├── .gitignore ├── LICENSE ├── README.md └── STM32F407 ├── .DS_Store ├── .cproject ├── .project ├── .settings └── language.settings.xml ├── Debug ├── .cproject ├── .project ├── Drivers │ └── STM32F4xx_HAL_Driver │ │ └── Src │ │ ├── stm32f4xx_hal.d │ │ ├── stm32f4xx_hal.o │ │ ├── stm32f4xx_hal_adc.d │ │ ├── stm32f4xx_hal_adc.o │ │ ├── stm32f4xx_hal_adc_ex.d │ │ ├── stm32f4xx_hal_adc_ex.o │ │ ├── stm32f4xx_hal_cortex.d │ │ ├── stm32f4xx_hal_cortex.o │ │ ├── stm32f4xx_hal_dma.d │ │ ├── stm32f4xx_hal_dma.o │ │ ├── stm32f4xx_hal_dma_ex.d │ │ ├── stm32f4xx_hal_dma_ex.o │ │ ├── stm32f4xx_hal_flash.d │ │ ├── stm32f4xx_hal_flash.o │ │ ├── stm32f4xx_hal_flash_ex.d │ │ ├── stm32f4xx_hal_flash_ex.o │ │ ├── stm32f4xx_hal_flash_ramfunc.d │ │ ├── stm32f4xx_hal_flash_ramfunc.o │ │ ├── stm32f4xx_hal_gpio.d │ │ ├── stm32f4xx_hal_gpio.o │ │ ├── stm32f4xx_hal_pwr.d │ │ ├── stm32f4xx_hal_pwr.o │ │ ├── stm32f4xx_hal_pwr_ex.d │ │ ├── stm32f4xx_hal_pwr_ex.o │ │ ├── stm32f4xx_hal_rcc.d │ │ ├── stm32f4xx_hal_rcc.o │ │ ├── stm32f4xx_hal_rcc_ex.d │ │ ├── stm32f4xx_hal_rcc_ex.o │ │ ├── stm32f4xx_hal_tim.d │ │ ├── stm32f4xx_hal_tim.o │ │ ├── stm32f4xx_hal_tim_ex.d │ │ ├── stm32f4xx_hal_tim_ex.o │ │ └── subdir.mk ├── QPControlF407Panel.bin ├── QPControlF407Panel.elf ├── QPControlF407Panel.map ├── STM32F407.elf ├── STM32F407.hex ├── STM32F407.map ├── Src │ ├── MPC_setup.d │ ├── MPC_setup.o │ ├── func.d │ ├── func.o │ ├── main.d │ ├── main.o │ ├── stm32f4xx_hal_msp.d │ ├── stm32f4xx_hal_msp.o │ ├── stm32f4xx_it.d │ ├── stm32f4xx_it.o │ ├── subdir.mk │ ├── syscalls.d │ ├── syscalls.o │ ├── system_stm32f4xx.d │ ├── system_stm32f4xx.o │ ├── tiny_ekf.d │ └── tiny_ekf.o ├── makefile ├── objects.mk ├── qpOASES │ └── src │ │ ├── BLASReplacement.d │ │ ├── BLASReplacement.o │ │ ├── Bounds.d │ │ ├── Bounds.o │ │ ├── Constraints.d │ │ ├── Constraints.o │ │ ├── Flipper.d │ │ ├── Flipper.o │ │ ├── Indexlist.d │ │ ├── Indexlist.o │ │ ├── LAPACKReplacement.d │ │ ├── LAPACKReplacement.o │ │ ├── Matrices.d │ │ ├── Matrices.o │ │ ├── MessageHandling.d │ │ ├── MessageHandling.o │ │ ├── OQPinterface.d │ │ ├── OQPinterface.o │ │ ├── Options.d │ │ ├── Options.o │ │ ├── QProblem.d │ │ ├── QProblem.o │ │ ├── QProblemB.d │ │ ├── QProblemB.o │ │ ├── SQProblem.d │ │ ├── SQProblem.o │ │ ├── SQProblemSchur.d │ │ ├── SQProblemSchur.o │ │ ├── SolutionAnalysis.d │ │ ├── SolutionAnalysis.o │ │ ├── SparseSolver.d │ │ ├── SparseSolver.o │ │ ├── SubjectTo.d │ │ ├── SubjectTo.o │ │ ├── Utils.d │ │ ├── Utils.o │ │ ├── qpOASES_wrapper.d │ │ ├── qpOASES_wrapper.o │ │ └── subdir.mk ├── sources.mk └── startup │ ├── startup_stm32f407xx.d │ ├── startup_stm32f407xx.o │ └── subdir.mk ├── Drivers ├── CMSIS │ ├── Device │ │ └── ST │ │ │ └── STM32F4xx │ │ │ └── Include │ │ │ ├── stm32f407xx.h │ │ │ ├── stm32f4xx.h │ │ │ └── system_stm32f4xx.h │ └── Include │ │ ├── arm_common_tables.h │ │ ├── arm_const_structs.h │ │ ├── arm_math.h │ │ ├── cmsis_armcc.h │ │ ├── cmsis_armcc_V6.h │ │ ├── cmsis_gcc.h │ │ ├── core_cm0.h │ │ ├── core_cm0plus.h │ │ ├── core_cm3.h │ │ ├── core_cm4.h │ │ ├── core_cm7.h │ │ ├── core_cmFunc.h │ │ ├── core_cmInstr.h │ │ ├── core_cmSimd.h │ │ ├── core_sc000.h │ │ └── core_sc300.h └── STM32F4xx_HAL_Driver │ ├── Inc │ ├── Legacy │ │ └── stm32_hal_legacy.h │ ├── stm32f4xx_hal.h │ ├── stm32f4xx_hal_adc.h │ ├── stm32f4xx_hal_adc_ex.h │ ├── stm32f4xx_hal_cortex.h │ ├── stm32f4xx_hal_def.h │ ├── stm32f4xx_hal_dma.h │ ├── stm32f4xx_hal_dma_ex.h │ ├── stm32f4xx_hal_flash.h │ ├── stm32f4xx_hal_flash_ex.h │ ├── stm32f4xx_hal_flash_ramfunc.h │ ├── stm32f4xx_hal_gpio.h │ ├── stm32f4xx_hal_gpio_ex.h │ ├── stm32f4xx_hal_pwr.h │ ├── stm32f4xx_hal_pwr_ex.h │ ├── stm32f4xx_hal_rcc.h │ ├── stm32f4xx_hal_rcc_ex.h │ ├── stm32f4xx_hal_tim.h │ └── stm32f4xx_hal_tim_ex.h │ └── Src │ ├── stm32f4xx_hal.c │ ├── stm32f4xx_hal_adc.c │ ├── stm32f4xx_hal_adc_ex.c │ ├── stm32f4xx_hal_cortex.c │ ├── stm32f4xx_hal_dma.c │ ├── stm32f4xx_hal_dma_ex.c │ ├── stm32f4xx_hal_flash.c │ ├── stm32f4xx_hal_flash_ex.c │ ├── stm32f4xx_hal_flash_ramfunc.c │ ├── stm32f4xx_hal_gpio.c │ ├── stm32f4xx_hal_pwr.c │ ├── stm32f4xx_hal_pwr_ex.c │ ├── stm32f4xx_hal_rcc.c │ ├── stm32f4xx_hal_rcc_ex.c │ ├── stm32f4xx_hal_tim.c │ └── stm32f4xx_hal_tim_ex.c ├── Inc ├── MPC_setup.h ├── func.h ├── main.h ├── stm32f4xx_hal_conf.h ├── stm32f4xx_it.h └── userDefines.h ├── Src ├── MPC_setup.c ├── func.c ├── main.c ├── stm32f4xx_hal_msp.c ├── stm32f4xx_it.c ├── syscalls.c ├── system_stm32f4xx.c ├── tiny_ekf.c ├── tiny_ekf.h └── tinyekf_config.h ├── qpOASES ├── include │ ├── qpOASES.hpp │ ├── qpOASES │ │ ├── Bounds.hpp │ │ ├── Bounds.ipp │ │ ├── Constants.hpp │ │ ├── ConstraintProduct.hpp │ │ ├── Constraints.hpp │ │ ├── Constraints.ipp │ │ ├── Flipper.hpp │ │ ├── Indexlist.hpp │ │ ├── Indexlist.ipp │ │ ├── Matrices.hpp │ │ ├── MessageHandling.hpp │ │ ├── MessageHandling.ipp │ │ ├── Options.hpp │ │ ├── QProblem.hpp │ │ ├── QProblem.ipp │ │ ├── QProblemB.hpp │ │ ├── QProblemB.ipp │ │ ├── SQProblem.hpp │ │ ├── SQProblem.ipp │ │ ├── SQProblemSchur.hpp │ │ ├── SQProblemSchur.ipp │ │ ├── SparseSolver.hpp │ │ ├── SubjectTo.hpp │ │ ├── SubjectTo.ipp │ │ ├── Types.hpp │ │ ├── UnitTesting.hpp │ │ ├── Utils.hpp │ │ ├── Utils.ipp │ │ └── extras │ │ │ ├── OQPinterface.hpp │ │ │ ├── SolutionAnalysis.hpp │ │ │ └── SolutionAnalysis.ipp │ └── qpOASES_wrapper.h └── src │ ├── BLASReplacement.cpp │ ├── Bounds.cpp │ ├── Constraints.cpp │ ├── Flipper.cpp │ ├── Indexlist.cpp │ ├── LAPACKReplacement.cpp │ ├── Makefile │ ├── Matrices.cpp │ ├── MessageHandling.cpp │ ├── OQPinterface.cpp │ ├── Options.cpp │ ├── QProblem.cpp │ ├── QProblemB.cpp │ ├── SQProblem.cpp │ ├── SQProblemSchur.cpp │ ├── SolutionAnalysis.cpp │ ├── SparseSolver.cpp │ ├── SubjectTo.cpp │ ├── Utils.cpp │ └── qpOASES_wrapper.cpp └── startup ├── STM32F407VGTx_FLASH.ld └── startup_stm32f407xx.S /.gitignore: -------------------------------------------------------------------------------- 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