Meta-Embedded
├── cmsis            CMSIS DSP 计算库 | CMSIS DSP Library for Calculation
├── config           CMake 配置、OpenOCD 配置、辅助脚本等 | Configuration for CMake, OpenOCD and shell scripts.
├── dev              我们编写的源码文件 | Main source code.
├── os               ChibiOS 源码文件 | ChibiOS/RT code.
├── CMakeLists.txt   CMake 主配置文件 | Main configuration file for CMake.
└── README.md        此文件 | This file.

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├── board_pin                            - STM32配置 | Configuration for STM32 -
│   ├── rm_board_2017
│   │     ├── board.c
│   │     ├── board.h
│   │     ├── board.mk
│   │     └── mcuconf.h
│   └── rm_board_2018_a
│         ├── board.c
│         ├── board.h
│         ├── board.mk
│         └── mcuconf.h
├── application                         - 应用层程序 | Higher level Applications -
│   ├───param_adjusts                   - 参数整调程序 | Parameter Adjust Programs -
│   │   ├───pa_chassis               
│   │   └───pa_infantry              
│   ├───unit_tests                      - 单元测试 | Unit Tests-
│   │   ├───ut_ahrs
│   │   ├───ut_buzzer
│   │   ├───ut_chassis
│   │   ├───ut_led
│   │   ├───ut_oled
│   │   ├───ut_referee_if
│   │   ├───ut_remote_if
│   │   ├───ut_sd_card
│   │   ├───ut_sentry_chassis
│   │   └───ut_usb_com
│   └───vehicles                        - 各类车辆 | Vehicles
│       ├───aerial
│       ├───engineer
│       ├───haptic_device
│       ├───hero
│       ├───infantry
│       └───sentry
├── interface                           - 较低层次的接口模块 | Low Level Interfaces -
│   ├── ahrs                            - IMU 模块 | IMU Module -
│   │   ├── ahrs.cpp                      综合运算模块 | Comprehensive Calculation Module -
│   │   ├── ahrs.h
│   │   ├── imu_math.hpp
│   │   ├── ist8310.cpp                   IST8310 接口 | Interface for IST8310 -
│   │   ├── ist8310.h
│   │   ├── ist8310_reg.h
│   │   ├── mpu6500.cpp                   MPU6500 陀螺仪接口 | Interface for MPU 6500 -
│   │   ├── mpu6500.h
│   │   └── mpu6500_reg.h
│   ├── can                             - CAN总下相关接口 | Interfaces for CAN-BUS -
│   │   ├── can_interface.cpp             CAN总线收发程序 | CAN-BUS Tx/RX Module
│   │   ├── can_interface.h
│   │   ├── can_motor_feedback.cpp        大疆CAN电机接口 | DJI Motors' Feedback Class Using CAN-BUS -
│   │   ├── can_motor_feedback.h
│   │   ├── CANMotorIF.cpp       大疆CAN电机整体接口 | Overall Interface for DJI Motors -
│   │   └── CANMotorIF.h
│   ├── usb_com                          - 虚拟串口 | STM32 Virtual COM port (CDC) -
│   │   ├── usb_serial_port.cpp                   USB配置文件 | USB configuration file
│   │   ├── usb_serial_port.h
│   │   ├── VirtualCOMPort.cpp                       虚拟串口收发接口 | Interface for Virtual COM Port
│   │   └── VirtualCOMPort.h
│   └── ...                               其他接口（可能会频繁更新） | Other Interfaces (Varies Over Time)
├── scheduler                           - 调度程序（包含控制算法） | Schedulers, contains thread performing control algorithms -
│   ├── buzzer_scheduler.cpp              蜂鸣器 | Buzzer
│   ├── buzzer_scheduler.h
│   ├── CANMotorController.cpp           CAN电机调度程序 | Schedulers for CAN motors. Performing control algorithms (like PID)
│   ├── CANMotorController.h
│   └── ...                               其他调度程序（近期更新） | Other Schedulers (Might Refactor Soon)
├── logic                               - 高级逻辑控制 | Higher Level Logic Control -
│   ├── HapticLG.cpp                  重力模拟器逻辑控制，包含开机校准以及多种模式控制 | Haptic device logic control, contains startup calibration and multiple control modes
│   ├── HapticLG.h
│   ├── chassis_logic.cpp                 麦克纳姆轮底盘控制程序，包含速度分解 | Control Algorithm for chassises with Mecanum wheel, including velocity decompose
│   ├── chassis_logic.h
│   └── ...                               其他逻辑控制程序（近期更新） | Other high level logical control algorithms (Might Refactor Soon)
├── common                              - 通用组件 | Universal Components -
│   ├── common_macro.h
│   ├── CRC8.cpp
│   ├── CRC8.h
│   ├── CRC16.cpp
│   └── CRC16.h
├── module                              - 模块（将来可能与common合并） | common modules (might merge with common soon) -                       
├── chconf.h                            ChibiOS 配置文件 | ChibiOS configuration
└── halconf.h                           ChibiOS HAL 配置文件 | ChibiOS HAL configuraion