├── .gitignore ├── 99-stm32dfu.rules ├── API Protocol.docx ├── API Protocol.pdf ├── EraseFlashFromCommandline.sh ├── Kugle V1 STM32 pinout overview.xlsx ├── KugleFirmware ├── .cproject ├── .gitignore ├── .mxproject ├── .project ├── .settings │ └── language.settings.xml ├── Drivers │ ├── CMSIS │ │ ├── DSP │ │ │ ├── Examples │ │ │ │ └── ARM │ │ │ │ │ ├── arm_class_marks_example │ │ │ │ │ └── arm_class_marks_example_f32.c │ │ │ │ │ ├── arm_convolution_example │ │ │ │ │ ├── arm_convolution_example_f32.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ │ │ ├── arm_dotproduct_example │ │ │ │ │ └── arm_dotproduct_example_f32.c │ │ │ │ │ ├── arm_fft_bin_example │ │ │ │ │ ├── arm_fft_bin_data.c │ │ │ │ │ └── arm_fft_bin_example_f32.c │ │ │ │ │ ├── arm_fir_example │ │ │ │ │ ├── arm_fir_data.c │ │ │ │ │ ├── arm_fir_example_f32.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ │ │ ├── arm_graphic_equalizer_example │ │ │ │ │ ├── arm_graphic_equalizer_data.c │ │ │ │ │ ├── arm_graphic_equalizer_example_q31.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ │ │ ├── arm_linear_interp_example │ │ │ │ │ ├── arm_linear_interp_data.c │ │ │ │ │ ├── arm_linear_interp_example_f32.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ │ │ ├── arm_matrix_example │ │ │ │ │ ├── arm_matrix_example_f32.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ │ │ ├── arm_signal_converge_example │ │ │ │ │ ├── arm_signal_converge_data.c │ │ │ │ │ ├── arm_signal_converge_example_f32.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ │ │ ├── arm_sin_cos_example │ │ │ │ │ └── arm_sin_cos_example_f32.c │ │ │ │ │ └── arm_variance_example │ │ │ │ │ └── arm_variance_example_f32.c │ │ │ ├── Include │ │ │ │ ├── arm_common_tables.h │ │ │ │ ├── arm_const_structs.h │ │ │ │ └── arm_math.h │ │ │ └── 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 │ │ │ │ └── STM32H7xx │ │ │ │ ├── Include │ │ │ │ ├── stm32h743xx.h │ │ │ │ ├── stm32h750xx.h │ │ │ │ ├── stm32h753xx.h │ │ │ │ ├── stm32h7xx.h │ │ │ │ └── system_stm32h7xx.h │ │ │ │ └── Source │ │ │ │ └── Templates │ │ │ │ ├── arm │ │ │ │ ├── startup_stm32h743xx.s │ │ │ │ ├── startup_stm32h750xx.s │ │ │ │ └── startup_stm32h753xx.s │ │ │ │ ├── gcc │ │ │ │ ├── startup_stm32h743xx.s │ │ │ │ ├── startup_stm32h750xx.s │ │ │ │ └── startup_stm32h753xx.s │ │ │ │ ├── iar │ │ │ │ ├── linker │ │ │ │ │ ├── stm32h743xx_dtcmram.icf │ │ │ │ │ ├── stm32h743xx_flash.icf │ │ │ │ │ ├── stm32h743xx_flash_rw_sram1.icf │ │ │ │ │ ├── stm32h743xx_flash_rw_sram2.icf │ │ │ │ │ ├── stm32h743xx_sram1.icf │ │ │ │ │ ├── stm32h750xx_dtcmram.icf │ │ │ │ │ ├── stm32h750xx_flash.icf │ │ │ │ │ ├── stm32h750xx_flash_rw_sram1.icf │ │ │ │ │ ├── stm32h750xx_flash_rw_sram2.icf │ │ │ │ │ ├── stm32h750xx_sram1.icf │ │ │ │ │ ├── stm32h753xx_dtcmram.icf │ │ │ │ │ ├── stm32h753xx_flash.icf │ │ │ │ │ ├── stm32h753xx_flash_rw_sram1.icf │ │ │ │ │ ├── stm32h753xx_flash_rw_sram2.icf │ │ │ │ │ └── stm32h753xx_sram1.icf │ │ │ │ ├── startup_stm32h743xx.s │ │ │ │ ├── startup_stm32h750xx.s │ │ │ │ └── startup_stm32h753xx.s │ │ │ │ └── system_stm32h7xx.c │ │ ├── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ └── tz_context.h │ │ ├── RTOS │ │ │ └── Template │ │ │ │ └── cmsis_os.h │ │ └── RTOS2 │ │ │ ├── Include │ │ │ └── cmsis_os2.h │ │ │ └── Template │ │ │ ├── cmsis_os.h │ │ │ └── cmsis_os1.c │ └── STM32H7xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32h7xx_hal.h │ │ ├── stm32h7xx_hal_adc.h │ │ ├── stm32h7xx_hal_adc_ex.h │ │ ├── stm32h7xx_hal_cec.h │ │ ├── stm32h7xx_hal_comp.h │ │ ├── stm32h7xx_hal_conf_template.h │ │ ├── stm32h7xx_hal_cortex.h │ │ ├── stm32h7xx_hal_crc.h │ │ ├── stm32h7xx_hal_crc_ex.h │ │ ├── stm32h7xx_hal_cryp.h │ │ ├── stm32h7xx_hal_cryp_ex.h │ │ ├── stm32h7xx_hal_dac.h │ │ ├── stm32h7xx_hal_dac_ex.h │ │ ├── stm32h7xx_hal_dcmi.h │ │ ├── stm32h7xx_hal_def.h │ │ ├── stm32h7xx_hal_dfsdm.h │ │ ├── stm32h7xx_hal_dma.h │ │ ├── stm32h7xx_hal_dma2d.h │ │ ├── stm32h7xx_hal_dma_ex.h │ │ ├── stm32h7xx_hal_eth.h │ │ ├── stm32h7xx_hal_eth_ex.h │ │ ├── stm32h7xx_hal_fdcan.h │ │ ├── stm32h7xx_hal_flash.h │ │ ├── stm32h7xx_hal_flash_ex.h │ │ ├── stm32h7xx_hal_gpio.h │ │ ├── stm32h7xx_hal_gpio_ex.h │ │ ├── stm32h7xx_hal_hash.h │ │ ├── stm32h7xx_hal_hash_ex.h │ │ ├── stm32h7xx_hal_hcd.h │ │ ├── stm32h7xx_hal_hrtim.h │ │ ├── stm32h7xx_hal_hsem.h │ │ ├── stm32h7xx_hal_i2c.h │ │ ├── stm32h7xx_hal_i2c_ex.h │ │ ├── stm32h7xx_hal_i2s.h │ │ ├── stm32h7xx_hal_i2s_ex.h │ │ ├── stm32h7xx_hal_irda.h │ │ ├── stm32h7xx_hal_irda_ex.h │ │ ├── stm32h7xx_hal_iwdg.h │ │ ├── stm32h7xx_hal_jpeg.h │ │ ├── stm32h7xx_hal_lptim.h │ │ ├── stm32h7xx_hal_ltdc.h │ │ ├── stm32h7xx_hal_mdios.h │ │ ├── stm32h7xx_hal_mdma.h │ │ ├── stm32h7xx_hal_mmc.h │ │ ├── stm32h7xx_hal_mmc_ex.h │ │ ├── stm32h7xx_hal_nand.h │ │ ├── stm32h7xx_hal_nor.h │ │ ├── stm32h7xx_hal_opamp.h │ │ ├── stm32h7xx_hal_opamp_ex.h │ │ ├── stm32h7xx_hal_pcd.h │ │ ├── stm32h7xx_hal_pcd_ex.h │ │ ├── stm32h7xx_hal_pwr.h │ │ ├── stm32h7xx_hal_pwr_ex.h │ │ ├── stm32h7xx_hal_qspi.h │ │ ├── stm32h7xx_hal_rcc.h │ │ ├── stm32h7xx_hal_rcc_ex.h │ │ ├── stm32h7xx_hal_rng.h │ │ ├── stm32h7xx_hal_rtc.h │ │ ├── stm32h7xx_hal_rtc_ex.h │ │ ├── stm32h7xx_hal_sai.h │ │ ├── stm32h7xx_hal_sai_ex.h │ │ ├── stm32h7xx_hal_sd.h │ │ ├── stm32h7xx_hal_sd_ex.h │ │ ├── stm32h7xx_hal_sdram.h │ │ ├── stm32h7xx_hal_smartcard.h │ │ ├── stm32h7xx_hal_smartcard_ex.h │ │ ├── stm32h7xx_hal_smbus.h │ │ ├── stm32h7xx_hal_spdifrx.h │ │ ├── stm32h7xx_hal_spi.h │ │ ├── stm32h7xx_hal_spi_ex.h │ │ ├── stm32h7xx_hal_sram.h │ │ ├── stm32h7xx_hal_swpmi.h │ │ ├── stm32h7xx_hal_tim.h │ │ ├── stm32h7xx_hal_tim_ex.h │ │ ├── stm32h7xx_hal_uart.h │ │ ├── stm32h7xx_hal_uart_ex.h │ │ ├── stm32h7xx_hal_usart.h │ │ ├── stm32h7xx_hal_usart_ex.h │ │ ├── stm32h7xx_hal_wwdg.h │ │ ├── stm32h7xx_ll_delayblock.h │ │ ├── stm32h7xx_ll_fmc.h │ │ ├── stm32h7xx_ll_sdmmc.h │ │ └── stm32h7xx_ll_usb.h │ │ └── Src │ │ ├── stm32h7xx_hal.c │ │ ├── stm32h7xx_hal_adc.c │ │ ├── stm32h7xx_hal_adc_ex.c │ │ ├── stm32h7xx_hal_cec.c │ │ ├── stm32h7xx_hal_comp.c │ │ ├── stm32h7xx_hal_cortex.c │ │ ├── stm32h7xx_hal_crc.c │ │ ├── stm32h7xx_hal_crc_ex.c │ │ ├── stm32h7xx_hal_cryp.c │ │ ├── stm32h7xx_hal_cryp_ex.c │ │ ├── stm32h7xx_hal_dac.c │ │ ├── stm32h7xx_hal_dac_ex.c │ │ ├── stm32h7xx_hal_dcmi.c │ │ ├── stm32h7xx_hal_dfsdm.c │ │ ├── stm32h7xx_hal_dma.c │ │ ├── stm32h7xx_hal_dma2d.c │ │ ├── stm32h7xx_hal_dma_ex.c │ │ ├── stm32h7xx_hal_eth.c │ │ ├── stm32h7xx_hal_eth_ex.c │ │ ├── stm32h7xx_hal_fdcan.c │ │ ├── stm32h7xx_hal_flash.c │ │ ├── stm32h7xx_hal_flash_ex.c │ │ ├── stm32h7xx_hal_gpio.c │ │ ├── stm32h7xx_hal_hash.c │ │ ├── stm32h7xx_hal_hash_ex.c │ │ ├── stm32h7xx_hal_hcd.c │ │ ├── stm32h7xx_hal_hrtim.c │ │ ├── stm32h7xx_hal_hsem.c │ │ ├── stm32h7xx_hal_i2c.c │ │ ├── stm32h7xx_hal_i2c_ex.c │ │ ├── stm32h7xx_hal_i2s.c │ │ ├── stm32h7xx_hal_i2s_ex.c │ │ ├── stm32h7xx_hal_irda.c │ │ ├── stm32h7xx_hal_iwdg.c │ │ ├── stm32h7xx_hal_jpeg.c │ │ ├── stm32h7xx_hal_lptim.c │ │ ├── stm32h7xx_hal_ltdc.c │ │ ├── stm32h7xx_hal_mdios.c │ │ ├── stm32h7xx_hal_mdma.c │ │ ├── stm32h7xx_hal_mmc.c │ │ ├── stm32h7xx_hal_mmc_ex.c │ │ ├── stm32h7xx_hal_nand.c │ │ ├── stm32h7xx_hal_nor.c │ │ ├── stm32h7xx_hal_opamp.c │ │ ├── stm32h7xx_hal_opamp_ex.c │ │ ├── stm32h7xx_hal_pcd.c │ │ ├── stm32h7xx_hal_pcd_ex.c │ │ ├── stm32h7xx_hal_pwr.c │ │ ├── stm32h7xx_hal_pwr_ex.c │ │ ├── stm32h7xx_hal_qspi.c │ │ ├── stm32h7xx_hal_rcc.c │ │ ├── stm32h7xx_hal_rcc_ex.c │ │ ├── stm32h7xx_hal_rng.c │ │ ├── stm32h7xx_hal_rtc.c │ │ ├── stm32h7xx_hal_rtc_ex.c │ │ ├── stm32h7xx_hal_sai.c │ │ ├── stm32h7xx_hal_sai_ex.c │ │ ├── stm32h7xx_hal_sd.c │ │ ├── stm32h7xx_hal_sd_ex.c │ │ ├── stm32h7xx_hal_sdram.c │ │ ├── stm32h7xx_hal_smartcard.c │ │ ├── stm32h7xx_hal_smartcard_ex.c │ │ ├── stm32h7xx_hal_smbus.c │ │ ├── stm32h7xx_hal_spdifrx.c │ │ ├── stm32h7xx_hal_spi.c │ │ ├── stm32h7xx_hal_spi_ex.c │ │ ├── stm32h7xx_hal_sram.c │ │ ├── stm32h7xx_hal_swpmi.c │ │ ├── stm32h7xx_hal_tim.c │ │ ├── stm32h7xx_hal_tim_ex.c │ │ ├── stm32h7xx_hal_uart.c │ │ ├── stm32h7xx_hal_uart_ex.c │ │ ├── stm32h7xx_hal_usart.c │ │ ├── stm32h7xx_hal_wwdg.c │ │ ├── stm32h7xx_ll_delayblock.c │ │ ├── stm32h7xx_ll_fmc.c │ │ ├── stm32h7xx_ll_sdmmc.c │ │ └── stm32h7xx_ll_usb.c ├── Inc │ ├── FreeRTOSConfig.h │ ├── MainTask.h │ ├── MemoryManagement.h │ ├── Priorities.h │ ├── ProcessorInit.h │ ├── main.h │ ├── stm32h7xx_hal_conf.h │ ├── stm32h7xx_hal_timebase_tim.h │ └── stm32h7xx_it.h ├── KugleFirmware Debug.cfg ├── KugleFirmware.ioc ├── KugleFirmware.xml ├── Libraries │ ├── Applications │ │ ├── ApplicationTemplate │ │ │ ├── ApplicationTemplate.cpp │ │ │ └── ApplicationTemplate.h │ │ ├── BalanceController │ │ │ ├── BalanceController.cpp │ │ │ └── BalanceController.h │ │ ├── Communication │ │ │ ├── Communication.cpp │ │ │ └── Communication.h │ │ ├── FrontPanel │ │ │ ├── FrontPanel.cpp │ │ │ └── FrontPanel.h │ │ ├── PathFollowingController │ │ │ ├── PathFollowingController.cpp │ │ │ └── PathFollowingController.h │ │ └── This folder contains the code for each application thread.txt │ ├── Devices │ │ ├── Battery │ │ │ ├── Battery.cpp │ │ │ └── Battery.h │ │ ├── ESCON │ │ │ ├── ESCON.cpp │ │ │ └── ESCON.h │ │ ├── IMU │ │ │ ├── IMU.cpp │ │ │ └── IMU.h │ │ ├── LCD │ │ │ ├── Adafruit_GFX.cpp │ │ │ ├── Adafruit_GFX.h │ │ │ ├── Adafruit_HX8357.cpp │ │ │ ├── Adafruit_HX8357.h │ │ │ ├── Adafruit_SPITFT.cpp │ │ │ ├── Adafruit_SPITFT.h │ │ │ ├── Adafruit_SPITFT_Macros.h │ │ │ ├── Fonts │ │ │ │ ├── FreeMono12pt7b.h │ │ │ │ ├── FreeMono18pt7b.h │ │ │ │ ├── FreeMono24pt7b.h │ │ │ │ ├── FreeMono9pt7b.h │ │ │ │ ├── FreeMonoBold12pt7b.h │ │ │ │ ├── FreeMonoBold18pt7b.h │ │ │ │ ├── FreeMonoBold24pt7b.h │ │ │ │ ├── FreeMonoBold9pt7b.h │ │ │ │ ├── FreeMonoBoldOblique12pt7b.h │ │ │ │ ├── FreeMonoBoldOblique18pt7b.h │ │ │ │ ├── FreeMonoBoldOblique24pt7b.h │ │ │ │ ├── FreeMonoBoldOblique9pt7b.h │ │ │ │ ├── FreeMonoOblique12pt7b.h │ │ │ │ ├── FreeMonoOblique18pt7b.h │ │ │ │ ├── FreeMonoOblique24pt7b.h │ │ │ │ ├── FreeMonoOblique9pt7b.h │ │ │ │ ├── FreeSans12pt7b.h │ │ │ │ ├── FreeSans18pt7b.h │ │ │ │ ├── FreeSans24pt7b.h │ │ │ │ ├── FreeSans9pt7b.h │ │ │ │ ├── FreeSansBold12pt7b.h │ │ │ │ ├── FreeSansBold18pt7b.h │ │ │ │ ├── FreeSansBold24pt7b.h │ │ │ │ ├── FreeSansBold9pt7b.h │ │ │ │ ├── FreeSansBoldOblique12pt7b.h │ │ │ │ ├── FreeSansBoldOblique18pt7b.h │ │ │ │ ├── FreeSansBoldOblique24pt7b.h │ │ │ │ ├── FreeSansBoldOblique9pt7b.h │ │ │ │ ├── FreeSansOblique12pt7b.h │ │ │ │ ├── FreeSansOblique18pt7b.h │ │ │ │ ├── FreeSansOblique24pt7b.h │ │ │ │ ├── FreeSansOblique9pt7b.h │ │ │ │ ├── FreeSerif12pt7b.h │ │ │ │ ├── FreeSerif18pt7b.h │ │ │ │ ├── FreeSerif24pt7b.h │ │ │ │ ├── FreeSerif9pt7b.h │ │ │ │ ├── FreeSerifBold12pt7b.h │ │ │ │ ├── FreeSerifBold18pt7b.h │ │ │ │ ├── FreeSerifBold24pt7b.h │ │ │ │ ├── FreeSerifBold9pt7b.h │ │ │ │ ├── FreeSerifBoldItalic12pt7b.h │ │ │ │ ├── FreeSerifBoldItalic18pt7b.h │ │ │ │ ├── FreeSerifBoldItalic24pt7b.h │ │ │ │ ├── FreeSerifBoldItalic9pt7b.h │ │ │ │ ├── FreeSerifItalic12pt7b.h │ │ │ │ ├── FreeSerifItalic18pt7b.h │ │ │ │ ├── FreeSerifItalic24pt7b.h │ │ │ │ ├── FreeSerifItalic9pt7b.h │ │ │ │ ├── Org_01.h │ │ │ │ ├── Picopixel.h │ │ │ │ ├── Tiny3x3a2pt7b.h │ │ │ │ └── TomThumb.h │ │ │ ├── LCD.h │ │ │ ├── Print.cpp │ │ │ ├── Print.h │ │ │ ├── README.md │ │ │ ├── examples │ │ │ │ ├── bitmapdraw_featherwing │ │ │ │ │ ├── .mega2560.test.skip │ │ │ │ │ └── bitmapdraw_featherwing.ino │ │ │ │ ├── breakouttouchpaint │ │ │ │ │ ├── .esp8266.test.skip │ │ │ │ │ └── breakouttouchpaint.ino │ │ │ │ ├── graphicstest │ │ │ │ │ └── graphicstest.ino │ │ │ │ ├── graphicstest_featherwing │ │ │ │ │ ├── .mega2560.test.skip │ │ │ │ │ └── graphicstest_featherwing.ino │ │ │ │ ├── mock_ili9341 │ │ │ │ │ └── mock_ili9341.ino │ │ │ │ ├── spitftbitmap │ │ │ │ │ └── spitftbitmap.ino │ │ │ │ └── touchpaint_featherwing │ │ │ │ │ ├── .mega2560.test.skip │ │ │ │ │ └── touchpaint_featherwing.ino │ │ │ ├── fontconvert │ │ │ │ ├── Makefile │ │ │ │ ├── fontconvert.c │ │ │ │ ├── fontconvert_win.md │ │ │ │ └── makefonts.sh │ │ │ ├── gfxfont.h │ │ │ ├── glcdfont.c │ │ │ ├── jumpers.bmp │ │ │ └── library.properties │ │ ├── LSPC │ │ │ ├── LSPC.hpp │ │ │ ├── MessageTypes.h │ │ │ ├── Packet.hpp │ │ │ ├── README │ │ │ ├── Serializable.hpp │ │ │ └── SocketBase.hpp │ │ ├── MPU9250 │ │ │ ├── MPU9250.cpp │ │ │ ├── MPU9250.h │ │ │ ├── MPU9250_Bus.cpp │ │ │ ├── MPU9250_Bus.h │ │ │ ├── README.md │ │ │ ├── docs │ │ │ │ ├── AK8963C.pdf │ │ │ │ ├── Embedded-Masters-MPU-9250-Breakout.pdf │ │ │ │ ├── MPU-9250-AXIS.png │ │ │ │ ├── MPU-9250-Datasheet.pdf │ │ │ │ └── MPU-9250-Register-Map.pdf │ │ │ ├── examples │ │ │ │ ├── Basic_I2C │ │ │ │ │ └── Basic_I2C.ino │ │ │ │ ├── Basic_I2C_Pins │ │ │ │ │ └── Basic_I2C_Pins.ino │ │ │ │ ├── Basic_I2C_Pullups │ │ │ │ │ └── Basic_I2C_Pullups.ino │ │ │ │ ├── Basic_SPI │ │ │ │ │ └── Basic_SPI.ino │ │ │ │ ├── Interrupt_I2C │ │ │ │ │ └── Interrupt_I2C.ino │ │ │ │ └── Interrupt_SPI │ │ │ │ │ └── Interrupt_SPI.ino │ │ │ └── keywords.txt │ │ ├── MTI200 │ │ │ ├── MTI200.cpp │ │ │ ├── MTI200.h │ │ │ ├── xbusdef.h │ │ │ ├── xbusmessage.c │ │ │ ├── xbusmessage.h │ │ │ ├── xbusparser.c │ │ │ ├── xbusparser.h │ │ │ ├── xbusutility.c │ │ │ ├── xbusutility.h │ │ │ ├── xsdeviceid.c │ │ │ └── xsdeviceid.h │ │ └── QuadratureKnob │ │ │ ├── QuadratureKnob.cpp │ │ │ └── QuadratureKnob.h │ ├── Misc │ │ ├── FirstOrderHPF │ │ │ ├── FirstOrderHPF.cpp │ │ │ └── FirstOrderHPF.h │ │ ├── FirstOrderLPF │ │ │ ├── FirstOrderLPF.cpp │ │ │ └── FirstOrderLPF.h │ │ ├── IIR │ │ │ └── IIR.hpp │ │ ├── MATLABCoderInit │ │ │ ├── MATLABCoderInit.cpp │ │ │ ├── MATLABCoderInit.h │ │ │ ├── mw_cmsis.h │ │ │ ├── rtGetInf.cpp │ │ │ ├── rtGetInf.h │ │ │ ├── rtGetNaN.cpp │ │ │ ├── rtGetNaN.h │ │ │ ├── rt_defines.h │ │ │ ├── rt_nonfinite.cpp │ │ │ ├── rt_nonfinite.h │ │ │ └── rtwtypes.h │ │ ├── MathLib │ │ │ ├── MathLib.cpp │ │ │ └── MathLib.h │ │ ├── Matrix │ │ │ ├── Matrix.cpp │ │ │ ├── Matrix.h │ │ │ ├── SVD │ │ │ │ ├── sqrt.cpp │ │ │ │ ├── sqrt.h │ │ │ │ ├── svd.cpp │ │ │ │ ├── svd.h │ │ │ │ ├── svd1.cpp │ │ │ │ ├── svd1.h │ │ │ │ ├── svd_types.h │ │ │ │ ├── xaxpy.cpp │ │ │ │ ├── xaxpy.h │ │ │ │ ├── xdotc.cpp │ │ │ │ ├── xdotc.h │ │ │ │ ├── xnrm2.cpp │ │ │ │ ├── xnrm2.h │ │ │ │ ├── xrot.cpp │ │ │ │ ├── xrot.h │ │ │ │ ├── xrotg.cpp │ │ │ │ ├── xrotg.h │ │ │ │ ├── xscal.cpp │ │ │ │ ├── xscal.h │ │ │ │ ├── xswap.cpp │ │ │ │ └── xswap.h │ │ │ ├── inv3x3.cpp │ │ │ ├── inv3x3.h │ │ │ ├── inv6x6.cpp │ │ │ └── inv6x6.h │ │ └── Quaternion │ │ │ ├── Quaternion.cpp │ │ │ └── Quaternion.h │ ├── Modules │ │ ├── Controllers │ │ │ ├── LQR │ │ │ │ ├── LQR.cpp │ │ │ │ └── LQR.h │ │ │ ├── ModelMatrices │ │ │ │ ├── README.md │ │ │ │ ├── coriolis.cpp │ │ │ │ ├── coriolis.h │ │ │ │ ├── friction.cpp │ │ │ │ ├── friction.h │ │ │ │ ├── gravity.cpp │ │ │ │ ├── gravity.h │ │ │ │ ├── input_forces.cpp │ │ │ │ ├── input_forces.h │ │ │ │ ├── mass.cpp │ │ │ │ └── mass.h │ │ │ ├── PID │ │ │ │ ├── PID.cpp │ │ │ │ └── PID.h │ │ │ ├── QuaternionVelocityControl │ │ │ │ ├── QuaternionVelocityControl.cpp │ │ │ │ └── QuaternionVelocityControl.h │ │ │ ├── SlidingMode │ │ │ │ ├── SlidingMode.cpp │ │ │ │ └── SlidingMode.h │ │ │ ├── SlidingModeMATLABCoder │ │ │ │ ├── MATLABCoder │ │ │ │ │ ├── SlidingModeControl.cpp │ │ │ │ │ ├── SlidingModeControl.h │ │ │ │ │ ├── SlidingModeControl_types.h │ │ │ │ │ ├── inv.cpp │ │ │ │ │ └── inv.h │ │ │ │ ├── README.md │ │ │ │ ├── SlidingModeMATLABCoder.cpp │ │ │ │ └── SlidingModeMATLABCoder.h │ │ │ └── VelocityLQR │ │ │ │ ├── VelocityLQR.cpp │ │ │ │ └── VelocityLQR.h │ │ ├── Debug │ │ │ ├── Debug.cpp │ │ │ └── Debug.h │ │ ├── Estimators │ │ │ ├── COMEKF │ │ │ │ ├── COMEKF.cpp │ │ │ │ ├── COMEKF.h │ │ │ │ ├── MATLABCoder │ │ │ │ │ ├── COMEstimator.cpp │ │ │ │ │ ├── COMEstimator.h │ │ │ │ │ ├── COMEstimator_initialize.cpp │ │ │ │ │ ├── COMEstimator_initialize.h │ │ │ │ │ ├── COMEstimator_types.h │ │ │ │ │ ├── SteadyStateAcceleration.cpp │ │ │ │ │ ├── SteadyStateAcceleration.h │ │ │ │ │ ├── SteadyStateAcceleration_dCOM.cpp │ │ │ │ │ ├── SteadyStateAcceleration_dCOM.h │ │ │ │ │ ├── SteadyStateAcceleration_dq.cpp │ │ │ │ │ └── SteadyStateAcceleration_dq.h │ │ │ │ └── README.md │ │ │ ├── Kinematics │ │ │ │ ├── Kinematics.cpp │ │ │ │ ├── Kinematics.h │ │ │ │ ├── MATLABCoder │ │ │ │ │ ├── ForwardKinematics.cpp │ │ │ │ │ └── ForwardKinematics.h │ │ │ │ ├── README.md │ │ │ │ ├── VelocityCoR.cpp │ │ │ │ └── VelocityCoR.h │ │ │ ├── MadgwickAHRS │ │ │ │ ├── README.adoc │ │ │ │ ├── examples │ │ │ │ │ └── Visualize101 │ │ │ │ │ │ └── Visualize101.ino │ │ │ │ ├── extras │ │ │ │ │ └── Visualizer │ │ │ │ │ │ └── Visualizer.pde │ │ │ │ ├── keywords.txt │ │ │ │ ├── library.properties │ │ │ │ └── src │ │ │ │ │ ├── MadgwickAHRS.cpp │ │ │ │ │ └── MadgwickAHRS.h │ │ │ ├── QEKF │ │ │ │ ├── MATLABCoder │ │ │ │ │ ├── QEKF_coder.cpp │ │ │ │ │ ├── QEKF_coder.h │ │ │ │ │ ├── QEKF_initialize.cpp │ │ │ │ │ ├── QEKF_initialize.h │ │ │ │ │ ├── QEKF_types.h │ │ │ │ │ ├── eye.cpp │ │ │ │ │ ├── eye.h │ │ │ │ │ ├── mrdivide.cpp │ │ │ │ │ ├── mrdivide.h │ │ │ │ │ ├── norm.cpp │ │ │ │ │ └── norm.h │ │ │ │ ├── QEKF.cpp │ │ │ │ ├── QEKF.h │ │ │ │ └── README.md │ │ │ ├── VelocityEKF │ │ │ │ ├── MATLABCoder │ │ │ │ │ ├── VelocityEstimator.cpp │ │ │ │ │ ├── VelocityEstimator.h │ │ │ │ │ ├── VelocityEstimator_initialize.cpp │ │ │ │ │ ├── VelocityEstimator_initialize.h │ │ │ │ │ ├── VelocityEstimator_mrdivide.cpp │ │ │ │ │ ├── VelocityEstimator_mrdivide.h │ │ │ │ │ └── VelocityEstimator_types.h │ │ │ │ ├── README.md │ │ │ │ ├── VelocityEKF.cpp │ │ │ │ └── VelocityEKF.h │ │ │ └── WheelSlipDetector │ │ │ │ ├── WheelSlipDetector.cpp │ │ │ │ └── WheelSlipDetector.h │ │ ├── Parameters │ │ │ ├── Parameters.cpp │ │ │ ├── Parameters.h │ │ │ └── ThreadSafeParameter.hpp │ │ ├── PowerManagement │ │ │ ├── PowerManagement.cpp │ │ │ └── PowerManagement.h │ │ └── UserInterface │ │ │ └── Joystick │ │ │ ├── Joystick.cpp │ │ │ └── Joystick.h │ └── Periphirals │ │ ├── ADC │ │ ├── ADC.cpp │ │ └── ADC.h │ │ ├── EEPROM │ │ ├── EEPROM.cpp │ │ └── EEPROM.h │ │ ├── Encoder │ │ ├── Encoder.cpp │ │ └── Encoder.h │ │ ├── I2C │ │ ├── I2C.cpp │ │ └── I2C.h │ │ ├── IO │ │ ├── IO.cpp │ │ └── IO.h │ │ ├── InputCapture │ │ ├── InputCapture.cpp │ │ └── InputCapture.h │ │ ├── PWM │ │ ├── PWM.cpp │ │ └── PWM.h │ │ ├── SMBus │ │ ├── SMBus.cpp │ │ └── SMBus.h │ │ ├── SPI │ │ ├── SPI.cpp │ │ └── SPI.h │ │ ├── Timer │ │ ├── Timer.cpp │ │ └── Timer.h │ │ ├── UART │ │ ├── UART.cpp │ │ └── UART.h │ │ ├── USBCDC │ │ ├── USBCDC.cpp │ │ ├── USBCDC.h │ │ ├── usbd_cdc_if.c │ │ ├── usbd_cdc_if.h │ │ ├── usbd_conf.c │ │ ├── usbd_conf.h │ │ ├── usbd_desc.c │ │ └── usbd_desc.h │ │ └── Watchdog │ │ ├── Watchdog.cpp │ │ └── Watchdog.h ├── Middlewares │ ├── ST │ │ └── STM32_USB_Device_Library │ │ │ ├── Class │ │ │ └── CDC │ │ │ │ ├── Inc │ │ │ │ ├── usbd_cdc.h │ │ │ │ └── usbd_cdc_if_template.h │ │ │ │ └── Src │ │ │ │ ├── usbd_cdc.c │ │ │ │ └── usbd_cdc_if_template.c │ │ │ └── Core │ │ │ ├── Inc │ │ │ ├── usbd_conf_template.h │ │ │ ├── usbd_core.h │ │ │ ├── usbd_ctlreq.h │ │ │ ├── usbd_def.h │ │ │ └── usbd_ioreq.h │ │ │ └── Src │ │ │ ├── usbd_conf_template.c │ │ │ ├── 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 │ │ ├── FreeRTOSConfig_template.h │ │ ├── StackMacros.h │ │ ├── croutine.h │ │ ├── deprecated_definitions.h │ │ ├── event_groups.h │ │ ├── freertos_tasks_c_additions.h │ │ ├── list.h │ │ ├── mpu_prototypes.h │ │ ├── mpu_wrappers.h │ │ ├── portable.h │ │ ├── projdefs.h │ │ ├── queue.h │ │ ├── semphr.h │ │ ├── task.h │ │ └── timers.h │ │ ├── list.c │ │ ├── portable │ │ ├── GCC │ │ │ └── ARM_CM7 │ │ │ │ └── r0p1 │ │ │ │ ├── port.c │ │ │ │ └── portmacro.h │ │ └── MemMang │ │ │ └── heap_4.c │ │ ├── queue.c │ │ ├── tasks.c │ │ └── timers.c ├── STM32H743ZITx_FLASH.ld ├── Src │ ├── FreeRTOS-openocd.c │ ├── MainTask.cpp │ ├── MemoryManagement.c │ ├── ProcessorInit.c │ ├── TestBench.cpp │ ├── freertos.c │ ├── main.c │ ├── printf-stdarg.c │ ├── stm32h7xx_hal_msp.c │ ├── stm32h7xx_hal_timebase_tim.c │ ├── stm32h7xx_it.c │ ├── syscalls.c │ └── system_stm32h7xx.c ├── startup │ └── startup_stm32h743xx.s └── stm32h7x_freertos.cfg ├── LICENSE ├── README.md ├── ResetDFUfromCommandline.sh ├── ResetFromCommandline.sh ├── control_loop.png ├── firmware_structure.png ├── kugle_front.jpg └── rotary-encoder-waveform-v2.png /.gitignore: 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