├── .gitignore ├── LICENSE ├── README.md ├── c_board ├── .mxproject ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── 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 │ └── 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_pcd.h │ │ ├── stm32f4xx_hal_pcd_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.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_spi.h │ │ ├── stm32f4xx_hal_tim.h │ │ ├── stm32f4xx_hal_tim_ex.h │ │ ├── stm32f4xx_hal_uart.h │ │ ├── stm32f4xx_ll_adc.h │ │ └── stm32f4xx_ll_usb.h │ │ └── 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_pcd.c │ │ ├── stm32f4xx_hal_pcd_ex.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.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_spi.c │ │ ├── stm32f4xx_hal_tim.c │ │ ├── stm32f4xx_hal_tim_ex.c │ │ ├── stm32f4xx_hal_uart.c │ │ ├── stm32f4xx_ll_adc.c │ │ └── stm32f4xx_ll_usb.c ├── Inc │ ├── FreeRTOSConfig.h │ ├── adc.h │ ├── can.h │ ├── crc.h │ ├── dma.h │ ├── gpio.h │ ├── i2c.h │ ├── main.h │ ├── rng.h │ ├── rtc.h │ ├── spi.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ ├── tim.h │ ├── usart.h │ ├── usb_device.h │ ├── usbd_cdc_if.h │ ├── usbd_conf.h │ └── usbd_desc.h ├── MDK-ARM │ ├── DebugConfig │ │ └── wust_engineer_STM32F407IGHx.dbgconf │ ├── EventRecorderStub.scvd │ ├── RTE │ │ └── _wust_engineer │ │ │ └── RTE_Components.h │ ├── startup_stm32f407xx.lst │ ├── startup_stm32f407xx.s │ ├── wust_engineer.uvguix.China │ ├── wust_engineer.uvoptx │ ├── wust_engineer.uvprojx │ └── wust_engineer │ │ ├── adc.crf │ │ ├── adc.d │ │ ├── adc.o │ │ ├── ahrs_middleware.crf │ │ ├── ahrs_middleware.d │ │ ├── ahrs_middleware.o │ │ ├── bmi088driver.crf │ │ ├── bmi088driver.d │ │ ├── bmi088driver.o │ │ ├── bmi088middleware.crf │ │ ├── bmi088middleware.d │ │ ├── bmi088middleware.o │ │ ├── bsp_adc.crf │ │ ├── bsp_adc.d │ │ ├── bsp_adc.o │ │ ├── bsp_buzzer.crf │ │ ├── bsp_buzzer.d │ │ ├── bsp_buzzer.o │ │ ├── bsp_can.crf │ │ ├── bsp_can.d │ │ ├── bsp_can.o │ │ ├── bsp_crc32.crf │ │ ├── bsp_crc32.d │ │ ├── bsp_crc32.o │ │ ├── bsp_delay.crf │ │ ├── bsp_delay.d │ │ ├── bsp_delay.o │ │ ├── bsp_flash.crf │ │ ├── bsp_flash.d │ │ ├── bsp_flash.o │ │ ├── bsp_fric.crf │ │ ├── bsp_fric.d │ │ ├── bsp_fric.o │ │ ├── bsp_i2c.crf │ │ ├── bsp_i2c.d │ │ ├── bsp_i2c.o │ │ ├── bsp_imu_pwm.crf │ │ ├── bsp_imu_pwm.d │ │ ├── bsp_imu_pwm.o │ │ ├── bsp_key.crf │ │ ├── bsp_key.d │ │ ├── bsp_key.o │ │ ├── bsp_led.crf │ │ ├── bsp_led.d │ │ ├── bsp_led.o │ │ ├── bsp_rc.crf │ │ ├── bsp_rc.d │ │ ├── bsp_rc.o │ │ ├── bsp_rng.crf │ │ ├── bsp_rng.d │ │ ├── bsp_rng.o │ │ ├── bsp_servo_pwm.crf │ │ ├── bsp_servo_pwm.d │ │ ├── bsp_servo_pwm.o │ │ ├── bsp_spi.crf │ │ ├── bsp_spi.d │ │ ├── bsp_spi.o │ │ ├── bsp_usart.crf │ │ ├── bsp_usart.d │ │ ├── bsp_usart.o │ │ ├── bsp_usb.crf │ │ ├── bsp_usb.d │ │ ├── bsp_usb.o │ │ ├── calibrate_task.crf │ │ ├── calibrate_task.d │ │ ├── calibrate_task.o │ │ ├── can.crf │ │ ├── can.d │ │ ├── can.o │ │ ├── can_receive.crf │ │ ├── can_receive.d │ │ ├── can_receive.o │ │ ├── chassis_behaviour.crf │ │ ├── chassis_behaviour.d │ │ ├── chassis_behaviour.o │ │ ├── chassis_power_control.crf │ │ ├── chassis_power_control.d │ │ ├── chassis_power_control.o │ │ ├── chassis_task.crf │ │ ├── chassis_task.d │ │ ├── chassis_task.o │ │ ├── cmsis_os.crf │ │ ├── cmsis_os.d │ │ ├── cmsis_os.o │ │ ├── crc.crf │ │ ├── crc.d │ │ ├── crc.o │ │ ├── crc8_crc16.crf │ │ ├── crc8_crc16.d │ │ ├── crc8_crc16.o │ │ ├── croutine.crf │ │ ├── croutine.d │ │ ├── croutine.o │ │ ├── detect_task.crf │ │ ├── detect_task.d │ │ ├── detect_task.o │ │ ├── dma.crf │ │ ├── dma.d │ │ ├── dma.o │ │ ├── event_groups.crf │ │ ├── event_groups.d │ │ ├── event_groups.o │ │ ├── fifo.crf │ │ ├── fifo.d │ │ ├── fifo.o │ │ ├── freertos.crf │ │ ├── freertos.d │ │ ├── freertos.o │ │ ├── gpio.crf │ │ ├── gpio.d │ │ ├── gpio.o │ │ ├── heap_4.crf │ │ ├── heap_4.d │ │ ├── heap_4.o │ │ ├── i2c.crf │ │ ├── i2c.d │ │ ├── i2c.o │ │ ├── ins_task.crf │ │ ├── ins_task.d │ │ ├── ins_task.o │ │ ├── ist8310driver.crf │ │ ├── ist8310driver.d │ │ ├── ist8310driver.o │ │ ├── ist8310driver_middleware.crf │ │ ├── ist8310driver_middleware.d │ │ ├── ist8310driver_middleware.o │ │ ├── led_flow_task.crf │ │ ├── led_flow_task.d │ │ ├── led_flow_task.o │ │ ├── list.crf │ │ ├── list.d │ │ ├── list.o │ │ ├── main.crf │ │ ├── main.d │ │ ├── main.o │ │ ├── mem_mang4.crf │ │ ├── mem_mang4.d │ │ ├── mem_mang4.o │ │ ├── motor_position_task.crf │ │ ├── motor_position_task.d │ │ ├── motor_position_task.o │ │ ├── odometer_task.crf │ │ ├── odometer_task.d │ │ ├── odometer_task.o │ │ ├── pc_task.crf │ │ ├── pc_task.d │ │ ├── pc_task.o │ │ ├── pid.crf │ │ ├── pid.d │ │ ├── pid.o │ │ ├── port.crf │ │ ├── port.d │ │ ├── port.o │ │ ├── queue.crf │ │ ├── queue.d │ │ ├── queue.o │ │ ├── referee.crf │ │ ├── referee.d │ │ ├── referee.o │ │ ├── referee_usart_task.crf │ │ ├── referee_usart_task.d │ │ ├── referee_usart_task.o │ │ ├── remote_control.crf │ │ ├── remote_control.d │ │ ├── remote_control.o │ │ ├── rng.crf │ │ ├── rng.d │ │ ├── rng.o │ │ ├── rtc.crf │ │ ├── rtc.d │ │ ├── rtc.o │ │ ├── spi.crf │ │ ├── spi.d │ │ ├── spi.o │ │ ├── startup_stm32f407xx.d │ │ ├── startup_stm32f407xx.o │ │ ├── stm32f4xx_hal.crf │ │ ├── stm32f4xx_hal.d │ │ ├── stm32f4xx_hal.o │ │ ├── stm32f4xx_hal_adc.crf │ │ ├── stm32f4xx_hal_adc.d │ │ ├── stm32f4xx_hal_adc.o │ │ ├── stm32f4xx_hal_adc_ex.crf │ │ ├── stm32f4xx_hal_adc_ex.d │ │ ├── stm32f4xx_hal_adc_ex.o │ │ ├── stm32f4xx_hal_can.crf │ │ ├── stm32f4xx_hal_can.d │ │ ├── stm32f4xx_hal_can.o │ │ ├── stm32f4xx_hal_cortex.crf │ │ ├── stm32f4xx_hal_cortex.d │ │ ├── stm32f4xx_hal_cortex.o │ │ ├── stm32f4xx_hal_crc.crf │ │ ├── stm32f4xx_hal_crc.d │ │ ├── stm32f4xx_hal_crc.o │ │ ├── stm32f4xx_hal_dma.crf │ │ ├── stm32f4xx_hal_dma.d │ │ ├── stm32f4xx_hal_dma.o │ │ ├── stm32f4xx_hal_dma_ex.crf │ │ ├── stm32f4xx_hal_dma_ex.d │ │ ├── stm32f4xx_hal_dma_ex.o │ │ ├── stm32f4xx_hal_exti.crf │ │ ├── stm32f4xx_hal_exti.d │ │ ├── stm32f4xx_hal_exti.o │ │ ├── stm32f4xx_hal_flash.crf │ │ ├── stm32f4xx_hal_flash.d │ │ ├── stm32f4xx_hal_flash.o │ │ ├── stm32f4xx_hal_flash_ex.crf │ │ ├── stm32f4xx_hal_flash_ex.d │ │ ├── stm32f4xx_hal_flash_ex.o │ │ ├── stm32f4xx_hal_flash_ramfunc.crf │ │ ├── stm32f4xx_hal_flash_ramfunc.d │ │ ├── stm32f4xx_hal_flash_ramfunc.o │ │ ├── stm32f4xx_hal_gpio.crf │ │ ├── stm32f4xx_hal_gpio.d │ │ ├── stm32f4xx_hal_gpio.o │ │ ├── stm32f4xx_hal_i2c.crf │ │ ├── stm32f4xx_hal_i2c.d │ │ ├── stm32f4xx_hal_i2c.o │ │ ├── stm32f4xx_hal_i2c_ex.crf │ │ ├── stm32f4xx_hal_i2c_ex.d │ │ ├── stm32f4xx_hal_i2c_ex.o │ │ ├── stm32f4xx_hal_msp.crf │ │ ├── stm32f4xx_hal_msp.d │ │ ├── stm32f4xx_hal_msp.o │ │ ├── stm32f4xx_hal_pcd.crf │ │ ├── stm32f4xx_hal_pcd.d │ │ ├── stm32f4xx_hal_pcd.o │ │ ├── stm32f4xx_hal_pcd_ex.crf │ │ ├── stm32f4xx_hal_pcd_ex.d │ │ ├── stm32f4xx_hal_pcd_ex.o │ │ ├── stm32f4xx_hal_pwr.crf │ │ ├── stm32f4xx_hal_pwr.d │ │ ├── stm32f4xx_hal_pwr.o │ │ ├── stm32f4xx_hal_pwr_ex.crf │ │ ├── stm32f4xx_hal_pwr_ex.d │ │ ├── stm32f4xx_hal_pwr_ex.o │ │ ├── stm32f4xx_hal_rcc.crf │ │ ├── stm32f4xx_hal_rcc.d │ │ ├── stm32f4xx_hal_rcc.o │ │ ├── stm32f4xx_hal_rcc_ex.crf │ │ ├── stm32f4xx_hal_rcc_ex.d │ │ ├── stm32f4xx_hal_rcc_ex.o │ │ ├── stm32f4xx_hal_rng.crf │ │ ├── stm32f4xx_hal_rng.d │ │ ├── stm32f4xx_hal_rng.o │ │ ├── stm32f4xx_hal_rtc.crf │ │ ├── stm32f4xx_hal_rtc.d │ │ ├── stm32f4xx_hal_rtc.o │ │ ├── stm32f4xx_hal_rtc_ex.crf │ │ ├── stm32f4xx_hal_rtc_ex.d │ │ ├── stm32f4xx_hal_rtc_ex.o │ │ ├── stm32f4xx_hal_spi.crf │ │ ├── stm32f4xx_hal_spi.d │ │ ├── stm32f4xx_hal_spi.o │ │ ├── stm32f4xx_hal_tim.crf │ │ ├── stm32f4xx_hal_tim.d │ │ ├── stm32f4xx_hal_tim.o │ │ ├── stm32f4xx_hal_tim_ex.crf │ │ ├── stm32f4xx_hal_tim_ex.d │ │ ├── stm32f4xx_hal_tim_ex.o │ │ ├── stm32f4xx_hal_uart.crf │ │ ├── stm32f4xx_hal_uart.d │ │ ├── stm32f4xx_hal_uart.o │ │ ├── stm32f4xx_it.crf │ │ ├── stm32f4xx_it.d │ │ ├── stm32f4xx_it.o │ │ ├── stm32f4xx_ll_adc.crf │ │ ├── stm32f4xx_ll_adc.d │ │ ├── stm32f4xx_ll_adc.o │ │ ├── stm32f4xx_ll_usb.crf │ │ ├── stm32f4xx_ll_usb.d │ │ ├── stm32f4xx_ll_usb.o │ │ ├── stream_buffer.crf │ │ ├── stream_buffer.d │ │ ├── stream_buffer.o │ │ ├── system_stm32f4xx.crf │ │ ├── system_stm32f4xx.d │ │ ├── system_stm32f4xx.o │ │ ├── tasks.crf │ │ ├── tasks.d │ │ ├── tasks.o │ │ ├── test_task.crf │ │ ├── test_task.d │ │ ├── test_task.o │ │ ├── tim.crf │ │ ├── tim.d │ │ ├── tim.o │ │ ├── timers.crf │ │ ├── timers.d │ │ ├── timers.o │ │ ├── usart.crf │ │ ├── usart.d │ │ ├── usart.o │ │ ├── usb_device.crf │ │ ├── usb_device.d │ │ ├── usb_device.o │ │ ├── usb_task.crf │ │ ├── usb_task.d │ │ ├── usb_task.o │ │ ├── usbd_cdc.crf │ │ ├── usbd_cdc.d │ │ ├── usbd_cdc.o │ │ ├── usbd_cdc_if.crf │ │ ├── usbd_cdc_if.d │ │ ├── usbd_cdc_if.o │ │ ├── usbd_conf.crf │ │ ├── usbd_conf.d │ │ ├── usbd_conf.o │ │ ├── usbd_core.crf │ │ ├── usbd_core.d │ │ ├── usbd_core.o │ │ ├── usbd_ctlreq.crf │ │ ├── usbd_ctlreq.d │ │ ├── usbd_ctlreq.o │ │ ├── usbd_desc.crf │ │ ├── usbd_desc.d │ │ ├── usbd_desc.o │ │ ├── usbd_ioreq.crf │ │ ├── usbd_ioreq.d │ │ ├── usbd_ioreq.o │ │ ├── user_input_task.crf │ │ ├── user_input_task.d │ │ ├── user_input_task.o │ │ ├── user_lib.crf │ │ ├── user_lib.d │ │ ├── user_lib.o │ │ ├── voltage_task.crf │ │ ├── voltage_task.d │ │ ├── voltage_task.o │ │ ├── wust_engineer.axf │ │ ├── wust_engineer.build_log.htm │ │ ├── wust_engineer.hex │ │ ├── wust_engineer.htm │ │ ├── wust_engineer.lnp │ │ ├── wust_engineer.map │ │ ├── wust_engineer.sct │ │ └── wust_engineer_wust_engineer.dep ├── Middlewares │ ├── ST │ │ └── STM32_USB_Device_Library │ │ │ ├── Class │ │ │ └── CDC │ │ │ │ ├── Inc │ │ │ │ └── usbd_cdc.h │ │ │ │ └── Src │ │ │ │ └── usbd_cdc.c │ │ │ └── Core │ │ │ ├── Inc │ │ │ ├── usbd_core.h │ │ │ ├── usbd_ctlreq.h │ │ │ ├── usbd_def.h │ │ │ └── usbd_ioreq.h │ │ │ └── Src │ │ │ ├── usbd_core.c │ │ │ ├── usbd_ctlreq.c │ │ │ └── usbd_ioreq.c │ └── Third_Party │ │ └── FreeRTOS │ │ └── Source │ │ ├── CMSIS_RTOS │ │ ├── cmsis_os.c │ │ └── cmsis_os.h │ │ ├── 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 │ │ ├── MemMang │ │ │ └── heap_4.c │ │ └── RVDS │ │ │ └── ARM_CM4F │ │ │ ├── port.c │ │ │ └── portmacro.h │ │ ├── queue.c │ │ ├── stream_buffer.c │ │ ├── tasks.c │ │ └── timers.c ├── README.md ├── RoboMaster 开发板 C 型用户手册.pdf ├── RoboMaster开发板C型嵌入式软件教程文档.pdf ├── Src │ ├── adc.c │ ├── can.c │ ├── crc.c │ ├── dma.c │ ├── freertos.c │ ├── gpio.c │ ├── i2c.c │ ├── main.c │ ├── rng.c │ ├── rtc.c │ ├── spi.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ ├── tim.c │ ├── usart.c │ ├── usb_device.c │ ├── usb_otg.c │ ├── usbd_cdc_if.c │ ├── usbd_conf.c │ └── usbd_desc.c ├── application │ ├── CAN_receive.c │ ├── CAN_receive.h │ ├── INS_task.c │ ├── INS_task.h │ ├── calibrate_task.c │ ├── calibrate_task.h │ ├── chassis_behaviour.c │ ├── chassis_behaviour.h │ ├── chassis_power_control.c │ ├── chassis_power_control.h │ ├── chassis_task.c │ ├── chassis_task.h │ ├── detect_task.c │ ├── detect_task.h │ ├── gimbal_behaviour.c │ ├── gimbal_behaviour.h │ ├── gimbal_task.c │ ├── gimbal_task.h │ ├── led_flow_task.c │ ├── led_flow_task.h │ ├── motor_position_task.c │ ├── motor_position_task.h │ ├── odometer_task.c │ ├── odometer_task.h │ ├── oled_task.c │ ├── oled_task.h │ ├── pc_task.c │ ├── pc_task.h │ ├── protocol │ │ └── protocol.h │ ├── referee.c │ ├── referee.h │ ├── referee_usart_task.c │ ├── referee_usart_task.h │ ├── remote_control.c │ ├── remote_control.h │ ├── servo_task.c │ ├── servo_task.h │ ├── shoot.c │ ├── shoot.h │ ├── snail_task.c │ ├── snail_task.h │ ├── struct_typedef.h │ ├── test_task.c │ ├── test_task.h │ ├── usb_task.c │ ├── usb_task.h │ ├── user_input_task.c │ ├── user_input_task.h │ ├── voltage_task.c │ └── voltage_task.h ├── bsp │ └── boards │ │ ├── bsp_adc.c │ │ ├── bsp_adc.h │ │ ├── bsp_buzzer.c │ │ ├── bsp_buzzer.h │ │ ├── bsp_can.c │ │ ├── bsp_can.h │ │ ├── bsp_crc32.c │ │ ├── bsp_crc32.h │ │ ├── bsp_delay.c │ │ ├── bsp_delay.h │ │ ├── bsp_flash.c │ │ ├── bsp_flash.h │ │ ├── bsp_fric.c │ │ ├── bsp_fric.h │ │ ├── bsp_i2c.c │ │ ├── bsp_i2c.h │ │ ├── bsp_imu_pwm.c │ │ ├── bsp_imu_pwm.h │ │ ├── bsp_key.c │ │ ├── bsp_key.h │ │ ├── bsp_laser.c │ │ ├── bsp_laser.h │ │ ├── bsp_led.c │ │ ├── bsp_led.h │ │ ├── bsp_rc.c │ │ ├── bsp_rc.h │ │ ├── bsp_rng.c │ │ ├── bsp_rng.h │ │ ├── bsp_servo_pwm.c │ │ ├── bsp_servo_pwm.h │ │ ├── bsp_spi.c │ │ ├── bsp_spi.h │ │ ├── bsp_usart.c │ │ ├── bsp_usart.h │ │ ├── bsp_usb.c │ │ └── bsp_usb.h ├── components │ ├── algorithm │ │ ├── AHRS.h │ │ ├── AHRS.lib │ │ ├── AHRS_middleware.c │ │ ├── AHRS_middleware.h │ │ ├── Include │ │ │ ├── arm_common_tables.h │ │ │ ├── arm_const_structs.h │ │ │ ├── arm_math.h │ │ │ ├── core_sc000.h │ │ │ └── core_sc300.h │ │ ├── arm_cortexM4lf_math.lib │ │ ├── user_lib.c │ │ └── user_lib.h │ ├── controller │ │ ├── pid.c │ │ └── pid.h │ ├── devices │ │ ├── BMI088Middleware.c │ │ ├── BMI088Middleware.h │ │ ├── BMI088driver.c │ │ ├── BMI088driver.h │ │ ├── BMI088reg.h │ │ ├── OLED.c │ │ ├── OLED.h │ │ ├── ist8310driver.c │ │ ├── ist8310driver.h │ │ ├── ist8310driver_middleware.c │ │ ├── ist8310driver_middleware.h │ │ └── oledfont.h │ └── support │ │ ├── CRC8_CRC16.c │ │ ├── CRC8_CRC16.h │ │ ├── fifo.c │ │ ├── fifo.h │ │ ├── linux_list.h │ │ ├── macro_mutex.h │ │ ├── mem_mang.h │ │ └── mem_mang4.c ├── keilkilll.bat └── wust_engineer.ioc ├── manifold2 ├── .catkin_workspace ├── push_to_manifold2.sh ├── src │ ├── CMakeLists.txt │ ├── wust_auto_align │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ └── params.json │ │ ├── launch │ │ │ └── default.launch │ │ ├── package.xml │ │ └── scripts │ │ │ ├── params.json │ │ │ └── wust_auto_align_node.py │ ├── wust_base │ │ ├── .vscode │ │ │ └── c_cpp_properties.json │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── wust_base │ │ │ │ ├── crc.h │ │ │ │ ├── serial_device.h │ │ │ │ └── wust_base.h │ │ ├── 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