-UAVGimbal/HEAD/.gitattributes -------------------------------------------------------------------------------- /.gitignore: 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