2.1
### uVision Project, (C) Keil Software
DevC
0x4
ARM-ADS
6160000::V6.16::ARMCLANG
6160000::V6.16::ARMCLANG
1
STM32F407IGHx
STMicroelectronics
Keil.STM32F4xx_DFP.3.0.0
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
.\DevC\
DevC
1
0
1
1
1
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
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
3
0
0
1
0
0
3
3
1
1
0
0
0
USE_HAL_DRIVER,STM32F407xx
../Core/Inc;../USB_DEVICE/App;../USB_DEVICE/Target;../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;../Middlewares/ST/STM32_USB_Device_Library/Core/Inc;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../User
1
0
0
0
0
0
0
0
0
1
../Core/Inc;../USB_DEVICE/App;../USB_DEVICE/Target;../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;../Middlewares/ST/STM32_USB_Device_Library/Core/Inc;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;../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
adc.c
1
../Core/Src/adc.c
can.c
1
../Core/Src/can.c
crc.c
1
../Core/Src/crc.c
dma.c
1
../Core/Src/dma.c
i2c.c
1
../Core/Src/i2c.c
rng.c
1
../Core/Src/rng.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
Application/User/USB_DEVICE/App
usb_device.c
1
../USB_DEVICE/App/usb_device.c
usbd_desc.c
1
../USB_DEVICE/App/usbd_desc.c
usbd_cdc_if.c
1
../USB_DEVICE/App/usbd_cdc_if.c
Application/User/USB_DEVICE/Target
usbd_conf.c
1
../USB_DEVICE/Target/usbd_conf.c
Drivers/STM32F4xx_HAL_Driver
stm32f4xx_hal_pcd.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c
stm32f4xx_hal_pcd_ex.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c
stm32f4xx_ll_usb.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.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_adc.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c
stm32f4xx_hal_adc_ex.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c
stm32f4xx_ll_adc.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c
stm32f4xx_hal_can.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c
stm32f4xx_hal_crc.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c
stm32f4xx_hal_i2c.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c
stm32f4xx_hal_i2c_ex.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c
stm32f4xx_hal_rng.c
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.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
Middlewares/USB_Device_Library
usbd_core.c
1
../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c
usbd_ctlreq.c
1
../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c
usbd_ioreq.c
1
../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c
usbd_cdc.c
1
../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c
User/bsp
can.c
1
..\User\bsp\can.c
dwt.c
1
..\User\bsp\dwt.c
gpio.c
1
..\User\bsp\gpio.c
mm.c
1
..\User\bsp\mm.c
pwm.c
1
..\User\bsp\pwm.c
spi.c
1
..\User\bsp\spi.c
time.c
1
..\User\bsp\time.c
uart.c
1
..\User\bsp\uart.c
User/component
ahrs.c
1
..\User\component\ahrs.c
cmd.c
1
..\User\component\cmd.c
filter.c
1
..\User\component\filter.c
limiter.c
1
..\User\component\limiter.c
pid.c
1
..\User\component\pid.c
user_math.c
1
..\User\component\user_math.c
kinematics.c
1
..\User\component\kinematics.c
lqr.c
1
..\User\component\lqr.c
vmc.c
1
..\User\component\vmc.c
User/device
buzzer.c
1
..\User\device\buzzer.c
dm_imu.c
1
..\User\device\dm_imu.c
dr16.c
1
..\User\device\dr16.c
motor.c
1
..\User\device\motor.c
motor_lk.c
1
..\User\device\motor_lk.c
motor_lz.c
1
..\User\device\motor_lz.c
User/module
config.c
1
..\User\module\config.c
balance_chassis.c
1
..\User\module\balance_chassis.c
User/task
blink.c
1
..\User\task\blink.c
init.c
1
..\User\task\init.c
rc.c
1
..\User\task\rc.c
user_task.c
1
..\User\task\user_task.c
user_task.h
5
..\User\task\user_task.h
atti_esti.c
1
..\User\task\atti_esti.c
ctrl_chassis.c
1
..\User\task\ctrl_chassis.c
ctrl_gimbal.c
1
..\User\task\ctrl_gimbal.c
::CMSIS
DevC
1