├── .gitattributes ├── .gitignore ├── 00-Doc ├── 00-Hardware │ └── pf267025_m.jpg ├── 01-Wiring │ ├── CaptureSTmanual.PNG │ ├── CaptureSTmanual2.PNG │ ├── ESCwiring v0.01.drawio │ └── ESCwiring v0.01.png └── 05-GUI │ └── CaptureGUI.PNG ├── 01-Firmware ├── B-G431B-ESC1-v2 │ ├── .mxproject │ ├── .project │ ├── B-G431B-ESC1-v2.ioc │ ├── Core │ │ ├── Inc │ │ │ ├── as5048a.h │ │ │ ├── as5600.h │ │ │ ├── binary_tool.h │ │ │ ├── control_table.h │ │ │ ├── cordic.h │ │ │ ├── eeprom.h │ │ │ ├── foc.h │ │ │ ├── main.h │ │ │ ├── math_tool.h │ │ │ ├── position_sensor.h │ │ │ ├── protocol.h │ │ │ ├── serial.h │ │ │ ├── stm32g4xx_hal_conf.h │ │ │ └── stm32g4xx_it.h │ │ ├── Src │ │ │ ├── as5048a.c │ │ │ ├── as5600.c │ │ │ ├── control_table.c │ │ │ ├── eeprom.c │ │ │ ├── foc.c │ │ │ ├── main.c │ │ │ ├── math_tool.c │ │ │ ├── position_sensor.c │ │ │ ├── protocol.c │ │ │ ├── serial.c │ │ │ ├── stm32g4xx_hal_msp.c │ │ │ ├── stm32g4xx_it.c │ │ │ ├── syscalls.c │ │ │ ├── sysmem.c │ │ │ └── system_stm32g4xx.c │ │ └── Startup │ │ │ └── startup_stm32g431cbux.s │ ├── Drivers │ │ ├── CMSIS │ │ │ ├── Device │ │ │ │ └── ST │ │ │ │ │ └── STM32G4xx │ │ │ │ │ └── Include │ │ │ │ │ ├── stm32g431xx.h │ │ │ │ │ ├── stm32g4xx.h │ │ │ │ │ └── system_stm32g4xx.h │ │ │ └── Include │ │ │ │ ├── cmsis_armcc.h │ │ │ │ ├── cmsis_armclang.h │ │ │ │ ├── cmsis_armclang_ltm.h │ │ │ │ ├── cmsis_compiler.h │ │ │ │ ├── cmsis_gcc.h │ │ │ │ ├── cmsis_iccarm.h │ │ │ │ ├── cmsis_version.h │ │ │ │ ├── core_armv81mml.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_cm35p.h │ │ │ │ ├── core_cm4.h │ │ │ │ ├── core_cm7.h │ │ │ │ ├── core_sc000.h │ │ │ │ ├── core_sc300.h │ │ │ │ ├── mpu_armv7.h │ │ │ │ ├── mpu_armv8.h │ │ │ │ └── tz_context.h │ │ └── STM32G4xx_HAL_Driver │ │ │ ├── Inc │ │ │ ├── Legacy │ │ │ │ └── stm32_hal_legacy.h │ │ │ ├── stm32g4xx_hal.h │ │ │ ├── stm32g4xx_hal_adc.h │ │ │ ├── stm32g4xx_hal_adc_ex.h │ │ │ ├── stm32g4xx_hal_cordic.h │ │ │ ├── stm32g4xx_hal_cortex.h │ │ │ ├── stm32g4xx_hal_def.h │ │ │ ├── stm32g4xx_hal_dma.h │ │ │ ├── stm32g4xx_hal_dma_ex.h │ │ │ ├── stm32g4xx_hal_exti.h │ │ │ ├── stm32g4xx_hal_fdcan.h │ │ │ ├── stm32g4xx_hal_flash.h │ │ │ ├── stm32g4xx_hal_flash_ex.h │ │ │ ├── stm32g4xx_hal_flash_ramfunc.h │ │ │ ├── stm32g4xx_hal_gpio.h │ │ │ ├── stm32g4xx_hal_gpio_ex.h │ │ │ ├── stm32g4xx_hal_i2c.h │ │ │ ├── stm32g4xx_hal_i2c_ex.h │ │ │ ├── stm32g4xx_hal_opamp.h │ │ │ ├── stm32g4xx_hal_opamp_ex.h │ │ │ ├── stm32g4xx_hal_pwr.h │ │ │ ├── stm32g4xx_hal_pwr_ex.h │ │ │ ├── stm32g4xx_hal_rcc.h │ │ │ ├── stm32g4xx_hal_rcc_ex.h │ │ │ ├── stm32g4xx_hal_tim.h │ │ │ ├── stm32g4xx_hal_tim_ex.h │ │ │ ├── stm32g4xx_hal_uart.h │ │ │ ├── stm32g4xx_hal_uart_ex.h │ │ │ └── stm32g4xx_ll_adc.h │ │ │ └── Src │ │ │ ├── stm32g4xx_hal.c │ │ │ ├── stm32g4xx_hal_adc.c │ │ │ ├── stm32g4xx_hal_adc_ex.c │ │ │ ├── stm32g4xx_hal_cordic.c │ │ │ ├── stm32g4xx_hal_cortex.c │ │ │ ├── stm32g4xx_hal_dma.c │ │ │ ├── stm32g4xx_hal_dma_ex.c │ │ │ ├── stm32g4xx_hal_exti.c │ │ │ ├── stm32g4xx_hal_fdcan.c │ │ │ ├── stm32g4xx_hal_flash.c │ │ │ ├── stm32g4xx_hal_flash_ex.c │ │ │ ├── stm32g4xx_hal_flash_ramfunc.c │ │ │ ├── stm32g4xx_hal_gpio.c │ │ │ ├── stm32g4xx_hal_i2c.c │ │ │ ├── stm32g4xx_hal_i2c_ex.c │ │ │ ├── stm32g4xx_hal_opamp.c │ │ │ ├── stm32g4xx_hal_opamp_ex.c │ │ │ ├── stm32g4xx_hal_pwr.c │ │ │ ├── stm32g4xx_hal_pwr_ex.c │ │ │ ├── stm32g4xx_hal_rcc.c │ │ │ ├── stm32g4xx_hal_rcc_ex.c │ │ │ ├── stm32g4xx_hal_tim.c │ │ │ ├── stm32g4xx_hal_tim_ex.c │ │ │ ├── stm32g4xx_hal_uart.c │ │ │ ├── stm32g4xx_hal_uart_ex.c │ │ │ └── stm32g4xx_ll_adc.c │ └── STM32G431CBUX_FLASH.ld └── B-G431B-ESC1 │ ├── .mxproject │ ├── .project │ ├── 7320791617015747902.ioc │ ├── B-G431B-ESC1.ioc │ ├── Core │ ├── Inc │ │ ├── as5048a.h │ │ ├── as5600.h │ │ ├── binary_tool.h │ │ ├── control_table.h │ │ ├── cordic.h │ │ ├── eeprom.h │ │ ├── foc.h │ │ ├── main.h │ │ ├── math_tool.h │ │ ├── pid.h │ │ ├── position_sensor.h │ │ ├── protocol.h │ │ ├── serial.h │ │ ├── stm32g4xx_hal_conf.h │ │ └── stm32g4xx_it.h │ └── Startup │ │ └── startup_stm32g431cbux.s │ ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32G4xx │ │ │ │ └── Include │ │ │ │ ├── stm32g431xx.h │ │ │ │ ├── stm32g4xx.h │ │ │ │ └── system_stm32g4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_armclang_ltm.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv81mml.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_cm35p.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32G4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32g4xx_hal.h │ │ ├── stm32g4xx_hal_adc.h │ │ ├── stm32g4xx_hal_adc_ex.h │ │ ├── stm32g4xx_hal_cordic.h │ │ ├── stm32g4xx_hal_cortex.h │ │ ├── stm32g4xx_hal_def.h │ │ ├── stm32g4xx_hal_dma.h │ │ ├── stm32g4xx_hal_dma_ex.h │ │ ├── stm32g4xx_hal_exti.h │ │ ├── stm32g4xx_hal_fdcan.h │ │ ├── stm32g4xx_hal_flash.h │ │ ├── stm32g4xx_hal_flash_ex.h │ │ ├── stm32g4xx_hal_flash_ramfunc.h │ │ ├── stm32g4xx_hal_gpio.h │ │ ├── stm32g4xx_hal_gpio_ex.h │ │ ├── stm32g4xx_hal_i2c.h │ │ ├── stm32g4xx_hal_i2c_ex.h │ │ ├── stm32g4xx_hal_opamp.h │ │ ├── stm32g4xx_hal_opamp_ex.h │ │ ├── stm32g4xx_hal_pwr.h │ │ ├── stm32g4xx_hal_pwr_ex.h │ │ ├── stm32g4xx_hal_rcc.h │ │ ├── stm32g4xx_hal_rcc_ex.h │ │ ├── stm32g4xx_hal_tim.h │ │ ├── stm32g4xx_hal_tim_ex.h │ │ ├── stm32g4xx_hal_uart.h │ │ ├── stm32g4xx_hal_uart_ex.h │ │ └── stm32g4xx_ll_adc.h │ │ └── Src │ │ ├── stm32g4xx_hal.c │ │ ├── stm32g4xx_hal_adc.c │ │ ├── stm32g4xx_hal_adc_ex.c │ │ ├── stm32g4xx_hal_cordic.c │ │ ├── stm32g4xx_hal_cortex.c │ │ ├── stm32g4xx_hal_dma.c │ │ ├── stm32g4xx_hal_dma_ex.c │ │ ├── stm32g4xx_hal_exti.c │ │ ├── stm32g4xx_hal_fdcan.c │ │ ├── stm32g4xx_hal_flash.c │ │ ├── stm32g4xx_hal_flash_ex.c │ │ ├── stm32g4xx_hal_flash_ramfunc.c │ │ ├── stm32g4xx_hal_gpio.c │ │ ├── stm32g4xx_hal_i2c.c │ │ ├── stm32g4xx_hal_i2c_ex.c │ │ ├── stm32g4xx_hal_opamp.c │ │ ├── stm32g4xx_hal_opamp_ex.c │ │ ├── stm32g4xx_hal_pwr.c │ │ ├── stm32g4xx_hal_pwr_ex.c │ │ ├── stm32g4xx_hal_rcc.c │ │ ├── stm32g4xx_hal_rcc_ex.c │ │ ├── stm32g4xx_hal_tim.c │ │ ├── stm32g4xx_hal_tim_ex.c │ │ ├── stm32g4xx_hal_uart.c │ │ ├── stm32g4xx_hal_uart_ex.c │ │ └── stm32g4xx_ll_adc.c │ └── STM32G431CBUX_FLASH.ld ├── 02-GUI └── SBSUtility │ ├── SBSUtility.py │ ├── __pycache__ │ ├── eeprom_frame.cpython-37.pyc │ ├── felin.cpython-37.pyc │ ├── id_frame.cpython-37.pyc │ ├── ik.cpython-37.pyc │ ├── intersection.cpython-37.pyc │ ├── protocol2.cpython-37.pyc │ ├── 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