├── .gitignore ├── CortexA53 └── 代码说明.txt ├── Document ├── BodyIK.txt ├── PCA9685.pdf ├── 文档说明.txt └── 电路原理图V1.0.pdf ├── README.md └── Stm32F4 ├── JoystickProject ├── .mxproject ├── Inc │ ├── adc.h │ ├── dma.h │ ├── gpio.h │ ├── i2c.h │ ├── main.h │ ├── spi.h │ ├── spi.h.bak │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ ├── tim.h │ ├── usart.h │ ├── usb.h │ ├── usb_host.h │ └── usbh_conf.h ├── Joystick │ ├── RocJoystick.c │ ├── RocJoystick.c.bak │ └── RocJoystick.h ├── MDK-ARM │ ├── EventRecorderStub.scvd │ ├── JLinkLog.txt │ ├── JLinkSettings.ini │ ├── Joystick.uvguix.Admin │ ├── Joystick.uvguix_Admin.bak │ ├── Joystick.uvoptx │ ├── Joystick.uvprojx │ ├── Joystick_uvoptx.bak │ ├── Joystick_uvprojx.bak │ ├── RTE │ │ └── _Joystick │ │ │ └── RTE_Components.h │ ├── startup_stm32f405xx.lst │ └── startup_stm32f405xx.s └── Src │ ├── adc.c │ ├── dma.c │ ├── gpio.c │ ├── gpio.c.bak │ ├── i2c.c │ ├── main.c │ ├── spi.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ ├── tim.c │ ├── usart.c │ ├── usb_host.c │ └── usbh_conf.c ├── RobotProject ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── DSP_Lib │ │ │ └── Source │ │ │ │ ├── BasicMathFunctions │ │ │ │ ├── arm_abs_f32.c │ │ │ │ ├── arm_abs_q15.c │ │ │ │ ├── arm_abs_q31.c │ │ │ │ ├── arm_abs_q7.c │ │ │ │ ├── arm_add_f32.c │ │ │ │ ├── arm_add_q15.c │ │ │ │ ├── arm_add_q31.c │ │ │ │ ├── arm_add_q7.c │ │ │ │ ├── arm_dot_prod_f32.c │ │ │ │ ├── arm_dot_prod_q15.c │ │ │ │ ├── arm_dot_prod_q31.c │ │ │ │ ├── arm_dot_prod_q7.c │ │ │ │ ├── arm_mult_f32.c │ │ │ │ ├── arm_mult_q15.c │ │ │ │ ├── arm_mult_q31.c │ │ │ │ ├── arm_mult_q7.c │ │ │ │ ├── arm_negate_f32.c │ │ │ │ ├── arm_negate_q15.c │ │ │ │ ├── arm_negate_q31.c │ │ │ │ ├── arm_negate_q7.c │ │ │ │ ├── arm_offset_f32.c │ │ │ │ ├── arm_offset_q15.c │ │ │ │ ├── arm_offset_q31.c │ │ │ │ ├── arm_offset_q7.c │ │ │ │ ├── arm_scale_f32.c │ │ │ │ ├── arm_scale_q15.c │ │ │ │ ├── arm_scale_q31.c │ │ │ │ ├── arm_scale_q7.c │ │ │ │ ├── arm_shift_q15.c │ │ │ │ ├── arm_shift_q31.c │ │ │ │ ├── arm_shift_q7.c │ │ │ │ ├── arm_sub_f32.c │ │ │ │ ├── arm_sub_q15.c │ │ │ │ ├── arm_sub_q31.c │ │ │ │ └── arm_sub_q7.c │ │ │ │ ├── CommonTables │ │ │ │ ├── arm_common_tables.c │ │ │ │ └── arm_const_structs.c │ │ │ │ ├── ComplexMathFunctions │ │ │ │ ├── arm_cmplx_conj_f32.c │ │ │ │ ├── arm_cmplx_conj_q15.c │ │ │ │ ├── arm_cmplx_conj_q31.c │ │ │ │ ├── arm_cmplx_dot_prod_f32.c │ │ │ │ ├── arm_cmplx_dot_prod_q15.c │ │ │ │ ├── arm_cmplx_dot_prod_q31.c │ │ │ │ ├── arm_cmplx_mag_f32.c │ │ │ │ ├── arm_cmplx_mag_q15.c │ │ │ │ ├── arm_cmplx_mag_q31.c │ │ │ │ ├── arm_cmplx_mag_squared_f32.c │ │ │ │ ├── arm_cmplx_mag_squared_q15.c │ │ │ │ ├── arm_cmplx_mag_squared_q31.c │ │ │ │ ├── arm_cmplx_mult_cmplx_f32.c │ │ │ │ ├── arm_cmplx_mult_cmplx_q15.c │ │ │ │ ├── arm_cmplx_mult_cmplx_q31.c │ │ │ │ ├── arm_cmplx_mult_real_f32.c │ │ │ │ ├── arm_cmplx_mult_real_q15.c │ │ │ │ └── arm_cmplx_mult_real_q31.c │ │ │ │ ├── ControllerFunctions │ │ │ │ ├── arm_pid_init_f32.c │ │ │ │ ├── arm_pid_init_q15.c │ │ │ │ ├── arm_pid_init_q31.c │ │ │ │ ├── arm_pid_reset_f32.c │ │ │ │ ├── arm_pid_reset_q15.c │ │ │ │ ├── arm_pid_reset_q31.c │ │ │ │ ├── arm_sin_cos_f32.c │ │ │ │ └── arm_sin_cos_q31.c │ │ │ │ ├── FastMathFunctions │ │ │ │ ├── arm_cos_f32.c │ │ │ │ ├── arm_cos_q15.c │ │ │ │ ├── arm_cos_q31.c │ │ │ │ ├── arm_sin_f32.c │ │ │ │ ├── arm_sin_q15.c │ │ │ │ ├── arm_sin_q31.c │ │ │ │ ├── arm_sqrt_q15.c │ │ │ │ └── arm_sqrt_q31.c │ │ │ │ ├── FilteringFunctions │ │ │ │ ├── arm_biquad_cascade_df1_32x64_init_q31.c │ │ │ │ ├── arm_biquad_cascade_df1_32x64_q31.c │ │ │ │ ├── arm_biquad_cascade_df1_f32.c │ │ │ │ ├── arm_biquad_cascade_df1_fast_q15.c │ │ │ │ ├── arm_biquad_cascade_df1_fast_q31.c │ │ │ │ ├── arm_biquad_cascade_df1_init_f32.c │ │ │ │ ├── arm_biquad_cascade_df1_init_q15.c │ │ │ │ ├── arm_biquad_cascade_df1_init_q31.c │ │ │ │ ├── arm_biquad_cascade_df1_q15.c │ │ │ │ ├── arm_biquad_cascade_df1_q31.c │ │ │ │ ├── arm_biquad_cascade_df2T_f32.c │ │ │ │ ├── arm_biquad_cascade_df2T_f64.c │ │ │ │ ├── arm_biquad_cascade_df2T_init_f32.c │ │ │ │ ├── arm_biquad_cascade_df2T_init_f64.c │ │ │ │ ├── arm_biquad_cascade_stereo_df2T_f32.c │ │ │ │ ├── arm_biquad_cascade_stereo_df2T_init_f32.c │ │ │ │ ├── arm_conv_f32.c │ │ │ │ ├── arm_conv_fast_opt_q15.c │ │ │ │ ├── arm_conv_fast_q15.c │ │ │ │ ├── arm_conv_fast_q31.c │ │ │ │ ├── arm_conv_opt_q15.c │ │ │ │ ├── arm_conv_opt_q7.c │ │ │ │ ├── arm_conv_partial_f32.c │ │ │ │ ├── arm_conv_partial_fast_opt_q15.c │ │ │ │ ├── arm_conv_partial_fast_q15.c │ │ │ │ ├── arm_conv_partial_fast_q31.c │ │ │ │ ├── arm_conv_partial_opt_q15.c │ │ │ │ ├── arm_conv_partial_opt_q7.c │ │ │ │ ├── arm_conv_partial_q15.c │ │ │ │ ├── arm_conv_partial_q31.c │ │ │ │ ├── arm_conv_partial_q7.c │ │ │ │ ├── arm_conv_q15.c │ │ │ │ ├── arm_conv_q31.c │ │ │ │ ├── arm_conv_q7.c │ │ │ │ ├── arm_correlate_f32.c │ │ │ │ ├── arm_correlate_fast_opt_q15.c │ │ │ │ ├── arm_correlate_fast_q15.c │ │ │ │ ├── arm_correlate_fast_q31.c │ │ │ │ ├── arm_correlate_opt_q15.c │ │ │ │ ├── arm_correlate_opt_q7.c │ │ │ │ ├── arm_correlate_q15.c │ │ │ │ ├── arm_correlate_q31.c │ │ │ │ ├── arm_correlate_q7.c │ │ │ │ ├── arm_fir_decimate_f32.c │ │ │ │ ├── arm_fir_decimate_fast_q15.c │ │ │ │ ├── arm_fir_decimate_fast_q31.c │ │ │ │ ├── arm_fir_decimate_init_f32.c │ │ │ │ ├── arm_fir_decimate_init_q15.c │ │ │ │ ├── arm_fir_decimate_init_q31.c │ │ │ │ ├── arm_fir_decimate_q15.c │ │ │ │ ├── arm_fir_decimate_q31.c │ │ │ │ ├── arm_fir_f32.c │ │ │ │ ├── arm_fir_fast_q15.c │ │ │ │ ├── arm_fir_fast_q31.c │ │ │ │ ├── arm_fir_init_f32.c │ │ │ │ ├── arm_fir_init_q15.c │ │ │ │ ├── arm_fir_init_q31.c │ │ │ │ ├── arm_fir_init_q7.c │ │ │ │ ├── arm_fir_interpolate_f32.c │ │ │ │ ├── arm_fir_interpolate_init_f32.c │ │ │ │ ├── arm_fir_interpolate_init_q15.c │ │ │ │ ├── arm_fir_interpolate_init_q31.c │ │ │ │ ├── arm_fir_interpolate_q15.c │ │ │ │ ├── arm_fir_interpolate_q31.c │ │ │ │ ├── arm_fir_lattice_f32.c │ │ │ │ ├── arm_fir_lattice_init_f32.c │ │ │ │ ├── arm_fir_lattice_init_q15.c │ │ │ │ ├── arm_fir_lattice_init_q31.c │ │ │ │ ├── arm_fir_lattice_q15.c │ │ │ │ ├── arm_fir_lattice_q31.c │ │ │ │ ├── arm_fir_q15.c │ │ │ │ ├── arm_fir_q31.c │ │ │ │ ├── arm_fir_q7.c │ │ │ │ ├── arm_fir_sparse_f32.c │ │ │ │ ├── arm_fir_sparse_init_f32.c │ │ │ │ ├── arm_fir_sparse_init_q15.c │ │ │ │ ├── arm_fir_sparse_init_q31.c │ │ │ │ ├── arm_fir_sparse_init_q7.c │ │ │ │ ├── arm_fir_sparse_q15.c │ │ │ │ ├── arm_fir_sparse_q31.c │ │ │ │ ├── arm_fir_sparse_q7.c │ │ │ │ ├── arm_iir_lattice_f32.c │ │ │ │ ├── arm_iir_lattice_init_f32.c │ │ │ │ ├── arm_iir_lattice_init_q15.c │ │ │ │ ├── arm_iir_lattice_init_q31.c │ │ │ │ ├── arm_iir_lattice_q15.c │ │ │ │ ├── arm_iir_lattice_q31.c │ │ │ │ ├── arm_lms_f32.c │ │ │ │ ├── arm_lms_init_f32.c │ │ │ │ ├── arm_lms_init_q15.c │ │ │ │ ├── arm_lms_init_q31.c │ │ │ │ ├── arm_lms_norm_f32.c │ │ │ │ ├── arm_lms_norm_init_f32.c │ │ │ │ ├── arm_lms_norm_init_q15.c │ │ │ │ ├── arm_lms_norm_init_q31.c │ │ │ │ ├── arm_lms_norm_q15.c │ │ │ │ ├── arm_lms_norm_q31.c │ │ │ │ ├── arm_lms_q15.c │ │ │ │ └── arm_lms_q31.c │ │ │ │ ├── MatrixFunctions │ │ │ │ ├── arm_mat_add_f32.c │ │ │ │ ├── arm_mat_add_q15.c │ │ │ │ ├── arm_mat_add_q31.c │ │ │ │ ├── arm_mat_cmplx_mult_f32.c │ │ │ │ ├── arm_mat_cmplx_mult_q15.c │ │ │ │ ├── arm_mat_cmplx_mult_q31.c │ │ │ │ ├── arm_mat_init_f32.c │ │ │ │ ├── arm_mat_init_q15.c │ │ │ │ ├── arm_mat_init_q31.c │ │ │ │ ├── arm_mat_inverse_f32.c │ │ │ │ ├── arm_mat_inverse_f64.c │ │ │ │ ├── arm_mat_mult_f32.c │ │ │ │ ├── arm_mat_mult_fast_q15.c │ │ │ │ ├── arm_mat_mult_fast_q31.c │ │ │ │ ├── arm_mat_mult_q15.c │ │ │ │ ├── arm_mat_mult_q31.c │ │ │ │ ├── arm_mat_scale_f32.c │ │ │ │ ├── arm_mat_scale_q15.c │ │ │ │ ├── arm_mat_scale_q31.c │ │ │ │ ├── arm_mat_sub_f32.c │ │ │ │ ├── arm_mat_sub_q15.c │ │ │ │ ├── arm_mat_sub_q31.c │ │ │ │ ├── arm_mat_trans_f32.c │ │ │ │ ├── arm_mat_trans_q15.c │ │ │ │ └── arm_mat_trans_q31.c │ │ │ │ ├── StatisticsFunctions │ │ │ │ ├── arm_max_f32.c │ │ │ │ ├── arm_max_q15.c │ │ │ │ ├── arm_max_q31.c │ │ │ │ ├── arm_max_q7.c │ │ │ │ ├── arm_mean_f32.c │ │ │ │ ├── arm_mean_q15.c │ │ │ │ ├── arm_mean_q31.c │ │ │ │ ├── arm_mean_q7.c │ │ │ │ ├── arm_min_f32.c │ │ │ │ ├── arm_min_q15.c │ │ │ │ ├── arm_min_q31.c │ │ │ │ ├── arm_min_q7.c │ │ │ │ ├── arm_power_f32.c │ │ │ │ ├── arm_power_q15.c │ │ │ │ ├── arm_power_q31.c │ │ │ │ ├── arm_power_q7.c │ │ │ │ ├── arm_rms_f32.c │ │ │ │ ├── arm_rms_q15.c │ │ │ │ ├── arm_rms_q31.c │ │ │ │ ├── arm_std_f32.c │ │ │ │ ├── arm_std_q15.c │ │ │ │ ├── arm_std_q31.c │ │ │ │ ├── arm_var_f32.c │ │ │ │ ├── arm_var_q15.c │ │ │ │ └── arm_var_q31.c │ │ │ │ ├── SupportFunctions │ │ │ │ ├── arm_copy_f32.c │ │ │ │ ├── arm_copy_q15.c │ │ │ │ ├── arm_copy_q31.c │ │ │ │ ├── arm_copy_q7.c │ │ │ │ ├── arm_fill_f32.c │ │ │ │ ├── arm_fill_q15.c │ │ │ │ ├── arm_fill_q31.c │ │ │ │ ├── arm_fill_q7.c │ │ │ │ ├── arm_float_to_q15.c │ │ │ │ ├── arm_float_to_q31.c │ │ │ │ ├── arm_float_to_q7.c │ │ │ │ ├── arm_q15_to_float.c │ │ │ │ ├── arm_q15_to_q31.c │ │ │ │ ├── arm_q15_to_q7.c │ │ │ │ ├── arm_q31_to_float.c │ │ │ │ ├── arm_q31_to_q15.c │ │ │ │ ├── arm_q31_to_q7.c │ │ │ │ ├── arm_q7_to_float.c │ │ │ │ ├── arm_q7_to_q15.c │ │ │ │ └── arm_q7_to_q31.c │ │ │ │ └── TransformFunctions │ │ │ │ ├── arm_bitreversal.c │ │ │ │ ├── arm_cfft_f32.c │ │ │ │ ├── arm_cfft_q15.c │ │ │ │ ├── arm_cfft_q31.c │ │ │ │ ├── arm_cfft_radix2_f32.c │ │ │ │ ├── arm_cfft_radix2_init_f32.c │ │ │ │ ├── arm_cfft_radix2_init_q15.c │ │ │ │ ├── arm_cfft_radix2_init_q31.c │ │ │ │ ├── arm_cfft_radix2_q15.c │ │ │ │ ├── arm_cfft_radix2_q31.c │ │ │ │ ├── arm_cfft_radix4_f32.c │ │ │ │ ├── arm_cfft_radix4_init_f32.c │ │ │ │ ├── arm_cfft_radix4_init_q15.c │ │ │ │ ├── arm_cfft_radix4_init_q31.c │ │ │ │ ├── arm_cfft_radix4_q15.c │ │ │ │ ├── arm_cfft_radix4_q31.c │ │ │ │ ├── arm_cfft_radix8_f32.c │ │ │ │ ├── arm_dct4_f32.c │ │ │ │ ├── arm_dct4_init_f32.c │ │ │ │ ├── arm_dct4_init_q15.c │ │ │ │ ├── arm_dct4_init_q31.c │ │ │ │ ├── arm_dct4_q15.c │ │ │ │ ├── arm_dct4_q31.c │ │ │ │ ├── arm_rfft_f32.c │ │ │ │ ├── arm_rfft_fast_f32.c │ │ │ │ ├── arm_rfft_fast_init_f32.c │ │ │ │ ├── arm_rfft_init_f32.c │ │ │ │ ├── arm_rfft_init_q15.c │ │ │ │ ├── arm_rfft_init_q31.c │ │ │ │ ├── arm_rfft_q15.c │ │ │ │ └── arm_rfft_q31.c │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ ├── Include │ │ │ │ ├── stm32f401xc.h │ │ │ │ ├── stm32f401xe.h │ │ │ │ ├── stm32f405xx.h │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f410cx.h │ │ │ │ ├── stm32f410rx.h │ │ │ │ ├── stm32f410tx.h │ │ │ │ ├── stm32f411xe.h │ │ │ │ ├── stm32f412cx.h │ │ │ │ ├── stm32f412rx.h │ │ │ │ ├── stm32f412vx.h │ │ │ │ ├── stm32f412zx.h │ │ │ │ ├── stm32f413xx.h │ │ │ │ ├── stm32f415xx.h │ │ │ │ ├── stm32f417xx.h │ │ │ │ ├── stm32f423xx.h │ │ │ │ ├── stm32f427xx.h │ │ │ │ ├── stm32f429xx.h │ │ │ │ ├── stm32f437xx.h │ │ │ │ ├── stm32f439xx.h │ │ │ │ ├── stm32f446xx.h │ │ │ │ ├── stm32f469xx.h │ │ │ │ ├── stm32f479xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ │ │ └── Source │ │ │ │ └── Templates │ │ │ │ ├── arm │ │ │ │ ├── startup_stm32f401xc.s │ │ │ │ ├── startup_stm32f401xe.s │ │ │ │ ├── startup_stm32f405xx.s │ │ │ │ ├── startup_stm32f407xx.s │ │ │ │ ├── startup_stm32f410cx.s │ │ │ │ ├── startup_stm32f410rx.s │ │ │ │ ├── startup_stm32f410tx.s │ │ │ │ ├── startup_stm32f411xe.s │ │ │ │ ├── startup_stm32f412cx.s │ │ │ │ ├── startup_stm32f412rx.s │ │ │ │ ├── startup_stm32f412vx.s │ │ │ │ ├── startup_stm32f412zx.s │ │ │ │ ├── startup_stm32f413xx.s │ │ │ │ ├── startup_stm32f415xx.s │ │ │ │ ├── startup_stm32f417xx.s │ │ │ │ ├── startup_stm32f423xx.s │ │ │ │ ├── startup_stm32f427xx.s │ │ │ │ ├── startup_stm32f429xx.s │ │ │ │ ├── startup_stm32f437xx.s │ │ │ │ ├── startup_stm32f439xx.s │ │ │ │ ├── startup_stm32f446xx.s │ │ │ │ ├── startup_stm32f469xx.s │ │ │ │ └── startup_stm32f479xx.s │ │ │ │ ├── gcc │ │ │ │ ├── startup_stm32f401xc.s │ │ │ │ ├── startup_stm32f401xe.s │ │ │ │ ├── startup_stm32f405xx.s │ │ │ │ ├── startup_stm32f407xx.s │ │ │ │ ├── startup_stm32f410cx.s │ │ │ │ ├── startup_stm32f410rx.s │ │ │ │ ├── startup_stm32f410tx.s │ │ │ │ ├── startup_stm32f411xe.s │ │ │ │ ├── startup_stm32f412cx.s │ │ │ │ ├── startup_stm32f412rx.s │ │ │ │ ├── startup_stm32f412vx.s │ │ │ │ ├── startup_stm32f412zx.s │ │ │ │ ├── startup_stm32f413xx.s │ │ │ │ ├── startup_stm32f415xx.s │ │ │ │ ├── startup_stm32f417xx.s │ │ │ │ ├── startup_stm32f423xx.s │ │ │ │ ├── startup_stm32f427xx.s │ │ │ │ ├── startup_stm32f429xx.s │ │ │ │ ├── startup_stm32f437xx.s │ │ │ │ ├── startup_stm32f439xx.s │ │ │ │ ├── startup_stm32f446xx.s │ │ │ │ ├── startup_stm32f469xx.s │ │ │ │ └── startup_stm32f479xx.s │ │ │ │ ├── iar │ │ │ │ ├── linker │ │ │ │ │ ├── stm32f401xc_flash.icf │ │ │ │ │ ├── stm32f401xc_sram.icf │ │ │ │ │ ├── stm32f401xe_flash.icf │ │ │ │ │ ├── stm32f401xe_sram.icf │ │ │ │ │ ├── stm32f405xx_flash.icf │ │ │ │ │ ├── stm32f405xx_sram.icf │ │ │ │ │ ├── stm32f407xx_flash.icf │ │ │ │ │ ├── stm32f407xx_sram.icf │ │ │ │ │ ├── stm32f410cx_flash.icf │ │ │ │ │ ├── stm32f410cx_sram.icf │ │ │ │ │ ├── stm32f410rx_flash.icf │ │ │ │ │ ├── stm32f410rx_sram.icf │ │ │ │ │ ├── stm32f410tx_flash.icf │ │ │ │ │ ├── stm32f410tx_sram.icf │ │ │ │ │ ├── stm32f411xe_flash.icf │ │ │ │ │ ├── stm32f411xe_sram.icf │ │ │ │ │ ├── stm32f412cx_flash.icf │ │ │ │ │ ├── stm32f412cx_sram.icf │ │ │ │ │ ├── stm32f412rx_flash.icf │ │ │ │ │ ├── stm32f412rx_sram.icf │ │ │ │ │ ├── stm32f412vx_flash.icf │ │ │ │ │ ├── stm32f412vx_sram.icf │ │ │ │ │ ├── stm32f412zx_flash.icf │ │ │ │ │ ├── stm32f412zx_sram.icf │ │ │ │ │ ├── stm32f413xx_flash.icf │ │ │ │ │ ├── stm32f413xx_sram.icf │ │ │ │ │ ├── stm32f415xx_flash.icf │ │ │ │ │ ├── stm32f415xx_sram.icf │ │ │ │ │ ├── stm32f417xx_flash.icf │ │ │ │ │ ├── stm32f417xx_sram.icf │ │ │ │ │ ├── stm32f423xx_flash.icf │ │ │ │ │ ├── stm32f423xx_sram.icf │ │ │ │ │ ├── stm32f427xx_flash.icf │ │ │ │ │ ├── stm32f427xx_sram.icf │ │ │ │ │ ├── stm32f429xx_flash.icf │ │ │ │ │ ├── stm32f429xx_sram.icf │ │ │ │ │ ├── stm32f437xx_flash.icf │ │ │ │ │ ├── stm32f437xx_sram.icf │ │ │ │ │ ├── stm32f439xx_flash.icf │ │ │ │ │ ├── stm32f439xx_sram.icf │ │ │ │ │ ├── stm32f446xx_flash.icf │ │ │ │ │ ├── stm32f446xx_sram.icf │ │ │ │ │ ├── stm32f469xx_flash.icf │ │ │ │ │ ├── stm32f469xx_sram.icf │ │ │ │ │ ├── stm32f479xx_flash.icf │ │ │ │ │ └── stm32f479xx_sram.icf │ │ │ │ ├── startup_stm32f401xc.s │ │ │ │ ├── startup_stm32f401xe.s │ │ │ │ ├── startup_stm32f405xx.s │ │ │ │ ├── startup_stm32f407xx.s │ │ │ │ ├── startup_stm32f410cx.s │ │ │ │ ├── startup_stm32f410rx.s │ │ │ │ ├── startup_stm32f410tx.s │ │ │ │ ├── startup_stm32f411xe.s │ │ │ │ ├── startup_stm32f412cx.s │ │ │ │ ├── startup_stm32f412rx.s │ │ │ │ ├── startup_stm32f412vx.s │ │ │ │ ├── startup_stm32f412zx.s │ │ │ │ ├── startup_stm32f413xx.s │ │ │ │ ├── startup_stm32f415xx.s │ │ │ │ ├── startup_stm32f417xx.s │ │ │ │ ├── startup_stm32f423xx.s │ │ │ │ ├── startup_stm32f427xx.s │ │ │ │ ├── startup_stm32f429xx.s │ │ │ │ ├── startup_stm32f437xx.s │ │ │ │ ├── startup_stm32f439xx.s │ │ │ │ ├── startup_stm32f446xx.s │ │ │ │ ├── startup_stm32f469xx.s │ │ │ │ └── startup_stm32f479xx.s │ │ │ │ └── system_stm32f4xx.c │ │ ├── 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 │ │ ├── Lib │ │ │ ├── ARM │ │ │ │ ├── arm_cortexM4b_math.lib │ │ │ │ ├── arm_cortexM4bf_math.lib │ │ │ │ ├── arm_cortexM4l_math.lib │ │ │ │ └── arm_cortexM4lf_math.lib │ │ │ └── GCC │ │ │ │ ├── libarm_cortexM4l_math.a │ │ │ │ └── libarm_cortexM4lf_math.a │ │ └── RTOS │ │ │ └── Template │ │ │ └── cmsis_os.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ ├── stm32_hal_legacy.h │ │ │ └── stm32f4xx_hal_can_legacy.h │ │ ├── stm32_assert_template.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_adc.h │ │ ├── stm32f4xx_hal_adc_ex.h │ │ ├── stm32f4xx_hal_can.h │ │ ├── stm32f4xx_hal_cec.h │ │ ├── stm32f4xx_hal_conf_template.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_crc.h │ │ ├── stm32f4xx_hal_cryp.h │ │ ├── stm32f4xx_hal_cryp_ex.h │ │ ├── stm32f4xx_hal_dac.h │ │ ├── stm32f4xx_hal_dac_ex.h │ │ ├── stm32f4xx_hal_dcmi.h │ │ ├── stm32f4xx_hal_dcmi_ex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dfsdm.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma2d.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_dsi.h │ │ ├── stm32f4xx_hal_eth.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_fmpi2c.h │ │ ├── stm32f4xx_hal_fmpi2c_ex.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_hash.h │ │ ├── stm32f4xx_hal_hash_ex.h │ │ ├── stm32f4xx_hal_hcd.h │ │ ├── stm32f4xx_hal_i2c.h │ │ ├── stm32f4xx_hal_i2c_ex.h │ │ ├── stm32f4xx_hal_i2s.h │ │ ├── stm32f4xx_hal_i2s_ex.h │ │ ├── stm32f4xx_hal_irda.h │ │ ├── stm32f4xx_hal_iwdg.h │ │ ├── stm32f4xx_hal_lptim.h │ │ ├── stm32f4xx_hal_ltdc.h │ │ ├── stm32f4xx_hal_ltdc_ex.h │ │ ├── stm32f4xx_hal_mmc.h │ │ ├── stm32f4xx_hal_nand.h │ │ ├── stm32f4xx_hal_nor.h │ │ ├── stm32f4xx_hal_pccard.h │ │ ├── stm32f4xx_hal_pcd.h │ │ ├── stm32f4xx_hal_pcd_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_qspi.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_rng.h │ │ ├── stm32f4xx_hal_rtc.h │ │ ├── stm32f4xx_hal_rtc_ex.h │ │ ├── stm32f4xx_hal_sai.h │ │ ├── stm32f4xx_hal_sai_ex.h │ │ ├── stm32f4xx_hal_sd.h │ │ ├── stm32f4xx_hal_sdram.h │ │ ├── stm32f4xx_hal_smartcard.h │ │ ├── stm32f4xx_hal_spdifrx.h │ │ ├── stm32f4xx_hal_spi.h │ │ ├── stm32f4xx_hal_sram.h │ │ ├── stm32f4xx_hal_tim.h │ │ ├── stm32f4xx_hal_tim_ex.h │ │ ├── stm32f4xx_hal_uart.h │ │ ├── stm32f4xx_hal_usart.h │ │ ├── stm32f4xx_hal_wwdg.h │ │ ├── stm32f4xx_ll_adc.h │ │ ├── stm32f4xx_ll_bus.h │ │ ├── stm32f4xx_ll_cortex.h │ │ ├── stm32f4xx_ll_crc.h │ │ ├── stm32f4xx_ll_dac.h │ │ ├── stm32f4xx_ll_dma.h │ │ ├── stm32f4xx_ll_dma2d.h │ │ ├── stm32f4xx_ll_exti.h │ │ ├── stm32f4xx_ll_fmc.h │ │ ├── stm32f4xx_ll_fsmc.h │ │ ├── stm32f4xx_ll_gpio.h │ │ ├── stm32f4xx_ll_i2c.h │ │ ├── stm32f4xx_ll_iwdg.h │ │ ├── stm32f4xx_ll_lptim.h │ │ ├── stm32f4xx_ll_pwr.h │ │ ├── stm32f4xx_ll_rcc.h │ │ ├── stm32f4xx_ll_rng.h │ │ ├── stm32f4xx_ll_rtc.h │ │ ├── stm32f4xx_ll_sdmmc.h │ │ ├── stm32f4xx_ll_spi.h │ │ ├── stm32f4xx_ll_system.h │ │ ├── stm32f4xx_ll_tim.h │ │ ├── stm32f4xx_ll_usart.h │ │ ├── stm32f4xx_ll_usb.h │ │ ├── stm32f4xx_ll_utils.h │ │ └── stm32f4xx_ll_wwdg.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_adc.c │ │ ├── stm32f4xx_hal_adc_ex.c │ │ ├── stm32f4xx_hal_can.c │ │ ├── stm32f4xx_hal_cec.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_crc.c │ │ ├── stm32f4xx_hal_cryp.c │ │ ├── stm32f4xx_hal_cryp_ex.c │ │ ├── stm32f4xx_hal_dac.c │ │ ├── stm32f4xx_hal_dac_ex.c │ │ ├── stm32f4xx_hal_dcmi.c │ │ ├── stm32f4xx_hal_dcmi_ex.c │ │ ├── stm32f4xx_hal_dfsdm.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma2d.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_dsi.c │ │ ├── stm32f4xx_hal_eth.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_fmpi2c.c │ │ ├── stm32f4xx_hal_fmpi2c_ex.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_hash.c │ │ ├── stm32f4xx_hal_hash_ex.c │ │ ├── stm32f4xx_hal_hcd.c │ │ ├── stm32f4xx_hal_i2c.c │ │ ├── stm32f4xx_hal_i2c_ex.c │ │ ├── stm32f4xx_hal_i2s.c │ │ ├── stm32f4xx_hal_i2s_ex.c │ │ ├── stm32f4xx_hal_irda.c │ │ ├── stm32f4xx_hal_iwdg.c │ │ ├── stm32f4xx_hal_lptim.c │ │ ├── stm32f4xx_hal_ltdc.c │ │ ├── stm32f4xx_hal_ltdc_ex.c │ │ ├── stm32f4xx_hal_mmc.c │ │ ├── stm32f4xx_hal_msp_template.c │ │ ├── stm32f4xx_hal_nand.c │ │ ├── stm32f4xx_hal_nor.c │ │ ├── stm32f4xx_hal_pccard.c │ │ ├── stm32f4xx_hal_pcd.c │ │ ├── stm32f4xx_hal_pcd_ex.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_qspi.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_rng.c │ │ ├── stm32f4xx_hal_rtc.c │ │ ├── stm32f4xx_hal_rtc_ex.c │ │ ├── stm32f4xx_hal_sai.c │ │ ├── stm32f4xx_hal_sai_ex.c │ │ ├── stm32f4xx_hal_sd.c │ │ ├── stm32f4xx_hal_sdram.c │ │ ├── stm32f4xx_hal_smartcard.c │ │ ├── stm32f4xx_hal_spdifrx.c │ │ ├── stm32f4xx_hal_spi.c │ │ ├── stm32f4xx_hal_sram.c │ │ ├── stm32f4xx_hal_tim.c │ │ ├── stm32f4xx_hal_tim_ex.c │ │ ├── stm32f4xx_hal_timebase_rtc_alarm_template.c │ │ ├── stm32f4xx_hal_timebase_rtc_wakeup_template.c │ │ ├── stm32f4xx_hal_timebase_tim_template.c │ │ ├── stm32f4xx_hal_uart.c │ │ ├── stm32f4xx_hal_usart.c │ │ ├── stm32f4xx_hal_wwdg.c │ │ ├── stm32f4xx_ll_adc.c │ │ ├── stm32f4xx_ll_crc.c │ │ ├── stm32f4xx_ll_dac.c │ │ ├── stm32f4xx_ll_dma.c │ │ ├── stm32f4xx_ll_dma2d.c │ │ ├── stm32f4xx_ll_exti.c │ │ ├── stm32f4xx_ll_fmc.c │ │ ├── stm32f4xx_ll_fsmc.c │ │ ├── stm32f4xx_ll_gpio.c │ │ ├── stm32f4xx_ll_i2c.c │ │ ├── stm32f4xx_ll_lptim.c │ │ ├── stm32f4xx_ll_pwr.c │ │ ├── stm32f4xx_ll_rcc.c │ │ ├── stm32f4xx_ll_rng.c │ │ ├── stm32f4xx_ll_rtc.c │ │ ├── stm32f4xx_ll_sdmmc.c │ │ ├── stm32f4xx_ll_spi.c │ │ ├── stm32f4xx_ll_tim.c │ │ ├── stm32f4xx_ll_usart.c │ │ ├── stm32f4xx_ll_usb.c │ │ └── stm32f4xx_ll_utils.c ├── Inc │ ├── adc.h │ ├── dma.h │ ├── gpio.h │ ├── i2c.h │ ├── main.h │ ├── spi.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ ├── tim.h │ ├── usart.h │ ├── usb.h │ ├── usb_host.h │ └── usbh_conf.h ├── MDK-ARM │ ├── DebugConfig │ │ ├── SweepRobot_STM32F405RGTx.dbgconf │ │ └── SweepRobot_STM32F407VETx.dbgconf │ ├── EventRecorderStub.scvd │ ├── JLinkLog.txt │ ├── JLinkSettings.ini │ ├── RTE │ │ └── _SweepRobot │ │ │ └── RTE_Components.h │ ├── SweepRobot.uvguix.Admin │ ├── SweepRobot.uvguix_Admin.bak │ ├── SweepRobot.uvoptx │ ├── SweepRobot.uvprojx │ ├── SweepRobot_uvoptx.bak │ ├── SweepRobot_uvprojx.bak │ ├── startup_stm32f405xx.lst │ └── startup_stm32f405xx.s ├── Middlewares │ └── ST │ │ └── STM32_USB_Host_Library │ │ ├── Class │ │ └── HID │ │ │ ├── Inc │ │ │ ├── usbh_hid.h │ │ │ ├── usbh_hid_keybd.h │ │ │ ├── usbh_hid_mouse.h │ │ │ ├── usbh_hid_parser.h │ │ │ └── usbh_hid_usage.h │ │ │ └── Src │ │ │ ├── usbh_hid.c │ │ │ ├── usbh_hid_keybd.c │ │ │ ├── usbh_hid_mouse.c │ │ │ └── usbh_hid_parser.c │ │ └── Core │ │ ├── Inc │ │ ├── usbh_core.h │ │ ├── usbh_ctlreq.h │ │ ├── usbh_def.h │ │ ├── usbh_ioreq.h │ │ └── usbh_pipes.h │ │ └── Src │ │ ├── usbh_core.c │ │ ├── usbh_ctlreq.c │ │ ├── usbh_ioreq.c │ │ └── usbh_pipes.c ├── Robot │ ├── RocRobotControl │ │ ├── RocRobotControl.c │ │ ├── RocRobotControl.c.bak │ │ ├── RocRobotControl.h │ │ ├── RocRobotDhAlgorithm.c │ │ ├── RocRobotDhAlgorithm.h │ │ ├── RocRobotDhAlgorithm.h.bak │ │ └── RocRobotMath.h │ └── RocRobotDriver │ │ ├── RocBattery │ │ ├── RocBattery.c │ │ ├── RocBattery.c.bak │ │ ├── RocBattery.h │ │ └── RocBattery.h.bak │ │ ├── RocBeeper │ │ ├── RocBeeper.c │ │ └── RocBeeper.h │ │ ├── RocBluetooth │ │ ├── RocBluetooth.c │ │ └── RocBluetooth.h │ │ ├── RocEeprom │ │ ├── RocAt24c02.c │ │ └── RocAt24c02.h │ │ ├── RocError │ │ └── RocError.h │ │ ├── RocGui │ │ ├── RocFont.c │ │ ├── RocFont.h │ │ └── RocPicture.h │ │ ├── RocImu │ │ └── RocMpu6050 │ │ │ ├── RocMpu6050.c │ │ │ ├── RocMpu6050.h │ │ │ └── eMPL │ │ │ ├── dmpKey.h │ │ │ ├── dmpmap.h │ │ │ ├── inv_mpu.c │ │ │ ├── inv_mpu.h │ │ │ ├── inv_mpu_dmp_motion_driver.c │ │ │ └── inv_mpu_dmp_motion_driver.h │ │ ├── RocKey │ │ ├── RocKey.c │ │ └── RocKey.h │ │ ├── RocLed │ │ ├── RocLed.c │ │ ├── RocLed.c.bak │ │ └── RocLed.h │ │ ├── RocLoRa │ │ ├── eml3047.c │ │ ├── eml3047.c.bak │ │ ├── eml3047.h │ │ ├── lora_ptp.c │ │ ├── lora_ptp.c.bak │ │ ├── lora_ptp.h │ │ ├── lora_ptp.h.bak │ │ ├── radio.h │ │ ├── sx1276.c │ │ ├── sx1276.c.bak │ │ ├── sx1276.h │ │ ├── sx1276Regs-Fsk.h │ │ ├── sx1276Regs-LoRa.h │ │ ├── utilities.c │ │ └── utilities.h │ │ ├── RocLog │ │ ├── RocLog.c │ │ └── RocLog.h │ │ ├── RocMotor │ │ ├── RocMotor.c │ │ └── RocMotor.h │ │ ├── RocOled │ │ ├── RocOled.c │ │ └── RocOled.h │ │ ├── RocPca9685 │ │ ├── RocPca9685.c │ │ └── RocPca9685.h │ │ ├── RocRelay │ │ ├── RocRelay.c │ │ └── RocRelay.h │ │ ├── RocRemoteControl │ │ ├── RocCh375.c │ │ ├── RocCh375.h │ │ ├── RocRemoteControl.c │ │ ├── RocRemoteControl.c.bak │ │ └── RocRemoteControl.h │ │ ├── RocServo │ │ ├── RocServo.c │ │ └── RocServo.h │ │ ├── RocSimulatedI2c │ │ ├── RocSimulatedI2c.c │ │ └── RocSimulatedI2c.h │ │ ├── RocTftLcd │ │ ├── RocTftLcd.c │ │ └── RocTftLcd.h │ │ ├── RocUsb │ │ ├── keyboard.c │ │ ├── menu.c │ │ └── mouse.c │ │ └── RocZmod4410 │ │ ├── RocZmod4410.c │ │ └── RocZmod4410.h ├── Src │ ├── adc.c │ ├── dma.c │ ├── gpio.c │ ├── i2c.c │ ├── main.c │ ├── spi.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ ├── tim.c │ ├── usart.c │ ├── usb_host.c │ └── usbh_conf.c ├── SweepRobot.ioc ├── USB │ ├── .hg_archival.txt │ ├── USBHost │ │ ├── IUSBEnumerator.h │ │ ├── USBDeviceConnected.cpp │ │ ├── USBDeviceConnected.h │ │ ├── USBEndpoint.h │ │ ├── USBHALHost.h │ │ ├── USBHALHost2_F401RE.cpp │ │ ├── USBHALHost_F401RE.cpp │ │ ├── USBHALHost_F401RE.h │ │ ├── USBHost.cpp │ │ ├── USBHost.h │ │ ├── USBHostConf.h │ │ ├── USBHostGamepad.cpp │ │ ├── USBHostGamepad.h │ │ ├── USBHostHub.cpp │ │ ├── USBHostTypes.h │ │ ├── dbg.h │ │ ├── mydebug.h │ │ ├── mymap.h │ │ └── myvector.h │ ├── main.cpp │ └── mbed.bld └── Zmod4410 │ ├── Inc │ ├── FTCI2C.h │ ├── eco2.h │ ├── hicom.h │ ├── hicom_i2c.h │ ├── iaq.h │ ├── odor.h │ ├── r_cda.h │ ├── tvoc.h │ ├── zmod44xx.h │ ├── zmod44xx_config.h │ └── zmod44xx_types.h │ ├── Lib │ ├── libeco2_m4.a │ ├── libiaq_m4.a │ ├── libodor_m4.a │ ├── libr_cda_m4.a │ └── libtvoc_m4.a │ └── Src │ ├── hicom.c │ ├── hicom_i2c.c │ └── zmod44xx.c ├── Stm32CubeMxProject └── SweepRobot.ioc └── 代码说明.txt /.gitignore: -------------------------------------------------------------------------------- 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