├── .gitignore ├── 2021舵轮步兵 ├── APP │ ├── FreeRTOS_Init.c │ ├── FreeRTOS_Init.h │ ├── GO.c │ ├── GO.h │ ├── iwdg.c │ ├── iwdg.h │ ├── main.c │ ├── stm32f4xx_conf.h │ ├── stm32f4xx_it.c │ ├── stm32f4xx_it.h │ ├── system.c │ ├── system.h │ ├── zigbee_upper.c │ └── zigbee_upper.h ├── BSP │ ├── AUTO.c │ ├── AUTO.h │ ├── BUFF.c │ ├── BUFF.h │ ├── CUSUI.c │ ├── CUSUI.h │ ├── Device.h │ ├── Driver.h │ ├── Function.h │ ├── PID.c │ ├── PID.h │ ├── SinCosTable.c │ ├── SinCosTable.h │ ├── Sonic.c │ ├── Sonic.h │ ├── TIM.c │ ├── TIM.h │ ├── can1.c │ ├── can1.h │ ├── can2.c │ ├── can2.h │ ├── chassis.c │ ├── chassis.h │ ├── crc.c │ ├── crc.h │ ├── gimbal.c │ ├── gimbal.h │ ├── kalman.c │ ├── kalman.h │ ├── led.c │ ├── led.h │ ├── masters_RTX.c │ ├── masters_RTX.h │ ├── module.c │ ├── module.h │ ├── motor.c │ ├── motor.h │ ├── my_imu.c │ ├── my_imu.h │ ├── pwm.c │ ├── pwm.h │ ├── referee.c │ ├── referee.h │ ├── remote.c │ ├── remote.h │ ├── rifle.c │ ├── rifle.h │ ├── rudder.c │ ├── rudder.h │ ├── system_state.c │ ├── system_state.h │ ├── uart1.c │ ├── uart1.h │ ├── uart3.c │ ├── uart3.h │ ├── uart4.c │ ├── uart4.h │ ├── vision.c │ └── vision.h ├── FreeRTOS │ ├── croutine.c │ ├── event_groups.c │ ├── include │ │ ├── FreeRTOS.h │ │ ├── FreeRTOSConfig.h │ │ ├── StackMacros.h │ │ ├── croutine.h │ │ ├── deprecated_definitions.h │ │ ├── event_groups.h │ │ ├── list.h │ │ ├── message_buffer.h │ │ ├── mpu_prototypes.h │ │ ├── mpu_wrappers.h │ │ ├── portable.h │ │ ├── projdefs.h │ │ ├── queue.h │ │ ├── queue.h~RF2c4a8c07.TMP │ │ ├── queue.h~RF624eaf.TMP │ │ ├── queue.h~RF6ee9390.TMP │ │ ├── semphr.h │ │ ├── stack_macros.h │ │ ├── stdint.readme │ │ ├── stream_buffer.h │ │ ├── task.h │ │ ├── timers.h │ │ └── timers.h~RF528c24.TMP │ ├── list.c │ ├── portable │ │ ├── Keil │ │ │ └── See-also-the-RVDS-directory.txt │ │ ├── MemMang │ │ │ ├── ReadMe.url │ │ │ ├── heap_1.c │ │ │ ├── heap_2.c │ │ │ ├── heap_3.c │ │ │ ├── heap_4.c │ │ │ └── heap_5.c │ │ ├── RVDS │ │ │ ├── ARM7_LPC21xx │ │ │ │ ├── port.c │ │ │ │ ├── portASM.s │ │ │ │ ├── portmacro.h │ │ │ │ └── portmacro.inc │ │ │ ├── ARM_CA9 │ │ │ │ ├── port.c │ │ │ │ ├── portASM.s │ │ │ │ ├── portmacro.h │ │ │ │ └── portmacro.inc │ │ │ ├── ARM_CM0 │ │ │ │ ├── port.c │ │ │ │ └── portmacro.h │ │ │ ├── ARM_CM3 │ │ │ │ ├── port.c │ │ │ │ └── portmacro.h │ │ │ ├── ARM_CM4F │ │ │ │ ├── port.c │ │ │ │ └── portmacro.h │ │ │ ├── ARM_CM4_MPU │ │ │ │ ├── port.c │ │ │ │ └── portmacro.h │ │ │ └── ARM_CM7 │ │ │ │ ├── ReadMe.txt │ │ │ │ └── r0p1 │ │ │ │ ├── port.c │ │ │ │ └── portmacro.h │ │ └── readme.txt │ ├── queue.c │ ├── readme.txt │ ├── stream_buffer.c │ ├── tasks.c │ └── timers.c ├── IMU-BMI270 │ ├── bmi.c │ ├── bmi.h │ ├── bmi2.c │ ├── bmi2.h │ ├── bmi270.c │ ├── bmi270.h │ ├── bmi270_context.c │ ├── bmi270_context.h │ ├── bmi2_common.c │ ├── bmi2_common.h │ ├── bmi2_defs.h │ ├── bmi2_ois.c │ └── bmi2_ois.h ├── IMU-mpu6050 │ ├── eMPL │ │ ├── dmpKey.h │ │ ├── dmpmap.h │ │ ├── inv_mpu.c │ │ ├── inv_mpu.h │ │ ├── inv_mpu_dmp_motion_driver.c │ │ └── inv_mpu_dmp_motion_driver.h │ ├── iic.c │ ├── iic.h │ ├── mpu6050.c │ ├── mpu6050.h │ ├── myiic.c │ └── myiic.h ├── Libraries │ ├── Device │ │ ├── arm_mat_add_f32.c │ │ ├── arm_mat_cmplx_mult_f32.c │ │ ├── arm_mat_init_f32.c │ │ ├── arm_mat_inverse_f32.c │ │ ├── arm_mat_inverse_f64.c │ │ ├── arm_mat_mult_f32.c │ │ ├── arm_mat_scale_f32.c │ │ ├── arm_mat_sub_f32.c │ │ └── arm_mat_trans_f32.c │ ├── cmsis │ │ ├── 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_cm4_simd.h │ │ │ ├── core_cm7.h │ │ │ ├── core_cmFunc.h │ │ │ ├── core_cmInstr.h │ │ │ ├── core_cmSimd.h │ │ │ ├── core_sc000.h │ │ │ └── core_sc300.h │ │ ├── stm32f4xx.h │ │ ├── system_stm32f4xx.c │ │ └── system_stm32f4xx.h │ ├── 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_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_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 │ └── startup │ │ └── startup_stm32f40xx.s ├── Project │ ├── DebugConfig │ │ ├── Target_1_STM32F405RG.dbgconf │ │ ├── Target_1_STM32F405RGTx.dbgconf │ │ ├── Target_1_STM32F407VETx.dbgconf │ │ └── Target_1_STM32F407VG.dbgconf │ ├── EventRecorderStub.scvd │ ├── JLinkLog.txt │ ├── JLinkSettings.ini │ ├── Listings │ │ └── startup_stm32f40xx.lst │ ├── Objects │ │ ├── ExtDll.iex │ │ ├── arm_mat_add_f32.crf │ │ ├── arm_mat_init_f32.crf │ │ ├── arm_mat_inverse_f32.crf │ │ ├── arm_mat_inverse_f64.crf │ │ ├── arm_mat_mult_f32.crf │ │ ├── arm_mat_scale_f32.crf │ │ ├── arm_mat_sub_f32.crf │ │ ├── arm_mat_trans_f32.crf │ │ ├── auto.crf │ │ ├── bmi.crf │ │ ├── bmi2.crf │ │ ├── bmi270.crf │ │ ├── bmi270_context.crf │ │ ├── bmi2_common.crf │ │ ├── bmi2_ois.crf │ │ ├── buff.crf │ │ ├── can1.crf │ │ ├── can2.crf │ │ ├── chassis.crf │ │ ├── control.crf │ │ ├── crc.crf │ │ ├── crc_1.crf │ │ ├── croutine.crf │ │ ├── cusui.crf │ │ ├── event_groups.crf │ │ ├── freertos_init.crf │ │ ├── gimbal.crf │ │ ├── go.crf │ │ ├── heap_4.crf │ │ ├── inv_mpu.crf │ │ ├── inv_mpu_dmp_motion_driver.crf │ │ ├── iwdg.crf │ │ ├── kalman.crf │ │ ├── led.crf │ │ ├── list.crf │ │ ├── main.crf │ │ ├── masters_rtx.crf │ │ ├── misc.crf │ │ ├── module.crf │ │ ├── motor.crf │ │ ├── mpu6050.crf │ │ ├── my_imu.crf │ │ ├── myiic.crf │ │ ├── pid.crf │ │ ├── port.crf │ │ ├── project.axf │ │ ├── project.build_log.htm │ │ ├── project.htm │ │ ├── project.lnp │ │ ├── project.sct │ │ ├── project_Target 1.dep │ │ ├── queue.crf │ │ ├── referee.crf │ │ ├── referee_1.crf │ │ ├── remote.crf │ │ ├── rifle.crf │ │ ├── rudder.crf │ │ ├── sincostable.crf │ │ ├── soft_iic.crf │ │ ├── sonic.crf │ │ ├── stm32f4xx_adc.crf │ │ ├── stm32f4xx_can.crf │ │ ├── stm32f4xx_dma.crf │ │ ├── stm32f4xx_exti.crf │ │ ├── stm32f4xx_flash.crf │ │ ├── stm32f4xx_gpio.crf │ │ ├── stm32f4xx_it.crf │ │ ├── stm32f4xx_iwdg.crf │ │ ├── stm32f4xx_rcc.crf │ │ ├── stm32f4xx_spi.crf │ │ ├── stm32f4xx_syscfg.crf │ │ ├── stm32f4xx_tim.crf │ │ ├── stm32f4xx_usart.crf │ │ ├── sys.crf │ │ ├── system.crf │ │ ├── system_state.crf │ │ ├── system_stm32f4xx.crf │ │ ├── tasks.crf │ │ ├── tim.crf │ │ ├── timers.crf │ │ ├── uart1.crf │ │ ├── uart3.crf │ │ ├── uart4.crf │ │ ├── usart.crf │ │ ├── usart2.crf │ │ ├── vision.crf │ │ └── zigbee_upper.crf │ ├── project.uvguix.Administrator │ ├── project.uvguix.LEGION │ ├── project.uvguix.hp │ ├── project.uvguix.lenovo │ ├── project.uvguix.miracle │ ├── project.uvguix.nolimits │ ├── project.uvguix.user │ ├── project.uvoptx │ └── project.uvprojx ├── SYSTEM │ ├── sys.c │ ├── sys.h │ ├── usart.c │ └── usart.h └── keilkilll.bat ├── LICENSE ├── README.en.md ├── README.md ├── doc ├── 步兵操作.pdf ├── 步兵操作.xmind └── 舵轮控制原理.docx └── picture ├── PID算法.png ├── PID算法图.png ├── Z按键为例.png ├── 代码目录.png ├── 代码目录2.png ├── 供电框图和裁判系统.png ├── 头文件.png ├── 按键状态枚举.png ├── 硬件框图--滑环.png ├── 程序架构.png ├── 系统控制命令捕捉.png ├── 舵轮Z轴合成算法.png ├── 舵轮左前轮解算试例.jpg ├── 舵轮控制原理文件.png ├── 软件框图.png └── 通信线路框图.png /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lowBO/RP-Infantry-2/HEAD/.gitignore -------------------------------------------------------------------------------- /2021舵轮步兵/APP/FreeRTOS_Init.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lowBO/RP-Infantry-2/HEAD/2021舵轮步兵/APP/FreeRTOS_Init.c 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