2.1
### uVision Project, (C) Keil Software
R1
0x4
ARM-ADS
5060960::V5.06 update 7 (build 960)::.\ARMCC
0
STM32F407IGHx
STMicroelectronics
Keil.STM32F4xx_DFP.2.17.1
https://www.keil.com/pack/
IRAM(0x20000000-0x2001BFFF) IRAM2(0x2001C000-0x2001FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") TZ
0
$$Device:STM32F407IGHx$CMSIS\SVD\STM32F407.svd
0
0
0
0
0
0
1
R1\
R1
1
0
1
1
1
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
0
0
0
0
1
0
0
0
0
0
1
0
0
0
0
3
0
SARMCM3.DLL
-REMAP -MPU
DCM.DLL
-pCM4
SARMCM3.DLL
-MPU
TCM.DLL
-pCM4
1
0
0
0
16
1
0
0
1
1
4101
1
BIN\UL2V8M.DLL
0
0
1
1
1
1
1
1
1
0
1
1
0
1
1
0
0
1
1
1
1
1
1
1
1
1
0
0
"Cortex-M4"
0
0
0
1
1
0
0
2
0
0
1
0
8
0
0
0
0
3
4
0
0
0
0
0
0
0
0
0
0
1
0
0
0
0
1
1
0
0x0
0x0
0
0x0
0x0
0
0x0
0x0
0
0x0
0x0
0
0x0
0x0
0
0x0
0x0
0
0x20000000
0x1c000
1
0x8000000
0x100000
0
0x0
0x0
1
0x0
0x0
1
0x0
0x0
1
0x0
0x0
1
0x8000000
0x100000
1
0x0
0x0
0
0x0
0x0
0
0x0
0x0
0
0x0
0x0
0
0x20000000
0x1c000
0
0x2001c000
0x4000
1
4
0
0
1
0
0
0
0
0
2
0
0
1
0
0
5
3
1
1
0
0
0
USE_HAL_DRIVER,STM32F407xx
../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../User/bsp;../User/module;../User/task;../User/lib;../User/device
1
0
0
0
0
0
0
0
0
1
../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include
1
0
0
0
1
0
Application/MDK-ARM
startup_stm32f407xx.s
2
startup_stm32f407xx.s
Application/User/Core
main.c
1
../Core/Src/main.c
gpio.c
1
../Core/Src/gpio.c
freertos.c
1
../Core/Src/freertos.c
can.c
1
../Core/Src/can.c
crc.c
1
../Core/Src/crc.c
dma.c
1
../Core/Src/dma.c
spi.c
1
../Core/Src/spi.c
tim.c
1
../Core/Src/tim.c
usart.c
1
../Core/Src/usart.c
stm32f4xx_it.c
1
../Core/Src/stm32f4xx_it.c
stm32f4xx_hal_msp.c
1
../Core/Src/stm32f4xx_hal_msp.c
Drivers/STM32F4xx_HAL_Driver
stm32f4xx_hal_can.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c
stm32f4xx_hal_rcc.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c
stm32f4xx_hal_rcc_ex.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c
stm32f4xx_hal_flash.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c
stm32f4xx_hal_flash_ex.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c
stm32f4xx_hal_flash_ramfunc.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c
stm32f4xx_hal_gpio.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c
stm32f4xx_hal_dma_ex.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c
stm32f4xx_hal_dma.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c
stm32f4xx_hal_pwr.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c
stm32f4xx_hal_pwr_ex.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c
stm32f4xx_hal_cortex.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c
stm32f4xx_hal.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c
stm32f4xx_hal_exti.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c
stm32f4xx_hal_crc.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c
stm32f4xx_hal_spi.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c
stm32f4xx_hal_tim.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c
stm32f4xx_hal_tim_ex.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c
stm32f4xx_hal_uart.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c
Drivers/CMSIS
system_stm32f4xx.c
1
../Core/Src/system_stm32f4xx.c
Middlewares/FreeRTOS
croutine.c
1
../Middlewares/Third_Party/FreeRTOS/Source/croutine.c
event_groups.c
1
../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c
list.c
1
../Middlewares/Third_Party/FreeRTOS/Source/list.c
queue.c
1
../Middlewares/Third_Party/FreeRTOS/Source/queue.c
stream_buffer.c
1
../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c
tasks.c
1
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c
timers.c
1
../Middlewares/Third_Party/FreeRTOS/Source/timers.c
cmsis_os2.c
1
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
heap_4.c
1
../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c
port.c
1
../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c
User/bsp
bsp_buzzer.c
1
..\User\bsp\bsp_buzzer.c
bsp_delay.c
1
..\User\bsp\bsp_delay.c
can_init.c
1
..\User\bsp\can_init.c
can_it.c
1
..\User\bsp\can_it.c
gpio_it.c
1
..\User\bsp\gpio_it.c
uart_it.c
1
..\User\bsp\uart_it.c
User/lib
calc_lib.c
1
..\User\lib\calc_lib.c
crc_ccitt.c
1
..\User\lib\crc_ccitt.c
filter.c
1
..\User\lib\filter.c
kalman.c
1
..\User\lib\kalman.c
pid.c
1
..\User\lib\pid.c
user_math.c
1
..\User\lib\user_math.c
User/device
buzzer.c
1
..\User\device\buzzer.c
detect.c
1
..\User\device\detect.c
djiMotor.c
1
..\User\device\djiMotor.c
GO_M8010_6_Driver.c
1
..\User\device\GO_M8010_6_Driver.c
nuc.c
1
..\User\device\nuc.c
remote_control.c
1
..\User\device\remote_control.c
vofa.c
1
..\User\device\vofa.c
User/module
ball.cpp
8
..\User\module\ball.cpp
gimbal.cpp
8
..\User\module\gimbal.cpp
shoot.cpp
8
..\User\module\shoot.cpp
User/task
initTask.c
1
..\User\task\initTask.c
userTask.c
1
..\User\task\userTask.c
ballTask.cpp
8
..\User\task\ballTask.cpp
encodeCan.cpp
8
..\User\task\encodeCan.cpp
gimbalTask.cpp
8
..\User\task\gimbalTask.cpp
nucTask.cpp
8
..\User\task\nucTask.cpp
shootTask.cpp
8
..\User\task\shootTask.cpp
::CMSIS
R1
1