同步最新代码

2025-11-01 21:44:20 +08:00
parent 82c2584d1d
commit 456cc96c81
496 changed files with 218379 additions and 0 deletions
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,18 @@
+{
+  "configurations": [
+    {
+      "name": "windows-cygwin-gcc-x64",
+      "includePath": [
+        "${workspaceFolder}/**"
+      ],
+      "compilerPath": "C:/cygwin64/bin/gcc.exe",
+      "cStandard": "${default}",
+      "cppStandard": "${default}",
+      "intelliSenseMode": "linux-gcc-x64",
+      "compilerArgs": [
+        ""
+      ]
+    }
+  ],
+  "version": 4
+}
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -0,0 +1,24 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "name": "C/C++ Runner: Debug Session",
+      "type": "cppdbg",
+      "request": "launch",
+      "args": [],
+      "stopAtEntry": false,
+      "externalConsole": true,
+      "cwd": "f:/Mas_Infantry_Control-main/开源代码/V1.0/Hero/云台/云台/System",
+      "program": "f:/Mas_Infantry_Control-main/开源代码/V1.0/Hero/云台/云台/System/build/Debug/outDebug",
+      "MIMode": "gdb",
+      "miDebuggerPath": "gdb",
+      "setupCommands": [
+        {
+          "description": "Enable pretty-printing for gdb",
+          "text": "-enable-pretty-printing",
+          "ignoreFailures": true
+        }
+      ]
+    }
+  ]
+}
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -0,0 +1,62 @@
+{
+  "C_Cpp_Runner.cCompilerPath": "gcc",
+  "C_Cpp_Runner.cppCompilerPath": "g++",
+  "C_Cpp_Runner.debuggerPath": "gdb",
+  "C_Cpp_Runner.cStandard": "",
+  "C_Cpp_Runner.cppStandard": "",
+  "C_Cpp_Runner.msvcBatchPath": "C:/Program Files/Microsoft Visual Studio/VR_NR/Community/VC/Auxiliary/Build/vcvarsall.bat",
+  "C_Cpp_Runner.useMsvc": false,
+  "C_Cpp_Runner.warnings": [
+    "-Wall",
+    "-Wextra",
+    "-Wpedantic",
+    "-Wshadow",
+    "-Wformat=2",
+    "-Wcast-align",
+    "-Wconversion",
+    "-Wsign-conversion",
+    "-Wnull-dereference"
+  ],
+  "C_Cpp_Runner.msvcWarnings": [
+    "/W4",
+    "/permissive-",
+    "/w14242",
+    "/w14287",
+    "/w14296",
+    "/w14311",
+    "/w14826",
+    "/w44062",
+    "/w44242",
+    "/w14905",
+    "/w14906",
+    "/w14263",
+    "/w44265",
+    "/w14928"
+  ],
+  "C_Cpp_Runner.enableWarnings": true,
+  "C_Cpp_Runner.warningsAsError": false,
+  "C_Cpp_Runner.compilerArgs": [],
+  "C_Cpp_Runner.linkerArgs": [],
+  "C_Cpp_Runner.includePaths": [],
+  "C_Cpp_Runner.includeSearch": [
+    "*",
+    "**/*"
+  ],
+  "C_Cpp_Runner.excludeSearch": [
+    "**/build",
+    "**/build/**",
+    "**/.*",
+    "**/.*/**",
+    "**/.vscode",
+    "**/.vscode/**"
+  ],
+  "C_Cpp_Runner.useAddressSanitizer": false,
+  "C_Cpp_Runner.useUndefinedSanitizer": false,
+  "C_Cpp_Runner.useLeakSanitizer": false,
+  "C_Cpp_Runner.showCompilationTime": false,
+  "C_Cpp_Runner.useLinkTimeOptimization": false,
+  "C_Cpp_Runner.msvcSecureNoWarnings": false,
+  "files.associations": {
+    "m3508.h": "c"
+  }
+}
--- a/云台/云台/.vscode/c_cpp_properties.json
+++ b/云台/云台/.vscode/c_cpp_properties.json
@@ -0,0 +1,203 @@
+{
+    "configurations": [
+        {
+            "name": "windows-cygwin-gcc-x64",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "f:\\桌面\\云台\\Start",
+                "f:\\桌面\\云台\\Library",
+                "f:\\桌面\\云台\\System",
+                "f:\\桌面\\云台\\Algorithm",
+                "f:\\桌面\\云台\\AHRS",
+                "f:\\桌面\\云台\\Hardware",
+                "f:\\桌面\\云台\\Motor",
+                "f:\\桌面\\云台\\Function",
+                "f:\\桌面\\云台\\Control",
+                "f:\\桌面\\云台\\CarBody",
+                "f:\\桌面\\云台\\User",
+                "C:\\Keil_v5\\ARM\\ARMCC\\include",
+                "f:\\桌面\\云台\\Carbody"
+            ],
+            "defines": [
+                "USE_STDPERIPH_DRIVER",
+                "STM32F40_41xxx",
+                "ARM_MATH_CM4",
+                "__FPU_PRESENT=1U",
+                "__CC_ARM",
+                "__arm__",
+                "__align(x)=",
+                "__ALIGNOF__(x)=",
+                "__alignof__(x)=",
+                "__asm(x)=",
+                "__forceinline=",
+                "__restrict=",
+                "__global_reg(n)=",
+                "__inline=",
+                "__int64=long long",
+                "__INTADDR__(expr)=0",
+                "__irq=",
+                "__packed=",
+                "__pure=",
+                "__smc(n)=",
+                "__svc(n)=",
+                "__svc_indirect(n)=",
+                "__svc_indirect_r7(n)=",
+                "__value_in_regs=",
+                "__weak=",
+                "__writeonly=",
+                "__declspec(x)=",
+                "__attribute__(x)=",
+                "__nonnull__(x)=",
+                "__register=",
+                "__breakpoint(x)=",
+                "__cdp(x,y,z)=",
+                "__clrex()=",
+                "__clz(x)=0U",
+                "__current_pc()=0U",
+                "__current_sp()=0U",
+                "__disable_fiq()=",
+                "__disable_irq()=",
+                "__dmb(x)=",
+                "__dsb(x)=",
+                "__enable_fiq()=",
+                "__enable_irq()=",
+                "__fabs(x)=0.0",
+                "__fabsf(x)=0.0f",
+                "__force_loads()=",
+                "__force_stores()=",
+                "__isb(x)=",
+                "__ldrex(x)=0U",
+                "__ldrexd(x)=0U",
+                "__ldrt(x)=0U",
+                "__memory_changed()=",
+                "__nop()=",
+                "__pld(...)=",
+                "__pli(...)=",
+                "__qadd(x,y)=0",
+                "__qdbl(x)=0",
+                "__qsub(x,y)=0",
+                "__rbit(x)=0U",
+                "__rev(x)=0U",
+                "__return_address()=0U",
+                "__ror(x,y)=0U",
+                "__schedule_barrier()=",
+                "__semihost(x,y)=0",
+                "__sev()=",
+                "__sqrt(x)=0.0",
+                "__sqrtf(x)=0.0f",
+                "__ssat(x,y)=0",
+                "__strex(x,y)=0U",
+                "__strexd(x,y)=0",
+                "__strt(x,y)=",
+                "__swp(x,y)=0U",
+                "__usat(x,y)=0U",
+                "__wfe()=",
+                "__wfi()=",
+                "__yield()=",
+                "__vfp_status(x,y)=0"
+            ],
+            "intelliSenseMode": "linux-gcc-x64",
+            "cStandard": "${default}",
+            "cppStandard": "${default}",
+            "compilerPath": "C:/cygwin64/bin/gcc.exe"
+        },
+        {
+            "name": "Target 1",
+            "includePath": [
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Start",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Library",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\System",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Algorithm",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\AHRS",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Hardware",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Motor",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Function",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Control",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\CarBody",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\User",
+                "C:\\Keil_v5\\ARM\\ARMCC\\include",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Carbody"
+            ],
+            "defines": [
+                "USE_STDPERIPH_DRIVER",
+                "STM32F40_41xxx",
+                "ARM_MATH_CM4",
+                "__FPU_PRESENT=1U",
+                "__CC_ARM",
+                "__arm__",
+                "__align(x)=",
+                "__ALIGNOF__(x)=",
+                "__alignof__(x)=",
+                "__asm(x)=",
+                "__forceinline=",
+                "__restrict=",
+                "__global_reg(n)=",
+                "__inline=",
+                "__int64=long long",
+                "__INTADDR__(expr)=0",
+                "__irq=",
+                "__packed=",
+                "__pure=",
+                "__smc(n)=",
+                "__svc(n)=",
+                "__svc_indirect(n)=",
+                "__svc_indirect_r7(n)=",
+                "__value_in_regs=",
+                "__weak=",
+                "__writeonly=",
+                "__declspec(x)=",
+                "__attribute__(x)=",
+                "__nonnull__(x)=",
+                "__register=",
+                "__breakpoint(x)=",
+                "__cdp(x,y,z)=",
+                "__clrex()=",
+                "__clz(x)=0U",
+                "__current_pc()=0U",
+                "__current_sp()=0U",
+                "__disable_fiq()=",
+                "__disable_irq()=",
+                "__dmb(x)=",
+                "__dsb(x)=",
+                "__enable_fiq()=",
+                "__enable_irq()=",
+                "__fabs(x)=0.0",
+                "__fabsf(x)=0.0f",
+                "__force_loads()=",
+                "__force_stores()=",
+                "__isb(x)=",
+                "__ldrex(x)=0U",
+                "__ldrexd(x)=0U",
+                "__ldrt(x)=0U",
+                "__memory_changed()=",
+                "__nop()=",
+                "__pld(...)=",
+                "__pli(...)=",
+                "__qadd(x,y)=0",
+                "__qdbl(x)=0",
+                "__qsub(x,y)=0",
+                "__rbit(x)=0U",
+                "__rev(x)=0U",
+                "__return_address()=0U",
+                "__ror(x,y)=0U",
+                "__schedule_barrier()=",
+                "__semihost(x,y)=0",
+                "__sev()=",
+                "__sqrt(x)=0.0",
+                "__sqrtf(x)=0.0f",
+                "__ssat(x,y)=0",
+                "__strex(x,y)=0U",
+                "__strexd(x,y)=0",
+                "__strt(x,y)=",
+                "__swp(x,y)=0U",
+                "__usat(x,y)=0U",
+                "__wfe()=",
+                "__wfi()=",
+                "__yield()=",
+                "__vfp_status(x,y)=0"
+            ],
+            "intelliSenseMode": "${default}"
+        }
+    ],
+    "version": 4
+}
--- a/云台/云台/.vscode/keil-assistant.log
+++ b/云台/云台/.vscode/keil-assistant.log
@@ -0,0 +1,68 @@
+[info] Log at : 2025/2/20|16:29:21|GMT+0800
+
+[info] Log at : 2025/2/20|16:29:29|GMT+0800
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--- a/云台/云台/.vscode/launch.json
+++ b/云台/云台/.vscode/launch.json
@@ -0,0 +1,24 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "name": "C/C++ Runner: Debug Session",
+      "type": "cppdbg",
+      "request": "launch",
+      "args": [],
+      "stopAtEntry": false,
+      "externalConsole": true,
+      "cwd": "f:/桌面/云台/CarBody",
+      "program": "f:/桌面/云台/CarBody/build/Debug/outDebug",
+      "MIMode": "gdb",
+      "miDebuggerPath": "gdb",
+      "setupCommands": [
+        {
+          "description": "Enable pretty-printing for gdb",
+          "text": "-enable-pretty-printing",
+          "ignoreFailures": true
+        }
+      ]
+    }
+  ]
+}
--- a/云台/云台/.vscode/settings.json
+++ b/云台/云台/.vscode/settings.json
@@ -0,0 +1,77 @@
+{
+  "C_Cpp_Runner.cCompilerPath": "gcc",
+  "C_Cpp_Runner.cppCompilerPath": "g++",
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+  "C_Cpp_Runner.cStandard": "",
+  "C_Cpp_Runner.cppStandard": "",
+  "C_Cpp_Runner.msvcBatchPath": "C:/Program Files/Microsoft Visual Studio/VR_NR/Community/VC/Auxiliary/Build/vcvarsall.bat",
+  "C_Cpp_Runner.useMsvc": false,
+  "C_Cpp_Runner.warnings": [
+    "-Wall",
+    "-Wextra",
+    "-Wpedantic",
+    "-Wshadow",
+    "-Wformat=2",
+    "-Wcast-align",
+    "-Wconversion",
+    "-Wsign-conversion",
+    "-Wnull-dereference"
+  ],
+  "C_Cpp_Runner.msvcWarnings": [
+    "/W4",
+    "/permissive-",
+    "/w14242",
+    "/w14287",
+    "/w14296",
+    "/w14311",
+    "/w14826",
+    "/w44062",
+    "/w44242",
+    "/w14905",
+    "/w14906",
+    "/w14263",
+    "/w44265",
+    "/w14928"
+  ],
+  "C_Cpp_Runner.enableWarnings": true,
+  "C_Cpp_Runner.warningsAsError": false,
+  "C_Cpp_Runner.compilerArgs": [],
+  "C_Cpp_Runner.linkerArgs": [],
+  "C_Cpp_Runner.includePaths": [
+    "f:\\桌面\\云台\\Start",
+    "f:\\桌面\\云台\\Library",
+    "f:\\桌面\\云台\\System",
+    "f:\\桌面\\云台\\Algorithm",
+    "f:\\桌面\\云台\\AHRS",
+    "f:\\桌面\\云台\\Hardware",
+    "f:\\桌面\\云台\\Motor",
+    "f:\\桌面\\云台\\Function",
+    "f:\\桌面\\云台\\Control",
+    "f:\\桌面\\云台\\CarBody",
+    "f:\\桌面\\云台\\User",
+    "C:\\Keil_v5\\ARM\\ARMCC\\include",
+    "f:\\桌面\\云台\\Carbody"
+  ],
+  "C_Cpp_Runner.includeSearch": [
+    "*",
+    "**/*"
+  ],
+  "C_Cpp_Runner.excludeSearch": [
+    "**/build",
+    "**/build/**",
+    "**/.*",
+    "**/.*/**",
+    "**/.vscode",
+    "**/.vscode/**"
+  ],
+  "C_Cpp_Runner.useAddressSanitizer": false,
+  "C_Cpp_Runner.useUndefinedSanitizer": false,
+  "C_Cpp_Runner.useLeakSanitizer": false,
+  "C_Cpp_Runner.showCompilationTime": false,
+  "C_Cpp_Runner.useLinkTimeOptimization": false,
+  "C_Cpp_Runner.msvcSecureNoWarnings": false,
+  "files.associations": {
+    "wavefiltering_kalman_filtering.h": "c",
+    "cstdint": "c"
+  }
+}
--- a/云台/云台/.vscode/uv4.log
+++ b/云台/云台/.vscode/uv4.log
@@ -0,0 +1,3 @@
+Load "f:\\Mas_Infantry_Control-main\\<5C><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>\\V1.0\\Hero\\<5C><>̨\\<5C><>̨\\Objects\\Project.axf" 
+Erase Done.Programming Done.Verify OK.Application running ...
+Flash Load finished at 17:24:51
--- a/云台/云台/.vscode/uv4.log.lock
+++ b/云台/云台/.vscode/uv4.log.lock
@@ -0,0 +1 @@
+2025/3/25 17:24:51
--- a/云台/云台/AHRS/AHRS_middleware.c
+++ b/云台/云台/AHRS/AHRS_middleware.c
@@ -0,0 +1,145 @@
+/**
+  ****************************(C) COPYRIGHT 2016 DJI****************************
+  * @file       AHRS_MiddleWare.c/h
+  * @brief      姿态解算中间层，为姿态解算提供相关函数
+  * @note
+  * @history
+  *  Version    Date            Author          Modification
+  *  V1.0.0     Dec-26-2018     RM              1. 完成
+  *
+  @verbatim
+  ==============================================================================
+
+  ==============================================================================
+  @endverbatim
+  ****************************(C) COPYRIGHT 2016 DJI****************************
+  */
+
+#include "AHRS_MiddleWare.h"
+#include "ahrs_lib.h"
+#include "arm_math.h"
+//#include "main.h"
+
+/**
+ * @brief          用于获取当前高度
+ * @author         RM
+ * @param[in]      高度的指针，fp32
+ * @retval         返回空
+ */
+
+void AHRS_get_height(fp32 *high)
+{
+    if (high != NULL)
+    {
+        *high = 0.0f;
+    }
+}
+
+/**
+ * @brief          用于获取当前纬度
+ * @author         RM
+ * @param[in]      纬度的指针，fp32
+ * @retval         返回空
+ */
+
+void AHRS_get_latitude(fp32 *latitude)
+{
+    if (latitude != NULL)
+    {
+        *latitude = 22.0f;
+    }
+}
+
+/**
+ * @brief          快速开方函数，
+ * @author         RM
+ * @param[in]      输入需要开方的浮点数，fp32
+ * @retval         返回1/sqrt 开方后的倒数
+ */
+
+fp32 AHRS_invSqrt(fp32 num)
+{
+    return 1 / sqrtf(num);
+
+    //    fp32 halfnum = 0.5f * num;
+    //    fp32 y = num;
+    //    long i = *(long*)&y;
+    //    i = 0x5f3759df - (i >> 1);
+    //    y = *(fp32*)&i;
+    //    y = y * (1.5f - (halfnum * y * y));
+    //    y = y * (1.5f - (halfnum * y * y));
+    //    return y;
+}
+
+/**
+ * @brief          sin函数
+ * @author         RM
+ * @param[in]      角度 单位 rad
+ * @retval         返回对应角度的sin值
+ */
+
+fp32 AHRS_sinf(fp32 angle)
+{
+    return sinf(angle);
+}
+/**
+ * @brief          cos函数
+ * @author         RM
+ * @param[in]      角度 单位 rad
+ * @retval         返回对应角度的cos值
+ */
+
+fp32 AHRS_cosf(fp32 angle)
+{
+    return cosf(angle);
+}
+
+/**
+ * @brief          tan函数
+ * @author         RM
+ * @param[in]      角度 单位 rad
+ * @retval         返回对应角度的tan值
+ */
+
+fp32 AHRS_tanf(fp32 angle)
+{
+    return tanf(angle);
+}
+/**
+ * @brief          用于32位浮点数的反三角函数 asin函数
+ * @author         RM
+ * @param[in]      输入sin值，最大1.0f，最小-1.0f
+ * @retval         返回角度 单位弧度
+ */
+
+fp32 AHRS_asinf(fp32 sin)
+{
+
+    return asinf(sin);
+}
+
+/**
+ * @brief          反三角函数acos函数
+ * @author         RM
+ * @param[in]      输入cos值，最大1.0f，最小-1.0f
+ * @retval         返回对应的角度 单位弧度
+ */
+
+fp32 AHRS_acosf(fp32 cos)
+{
+
+    return acosf(cos);
+}
+
+/**
+ * @brief          反三角函数atan函数
+ * @author         RM
+ * @param[in]      输入tan值中的y值 最大正无穷，最小负无穷
+ * @param[in]      输入tan值中的x值 最大正无穷，最小负无穷
+ * @retval         返回对应的角度 单位弧度
+ */
+
+fp32 AHRS_atan2f(fp32 y, fp32 x)
+{
+    return atan2f(y, x);
+}
--- a/云台/云台/AHRS/AHRS_middleware.h
+++ b/云台/云台/AHRS/AHRS_middleware.h
@@ -0,0 +1,67 @@
+#ifndef AHRS_MIDDLEWARE_H
+#define AHRS_MIDDLEWARE_H
+
+#include "struct_typedef.h"
+
+/**
+  ****************************(C) COPYRIGHT 2016 DJI****************************
+  * @file       AHRS_MiddleWare.c/h
+  * @brief      姿态解算中间层，为姿态解算提供相关函数
+  * @note
+  * @history
+  *  Version    Date            Author          Modification
+  *  V1.0.0     Dec-26-2018     RM              1. 完成
+  *
+  @verbatim
+  ==============================================================================
+
+  ==============================================================================
+  @endverbatim
+  ****************************(C) COPYRIGHT 2016 DJI****************************
+  */
+
+//重新对应的数据类型
+// typedef signed char int8_t;
+// typedef signed short int int16_t;
+// typedef signed int int32_t;
+// typedef signed long long int64_t;
+
+// /* exact-width unsigned integer types */
+// typedef unsigned char uint8_t;
+// typedef unsigned short int uint16_t;
+// typedef unsigned int uint32_t;
+// typedef unsigned long long uint64_t;
+// typedef unsigned char bool_t;
+// typedef float fp32;
+// typedef double fp64;
+
+//定义 NULL
+#ifndef NULL
+    #define NULL 0
+#endif
+
+//定义PI 值
+#ifndef PI
+    #define PI 3.14159265358979f
+#endif
+
+//定义 角度(度)转换到 弧度的比例
+#ifndef ANGLE_TO_RAD
+    #define ANGLE_TO_RAD 0.01745329251994329576923690768489f
+#endif
+
+//定义 弧度 转换到 角度的比例
+#ifndef RAD_TO_ANGLE
+    #define RAD_TO_ANGLE 57.295779513082320876798154814105f
+#endif
+
+extern void AHRS_get_height(fp32 *high);
+extern void AHRS_get_latitude(fp32 *latitude);
+extern fp32 AHRS_invSqrt(fp32 num);
+extern fp32 AHRS_sinf(fp32 angle);
+extern fp32 AHRS_cosf(fp32 angle);
+extern fp32 AHRS_tanf(fp32 angle);
+extern fp32 AHRS_asinf(fp32 sin);
+extern fp32 AHRS_acosf(fp32 cos);
+extern fp32 AHRS_atan2f(fp32 y, fp32 x);
+#endif
--- a/云台/云台/AHRS/ahrs_lib.h
+++ b/云台/云台/AHRS/ahrs_lib.h
@@ -0,0 +1,69 @@
+#ifndef AHRS_H
+#define AHRS_H
+
+#include "AHRS_MiddleWare.h"
+
+/**
+  * @brief          根据加速度的数据，磁力计的数据进行四元数初始化
+  * @author         luopin
+  * @param[in]      需要初始化的四元数数组
+  * @param[in]      用于初始化的加速度计,(x,y,z)不为空 单位 m/s2
+  * @param[in]      用于初始化的磁力计计,(x,y,z)不为空 单位 uT
+  * @retval         返回空
+  */
+extern void AHRS_init(fp32 quat[4], const fp32 accel[3], const fp32 mag[3]);
+
+/**
+  * @brief          根据陀螺仪的数据，加速度的数据，磁力计的数据进行四元数更新
+  * @author         luopin
+  * @param[in]      需要更新的四元数数组
+  * @param[in]      更新定时时间，固定定时调用，例如1000Hz，传入的数据为0.001f,
+  * @param[in]      用于更新的陀螺仪数据,数组顺序(x,y,z) 单位 rad
+  * @param[in]      用于初始化的加速度数据,数组顺序(x,y,z) 单位 m/s2
+  * @param[in]      用于初始化的磁力计数据,数组顺序(x,y,z) 单位 uT
+  * @retval         返回空
+  */
+extern bool_t AHRS_update(fp32 quat[4], const fp32 timing_time, const fp32 gyro[3], const fp32 accel[3], const fp32 mag[3]);
+
+/**
+  * @brief          根据四元数大小计算对应的欧拉角偏航yaw
+  * @author         luopin
+  * @param[in]      四元数数组，不为NULL
+  * @retval         返回的偏航角yaw 单位 rad
+  */
+extern fp32 get_yaw(const fp32 quat[4]);
+
+/**
+  * @brief          根据四元数大小计算对应的欧拉角俯仰角 pitch
+  * @author         luopin
+  * @param[in]      四元数数组，不为NULL
+  * @retval         返回的俯仰角 pitch 单位 rad
+  */
+extern fp32 get_pitch(const fp32 quat[4]);
+/**
+  * @brief          根据四元数大小计算对应的欧拉角横滚角 roll
+  * @author         luopin
+  * @param[in]      四元数数组，不为NULL
+  * @retval         返回的横滚角 roll 单位 rad
+  */
+extern fp32 get_roll(const fp32 quat[4]);
+
+/**
+  * @brief          根据四元数大小计算对应的欧拉角yaw，pitch，roll
+  * @author         luopin
+  * @param[in]      四元数数组，不为NULL
+  * @param[in]      返回的偏航角yaw 单位 rad
+  * @param[in]      返回的俯仰角pitch  单位 rad
+  * @param[in]      返回的横滚角roll 单位 rad
+  */
+extern void get_angle(const fp32 quat[4], fp32 *yaw, fp32 *pitch, fp32 *roll);
+/**
+  * @brief          返回当前的重力加速度
+  * @author         luopin
+  * @param[in]      空
+  * @retval         返回重力加速度 单位 m/s2
+  */
+
+extern fp32 get_carrier_gravity(void);
+
+#endif
--- a/云台/云台/AHRS/arm_math.h
+++ b/云台/云台/AHRS/arm_math.h
--- a/云台/云台/AHRS/struct_typedef.h
+++ b/云台/云台/AHRS/struct_typedef.h
@@ -0,0 +1,27 @@
+#ifndef STRUCT_TYPEDEF_H
+#define STRUCT_TYPEDEF_H
+
+
+#ifdef __CC__ARM
+    typedef signed char int8_t;
+    typedef signed short int int16_t;
+    typedef signed int int32_t;
+    typedef signed long long int64_t;
+
+    /* exact-width unsigned integer types */
+    typedef unsigned char uint8_t;
+    typedef unsigned short int uint16_t;
+    typedef unsigned int uint32_t;
+    typedef unsigned long long uint64_t;
+#else
+    #include <stdint.h>
+#endif
+
+typedef unsigned char bool_t;
+typedef float fp32;
+typedef double fp64;
+
+#endif
+
+
+
--- a/云台/云台/AHRS/user_lib.c
+++ b/云台/云台/AHRS/user_lib.c
@@ -0,0 +1,198 @@
+#include "user_lib.h"
+#include "arm_math.h"
+
+////快速开方
+//fp32 invSqrt(fp32 num)
+//{
+//    fp32 halfnum = 0.5f * num;
+//    fp32 y = num;
+//    long i = *(long *)&y;
+//    i = 0x5f3759df - (i >> 1);
+//    y = *(fp32 *)&i;
+//    y = y * (1.5f - (halfnum * y * y));
+//    return y;
+//}
+
+/**
+  * @brief          斜波函数初始化
+  * @author         RM
+  * @param[in]      斜波函数结构体
+  * @param[in]      间隔的时间，单位 s
+  * @param[in]      最大值
+  * @param[in]      最小值
+  * @retval         返回空
+  */
+void ramp_init(ramp_function_source_t *ramp_source_type, fp32 frame_period, fp32 max, fp32 min)
+{
+    ramp_source_type->frame_period = frame_period;
+    ramp_source_type->max_value = max;
+    ramp_source_type->min_value = min;
+    ramp_source_type->input = 0.0f;
+    ramp_source_type->out = 0.0f;
+}
+
+/**
+  * @brief          斜波函数计算，根据输入的值进行叠加， 输入单位为 /s 即一秒后增加输入的值
+  * @author         RM
+  * @param[in]      斜波函数结构体
+  * @param[in]      输入值
+  * @param[in]      滤波参数
+  * @retval         返回空
+  */
+void ramp_calc(ramp_function_source_t *ramp_source_type, fp32 input)
+{
+    ramp_source_type->input = input;
+    ramp_source_type->out += ramp_source_type->input * ramp_source_type->frame_period;
+    if (ramp_source_type->out > ramp_source_type->max_value)
+    {
+        ramp_source_type->out = ramp_source_type->max_value;
+    }
+    else if (ramp_source_type->out < ramp_source_type->min_value)
+    {
+        ramp_source_type->out = ramp_source_type->min_value;
+    }
+}
+/**
+  * @brief          一阶低通滤波初始化
+  * @author         RM
+  * @param[in]      一阶低通滤波结构体
+  * @param[in]      间隔的时间，单位 s
+  * @param[in]      滤波参数
+  * @retval         返回空
+  */
+void first_order_filter_init(first_order_filter_type_t *first_order_filter_type, fp32 frame_period, const fp32 num[1])
+{
+    first_order_filter_type->frame_period = frame_period;
+    first_order_filter_type->num[0] = num[0];
+    first_order_filter_type->input = 0.0f;
+    first_order_filter_type->out = 0.0f;
+}
+
+/**
+  * @brief          一阶低通滤波计算
+  * @author         RM
+  * @param[in]      一阶低通滤波结构体
+  * @param[in]      间隔的时间，单位 s
+  * @retval         返回空
+  */
+void first_order_filter_cali(first_order_filter_type_t *first_order_filter_type, fp32 input)
+{
+    first_order_filter_type->input = input;
+    first_order_filter_type->out =
+        first_order_filter_type->num[0] / (first_order_filter_type->num[0] + first_order_filter_type->frame_period) * first_order_filter_type->out + first_order_filter_type->frame_period / (first_order_filter_type->num[0] + first_order_filter_type->frame_period) * first_order_filter_type->input;
+}
+
+//绝对限制
+void abs_limit(fp32 *num, fp32 Limit)
+{
+    if (*num > Limit)
+    {
+        *num = Limit;
+    }
+    else if (*num < -Limit)
+    {
+        *num = -Limit;
+    }
+}
+
+//判断符号位
+fp32 sign(fp32 value)
+{
+    if (value >= 0.0f)
+    {
+        return 1.0f;
+    }
+    else
+    {
+        return -1.0f;
+    }
+}
+
+//浮点死区
+fp32 fp32_deadline(fp32 Value, fp32 minValue, fp32 maxValue)
+{
+    if (Value < maxValue && Value > minValue)
+    {
+        Value = 0.0f;
+    }
+    return Value;
+}
+
+//int26死区
+int16_t int16_deadline(int16_t Value, int16_t minValue, int16_t maxValue)
+{
+    if (Value < maxValue && Value > minValue)
+    {
+        Value = 0;
+    }
+    return Value;
+}
+
+//限幅函数
+fp32 fp32_constrain(fp32 Value, fp32 minValue, fp32 maxValue)
+{
+    if (Value < minValue)
+    {
+        return minValue;
+    }
+    else if (Value > maxValue)
+    {
+        return maxValue;
+    }
+    else
+    {
+        return Value;
+    }
+}
+
+//限幅函数
+int16_t int16_constrain(int16_t Value, int16_t minValue, int16_t maxValue)
+{
+    if (Value < minValue)
+    {
+        return minValue;
+    }
+    else if (Value > maxValue)
+    {
+        return maxValue;
+    }
+    else
+    {
+        return Value;
+    }
+}
+
+//循环限幅函数
+fp32 loop_fp32_constrain(fp32 Input, fp32 minValue, fp32 maxValue)
+{
+    if (maxValue < minValue)
+    {
+        return Input;
+    }
+
+    if (Input > maxValue)
+    {
+        fp32 len = maxValue - minValue;
+        while (Input > maxValue)
+        {
+            Input -= len;
+        }
+    }
+    else if (Input < minValue)
+    {
+        fp32 len = maxValue - minValue;
+        while (Input < minValue)
+        {
+            Input += len;
+        }
+    }
+    return Input;
+}
+
+//弧度格式化为-PI~PI
+
+//角度格式化为-180~180
+fp32 theta_format(fp32 Ang)
+{
+    return loop_fp32_constrain(Ang, -180.0f, 180.0f);
+}
--- a/云台/云台/AHRS/user_lib.h
+++ b/云台/云台/AHRS/user_lib.h
@@ -0,0 +1,58 @@
+#ifndef USER_LIB_H
+#define USER_LIB_H
+#include "struct_typedef.h"
+
+#pragma pack(push, 1)
+
+typedef struct
+{
+    fp32 input;        //输入数据
+    fp32 out;          //输出数据
+    fp32 min_value;    //限幅最小值
+    fp32 max_value;    //限幅最大值
+    fp32 frame_period; //时间间隔
+} ramp_function_source_t;
+
+typedef struct
+{
+    fp32 input;        //输入数据
+    fp32 out;          //滤波输出的数据
+    fp32 num[1];       //滤波参数
+    fp32 frame_period; //滤波的时间间隔 单位 s
+} first_order_filter_type_t;
+
+#pragma pack(pop)
+
+//快速开方
+extern fp32 invSqrt(fp32 num);
+
+//斜波函数初始化
+void ramp_init(ramp_function_source_t *ramp_source_type, fp32 frame_period, fp32 max, fp32 min);
+
+//斜波函数计算
+void ramp_calc(ramp_function_source_t *ramp_source_type, fp32 input);
+//一阶滤波初始化
+extern void first_order_filter_init(first_order_filter_type_t *first_order_filter_type, fp32 frame_period, const fp32 num[1]);
+//一阶滤波计算
+extern void first_order_filter_cali(first_order_filter_type_t *first_order_filter_type, fp32 input);
+//绝对限制
+extern void abs_limit(fp32 *num, fp32 Limit);
+//判断符号位
+extern fp32 sign(fp32 value);
+//浮点死区
+extern fp32 fp32_deadline(fp32 Value, fp32 minValue, fp32 maxValue);
+//int26死区
+extern int16_t int16_deadline(int16_t Value, int16_t minValue, int16_t maxValue);
+//限幅函数
+extern fp32 fp32_constrain(fp32 Value, fp32 minValue, fp32 maxValue);
+//限幅函数
+extern int16_t int16_constrain(int16_t Value, int16_t minValue, int16_t maxValue);
+//循环限幅函数
+extern fp32 loop_fp32_constrain(fp32 Input, fp32 minValue, fp32 maxValue);
+//角度 °限幅 180 ~ -180
+extern fp32 theta_format(fp32 Ang);
+
+//弧度格式化为-PI~PI
+#define rad_format(Ang) loop_fp32_constrain((Ang), -PI, PI)
+
+#endif
--- a/云台/云台/CarBody/Gimbal.c
+++ b/云台/云台/CarBody/Gimbal.c
@@ -0,0 +1,288 @@
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+#include "Parameter.h"
+#include "PID.h"
+#include "Remote.h"
+#include "AttitudeAlgorithms.h"
+#include "M3508.h"
+#include "M2006.h"
+#include "GM6020.h"
+#include "Laser.h"
+#include "RefereeSystem.h"
+#include "Visual.h"
+#include "WaveFiltering_Kalman_Filtering.h"
+
+KFP kfp_PITCH={0.02,0,0,0,0.01,0.543};//卡尔曼滤波器结构体
+
+
+
+#define Gimbal_YawMotor										GM6020_1//Yaw轴电机
+#define Gimbal_PitchMotor									GM6020_2//Pitch轴电机
+#define Gimbal_L1_FrictionWheel								M3508_1//左摩擦轮
+#define Gimbal_R1_FrictionWheel								M3508_2//右摩擦轮
+#define Gimbal_L2_FrictionWheel								M3508_3//左摩擦轮
+#define Gimbal_R2_FrictionWheel								M3508_4//右摩擦轮
+#define Gimbal_RammerSpinMotor								M3508_7//拨弹盘电机
+
+
+uint8_t Gimbal_FrictionWheelFlag;//云台小陀螺标志位,云台开摩擦轮标志位
+
+
+PID_PositionInitTypedef Gimbal_YawAnglePositionPID,Gimbal_YawAngleSpeedPID;//Yaw轴GM6020电机PID
+PID_PositionInitTypedef Gimbal_PitchAnglePositionPID,Gimbal_PitchAngleSpeedPID;//Pitch轴GM6020电机PID
+PID_PositionInitTypedef Gimbal_L2_FrictionWheelPID,Gimbal_R2_FrictionWheelPID,Gimbal_L1_FrictionWheelPID,Gimbal_R1_FrictionWheelPID;//摩擦轮转速PID
+PID_PositionInitTypedef Gimbal_RammerSpinSpeedPID;//拨弹盘旋转PID
+
+/*
+ *函数简介:云台初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void Gimbal_Init(void)
+{/*
+	PID_PositionStructureInit(&Gimbal_YawAnglePositionPID,0);//Yaw轴陀螺仪闭环
+	PID_PositionSetParameter(&Gimbal_YawAnglePositionPID,140,0,0);
+	PID_PositionSetEkRange(&Gimbal_YawAnglePositionPID,-1,1);
+	PID_PositionSetOUTRange(&Gimbal_YawAnglePositionPID,-200,200);
+	PID_PositionStructureInit(&Gimbal_YawAngleSpeedPID,200);
+	PID_PositionSetParameter(&Gimbal_YawAngleSpeedPID,1000,0,1);
+	PID_PositionSetEkRange(&Gimbal_YawAngleSpeedPID,-1,1);
+	PID_PositionSetOUTRange(&Gimbal_YawAngleSpeedPID,-30000,30000);
+
+		PID_PositionStructureInit(&Gimbal_PitchAnglePositionPID,0);//Pitch轴陀螺仪闭环
+	PID_PositionSetParameter(&Gimbal_PitchAnglePositionPID,6,0,0);
+	PID_PositionSetEkRange(&Gimbal_PitchAnglePositionPID,-1,1);
+	PID_PositionSetOUTRange(&Gimbal_PitchAnglePositionPID,-150,150);
+	PID_PositionStructureInit(&Gimbal_PitchAngleSpeedPID,150);
+	PID_PositionSetParameter(&Gimbal_PitchAngleSpeedPID,200,0,0);
+	PID_PositionSetEkRange(&Gimbal_PitchAngleSpeedPID,-5,5);
+	PID_PositionSetOUTRange(&Gimbal_PitchAngleSpeedPID,-30000,30000);
+*/
+	PID_PositionStructureInit(&Gimbal_YawAnglePositionPID,0);//Yaw轴陀螺仪闭环
+	PID_PositionSetParameter(&Gimbal_YawAnglePositionPID,5,0,0.1);
+	PID_PositionSetEkRange(&Gimbal_YawAnglePositionPID,-1,1);
+	PID_PositionSetOUTRange(&Gimbal_YawAnglePositionPID,-200,200);
+	PID_PositionStructureInit(&Gimbal_YawAngleSpeedPID,200);
+	PID_PositionSetParameter(&Gimbal_YawAngleSpeedPID,150,0,20);
+	PID_PositionSetEkRange(&Gimbal_YawAngleSpeedPID,-1,1);
+	PID_PositionSetOUTRange(&Gimbal_YawAngleSpeedPID,-50000,50000);
+	
+	PID_PositionStructureInit(&Gimbal_PitchAnglePositionPID,0);//Pitch轴陀螺仪闭环
+	PID_PositionSetParameter(&Gimbal_PitchAnglePositionPID,5,0,0);
+	PID_PositionSetEkRange(&Gimbal_PitchAnglePositionPID,-1,1);
+	PID_PositionSetOUTRange(&Gimbal_PitchAnglePositionPID,-150,150);
+	PID_PositionStructureInit(&Gimbal_PitchAngleSpeedPID,150);
+	PID_PositionSetParameter(&Gimbal_PitchAngleSpeedPID,200,0,10);
+	PID_PositionSetEkRange(&Gimbal_PitchAngleSpeedPID,-0,0);
+	PID_PositionSetOUTRange(&Gimbal_PitchAngleSpeedPID,-30000,30000);
+	
+	PID_PositionStructureInit(&Gimbal_L1_FrictionWheelPID,0);//左摩擦轮
+	PID_PositionSetParameter(&Gimbal_L1_FrictionWheelPID,0.1,0,0);
+	PID_PositionSetEkRange(&Gimbal_L1_FrictionWheelPID,-5,5);
+	PID_PositionSetOUTRange(&Gimbal_L1_FrictionWheelPID,-15000,15000);
+
+	PID_PositionStructureInit(&Gimbal_R1_FrictionWheelPID,0);//右摩擦轮
+	PID_PositionSetParameter(&Gimbal_R1_FrictionWheelPID,0.1,0,0);
+	PID_PositionSetEkRange(&Gimbal_R1_FrictionWheelPID,-5,5);
+	PID_PositionSetOUTRange(&Gimbal_R1_FrictionWheelPID,-15000,15000);
+	
+	PID_PositionStructureInit(&Gimbal_L2_FrictionWheelPID,0);//左摩擦轮
+	PID_PositionSetParameter(&Gimbal_L2_FrictionWheelPID,0.1,0,0);
+	PID_PositionSetEkRange(&Gimbal_L2_FrictionWheelPID,-5,5);
+	PID_PositionSetOUTRange(&Gimbal_L2_FrictionWheelPID,-15000,15000);
+
+	PID_PositionStructureInit(&Gimbal_R2_FrictionWheelPID,0);//右摩擦轮
+	PID_PositionSetParameter(&Gimbal_R2_FrictionWheelPID,0.1,0,0);
+	PID_PositionSetEkRange(&Gimbal_R2_FrictionWheelPID,-5,5);
+	PID_PositionSetOUTRange(&Gimbal_R2_FrictionWheelPID,-15000,15000);
+
+	PID_PositionStructureInit(&Gimbal_RammerSpinSpeedPID,Gimbal_RammerSpeed);//拨弹盘
+	PID_PositionSetParameter(&Gimbal_RammerSpinSpeedPID,50,0,0);
+	PID_PositionSetEkRange(&Gimbal_RammerSpinSpeedPID,-20,20);
+	PID_PositionSetOUTRange(&Gimbal_RammerSpinSpeedPID,-2000,2000);
+
+	
+	
+	
+	Laser_Init();
+}
+
+/*
+ *函数简介:云台PID清理
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void Gimbal_CleanPID(void)
+{
+	PID_PositionClean(&Gimbal_YawAnglePositionPID);
+	PID_PositionClean(&Gimbal_YawAngleSpeedPID);
+	PID_PositionClean(&Gimbal_PitchAnglePositionPID);
+	PID_PositionClean(&Gimbal_PitchAngleSpeedPID);
+	PID_PositionClean(&Gimbal_L1_FrictionWheelPID);
+	PID_PositionClean(&Gimbal_R1_FrictionWheelPID);
+	PID_PositionClean(&Gimbal_L2_FrictionWheelPID);
+	PID_PositionClean(&Gimbal_R2_FrictionWheelPID);
+	PID_PositionClean(&Gimbal_RammerSpinSpeedPID);
+}
+
+
+/*
+ *函数简介:云台Pitch轴控制
+ *参数说明:无
+ *返回类型:无
+ *备注:根据拨杆或鼠标获得俯仰角度,映射比例在上方宏定义Gimbal_LeverSpeedMapRate更改
+ *备注:俯仰限幅由结构决定,参数由Parameter.h文件中的Pitch_GM6020PositionLowerLinit和Pitch_GM6020PositionUpperLinit决定
+ *备注:俯仰轴GM6020报文标识符和M2006高位ID一致,故均在拨弹盘控制函数中统一发送控制报文
+ *备注:在此函数中进行了视觉自瞄处理,由于视觉组摆烂,并没有开发出自瞄,也没用进行过联调,故自瞄部分没有拆出去独立函数
+ */
+void Gimbal_PitchControl(void)
+{
+	if(Remote_StartFlag==2)Gimbal_PitchAnglePositionPID.Need_Value=0;//遥控器刚建立连接时,复位Pitch轴角度
+	if(((Remote_RxData.Remote_L_UD>1050 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)<1000) && AttitudeAlgorithms_DegRoll>Pitch_GM6020AngleUpperLinit)
+	Gimbal_PitchAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate/8192.0f*360.0f;//通过遥控器或者鼠标获取俯仰情况
+	else if(((Remote_RxData.Remote_L_UD<1000 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)>1050) && AttitudeAlgorithms_DegRoll<Pitch_GM6020AngleLowerLinit)
+	Gimbal_PitchAnglePositionPID.Need_Value+=Gimbal_LeverSpeedMapRate/8192.0f*360.0f;
+	
+	if(Remote_RxData.Remote_LS==2 && Visual_ReceiveFlag==1  || Remote_RxData.Remote_Mouse_KeyR==1 && Visual_ReceiveFlag==1 )//自瞄,补偿角度
+	{
+		Visual_ReceiveFlag=0;
+	
+		if((GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position-1000)>Pitch_GM6020PositionUpperLinit && Visual_Pitch>0)
+		Gimbal_PitchAnglePositionPID.Need_Value=AttitudeAlgorithms_DegRoll-(float)Visual_Pitch;
+		if((GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position-1000)<Pitch_GM6020PositionLowerLinit && Visual_Pitch<0)
+		Gimbal_PitchAnglePositionPID.Need_Value=AttitudeAlgorithms_DegRoll-(float)Visual_Pitch;
+		Gimbal_YawAnglePositionPID.Need_Value=AttitudeAlgorithms_DegYaw+(float)Visual_Yaw;
+		Remote_RxData.Remote_Mouse_KeyPushR=0;
+		Remote_RxData.Remote_LS=0;
+	}
+	
+	//串级PID闭环Pitch角
+	PID_PositionCalc(&Gimbal_PitchAnglePositionPID,AttitudeAlgorithms_DegRoll);
+    Gimbal_PitchAnglePositionPID.OUT=kalmanFilter(&kfp_PITCH,Gimbal_PitchAnglePositionPID.OUT);
+	Gimbal_PitchAngleSpeedPID.Need_Value=-Gimbal_PitchAnglePositionPID.OUT;
+
+	
+	PID_PositionCalc(&Gimbal_PitchAngleSpeedPID,GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Speed);
+
+
+}
+void Debug(void)
+{
+	//UART2_Printf("%f,%f\n",Visual_Send1,Visual_Send2);
+	//UART2_Printf("%d\n",Gimbal_PitchAnglePositionPID.Need_Value);
+	//UART2_Printf("%d\n",Gimbal_PitchAngleSpeedPID.Need_Value);
+}
+
+
+
+/*
+ *函数简介:云台Yaw轴控制
+ *参数说明:无
+ *返回类型:无
+ *备注:根据拨杆或鼠标获得偏航角度,映射比例在上方宏定义Gimbal_LeverSpeedMapRate和Gimbal_YawPitchSpeedRate更改
+ *备注:由于云台一直根据陀螺仪角度闭环,不需要考虑小陀螺问题
+ */
+void Gimbal_YawControl(void)
+{
+	if(Remote_StartFlag==2)
+	Gimbal_YawAnglePositionPID.Need_Value=AttitudeAlgorithms_DegYaw;//遥控器刚建立连接时,复位Yaw轴角度
+	if((Remote_RxData.Remote_L_RL>1050 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity>1050)//根据摇杆改变偏航
+	{
+		if(PC_Spin==0)
+		Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*((Remote_RxData.Remote_L_RL-1024)/660.0f);
+		else
+		Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*(PC_Spin*PC_Mouse_RLSensitivity/660.0f*2);
+	}
+	else if((Remote_RxData.Remote_L_RL<1000 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity<1000)
+	{
+		if(PC_Spin==0)
+		Gimbal_YawAnglePositionPID.Need_Value+=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*((1024-Remote_RxData.Remote_L_RL)/660.0f);
+		else 
+		Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*(PC_Spin*PC_Mouse_RLSensitivity/660.0f*2);
+	}
+	
+	//串级PID闭环Yaw角
+	PID_PositionCalc(&Gimbal_YawAnglePositionPID,AttitudeAlgorithms_DegYaw);
+	Gimbal_YawAngleSpeedPID.Need_Value=Gimbal_YawAnglePositionPID.OUT;
+	PID_PositionCalc(&Gimbal_YawAngleSpeedPID,GM6020_MotorStatus[0].Speed);
+	GM6020_CAN2SetLIDVoltage(Gimbal_YawAngleSpeedPID.OUT,0,0,0);
+
+}
+
+/*
+ *函数简介:摩擦轮控制
+ *参数说明:无
+ *返回类型:无
+ *备注:遥控左拨动开关向上拨(Remote_LS=1)开摩擦轮,摩擦轮打开的同时会打开激光
+ */
+void Gimbal_FiringMechanismControl(void)
+{
+	if(((Remote_RxData.Remote_LS==1 && RefereeSystem_Status==0) || PC_FrictionWheel==1) && RefereeSystem_ShooterStatus==1)//摩擦轮开
+	{
+		Gimbal_L1_FrictionWheelPID.Need_Value=-Gimbal_FrictionWheelSpeed;Gimbal_R1_FrictionWheelPID.Need_Value=Gimbal_FrictionWheelSpeed;
+Gimbal_L2_FrictionWheelPID.Need_Value=Gimbal_FrictionWheelSpeed;Gimbal_R2_FrictionWheelPID.Need_Value=-               Gimbal_FrictionWheelSpeed;
+		Laser_ON();//开激光
+		Gimbal_FrictionWheelFlag=1;
+	}
+	else//摩擦轮关
+	{
+		Gimbal_L1_FrictionWheelPID.Need_Value=Gimbal_R1_FrictionWheelPID.Need_Value=Gimbal_L2_FrictionWheelPID.Need_Value=Gimbal_R2_FrictionWheelPID.Need_Value=0;
+		Laser_OFF();//关激光
+		Gimbal_FrictionWheelFlag=0;
+	}
+	
+	PID_PositionCalc(&Gimbal_L1_FrictionWheelPID,M3508_MotorStatus[Gimbal_L1_FrictionWheel-0x201].RotorSpeed);
+	PID_PositionCalc(&Gimbal_R1_FrictionWheelPID,M3508_MotorStatus[Gimbal_R1_FrictionWheel-0x201].RotorSpeed);
+	PID_PositionCalc(&Gimbal_L2_FrictionWheelPID,M3508_MotorStatus[Gimbal_L2_FrictionWheel-0x201].RotorSpeed);
+	PID_PositionCalc(&Gimbal_R2_FrictionWheelPID,M3508_MotorStatus[Gimbal_R2_FrictionWheel-0x201].RotorSpeed);
+	M3508_CANSetLIDCurrent(Gimbal_L1_FrictionWheelPID.OUT,Gimbal_R1_FrictionWheelPID.OUT,Gimbal_L2_FrictionWheelPID.OUT,Gimbal_R2_FrictionWheelPID.OUT);
+
+}
+
+/*
+ *函数简介:拨弹盘控制
+ *参数说明:无
+ *返回类型:无
+ *备注:俯仰轴GM6020报文标识符和M2006高位ID一致,故均在拨弹盘控制函数中统一发送控制报文
+ */
+void Gimbal_Rammer(void)
+{
+	if(Gimbal_FrictionWheelFlag==1)
+	{
+		if((Remote_RxData.Remote_ThumbWheel<1000 && RefereeSystem_Status==0) || PC_Fire==1)
+			Gimbal_RammerSpinSpeedPID.Need_Value=-Gimbal_RammerSpeed;
+		else if((Remote_RxData.Remote_ThumbWheel>1050 && RefereeSystem_Status==0) || PC_Ejection==1)
+			Gimbal_RammerSpinSpeedPID.Need_Value=Gimbal_RammerSpeed;
+		else
+			Gimbal_RammerSpinSpeedPID.Need_Value=0;
+	}
+	else Gimbal_RammerSpinSpeedPID.Need_Value=0;
+	
+	PID_PositionCalc(&Gimbal_RammerSpinSpeedPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorSpeed);
+	M2006_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinSpeedPID.OUT,0);
+
+	//M3508_CANSetLIDCurrent(0,0,Gimbal_RammerSpinSpeedPID.OUT,0);
+	//M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinSpeedPID.OUT,0);
+}
+
+
+
+
+
+/*
+ *函数简介:云台运动控制
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void Gimbal_MoveControl(void)
+{
+	Gimbal_PitchControl();//云台Pitch轴控制
+	Gimbal_YawControl();//云台Yaw轴控制
+	
+	Gimbal_FiringMechanismControl();//摩擦轮控制
+	Gimbal_Rammer();//拨弹盘控制
+	//UART2_Printf("%f,%f,%f,%f\n",Gimbal_PitchAngleSpeedPID.Need_Value,Gimbal_PitchAngleSpeedPID.Now_Value,Gimbal_PitchAnglePositionPID.Now_Value,Gimbal_PitchAnglePositionPID.Need_Value);
+}
--- a/云台/云台/CarBody/Gimbal.h
+++ b/云台/云台/CarBody/Gimbal.h
@@ -0,0 +1,11 @@
+#ifndef __GIMBAL_H
+#define __GIMBAL_H
+
+
+
+
+void Gimbal_Init(void);//云台初始化
+void Gimbal_CleanPID(void);//云台PID清理
+void Gimbal_MoveControl(void);//云台运动控制
+void Debug(void);//云台运动控制
+#endif
--- a/云台/云台/CarBody/Keyboard.c
+++ b/云台/云台/CarBody/Keyboard.c
@@ -0,0 +1,52 @@
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+#include "UART.h"
+#include "Remote.h"
+
+/*
+ *函数简介:键盘初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:初始化UART1(USART6)
+ */
+void Keyboard_Init(void)
+{
+	UART1_Init();
+}
+
+/*
+ *函数简介:键盘数据处理
+ *参数说明:接收数据
+ *返回类型:无
+ *备注:无
+ */
+void Keyboard_DataProcess(uint8_t *Data)
+{
+	Remote_RxData.Remote_Mouse_KeyLastR=Remote_RxData.Remote_Mouse_KeyR;//获取上一次五个键的状态
+	Remote_RxData.Remote_KeyLast_Q=Remote_RxData.Remote_Key_Q;
+	Remote_RxData.Remote_KeyLast_E=Remote_RxData.Remote_Key_E;
+	Remote_RxData.Remote_KeyLast_Shift=Remote_RxData.Remote_Key_Shift;
+	Remote_RxData.Remote_KeyLast_Ctrl=Remote_RxData.Remote_Key_Ctrl;
+
+	Remote_RxData.Remote_Mouse_RL=(int16_t)((uint16_t)Data[1]<<8 | Data[0]);
+	Remote_RxData.Remote_Mouse_DU=(int16_t)((uint16_t)Data[3]<<8 | Data[2]);
+	Remote_RxData.Remote_Mouse_Wheel=(int16_t)((uint16_t)Data[5]<<8 | Data[4]);
+	Remote_RxData.Remote_Mouse_KeyL=Data[6];
+	Remote_RxData.Remote_Mouse_KeyR=Data[7];
+	
+	Remote_RxData.Remote_Key_W=Data[8] & 0x01;
+	Remote_RxData.Remote_Key_S=(Data[8]>>1) & 0x01;
+	Remote_RxData.Remote_Key_A=(Data[8]>>2) & 0x01;
+	Remote_RxData.Remote_Key_D=(Data[8]>>3) & 0x01;
+	Remote_RxData.Remote_Key_Shift=(Data[8]>>4) & 0x01;
+	Remote_RxData.Remote_Key_Ctrl=(Data[8]>>5) & 0x01;
+	Remote_RxData.Remote_Key_Q=(Data[8]>>6) & 0x01;
+	Remote_RxData.Remote_Key_E=(Data[8]>>7) & 0x01;
+	
+	if(Remote_RxData.Remote_KeyLast_Q==0 && Remote_RxData.Remote_Key_Q==1)Remote_RxData.Remote_KeyPush_Q=!Remote_RxData.Remote_KeyPush_Q;//检测是否按下
+	if(Remote_RxData.Remote_KeyLast_E==0 && Remote_RxData.Remote_Key_E==1)Remote_RxData.Remote_KeyPush_E=!Remote_RxData.Remote_KeyPush_E;
+	if(Remote_RxData.Remote_KeyLast_Shift==0 && Remote_RxData.Remote_Key_Shift==1)Remote_RxData.Remote_KeyPush_Shift=!Remote_RxData.Remote_KeyPush_Shift;
+	if(Remote_RxData.Remote_KeyLast_Ctrl==0 && Remote_RxData.Remote_Key_Ctrl==1)Remote_RxData.Remote_KeyPush_Ctrl=!Remote_RxData.Remote_KeyPush_Ctrl;
+	if(Remote_RxData.Remote_Mouse_KeyLastR==0 && Remote_RxData.Remote_Mouse_KeyR==1)Remote_RxData.Remote_Mouse_KeyPushR=1;
+	else Remote_RxData.Remote_Mouse_KeyPushR=0;
+}
--- a/云台/云台/CarBody/Keyboard.h
+++ b/云台/云台/CarBody/Keyboard.h
@@ -0,0 +1,7 @@
+#ifndef __KEYBOARD_H
+#define __KEYBOARD_H
+
+void Keyboard_Init(void);//键盘初始化
+void Keyboard_DataProcess(uint8_t *Data);//键盘数据处理
+
+#endif
--- a/云台/云台/CarBody/RefereeSystem.c
+++ b/云台/云台/CarBody/RefereeSystem.c
@@ -0,0 +1,179 @@
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+#include "RefereeSystem_CRCTable.h"
+#include "Keyboard.h"
+#include "Warming.h"
+#include "Remote.h"
+
+/****************************************************************************************************
+
+	此处裁判系统只接收0x0201命令,获取机器人性能体系数据,主要获取发射机构是否上电
+	帧格式:
+		0xA5	0x0D	0x00	包序号	帧头CRC8校验	0x01	0x02	13ByteData	整包CRC16校验
+		 |___________________________________|			 |_______|			 |
+						 帧头							  命令码			数据
+	
+****************************************************************************************************/
+
+/*接收数据缓冲区数组元素数=命令码对应数据段长度+9*/
+uint8_t RefereeSystem_RxHEXPacket[21]={0xA5,0x0C,0x00,0x00,0x00,0x04,0x03,0};//裁判系统0x0304命令码接收数据缓冲区
+
+uint8_t RefereeSystem_ShooterStatus;//发射机构状态,0-发射机构未上电,1-发射机构上电
+uint8_t RefereeSystem_ShooterOpenFlag;//发射机构上电标志位,1-发射机构正在上电,0-其他
+uint16_t RefereeSystem_ShooterOpenCounter;//发射机构上电读秒等待设备启动
+uint8_t RefereeSystem_Status=0;//图传链路连接状态,0-图传链路未连接,1-图传链路连接
+
+/*
+ *函数简介:裁判系统CRC8查表计算
+ *参数说明:校验数据
+ *参数说明:数据长度
+ *参数说明:CRC初始值(默认给参数0xFF)
+ *返回类型:无
+ *备注:表格位于Referee System_CRCTable.h文件中CRC8_Table数组
+ */
+uint8_t RefereeSystem_GetCRC8CheckSum(uint8_t *Data,uint16_t Length,uint8_t Initial) 
+{ 
+	uint8_t Minuend;
+	while(Length--)
+	{
+		Minuend=Initial^(*Data);
+		Data++;
+		Initial=CRC8_Table[Minuend];
+	}
+	return Initial;
+}
+
+/*
+ *函数简介:裁判系统CRC8校验
+ *参数说明:校验数据(含尾端CRC校验码)
+ *参数说明:数据长度
+ *返回类型:校验正确返回1,否则返回0
+ *备注:无
+ */
+uint8_t RefereeSystem_VerifyCRC8CheckSum(uint8_t *Data,uint16_t Length) 
+{ 
+	uint8_t CRC8CheckSum=0;
+	if((Data==0) || (Length<=2))return 0;//特殊情况处理
+	CRC8CheckSum=RefereeSystem_GetCRC8CheckSum(Data,Length-1,CRC8_Initial);//获取CRC8计算值
+	return CRC8CheckSum==Data[Length-1];//测量值与计算值相比较
+} 
+
+/*
+ *函数简介:裁判系统CRC16查表计算
+ *参数说明:校验数据
+ *参数说明:数据长度
+ *参数说明:CRC初始值(默认给参数0xFFFF)
+ *返回类型:无
+ *备注:表格位于Referee System_CRCTable.h文件中CRC16_Table数组
+ */
+uint16_t RefereeSystem_GetCRC16CheckSum(uint8_t *Data,uint32_t Length,uint16_t Initial)
+{ 
+	uint8_t Minuend;
+	while(Length--)
+	{
+		Minuend=*Data;
+		Data++;
+		Initial=((uint16_t)(Initial)>>8)^CRC16_Table[((uint16_t)(Initial)^(uint16_t)(Minuend))&0x00FF];
+	}
+	return Initial;
+}
+
+/*
+ *函数简介:裁判系统CRC16校验
+ *参数说明:校验数据(含尾端CRC校验码)
+ *参数说明:数据长度
+ *返回类型:校验正确返回1,否则返回0
+ *备注:无
+ */
+uint32_t RefereeSystem_VerifyCRC16CheckSum(uint8_t *Data, uint32_t Length) 
+{ 
+	uint16_t CRC16CheckSum=0; 
+	if((Data==0)||(Length<=2))return 0;//特殊情况处理 
+	CRC16CheckSum=RefereeSystem_GetCRC16CheckSum(Data,Length-2,CRC16_Initial);//获取CRC16计算值
+	return ((CRC16CheckSum&0xFF)==Data[Length-2]&&((CRC16CheckSum>>8)&0xff)==Data[Length-1]);//测量值与计算值相比较
+}
+
+/*
+ *函数简介:裁判系统接收初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:默认使用UART1(USART6),默认Rx引脚PG9
+ */
+void RefereeSystem_Init(void)
+{
+	Keyboard_Init();
+}
+
+/*
+ *函数简介:UART1串口中断接收裁判系统数据
+ *参数说明:无
+ *返回类型:无
+ *备注:数据帧格式在最上方注释
+ */
+void USART6_IRQHandler(void)
+{
+	/*有效数据位数=命令码对应数据段长度+2*/
+	#define DataLength		14//裁判系统0x0304命令码有效数据位数
+	
+	static int RxHEXState=0;//定义静态变量用于接收模式的选择
+	static int pRxHEXState=0;//定义静态变量用于充当计数器
+	
+	uint8_t RefereeSystem_RxData;//裁判系统接收数据
+	
+	TIM_SetCounter(TIM7,0);
+	TIM_Cmd(TIM7,DISABLE);//关闭定时器并重置计数值
+	
+	if(USART_GetITStatus(USART6,USART_IT_RXNE)==SET)//查询接收中断标志位
+	{
+		USART_ClearITPendingBit(USART6,USART_IT_RXNE);//清除接收中断标志位
+		
+		RefereeSystem_RxData=USART_ReceiveData(USART6);//将数据存入缓存区
+		
+		/*=====检查帧头=====*/
+		if(RxHEXState==0){if(RefereeSystem_RxData==0xA5)RxHEXState=1;}
+		
+		/*=====检查数据段长度,区分命令码=====*/
+		else if(RxHEXState==1){if(RefereeSystem_RxData==0x0C)RxHEXState=2;else RxHEXState=0;}
+		
+		/*=====0x0304命令码=====*/
+			/*=====检查帧头其他部分=====*/
+			else if(RxHEXState==2){if(RefereeSystem_RxData==0x00)RxHEXState=3;else RxHEXState=0;}
+			else if(RxHEXState==3){RefereeSystem_RxHEXPacket[3]=RefereeSystem_RxData;RxHEXState=4;}
+			else if(RxHEXState==4)
+			{
+				RefereeSystem_RxHEXPacket[4]=RefereeSystem_RxData;
+			
+				if(RefereeSystem_VerifyCRC8CheckSum(RefereeSystem_RxHEXPacket,5)==1)RxHEXState=5;
+				else RxHEXState=0;
+			}	
+			
+			/*=====检查命令码=====*/
+			else if(RxHEXState==5){if(RefereeSystem_RxData==0x04)RxHEXState=6;else RxHEXState=0;}//接收命令码
+			else if(RxHEXState==6){if(RefereeSystem_RxData==0x03){RxHEXState=7;pRxHEXState=0;}else RxHEXState=0;}
+				
+			/*=====接收有效数据=====*/
+			else if(RxHEXState==7)
+			{
+				RefereeSystem_RxHEXPacket[pRxHEXState+7]=RefereeSystem_RxData;//接收数据
+				pRxHEXState++;
+				
+				if(pRxHEXState>=DataLength)
+				{
+					if(RefereeSystem_VerifyCRC16CheckSum(RefereeSystem_RxHEXPacket,21)==1)//CRC校验
+					{
+						Keyboard_DataProcess(&(RefereeSystem_RxHEXPacket[7]));//获取键盘数据
+						RefereeSystem_Status=1;
+					}
+					RxHEXState=0;
+				}
+			}
+		
+		if(Remote_StartFlag==1)//第一次接收数据
+		{
+			Remote_StartFlag=2;
+			Warming_LEDClean();
+		}
+		Remote_Status=1;//遥控器已连接
+	}
+	TIM_Cmd(TIM7,ENABLE);//开启定时
+}
--- a/云台/云台/CarBody/RefereeSystem.h
+++ b/云台/云台/CarBody/RefereeSystem.h
@@ -0,0 +1,12 @@
+#ifndef __REFEREESYSTEM_H
+#define __REFEREESYSTEM_H
+
+extern uint8_t RefereeSystem_ShooterStatus;//裁判系统接收数据缓冲区
+
+extern uint8_t RefereeSystem_ShooterOpenFlag;//发射机构上电标志位,1-发射机构正在上电,0-其他
+extern uint16_t RefereeSystem_ShooterOpenCounter;//发射机构上电读秒等待设备启动
+extern uint8_t RefereeSystem_Status;//图传链路连接状态
+
+void RefereeSystem_Init(void);//裁判系统接收初始化
+
+#endif
--- a/云台/云台/CarBody/RefereeSystem_CRCTable.h
+++ b/云台/云台/CarBody/RefereeSystem_CRCTable.h
@@ -0,0 +1,48 @@
+#ifndef __REFEREESYSTEM_CRCTABLE_H
+#define __REFEREESYSTEM_CRCTABLE_H
+
+//crc8 generator polynomial:G(x)=x8+x5+x4+1//CRC8-MAXIM
+uint8_t CRC8_Initial=0xFF;//CRC8初始值
+const uint8_t CRC8_Table[256]=
+{ 
+	0x00,0x5E,0xBC,0xE2,0x61,0x3F,0xDD,0x83,0xC2,0x9C,0x7E,0x20,0xA3,0xFD,0x1F,0x41,
+	0x9D,0xC3,0x21,0x7F,0xFC,0xA2,0x40,0x1E,0x5F,0x01,0xE3,0xBD,0x3E,0x60,0x82,0xDC,
+	0x23,0x7D,0x9F,0xC1,0x42,0x1C,0xFE,0xA0,0xE1,0xBF,0x5D,0x03,0x80,0xDE,0x3C,0x62,
+	0xBE,0xE0,0x02,0x5C,0xDF,0x81,0x63,0x3D,0x7C,0x22,0xC0,0x9E,0x1D,0x43,0xA1,0xFF,
+	0x46,0x18,0xFA,0xA4,0x27,0x79,0x9B,0xC5,0x84,0xDA,0x38,0x66,0xE5,0xBB,0x59,0x07,
+	0xDB,0x85,0x67,0x39,0xBA,0xE4,0x06,0x58,0x19,0x47,0xA5,0xFB,0x78,0x26,0xC4,0x9A,
+	0x65,0x3B,0xD9,0x87,0x04,0x5A,0xB8,0xE6,0xA7,0xF9,0x1B,0x45,0xC6,0x98,0x7A,0x24,
+	0xF8,0xA6,0x44,0x1A,0x99,0xC7,0x25,0x7B,0x3A,0x64,0x86,0xD8,0x5B,0x05,0xE7,0xB9,
+	0x8C,0xD2,0x30,0x6E,0xED,0xB3,0x51,0x0F,0x4E,0x10,0xF2,0xAC,0x2F,0x71,0x93,0xCD,
+	0x11,0x4F,0xAD,0xF3,0x70,0x2E,0xCC,0x92,0xD3,0x8D,0x6F,0x31,0xB2,0xEC,0x0E,0x50,
+	0xAF,0xF1,0x13,0x4D,0xCE,0x90,0x72,0x2C,0x6D,0x33,0xD1,0x8F,0x0C,0x52,0xB0,0xEE,
+	0x32,0x6C,0x8E,0xD0,0x53,0x0D,0xEF,0xB1,0xF0,0xAE,0x4C,0x12,0x91,0xCF,0x2D,0x73,
+	0xCA,0x94,0x76,0x28,0xAB,0xF5,0x17,0x49,0x08,0x56,0xB4,0xEA,0x69,0x37,0xD5,0x8B,
+	0x57,0x09,0xEB,0xB5,0x36,0x68,0x8A,0xD4,0x95,0xCB,0x29,0x77,0xF4,0xAA,0x48,0x16,
+	0xE9,0xB7,0x55,0x0B,0x88,0xD6,0x34,0x6A,0x2B,0x75,0x97,0xC9,0x4A,0x14,0xF6,0xA8,
+	0x74,0x2A,0xC8,0x96,0x15,0x4B,0xA9,0xF7,0xB6,0xE8,0x0A,0x54,0xD7,0x89,0x6B,0x35
+};
+
+//crc16 generator polynomial:G(x)=x16+x12+x5+1//CRC16-CCITT
+uint16_t CRC16_Initial=0xFFFF;//CRC16初始值
+const uint16_t CRC16_Table[256]=
+{ 
+	0x0000,0x1189,0x2312,0x329B,0x4624,0x57AD,0x6536,0x74BF,0x8C48,0x9DC1,0xAF5A,0xBED3,0xCA6C,0xDBE5,0xE97E,0xF8F7,
+	0x1081,0x0108,0x3393,0x221A,0x56A5,0x472C,0x75B7,0x643E,0x9CC9,0x8D40,0xBFDB,0xAE52,0xDAED,0xCB64,0xF9FF,0xE876,
+	0x2102,0x308B,0x0210,0x1399,0x6726,0x76AF,0x4434,0x55BD,0xAD4A,0xBCC3,0x8E58,0x9FD1,0xEB6E,0xFAE7,0xC87C,0xD9F5,
+	0x3183,0x200A,0x1291,0x0318,0x77A7,0x662E,0x54B5,0x453C,0xBDCB,0xAC42,0x9ED9,0x8F50,0xFBEF,0xEA66,0xD8FD,0xC974,
+	0x4204,0x538D,0x6116,0x709F,0x0420,0x15A9,0x2732,0x36BB,0xCE4C,0xDFC5,0xED5E,0xFCD7,0x8868,0x99E1,0xAB7A,0xBAF3,
+	0x5285,0x430C,0x7197,0x601E,0x14A1,0x0528,0x37B3,0x263A,0xDECD,0xCF44,0xFDDF,0xEC56,0x98E9,0x8960,0xBBFB,0xAA72,
+	0x6306,0x728F,0x4014,0x519D,0x2522,0x34AB,0x0630,0x17B9,0xEF4E,0xFEC7,0xCC5C,0xDDD5,0xA96A,0xB8E3,0x8A78,0x9BF1,
+	0x7387,0x620E,0x5095,0x411C,0x35A3,0x242A,0x16B1,0x0738,0xFFCF,0xEE46,0xDCDD,0xCD54,0xB9EB,0xA862,0x9AF9,0x8B70,
+	0x8408,0x9581,0xA71A,0xB693,0xC22C,0xD3A5,0xE13E,0xF0B7,0x0840,0x19C9,0x2B52,0x3ADB,0x4E64,0x5FED,0x6D76,0x7CFF,
+	0x9489,0x8500,0xB79B,0xA612,0xD2AD,0xC324,0xF1BF,0xE036,0x18C1,0x0948,0x3BD3,0x2A5A,0x5EE5,0x4F6C,0x7DF7,0x6C7E,
+	0xA50A,0xB483,0x8618,0x9791,0xE32E,0xF2A7,0xC03C,0xD1B5,0x2942,0x38CB,0x0A50,0x1BD9,0x6F66,0x7EEF,0x4C74,0x5DFD,
+	0xB58B,0xA402,0x9699,0x8710,0xF3AF,0xE226,0xD0BD,0xC134,0x39C3,0x284A,0x1AD1,0x0B58,0x7FE7,0x6E6E,0x5CF5,0x4D7C,
+	0xC60C,0xD785,0xE51E,0xF497,0x8028,0x91A1,0xA33A,0xB2B3,0x4A44,0x5BCD,0x6956,0x78DF,0x0C60,0x1DE9,0x2F72,0x3EFB,
+	0xD68D,0xC704,0xF59F,0xE416,0x90A9,0x8120,0xB3BB,0xA232,0x5AC5,0x4B4C,0x79D7,0x685E,0x1CE1,0x0D68,0x3FF3,0x2E7A,
+	0xE70E,0xF687,0xC41C,0xD595,0xA12A,0xB0A3,0x8238,0x93B1,0x6B46,0x7ACF,0x4854,0x59DD,0x2D62,0x3CEB,0x0E70,0x1FF9,
+	0xF78F,0xE606,0xD49D,0xC514,0xB1AB,0xA022,0x92B9,0x8330,0x7BC7,0x6A4E,0x58D5,0x495C,0x3DE3,0x2C6A,0x1EF1,0x0F78
+};
+
+#endif
--- a/云台/云台/CarBody/Visual.c
+++ b/云台/云台/CarBody/Visual.c
@@ -0,0 +1,165 @@
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+#include "Visual.h"
+#include "UART.h"
+#include "Gimbal.h"
+#include "AttitudeAlgorithms.h"
+#include"Delay.h"
+#include "Buzzer.h"
+#include "GM6020.h"
+
+uint32_t Visual_Time=0;//视觉数据send时间
+uint32_t Time_Out=0;//超时时间
+uint32_t SystemCoreClock84=84000000; //84M
+
+uint8_t USART_RX_BUF[100];//视觉数据jieshou缓冲区
+
+
+
+int16_t Visual_GetYaw,Visual_GetPitch,Visual_GetRoll,Visual_GetDelay;//视觉数据偏航角,视觉数据俯仰角
+float Visual_Yaw,Visual_Pitch;
+
+uint8_t Visual_RxHEXPacket[4],Visual_ReceiveFlag;//视觉数据接收缓冲区,视觉数据接收完成标志位
+
+/*
+ *函数简介:视觉初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:初始化UART2(USART1)
+ */
+
+void Visual_Init(void)
+{
+	UART2_Init();
+	//UART2_ReceiveInit();
+
+
+}
+void Visual_SendData(void)
+{
+	/*SendData MCUMessage;
+	MCUMessage.curr_yaw=AttitudeAlgorithms_DegYaw;
+	MCUMessage.curr_pitch=AttitudeAlgorithms_DegPitch;
+	MCUMessage.state=(uint8_t)('a');
+	MCUMessage.mark=(uint8_t)(0);
+	MCUMessage.anti_top=(uint8_t)(0);
+	MCUMessage.enemy_color=(uint8_t)(1);
+	MCUMessage.delta_x=(uint8_t)(1);
+	MCUMessage.delta_y=(uint8_t)(1);
+	UART2_SendArray((uint8_t *)&MCUMessage, sizeof(MCUMessage));*/
+	//UART2_SendArray((uint8_t *)&MCUMessage, sizeof(MCUMessage));
+	/*
+	UART2_SendByte((float)AttitudeAlgorithms_DegYaw);
+	UART2_SendByte((float)AttitudeAlgorithms_DegRoll);
+	//UART2_SendByte((float)AttitudeAlgorithms_DegPitch);
+	
+	UART2_SendByte((uint8_t)0);
+	UART2_SendByte((uint8_t)'a');
+	UART2_SendByte((uint8_t)0);
+	
+	UART2_SendByte((uint8_t)0);
+	UART2_SendByte((uint8_t)1);
+	UART2_SendByte((uint8_t)1);
+*/
+	UART2_Printf("%f %d",AttitudeAlgorithms_DegRoll,GM6020_MotorStatus[0].Position);
+
+	//UART2_SendByte((uint8_t)'\n');
+	/*if(Visual_ReceiveFlag == 1)
+	UART2_Printf("%f %f %f %f  \n",Visual_Yaw,Visual_Pitch,Visual_GetRoll,Visual_GetDelay);//*0.0030518509475997f*/
+	//if(Visual_ReceiveFlag == 1)
+	//UART2_Printf("%f %f %f %f\n",Visual_Yaw,Visual_Pitch,AttitudeAlgorithms_DegYaw);//*0.0030518509475997f
+	
+	
+
+		 
+
+//UART2_SendArray((uint8_t *)&MCUMessage, sizeof(MCUMessage));
+}
+
+/*
+ *函数简介:UART2串口中断接收视觉数据
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void USART1_IRQHandler(void)
+{
+	if(USART_GetITStatus(USART1,USART_IT_RXNE)==SET)//查询接收中断标志位
+	{
+		
+		UART2_RxData=USART1->DR;
+		//函数体
+		//Visual_SendData();
+		Visual_Trans();
+	
+		UART2_RxFlag=1;//置接收完成标志位
+	}
+	
+	USART_ClearITPendingBit(USART1,USART_IT_RXNE);//清除接收中断标志位
+
+}
+
+
+
+void Visual_Trans(void){
+
+	static int Visual_RxHEXPacket[20];
+
+	//char Message[10];
+	static int RxHEXState=0;//定义静态变量用于接收模式的选择
+	static int pRxHEXState=0;//定义静态变量用于充当计数器
+	//char startflag;//包头1
+	//char endflag;//包头2	
+	//startflag=(char)UART2_RxData;
+
+		if(RxHEXState==0 && UART2_RxData=='s')//模式0-等待包头1(0x09)
+		{
+				RxHEXState=1;//转入模式1
+				pRxHEXState=0;//复位计数器
+				 
+				
+		}
+		else if(RxHEXState==1)//模式1-接收有效数据
+		{
+
+			Visual_RxHEXPacket[pRxHEXState]=UART2_RxData;//接收数据
+		
+	
+			if(pRxHEXState==7)//接收数据长度达到3
+			{
+				RxHEXState=2;//转入模式2
+					
+				pRxHEXState=0;//复位计数器
+			}
+			else
+			{
+	           pRxHEXState++;
+			}
+			
+					
+			
+		}
+		else if(RxHEXState==2)//模式2-等待包尾
+		{
+			if(UART2_RxData=='e')//检测包尾
+			{
+				
+			
+				Visual_GetYaw=((uint8_t)Visual_RxHEXPacket[0]<<8 | Visual_RxHEXPacket[1]);
+		        Visual_GetPitch=((uint8_t)Visual_RxHEXPacket[2]<<8 | Visual_RxHEXPacket[3]);
+		        Visual_GetRoll=((uint8_t)Visual_RxHEXPacket[4]<<8 | Visual_RxHEXPacket[5]);
+		        Visual_GetDelay=((uint8_t)Visual_RxHEXPacket[6]<<8 | Visual_RxHEXPacket[7]);
+				Visual_Pitch=Visual_GetPitch*0.003051850947599f+Visual_GetRoll*0.049f/(30.0f*3.1415926535f);
+		        Visual_Yaw=-Visual_GetYaw*0.003051850947599f;
+			  // UART2_Printf("0x%.2x 0x%.2x\n",Visual_RxHEXPacket[0],Visual_RxHEXPacket[1]);
+
+				//Visual_Yaw=(int16_t)((uint16_t)Visual_RxHEXPacket[0]<<8 | Visual_RxHEXPacket[1])*0.01f;
+				//Visual_Pitch=(int16_t)((uint16_t)Visual_RxHEXPacket[2]<<8 | Visual_RxHEXPacket[3])*0.01f;
+				
+				Visual_ReceiveFlag=1;	
+					RxHEXState=0;//回到模式0	
+			//Buzzer_Time(M4,1000);//蜂鸣器发声
+			}
+		
+		}
+}
--- a/云台/云台/CarBody/Visual.h
+++ b/云台/云台/CarBody/Visual.h
@@ -0,0 +1,39 @@
+#ifndef __VISUAL_H
+#define __VISUAL_H
+
+extern float Visual_Yaw,Visual_Pitch;//视觉数据偏航角,视觉数据俯仰角
+extern uint8_t Visual_ReceiveFlag;//视觉数据接收完成标志位
+
+
+#define SYSTICK_1MS ((uint32_t)1000)
+
+///发送数据
+typedef struct
+{
+    float curr_yaw;      // 当前云台yaw角度
+    float curr_pitch;    // 当前云台pitch角
+    uint8_t state;       // 当前状态，自瞄-大符-小符
+    uint8_t mark;        // 云台角度标记位
+    uint8_t anti_top;    // 是否为反陀螺模式
+    uint8_t enemy_color; // 敌方颜色
+    int delta_x;         // 能量机关x轴补偿量
+    int delta_y;         // 能量机关y轴补偿量
+}SendData;
+
+//接受数据
+typedef struct
+{
+    char start_flag;      // 帧头标志，字符's'
+    int16_t yaw;          // float类型的实际角度(以度为单位)/100*(32768-1)
+    int16_t pitch;        // float类型的实际角度(以度为单位)/100*(32768-1)
+    uint16_t shoot_delay; // 反陀螺模式下的发射延迟
+    char end_flag;        // 帧尾标识，字符'e'
+}GetData;
+
+void Visual_Init(void);//视觉初始化
+void Visual_SendData(void);
+void passdelay(void);
+void Visual_Get(void);
+
+void Visual_Trans(void);
+#endif
--- a/云台/云台/Control/PID.c
+++ b/云台/云台/Control/PID.c
@@ -0,0 +1,202 @@
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+#include "PID.h"
+
+/*
+ *函数简介:位置式PID初始化结构体
+ *参数说明:位置式PID参数结构体
+ *参数说明:预期值
+ *返回类型:无
+ *备注:无
+ */
+void PID_PositionStructureInit(PID_PositionInitTypedef* PID_InitStructure,float NeedValue)
+{
+	PID_InitStructure->Need_Value=NeedValue;
+	PID_InitStructure->Ek=0;
+	PID_InitStructure->Sum_Ek=0;
+	PID_InitStructure->Ek_low=0;
+	PID_InitStructure->Ek_up=0;
+	PID_InitStructure->Kp=0;
+	PID_InitStructure->Ki=0;
+	PID_InitStructure->Kd=0;
+	PID_InitStructure->OUT_low=-1e10;
+	PID_InitStructure->OUT_up=1e10;
+}
+
+/*
+ *函数简介:位置式PID设置参数
+ *参数说明:位置式PID参数结构体
+ *参数说明:单精度浮点型Kp
+ *参数说明:单精度浮点型Ki
+ *参数说明:单精度浮点型Kd
+ *返回类型:无
+ *备注:无
+ */
+void PID_PositionSetParameter(PID_PositionInitTypedef* PID_InitStructure,float kp,float ki,float kd)
+{
+	PID_InitStructure->Kp=kp;
+	PID_InitStructure->Ki=ki;
+	PID_InitStructure->Kd=kd;
+}
+
+/*
+ *函数简介:位置式PID设置误差为0阈值
+ *参数说明:位置式PID参数结构体
+ *参数说明:误差为0阈值下限
+ *参数说明:误差为0阈值上限
+ *返回类型:无
+ *备注:无
+ */
+void PID_PositionSetEkRange(PID_PositionInitTypedef* PID_InitStructure,float ek_low,float ek_up)
+{
+	PID_InitStructure->Ek_low=ek_low;
+	PID_InitStructure->Ek_up=ek_up;
+}
+
+/*
+ *函数简介:位置式PID设置输出限幅
+ *参数说明:位置式PID参数结构体
+ *参数说明:输出限幅下限
+ *参数说明:输出限幅上限
+ *返回类型:无
+ *备注:无
+ */
+void PID_PositionSetOUTRange(PID_PositionInitTypedef* PID_InitStructure,float out_low,float out_up)
+{
+	PID_InitStructure->OUT_low=out_low;
+	PID_InitStructure->OUT_up=out_up;
+}
+
+/*
+ *函数简介:位置式PID清理
+ *参数说明:位置式PID参数结构体
+ *返回类型:无
+ *备注:使Ek和Sum为0
+ */
+void PID_PositionClean(PID_PositionInitTypedef* PID_InitStructure)
+{
+	PID_InitStructure->Ek=0;
+	PID_InitStructure->Sum_Ek=0;
+}
+
+/*
+ *函数简介:位置式PID计算
+ *参数说明:位置式PID参数结构体
+ *参数说明:当前值
+ *返回类型:无
+ *备注:OUT=POUT+IOUT+DOUT=Kp*Ek+Ki*ΣEk+Kd*(Ek-Ek_1)
+ *备注:计算结果保存在位置式PID参数结构体中
+ */
+void PID_PositionCalc(PID_PositionInitTypedef* PID_InitStructure,float NowValue)
+{
+	PID_InitStructure->Now_Value=NowValue;
+	PID_InitStructure->Ek_1=PID_InitStructure->Ek;
+	PID_InitStructure->Ek=PID_InitStructure->Need_Value-PID_InitStructure->Now_Value;
+	if(PID_InitStructure->Ek_low<PID_InitStructure->Ek&&PID_InitStructure->Ek<PID_InitStructure->Ek_up)//误差为0检测
+		PID_InitStructure->Ek=0;
+	PID_InitStructure->Sum_Ek+=PID_InitStructure->Ek;
+	PID_InitStructure->Del_Ek=PID_InitStructure->Ek-PID_InitStructure->Ek_1;
+
+	PID_InitStructure->P_OUT=PID_InitStructure->Kp*PID_InitStructure->Ek;
+	PID_InitStructure->I_OUT=PID_InitStructure->Ki*PID_InitStructure->Sum_Ek;
+	PID_InitStructure->D_OUT=PID_InitStructure->Kd*PID_InitStructure->Del_Ek;
+	PID_InitStructure->OUT=PID_InitStructure->P_OUT+PID_InitStructure->I_OUT+PID_InitStructure->D_OUT;
+	
+	if(PID_InitStructure->OUT<PID_InitStructure->OUT_low)//输出限幅
+		PID_InitStructure->OUT=PID_InitStructure->OUT_low;
+	if(PID_InitStructure->OUT>PID_InitStructure->OUT_up)
+		PID_InitStructure->OUT=PID_InitStructure->OUT_up;
+}
+
+/*
+ *函数简介:增量式PID初始化结构体
+ *参数说明:增量式PID参数结构体
+ *参数说明:预期值
+ *返回类型:无
+ *备注:无
+ */
+void PID_IncrementalStructureInit(PID_IncrementalInitTypedef* PID_InitStructure,float NeedValue)
+{
+	PID_InitStructure->Need_Value=NeedValue;
+	PID_InitStructure->Ek=0;
+	PID_InitStructure->Ek_1=0;
+	PID_InitStructure->Ek_low=0;
+	PID_InitStructure->Ek_up=0;
+	PID_InitStructure->Kp=0;
+	PID_InitStructure->Ki=0;
+	PID_InitStructure->Kd=0;
+	PID_InitStructure->OUT_low=-1e10;
+	PID_InitStructure->OUT_up=1e10;
+}
+
+/*
+ *函数简介:增量式PID设置参数
+ *参数说明:增量式PID参数结构体
+ *参数说明:单精度浮点型Kp
+ *参数说明:单精度浮点型Ki
+ *参数说明:单精度浮点型Kd
+ *返回类型:无
+ *备注:无
+ */
+void PID_IncrementalSetParameter(PID_IncrementalInitTypedef* PID_InitStructure,float kp,float ki,float kd)
+{
+	PID_InitStructure->Kp=kp;
+	PID_InitStructure->Ki=ki;
+	PID_InitStructure->Kd=kd;
+}
+
+/*
+ *函数简介:增量式PID设置误差为0阈值
+ *参数说明:增量式PID参数结构体
+ *参数说明:误差为0阈值下限
+ *参数说明:误差为0阈值上限
+ *返回类型:无
+ *备注:无
+ */
+void PID_IncrementalSetEkRange(PID_IncrementalInitTypedef* PID_InitStructure,float ek_low,float ek_up)
+{
+	PID_InitStructure->Ek_low=ek_low;
+	PID_InitStructure->Ek_up=ek_up;
+}
+
+/*
+ *函数简介:增量式PID设置输出限幅
+ *参数说明:增量式PID参数结构体
+ *参数说明:输出限幅下限
+ *参数说明:输出限幅上限
+ *返回类型:无
+ *备注:无
+ */
+void PID_IncrementalSetOUTRange(PID_IncrementalInitTypedef* PID_InitStructure,float out_low,float out_up)
+{
+	PID_InitStructure->OUT_low=out_low;
+	PID_InitStructure->OUT_up=out_up;
+}
+
+/*
+ *函数简介:增量式PID计算
+ *参数说明:增量式PID参数结构体
+ *参数说明:当前值
+ *返回类型:无
+ *备注:OUT=POUT+IOUT+DOUT=Kp*ΔEk+Ki*ΣΔEk+Kd*(ΔEk-ΔEk_1)=Kp*(Ek-Ek_1)+Ki*Ek+Kd*(Ek-2*Ek_1+Ek_2)
+ *备注:计算结果保存在增量式PID参数结构体中
+ */
+void PID_IncrementalCalc(PID_IncrementalInitTypedef* PID_InitStructure,float NowValue)
+{
+	PID_InitStructure->Now_Value=NowValue;
+	PID_InitStructure->Ek_2=PID_InitStructure->Ek_1;
+	PID_InitStructure->Ek_1=PID_InitStructure->Ek;
+	PID_InitStructure->Ek=PID_InitStructure->Need_Value-PID_InitStructure->Now_Value;
+	if(PID_InitStructure->Ek_low<PID_InitStructure->Ek&&PID_InitStructure->Ek<PID_InitStructure->Ek_up)//误差为0检测
+		PID_InitStructure->Ek=0;
+
+	PID_InitStructure->P_OUT=PID_InitStructure->Kp*(PID_InitStructure->Ek-PID_InitStructure->Ek_1);
+	PID_InitStructure->I_OUT=PID_InitStructure->Ki*PID_InitStructure->Ek;
+	PID_InitStructure->D_OUT=PID_InitStructure->Kd*(PID_InitStructure->Ek-2*PID_InitStructure->Ek_1+PID_InitStructure->Ek_2);
+	PID_InitStructure->OUT=PID_InitStructure->P_OUT+PID_InitStructure->I_OUT+PID_InitStructure->D_OUT;
+	
+	if(PID_InitStructure->OUT<PID_InitStructure->OUT_low)//输出限幅
+		PID_InitStructure->OUT=PID_InitStructure->OUT_low;
+	if(PID_InitStructure->OUT>PID_InitStructure->OUT_up)
+		PID_InitStructure->OUT=PID_InitStructure->OUT_up;
+}
--- a/云台/云台/Control/PID.h
+++ b/云台/云台/Control/PID.h
@@ -0,0 +1,63 @@
+#ifndef __PID_H__
+#define __PID_H__
+
+typedef struct
+{
+	float Need_Value;//预期值
+	float Now_Value;//当前值
+
+	float Ek;//本次误差
+	float Ek_1;//上一次误差
+	float Sum_Ek;//误差积分
+	float Del_Ek;//误差差分
+	float Ek_low;//误差为0阈值下限
+	float Ek_up;//误差为0阈值上限
+
+	float Kp;//Kp
+	float Ki;//Ki
+	float Kd;//Kd
+
+	float P_OUT;//比例输出
+	float I_OUT;//积分输出
+	float D_OUT;//微分输出
+	float OUT;//总输出
+	float OUT_low;//输出限幅下限
+	float OUT_up;//输出限幅上限
+}PID_PositionInitTypedef;//位置式PID参数结构体
+
+typedef struct
+{
+	float Need_Value;//预期值
+	float Now_Value;//当前值
+
+	float Ek;//本次误差
+	float Ek_1;//上一次误差
+	float Ek_2;//上两次误差
+	float Ek_low;//误差为0阈值下限
+	float Ek_up;//误差为0阈值上限
+
+	float Kp;//Kp
+	float Ki;//Ki
+	float Kd;//Kd
+
+	float P_OUT;//比例输出
+	float I_OUT;//积分输出
+	float D_OUT;//微分输出
+	float OUT;//总输出
+	float OUT_low;//输出限幅下限
+	float OUT_up;//输出限幅上限
+}PID_IncrementalInitTypedef;//增量式PID参数结构体
+
+void PID_PositionStructureInit(PID_PositionInitTypedef* PID_InitStructure,float NeedValue);//位置式PID初始化结构体
+void PID_PositionSetParameter(PID_PositionInitTypedef* PID_InitStructure,float kp,float ki,float kd);//位置式PID设置参数
+void PID_PositionSetEkRange(PID_PositionInitTypedef* PID_InitStructure,float ek_low,float ek_up);//位置式PID设置误差为0阈值
+void PID_PositionSetOUTRange(PID_PositionInitTypedef* PID_InitStructure,float out_low,float out_up);//位置式PID设置输出限幅
+void PID_PositionClean(PID_PositionInitTypedef* PID_InitStructure);//位置式PID清理
+void PID_PositionCalc(PID_PositionInitTypedef* PID_InitStructure,float NowValue);//位置式PID计算
+void PID_IncrementalStructureInit(PID_IncrementalInitTypedef* PID_InitStructure,float NeedValue);//增量式PID初始化结构体
+void PID_IncrementalSetParameter(PID_IncrementalInitTypedef* PID_InitStructure,float kp,float ki,float kd);//增量式PID设置参数
+void PID_IncrementalSetEkRange(PID_IncrementalInitTypedef* PID_InitStructure,float ek_low,float ek_up);//增量式PID设置误差为0阈值
+void PID_IncrementalSetOUTRange(PID_IncrementalInitTypedef* PID_InitStructure,float out_low,float out_up);//增量式PID设置输出限幅
+void PID_IncrementalCalc(PID_IncrementalInitTypedef* PID_InitStructure,float NowValue);//增量式PID计算
+
+#endif
--- a/云台/云台/Control/WaveFiltering_Kalman_Filtering.c
+++ b/云台/云台/Control/WaveFiltering_Kalman_Filtering.c
@@ -0,0 +1,32 @@
+#include "WaveFiltering_Kalman_Filtering.h"
+
+
+
+/**
+ *卡尔曼滤波器
+ *@param KFP *kfp 卡尔曼结构体参数
+ *   float input 需要滤波的参数的测量值（即传感器的采集值）
+ *@return 滤波后的参数（最优值）
+ */
+float kalmanFilter(KFP *kfp,float input)
+ {
+	   float pDst,pDst1=1.0f;
+     //预测协方差方程：k时刻系统估算协方差 = k-1时刻的系统协方差 + 过程噪声协方差
+	   //arm_add_f32(&kfp->LastP, &kfp->Q, &kfp->Now_P, 1);
+     kfp->Now_P = kfp->LastP + kfp->Q;
+     //卡尔曼增益方程：卡尔曼增益 = k时刻系统估算协方差 / （k时刻系统估算协方差 + 观测噪声协方差）
+      //arm_add_f32(&kfp->Now_P, &kfp->R, &pDst, 1);	   
+     // kfp->Kg = kfp->Now_P /pDst;
+     kfp->Kg = kfp->Now_P / (kfp->Now_P + kfp->R);
+     //更新最优值方程：k时刻状态变量的最优值 = 状态变量的预测值 + 卡尔曼增益 * （测量值 - 状态变量的预测值）
+	   // arm_sub_f32(&input,&kfp->out,&pDst,1);
+	   // arm_mult_f32(&pDst,&kfp->Kg, &pDst,1);
+	  // arm_add_f32(&pDst, &kfp->out, &kfp->out , 1);	  
+    kfp->out = kfp->out + kfp->Kg * (input -kfp->out);//因为这一次的预测值就是上一次的输出值
+     //更新协方差方程: 本次的系统协方差付给 kfp->LastP 威下一次运算准备。
+	 //  arm_sub_f32(&pDst1,&kfp->Kg,&pDst,1);
+	   //arm_mult_f32(&pDst,&kfp->Now_P, &kfp->LastP,1);
+     kfp->LastP = (1-kfp->Kg) * kfp->Now_P;
+     return kfp->out;
+}
+ 
--- a/云台/云台/Control/WaveFiltering_Kalman_Filtering.h
+++ b/云台/云台/Control/WaveFiltering_Kalman_Filtering.h
@@ -0,0 +1,23 @@
+#ifndef __WAVEFILTERING_KALMAN_FILTERING_H__
+#define __WAVEFILTERING_KALMAN_FILTERING_H__
+#include "stdint.h"
+#include "stdio.h"
+
+
+
+//1. 结构体类型定义
+typedef struct 
+{
+    float LastP;//上次估算协方差 初始化值为0.02
+    float Now_P;//当前估算协方差 初始化值为0
+    float out;//卡尔曼滤波器输出 初始化值为0
+    float Kg;//卡尔曼增益 初始化值为0
+    float Q;//过程噪声协方差 初始化值为0.001
+    float R;//观测噪声协方差 初始化值为0.543
+}KFP;//Kalman Filter parameter
+ 
+
+float kalmanFilter(KFP *kfp,float input);
+ 
+ 
+#endif
--- a/云台/云台/DebugConfig/Target_1_STM32F407IGHx.dbgconf
+++ b/云台/云台/DebugConfig/Target_1_STM32F407IGHx.dbgconf
@@ -0,0 +1,48 @@
+// File: STM32F405_415_407_417_427_437_429_439.dbgconf
+// Version: 1.0.0
+// Note: refer to STM32F405/415 STM32F407/417 STM32F427/437 STM32F429/439 reference manual (RM0090)
+//       refer to STM32F40x STM32F41x datasheets
+//       refer to STM32F42x STM32F43x datasheets
+
+// <<< Use Configuration Wizard in Context Menu >>>
+
+// <h> Debug MCU configuration register (DBGMCU_CR)
+//   <o.2>  DBG_STANDBY              <i> Debug Standby Mode
+//   <o.1>  DBG_STOP                 <i> Debug Stop Mode
+//   <o.0>  DBG_SLEEP                <i> Debug Sleep Mode
+// </h>
+DbgMCU_CR = 0x00000007;
+
+// <h> Debug MCU APB1 freeze register (DBGMCU_APB1_FZ)
+//                                   <i> Reserved bits must be kept at reset value
+//   <o.26> DBG_CAN2_STOP            <i> CAN2 stopped when core is halted
+//   <o.25> DBG_CAN1_STOP            <i> CAN2 stopped when core is halted
+//   <o.23> DBG_I2C3_SMBUS_TIMEOUT   <i> I2C3 SMBUS timeout mode stopped when core is halted
+//   <o.22> DBG_I2C2_SMBUS_TIMEOUT   <i> I2C2 SMBUS timeout mode stopped when core is halted
+//   <o.21> DBG_I2C1_SMBUS_TIMEOUT   <i> I2C1 SMBUS timeout mode stopped when core is halted
+//   <o.12> DBG_IWDG_STOP            <i> Independent watchdog stopped when core is halted
+//   <o.11> DBG_WWDG_STOP            <i> Window watchdog stopped when core is halted
+//   <o.10> DBG_RTC_STOP             <i> RTC stopped when core is halted
+//   <o.8>  DBG_TIM14_STOP           <i> TIM14 counter stopped when core is halted
+//   <o.7>  DBG_TIM13_STOP           <i> TIM13 counter stopped when core is halted
+//   <o.6>  DBG_TIM12_STOP           <i> TIM12 counter stopped when core is halted
+//   <o.5>  DBG_TIM7_STOP            <i> TIM7 counter stopped when core is halted
+//   <o.4>  DBG_TIM6_STOP            <i> TIM6 counter stopped when core is halted
+//   <o.3>  DBG_TIM5_STOP            <i> TIM5 counter stopped when core is halted
+//   <o.2>  DBG_TIM4_STOP            <i> TIM4 counter stopped when core is halted
+//   <o.1>  DBG_TIM3_STOP            <i> TIM3 counter stopped when core is halted
+//   <o.0>  DBG_TIM2_STOP            <i> TIM2 counter stopped when core is halted
+// </h>
+DbgMCU_APB1_Fz = 0x00000000;
+
+// <h> Debug MCU APB2 freeze register (DBGMCU_APB2_FZ)
+//                                   <i> Reserved bits must be kept at reset value
+//   <o.18> DBG_TIM11_STOP           <i> TIM11 counter stopped when core is halted
+//   <o.17> DBG_TIM10_STOP           <i> TIM10 counter stopped when core is halted
+//   <o.16> DBG_TIM9_STOP            <i> TIM9 counter stopped when core is halted
+//   <o.1>  DBG_TIM8_STOP            <i> TIM8 counter stopped when core is halted
+//   <o.0>  DBG_TIM1_STOP            <i> TIM1 counter stopped when core is halted
+// </h>
+DbgMCU_APB2_Fz = 0x00000000;
+
+// <<< end of configuration section >>>
--- a/云台/云台/EventRecorderStub.scvd
+++ b/云台/云台/EventRecorderStub.scvd
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<component_viewer schemaVersion="0.1" xmlns:xs="http://www.w3.org/2001/XMLSchema-instance" xs:noNamespaceSchemaLocation="Component_Viewer.xsd">
+
+<component name="EventRecorderStub" version="1.0.0"/>       <!--name and version of the component-->
+  <events>
+  </events>
+
+</component_viewer>
--- a/云台/云台/Function/AttitudeAlgorithms.c
+++ b/云台/云台/Function/AttitudeAlgorithms.c
@@ -0,0 +1,93 @@
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+#include "IST8310.h"
+#include "BMI088.h"
+#include "ahrs_lib.h"
+#include "WaveFiltering_Kalman_Filtering.h"
+
+KFP kfp={0.02,0,0,0,0.01,0.543};//卡尔曼滤波器结构体
+
+
+
+float AttitudeAlgorithms_q[4];//姿态解算四元数
+float AttitudeAlgorithms_RadYaw,AttitudeAlgorithms_RadPitch,AttitudeAlgorithms_RadRoll;//弧度制角度
+float AttitudeAlgorithms_DegYaw,AttitudeAlgorithms_DegPitch,AttitudeAlgorithms_DegRoll;//角度制角度
+
+/*
+ *函数简介:姿态解算初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:定时器定时1ms,更新四元数并解算角度
+ */
+void AttitudeAlgorithms_Init(void)
+{
+	RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM11,ENABLE);//开启时钟
+	
+	TIM_InternalClockConfig(TIM11);//选择时基单元的时钟
+	
+	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;//配置时基单元
+	TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;//配置时钟分频为1分频
+	TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;//配置计数器模式为向上计数
+	TIM_TimeBaseInitStructure.TIM_Period=500-1;//配置自动重装值ARR
+	TIM_TimeBaseInitStructure.TIM_Prescaler=336-1;//配置分频值PSC,默认频率1000Hz
+	TIM_TimeBaseInitStructure.TIM_RepetitionCounter=0;//配置重复计数单元的置为0
+	TIM_TimeBaseInit(TIM11,&TIM_TimeBaseInitStructure);//初始化TIM2
+	
+	TIM_ClearFlag(TIM11,TIM_FLAG_Update);//清除配置时基单元产生的中断标志位
+	
+	TIM_ITConfig(TIM11,TIM_IT_Update,ENABLE);//使能更新中断
+	
+	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//选择NVIC分组
+	
+	NVIC_InitTypeDef NVIC_InitStructure;//配置NVIC（配置参数）
+	NVIC_InitStructure.NVIC_IRQChannel=TIM1_TRG_COM_TIM11_IRQn;//选择中断通道为TIM11
+	NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;//使能中断通道
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1;//TIM2的抢占优先级
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;//TIM2的响应优先级
+	NVIC_Init(&NVIC_InitStructure);//初始化NVIC
+	
+	
+	IST8310_Init();//初始化IST8310
+	BMI088_Init();//初始化BMI088
+	AHRS_init(AttitudeAlgorithms_q,BMI088_Accel,IST8310_MagneticField);//AHRS初始化
+
+	TIM_Cmd(TIM11,ENABLE);//启动定时器
+}
+
+/*
+ *函数简介:TIM11定时器更新中断函数
+ *参数说明:无
+ *返回类型:无
+ *备注:定时1ms更新四元数并且解算角度
+ */
+void TIM1_TRG_COM_TIM11_IRQHandler(void)
+{
+	static float AttitudeAlgorithms_LastDegYaw,AttitudeAlgorithms_ThisDegYaw;//上一次角度制偏航角,本次角度制偏航角
+	static int64_t AttitudeAlgorithms_YawR=0;//角度制偏航角圈数
+	static uint8_t AttitudeAlgorithms_YawFirstFlag=1;//第一次接收数据标志位
+	
+	if(TIM_GetITStatus(TIM11,TIM_IT_Update)==SET)//检测TIM2更新
+	{
+		TIM_ClearITPendingBit(TIM11,TIM_IT_Update);//清除标志位
+		
+		AHRS_update(AttitudeAlgorithms_q,0.001f,BMI088_Gyro,BMI088_Accel,IST8310_MagneticField);
+		get_angle(AttitudeAlgorithms_q,&AttitudeAlgorithms_RadYaw,&AttitudeAlgorithms_RadPitch,&AttitudeAlgorithms_RadRoll);
+		
+		AttitudeAlgorithms_LastDegYaw=AttitudeAlgorithms_ThisDegYaw;
+		AttitudeAlgorithms_ThisDegYaw=AttitudeAlgorithms_RadYaw*57.295779513082320876798154814105f;//转换为角度制
+		AttitudeAlgorithms_DegPitch=AttitudeAlgorithms_RadPitch*57.295779513082320876798154814105f;//转换为角度制
+		AttitudeAlgorithms_DegRoll=AttitudeAlgorithms_RadRoll*57.295779513082320876798154814105f;//转换为角度制
+
+		AttitudeAlgorithms_DegPitch=kalmanFilter(&kfp,AttitudeAlgorithms_DegPitch);
+		AttitudeAlgorithms_DegRoll=kalmanFilter(&kfp,AttitudeAlgorithms_DegRoll);
+	    
+		
+		if(AttitudeAlgorithms_YawFirstFlag==0)//获取带圈数的角度制偏航角
+		{
+			if(AttitudeAlgorithms_ThisDegYaw-AttitudeAlgorithms_LastDegYaw>180.0f)AttitudeAlgorithms_YawR--;
+			else if(AttitudeAlgorithms_LastDegYaw-AttitudeAlgorithms_ThisDegYaw>180.0f)AttitudeAlgorithms_YawR++;
+		}
+		else AttitudeAlgorithms_YawFirstFlag=0;
+		AttitudeAlgorithms_DegYaw=AttitudeAlgorithms_YawR*360.0f+AttitudeAlgorithms_ThisDegYaw;
+	}
+}
--- a/云台/云台/Function/AttitudeAlgorithms.h
+++ b/云台/云台/Function/AttitudeAlgorithms.h
@@ -0,0 +1,9 @@
+#ifndef __ATTITUDEALGORITHMS_H
+#define __ATTITUDEALGORITHMS_H
+
+extern float AttitudeAlgorithms_RadYaw,AttitudeAlgorithms_RadPitch,AttitudeAlgorithms_RadRoll;//弧度制角度
+extern float AttitudeAlgorithms_DegYaw,AttitudeAlgorithms_DegPitch,AttitudeAlgorithms_DegRoll;//角度制角度
+
+void AttitudeAlgorithms_Init(void);//姿态解算初始化
+
+#endif
--- a/云台/云台/Function/CToC.c
+++ b/云台/云台/Function/CToC.c
@@ -0,0 +1,176 @@
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+#include "Remote.h"
+#include "CToC.h"
+#include "Parameter.h"
+#include "RefereeSystem.h"
+
+/*
+ *函数简介:板间通讯主机初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:默认使用CAN2(CAN2-Tx为PB6,CAN2-Rx为PB5)
+ *备注:CAN波特率1M,默认1Tq=1/14us≈0.07us
+ *备注:使用CAN2需要在打开CAN2时钟之前打开CAN1时钟,且CAN2筛选器编号为15~27
+ *备注:主机控制从机的标识符为149,从机回报的标识符为189
+ */
+void CToC_MasterInit(void)
+{
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE);
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2,ENABLE);
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB,ENABLE);//开启时钟
+	
+	GPIO_InitTypeDef GPIO_InitStructure;
+	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF;
+	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;//复用推挽
+	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;//默认上拉
+	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_5 | GPIO_Pin_6;
+	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_100MHz;
+	GPIO_Init(GPIOB,&GPIO_InitStructure);//配置PB5(CAN2-Rx)和PB6(CAN2-Tx)
+
+	GPIO_PinAFConfig(GPIOB,GPIO_PinSource5,GPIO_AF_CAN2);//开启PB5的CAN2复用模式
+	GPIO_PinAFConfig(GPIOB,GPIO_PinSource6,GPIO_AF_CAN2);//开启PB6的CAN2复用模式
+	
+	CAN_InitTypeDef CAN_InitStructure;
+	CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;//正常模式
+	CAN_InitStructure.CAN_Prescaler=3;//时钟分频,1Tq=Prescaler/T_PCLK=Prescaler/42M
+	CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;//SJW极限值
+	CAN_InitStructure.CAN_BS1=CAN_BS1_10tq;//PBS1段长度
+	CAN_InitStructure.CAN_BS2=CAN_BS2_3tq;//PBS2段长度,1/Baudrate=T_1bit=(1+BS1+BS2)Tq
+	CAN_InitStructure.CAN_TTCM=DISABLE;//关闭时间触发功能
+	CAN_InitStructure.CAN_ABOM=ENABLE;//开启自动离线管理功能
+	CAN_InitStructure.CAN_AWUM=ENABLE;//开启自动唤醒功能
+	CAN_InitStructure.CAN_NART=ENABLE;//禁止自动重传功能
+	CAN_InitStructure.CAN_RFLM=DISABLE;//关闭锁定FIFO功能
+	CAN_InitStructure.CAN_TXFP=DISABLE;//配置报文优先级判定为标识符决定
+	CAN_Init(CAN2,&CAN_InitStructure);
+	
+	CAN_FilterInitTypeDef CAN_FilterInitStructure;
+	CAN_FilterInitStructure.CAN_FilterNumber=15;//筛选器编号15(编号0~14属于CAN1,编号15~27属于CAN2)
+	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO1;//存入FIFO1
+	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;//掩码模式
+	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_16bit;//筛选器尺度为16bits
+	CAN_FilterInitStructure.CAN_FilterIdHigh=(CToC_MasterID1<<5);//标识符=STID[15:5](189/0001 1000 1001)+RTR[4:4](0)+IDE[3:3](0)+EXID[2:0](000)
+	CAN_FilterInitStructure.CAN_FilterIdLow=(CToC_MasterID1<<5);
+	CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFE3;
+	CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFE3;
+	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
+	CAN_FilterInit(&CAN_FilterInitStructure);
+	
+	CAN_ITConfig(CAN2,CAN_IT_FMP1,ENABLE);//打通CAN2_FIFO1到NVIC的通道
+	
+	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//选择NVIC分组2(2位抢占优先级，2位响应优先级)
+	
+	NVIC_InitTypeDef NVIC_InitStructure;
+	NVIC_InitStructure.NVIC_IRQChannel=CAN2_RX1_IRQn;//选择CAN2_FIFO1接收中断通道
+	NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;//使能中断通道
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1;//抢占优先级为1
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;//响应优先级为1
+	NVIC_Init(&NVIC_InitStructure);//初始化CAN2_FIFO1的NVIC
+}
+
+/*
+ *函数简介:板间通讯主机发送遥控器摇杆数据
+ *参数说明:无
+ *返回类型:1-发送成功,0-发送失败
+ *备注:默认标准格式数据帧,8字节数据段
+ *备注:使用从机ID1
+ *发送数据:
+ *	Data[0~1]-遥控器底盘左右数据(右摇杆右左或按键AD)
+ *	Data[2~3]-遥控器底盘前后数据(右摇杆上下或按键WS)
+ *	Data[4~5]-遥控器云台左右数据(左摇杆右左或鼠标右左)
+ *	Data[6~7]-遥控器云台俯仰数据(左摇杆上下或鼠标下上)
+ */
+uint8_t CToC_MasterSendData(void)
+{
+	CanTxMsg TxMessage;
+	TxMessage.StdId=CToC_SlaveID1;
+	TxMessage.RTR=CAN_RTR_Data;//数据帧
+	TxMessage.IDE=CAN_Id_Standard;//标准格式
+	TxMessage.DLC=0x08;//8字节数据段
+	if((PC_Go==0 && PC_Back==0 && PC_Left==0 && PC_Right==0 && PC_Spin==0 && PC_Pitch==0) && RefereeSystem_Status==0)//遥控器控制
+	{
+		TxMessage.Data[0]=(uint8_t)((uint16_t)Remote_RxData.Remote_R_RL>>8);//右摇杆右左高八位
+		TxMessage.Data[1]=(uint8_t)((uint16_t)Remote_RxData.Remote_R_RL & 0x00FF);//右摇杆右左低八位
+		TxMessage.Data[2]=(uint8_t)((uint16_t)Remote_RxData.Remote_R_UD>>8);//右摇杆上下高八位
+		TxMessage.Data[3]=(uint8_t)((uint16_t)Remote_RxData.Remote_R_UD & 0x00FF);//右摇杆上下低八位
+		TxMessage.Data[4]=(uint8_t)(Remote_RxData.Remote_L_RL>>8);//左摇杆右左高八位
+		TxMessage.Data[5]=(uint8_t)(Remote_RxData.Remote_L_RL & 0x00FF);//左摇杆右左低八位
+		TxMessage.Data[6]=(uint8_t)(Remote_RxData.Remote_L_UD>>8);//左摇杆上下高八位
+		TxMessage.Data[7]=(uint8_t)(Remote_RxData.Remote_L_UD & 0x00FF);//左摇杆上下低八位
+	}
+	else//键盘控制
+	{
+		TxMessage.Data[0]=(uint8_t)((1024+(PC_Right-PC_Left)*660)>>8);//按键AD,相当于右摇杆右左(高八位)
+		TxMessage.Data[1]=(uint8_t)((1024+(PC_Right-PC_Left)*660) & 0x00FF);//按键AD,相当于右摇杆右左(低八位)
+		TxMessage.Data[2]=(uint8_t)((1024+(PC_Go-PC_Back)*660)>>8);//按键WS,相当于右摇杆上下(高八位)
+		TxMessage.Data[3]=(uint8_t)((1024+(PC_Go-PC_Back)*660) & 0x00FF);//按键WS,相当于右摇杆上下(低八位)
+		TxMessage.Data[4]=(uint8_t)((uint16_t)(1024+PC_Spin*PC_Mouse_RLSensitivity)>>8);//鼠标右左,相当于左摇杆右左(高八位)
+		TxMessage.Data[5]=(uint8_t)((uint16_t)(1024+PC_Spin*PC_Mouse_RLSensitivity) & 0x00FF);//鼠标右左,相当于左摇杆右左(低八位)
+		TxMessage.Data[6]=(uint8_t)((uint16_t)(1024+PC_Pitch*PC_Mouse_DUSensitivity)>>8);//鼠标下上,相当于左摇杆上下(高八位)
+		TxMessage.Data[7]=(uint8_t)((uint16_t)(1024+PC_Pitch*PC_Mouse_DUSensitivity) & 0x00FF);//鼠标下上,相当于左摇杆上下(低八位)
+	}
+	
+	uint8_t mbox=CAN_Transmit(CAN2,&TxMessage);//发送数据并获取邮箱号
+	uint16_t i=0;
+	while((CAN_TransmitStatus(CAN2,mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++;//等待发送结束
+	if(i>=0xFFF)return 0;//发送失败
+	return 1;//发送成功
+}
+
+/*
+ *函数简介:板间通讯主机发送遥控器控制数据
+ *参数说明:无
+ *返回类型:1-发送成功,0-发送失败
+ *备注:默认标准格式数据帧,8字节数据段
+ *备注:使用从机ID2
+ *发送数据:
+ *	Data[0]-遥控器连接状态
+ *	Data[1]-遥控器右侧拨动开关
+ *	Data[2]-键盘Ctrl状态(Remote_KeyPush_Ctrl)
+ *	Data[3]-键盘Shift状态(Remote_KeyPush_Shift)
+ *	Data[4]-遥控器启动标志位
+ *	Data[5]-遥控器左侧拨动开关
+ */
+uint8_t CToC_MasterSendControl(void)
+{
+	CanTxMsg TxMessage;
+	TxMessage.StdId=CToC_SlaveID2;
+	TxMessage.RTR=CAN_RTR_Data;//数据帧
+	TxMessage.IDE=CAN_Id_Standard;//标准格式
+	TxMessage.DLC=0x08;//8字节数据段
+	TxMessage.Data[0]=Remote_Status;//遥控器连接状态
+	TxMessage.Data[1]=Remote_RxData.Remote_RS;//遥控器右侧拨动开关
+	TxMessage.Data[2]=Remote_RxData.Remote_KeyPush_Ctrl;//键盘Ctrl状态
+	TxMessage.Data[3]=Remote_RxData.Remote_KeyPush_Shift;//键盘Shift状态
+	TxMessage.Data[4]=Remote_StartFlag;//遥控器启动标志位
+	TxMessage.Data[5]=Remote_RxData.Remote_LS;//遥控器左侧拨动开关
+	TxMessage.Data[6]=0;
+	TxMessage.Data[7]=0;
+	
+	uint8_t mbox=CAN_Transmit(CAN2,&TxMessage);//发送数据并获取邮箱号
+	uint16_t i=0;
+	while((CAN_TransmitStatus(CAN2,mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++;//等待发送结束
+	if(i>=0xFFF)return 0;//发送失败
+	return 1;//发送成功
+}
+
+/*
+ *函数简介:板间通讯数据处理
+ *参数说明:CAN数据帧ID号,详情见CToC.h的宏定义
+ *参数说明:反馈数据(8字节)
+ *返回类型:无
+ *备注:无
+ *接收数据:
+ *	Data[0]-发射机构状态
+ */
+void CToC_CANDataProcess(uint32_t ID,uint8_t *Data)
+{
+	static uint8_t Last_ShooterStatus=0;//上一次发射机构状态
+	if(ID==CToC_MasterID1)//接收遥控器拨杆数据
+	{
+		Last_ShooterStatus=RefereeSystem_ShooterStatus;//获取上一次发射机构状态
+		RefereeSystem_ShooterStatus=Data[0];//发射机构状态
+		if(Last_ShooterStatus==0 && RefereeSystem_ShooterStatus==1)RefereeSystem_ShooterOpenFlag=1;//发射机构上电瞬间
+	}
+}
--- a/云台/云台/Function/CToC.h
+++ b/云台/云台/Function/CToC.h
@@ -0,0 +1,14 @@
+#ifndef __CTOC_H
+#define __CTOC_H
+
+#define CToC_MasterID1	0x019//主机ID1
+
+#define CToC_SlaveID1	0x149//从机ID1
+#define CToC_SlaveID2	0x189//从机ID2
+
+void CToC_MasterInit(void);//板间通讯主机初始化
+uint8_t CToC_MasterSendData(void);//板间通讯主机发送遥控器摇杆数据
+uint8_t CToC_MasterSendControl(void);//板间通讯主机发送遥控器控制数据
+void CToC_CANDataProcess(uint32_t ID,uint8_t *Data);//板间通讯数据处理
+
+#endif
--- a/云台/云台/Function/CloseLoopControl.c
+++ b/云台/云台/Function/CloseLoopControl.c
@@ -0,0 +1,90 @@
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+#include "Remote.h"
+#include "IMUTemperatureControl.h"
+#include "LinkCheck.h"
+#include "Warming.h"
+#include "Gimbal.h"
+#include "Visual.h"
+/*
+ *函数简介:闭环控制初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:使用定时器TIM6进行闭环,闭环周期2ms
+ */
+void CloseLoopControl_Init(void)
+{
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6,ENABLE);//开启时钟
+	
+	TIM_InternalClockConfig(TIM6);//选择时基单元的时钟(TIM6)
+	
+	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;//配置时基单元（配置参数）
+	TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;//配置时钟分频为1分频
+	TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;//配置计数器模式为向上计数
+	TIM_TimeBaseInitStructure.TIM_Period=500-1;//配置自动重装值ARR
+	TIM_TimeBaseInitStructure.TIM_Prescaler=336-1;//配置分频值PSC,默认定时2ms
+	TIM_TimeBaseInitStructure.TIM_RepetitionCounter=0;//配置重复计数单元的置为0
+	TIM_TimeBaseInit(TIM6,&TIM_TimeBaseInitStructure);//初始化TIM7
+	
+	TIM_ClearFlag(TIM6,TIM_FLAG_Update);//清除配置时基单元产生的中断标志位
+	
+	TIM_ITConfig(TIM6,TIM_IT_Update,ENABLE);//使能更新中断
+	
+	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//选择NVIC分组
+	
+	NVIC_InitTypeDef NVIC_InitStructure;//配置NVIC（配置参数）
+	NVIC_InitStructure.NVIC_IRQChannel=TIM6_DAC_IRQn;//选择中断通道为TIM6
+	NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;//使能中断通道
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3;//TIM2的抢占优先级
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority=3;//TIM2的响应优先级
+	NVIC_Init(&NVIC_InitStructure);//初始化NVIC
+	
+	TIM_Cmd(TIM6,ENABLE);//启动定时器
+	
+	IMUTemperatureControl_PIDInit();//恒温控制初始化
+	Gimbal_Init();//云台初始化
+}
+
+/*
+ *函数简介:TIM6定时器更新中断函数
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void TIM6_DAC_IRQHandler(void)
+{
+	if(TIM_GetITStatus(TIM6,TIM_IT_Update)==SET)//检测TIM6更新
+	{
+		TIM_ClearITPendingBit(TIM6,TIM_IT_Update);//清除标志位
+		
+		/*===============恒温闭环控制===============*/
+		if(IMUTemperatureControl_OpenFlag==1)
+			IMUTemperatureControl_TemperatureControl();
+		
+		/*===============云台闭环控制===============*/
+		if(LinkCheck_Error==0)//CAN设备正常连接
+		{
+			if(Remote_Status==1)//遥控器连接状态
+			{
+				Gimbal_MoveControl();//云台运动控制
+
+				if(Remote_StartFlag==2)//遥控器初次连接
+				{
+					Remote_StartFlag=0;//遥控器启动状态
+					Gimbal_CleanPID();//云台PID清理
+				}
+			}
+			else//遥控器未连接状态
+			{
+				Remote_StartFlag=1;//遥控器准备启动
+				Warming_MotorControl();//电机报警状态
+			}
+		}
+		else//CAN设备异常连接
+		{
+			if(LinkCheck_ErrorID>=0)
+				Warming_LinkError();//CAN设备连接错误报警
+			Warming_MotorControl();//电机报警状态
+		}
+	}
+}
--- a/云台/云台/Function/CloseLoopControl.h
+++ b/云台/云台/Function/CloseLoopControl.h
@@ -0,0 +1,6 @@
+#ifndef __CLOSELOOPCONTROL_H
+#define __CLOSELOOPCONTROL_H
+
+void CloseLoopControl_Init(void);//闭环控制初始化
+
+#endif
--- a/云台/云台/Function/IMUTemperatureControl.c
+++ b/云台/云台/Function/IMUTemperatureControl.c
@@ -0,0 +1,87 @@
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+#include "BMI088.h"
+#include "PID.h"
+#include "Warming.h"
+
+PID_PositionInitTypedef IMUTemperatureControl_PID;//IMU恒温控制PID
+uint8_t IMUTemperatureControl_OpenFlag;//IMU恒温控制打开标志位
+
+/*
+ *函数简介:IMU恒温控制PID初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:用于CloseLoopControl文件中的CloseLoopControl_Init函数以初始化PID
+ *备注:默认恒温控制到40℃
+ */
+void IMUTemperatureControl_PIDInit(void)
+{
+	PID_PositionStructureInit(&IMUTemperatureControl_PID,40);
+	PID_PositionSetParameter(&IMUTemperatureControl_PID,20,0.0003,0);
+	PID_PositionSetEkRange(&IMUTemperatureControl_PID,-1,1);
+	PID_PositionSetOUTRange(&IMUTemperatureControl_PID,0,100);
+}
+
+/*
+ *函数简介:IMU恒温控制初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:使用定时器TIM10的通道1(PF6)产生PWM控制加热功率
+ *备注:PWM频率为1000Hz
+ */
+void IMUTemperatureControl_Init(void)
+{
+	RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM10,ENABLE);
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF,ENABLE);//开启时钟
+	
+	TIM_InternalClockConfig(TIM10);//选择时基单元TIM10
+	
+	GPIO_InitTypeDef GPIO_InitStructure;
+	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF;   
+	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;//复用推挽
+	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;//默认上拉
+	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_6;
+	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_100MHz;
+	GPIO_Init(GPIOF,&GPIO_InitStructure);
+	
+	GPIO_PinAFConfig(GPIOF,GPIO_PinSource6,GPIO_AF_TIM10);//开启PF6的TIM10复用模式
+	
+	TIM_TimeBaseInitTypeDef TIM_InitStructure;
+	TIM_InitStructure.TIM_ClockDivision=TIM_CKD_DIV1;//配置时钟分频为1分频
+	TIM_InitStructure.TIM_CounterMode=TIM_CounterMode_Up;//配置计数器模式为向上计数
+	TIM_InitStructure.TIM_Period=1000-1;//ARR,PWM为千分位1ms
+	TIM_InitStructure.TIM_Prescaler=168-1;//PSC
+	TIM_InitStructure.TIM_RepetitionCounter=0;//配置重复计数单元的置为0
+	TIM_TimeBaseInit(TIM10,&TIM_InitStructure);
+	
+	TIM_OCInitTypeDef TIM_OCInitStructure;
+	TIM_OCStructInit(&TIM_OCInitStructure);
+	TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM1;//配置输出比较模式
+	TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_High;//配置输出比较的极性
+	TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;//输出使能
+	TIM_OCInitStructure.TIM_Pulse=0;//配置输出比较寄存器CCR的值
+	TIM_OC1Init(TIM10,&TIM_OCInitStructure);//配置PF6输出PWM
+	
+	TIM_Cmd(TIM10,ENABLE);//启动定时器
+	
+	IMUTemperatureControl_OpenFlag=1;//IMU恒温控制打开
+}
+
+/*
+ *函数简介:IMU恒温控制
+ *参数说明:无
+ *返回类型:无
+ *备注:当温度高于50℃时会报警并且程序停止,具体报警现象见Warming.h
+ */
+void IMUTemperatureControl_TemperatureControl(void)
+{
+	if(BMI088_Temperature>50)//温度高于50℃
+		while(1)
+		{
+			Warming_IMUTemperatureTooHigh();//温度过高报警
+			TIM_SetCompare1(TIM10,0);//停止加热
+		}
+		
+	PID_PositionCalc(&IMUTemperatureControl_PID,BMI088_Temperature);//PID计算
+	TIM_SetCompare1(TIM10,IMUTemperatureControl_PID.OUT*10.0f);//PID补偿
+}
--- a/云台/云台/Function/IMUTemperatureControl.h
+++ b/云台/云台/Function/IMUTemperatureControl.h
@@ -0,0 +1,10 @@
+#ifndef __IMUTEMPERATURECONTROL_H
+#define __IMUTEMPERATURECONTROL_H
+
+extern uint8_t IMUTemperatureControl_OpenFlag;//IMU恒温控制打开标志位
+
+void IMUTemperatureControl_PIDInit(void);//IMU恒温控制PID初始化
+void IMUTemperatureControl_Init(void);//IMU恒温控制初始化
+void IMUTemperatureControl_TemperatureControl(void);//IMU恒温控制
+
+#endif
--- a/云台/云台/Function/LinkCheck.c
+++ b/云台/云台/Function/LinkCheck.c
@@ -0,0 +1,109 @@
+/*
+
+连接检查初始化					  --->定时器超时--->连接错误,关闭遥控器---
+开启定时器	   --->等待CAN接收---|										   |
+						^		  --->关闭定时器,更改ID<---等待恢复连接<--
+						|					|
+						---开启定时器-------
+
+*/
+
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+#include "TIM.h"
+#include "Remote.h"
+#include "CAN.h"
+#include "RefereeSystem.h"
+
+uint8_t LinkCheck_Error=0;//连接错误标志位
+int8_t LinkCheck_ErrorID;//故障设备ID编号
+
+/*
+ *函数简介:CAN设备连接检测初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:Freq=Sys_APB1TIM/(PSC+1)/(ARR+1)=84MHz/(PSC+1)/(ARR+1),T=1/Freq=(ARR+1)*(PSC+1)/84MHz
+ *备注:默认定时2.5ms
+ */
+void LinkCheck_Init(void)
+{
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM13,ENABLE);//开启时钟
+	
+	TIM_InternalClockConfig(TIM13);//选择时基单元的时钟
+	
+	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;//配置时基单元（配置参数）
+	TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;//配置时钟分频为1分频
+	TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;//配置计数器模式为向上计数
+	TIM_TimeBaseInitStructure.TIM_Period=210-1;//配置自动重装值ARR
+	TIM_TimeBaseInitStructure.TIM_Prescaler=1000-1;//配置分频值PSC
+	TIM_TimeBaseInitStructure.TIM_RepetitionCounter=0;//配置重复计数单元的置为0
+	TIM_TimeBaseInit(TIM13,&TIM_TimeBaseInitStructure);//初始化TIM13
+	
+	TIM_ClearFlag(TIM13,TIM_FLAG_Update);//清除配置时基单元产生的中断标志位
+	
+	TIM_ITConfig(TIM13,TIM_IT_Update,ENABLE);//使能更新中断
+	
+	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//选择NVIC分组
+	
+	NVIC_InitTypeDef NVIC_InitStructure;//配置NVIC（配置参数）
+	NVIC_InitStructure.NVIC_IRQChannel=TIM8_UP_TIM13_IRQn;//选择中断通道为TIM13
+	NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;//使能中断通道
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1;//TIM13的抢占优先级
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority=2;//TIM13的响应优先级
+	NVIC_Init(&NVIC_InitStructure);//初始化NVIC
+	
+	TIM_Cmd(TIM13,ENABLE);//启动定时器
+	
+	CAN_CANInit();//CAN通讯初始化
+}
+
+/*
+ *函数简介:开启掉线检查
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void LinkCheck_ON(void)
+{
+	TIM_SetCounter(TIM13,0);//复位计数器
+	TIM_Cmd(TIM13,ENABLE);
+}
+
+/*
+ *函数简介:关闭掉线检测
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void LinkCheck_OFF(void)
+{
+	TIM_Cmd(TIM13,DISABLE);
+}
+
+/*
+ *函数简介:TIM13定时器更新中断函数
+ *参数说明:无
+ *返回类型:无
+ *备注:进入中断即发生CAN设备掉线
+ *备注:此函数中会由发射机构是否上电对CAN通讯做出调整
+ */
+void TIM8_UP_TIM13_IRQHandler(void)
+{
+	if(TIM_GetITStatus(TIM13,TIM_IT_Update)==SET)//检测TIM2更新
+	{
+		TIM_ClearITPendingBit(TIM13,TIM_IT_Update);//清除标志位
+		{
+			LinkCheck_ErrorID=CAN_IDSelect;//获取故障设备ID
+			if(RefereeSystem_ShooterStatus==0)//发射机构未上电
+			{
+				CAN_CAN1DeviceNumber=1;//隔离发射机构设备
+				CAN_DeviceNumber=3;
+				CAN_CANIDReset();//复位CAN接收ID列表
+			}
+			else//发射机构正常上电
+				CAN_CAN_GetRefereeSystemData();//读取裁判系统状态，保证板间裁判系统数据传递不会断开
+				
+			LinkCheck_Error=1;//连接错误
+		}
+	}
+}
--- a/云台/云台/Function/LinkCheck.h
+++ b/云台/云台/Function/LinkCheck.h
@@ -0,0 +1,11 @@
+#ifndef __LINKCHECK_H
+#define __LINKCHECK_H
+
+extern uint8_t LinkCheck_Error;//连接错误标志位
+extern int8_t LinkCheck_ErrorID;//故障设备ID编号
+
+void LinkCheck_Init(void);//CAN设备连接检测初始化
+void LinkCheck_ON(void);//开启掉线检查
+void LinkCheck_OFF(void);//关闭掉线检测
+
+#endif
--- a/云台/云台/Function/Warming.c
+++ b/云台/云台/Function/Warming.c
@@ -0,0 +1,179 @@
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+#include "LED.h"
+#include "Buzzer.h"
+#include "CAN.h"
+#include "Delay.h"
+#include "LinkCheck.h"
+#include "GM6020.h"
+#include "M3508.h"
+#include "M2006.h"
+
+/*====================	 报警列表	====================
+	遥控器未连接	················1s里红灯连闪两下
+	遥控器数据错误报警	············红灯常亮
+	CAN总线设备连接异常············2s内蜂鸣器以高音6响n下,n为连接异常的设备在ID列表的索引(LinkCheck.h文件中LinkCheck_ErrorID变量)
+	IST8310连接错误	················绿灯以1s为周期闪烁
+	BMI088连接错误	················1s里绿灯连闪两下
+	陀螺仪温度过高报警	············绿灯常亮
+	电机报警状态	················电机静止
+  ======================================================*/
+
+/*
+ *函数简介:报警初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:报警功能用于各种错误的提示
+ *备注:报警有两种方式-LED和蜂鸣器
+ */
+void Warming_Init(void)
+{
+	LED_Init();
+	Buzzer_Init();
+}
+
+/*
+ *函数简介:报警关闭
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void Warming_Stop(void)
+{
+	TIM_SetCompare1(TIM10,0);
+}
+
+/*
+ *函数简介:报警LED清理
+ *参数说明:无
+ *返回类型:无
+ *备注:关闭所有灯
+ */
+void Warming_LEDClean(void)
+{
+	LED_BOFF();LED_GOFF();LED_ROFF();
+}
+
+/*
+ *函数简介:报警蜂鸣器清理
+ *参数说明:无
+ *返回类型:无
+ *备注:关闭所有蜂鸣器
+ */
+void Warming_BuzzerClean(void)
+{
+	Buzzer_ON(P);
+}
+
+/*
+ *函数简介:遥控器未连接报警
+ *参数说明:无
+ *返回类型:无
+ *备注:遥控器连接检测TIM7定时更新中断调用,定时25ms
+ *报警现象:1s里红灯连闪两下
+ */
+void Warming_RemoteNoCheck(void)
+{
+	static uint8_t Counter=0;
+	Counter++;
+	
+	if(Counter==1)LED_RON();
+	else if(Counter==5)LED_ROFF();
+	else if(Counter==13)LED_RON();
+	else if(Counter==17)LED_ROFF();
+	else if(Counter==40)Counter=0;
+}
+
+/*
+ *函数简介:遥控器数据错误报警
+ *参数说明:无
+ *返回类型:无
+ *报警现象:红灯常量
+ */
+void Warming_RemoteDataERROR(void)
+{
+	LED_RON();
+}
+
+/*
+ *函数简介:CAN总线设备连接异常报警
+ *参数说明:无
+ *返回类型:无
+ *备注:闭环控制TIM6定时更新中断调用,定时2ms
+ *报警现象:2s内蜂鸣器以高音6响n下,n为连接异常的设备在ID列表的索引(LinkCheck.h文件中LinkCheck_ErrorID变量)
+ */
+void Warming_LinkError(void)
+{
+	static uint8_t i=0;
+	static uint16_t Counter=0;
+	Counter++;
+	
+	if(i<LinkCheck_ErrorID+1)//高音6响LinkCheck_ErrorID下
+	{
+		if(Counter==100*i+1)Buzzer_ON(H6);
+		else if(Counter==100*i+51)Buzzer_ON(P);
+		else if(Counter==100*i+100)i++;
+	}
+	if(Counter==1000){Counter=0;i=0;}
+}
+
+/*
+ *函数简介:IST8310连接错误
+ *参数说明:无
+ *返回类型:无
+ *备注:IST8310初始化调用,周期25ms
+ *报警现象:绿灯以1s为周期闪烁
+ */
+void Warming_IST8310LinkError(void)
+{
+	static uint8_t Counter=0;
+	Counter++;
+	
+	if(Counter==1)LED_GON();
+	else if(Counter==5)LED_GOFF();
+	else if(Counter==40)Counter=0;
+}
+
+/*
+ *函数简介:BMI088连接错误
+ *参数说明:无
+ *返回类型:无
+ *备注:BMI088初始化调用,周期25ms
+ *报警现象:1s里绿灯连闪两下
+ */
+void Warming_BMI088LinkError(void)
+{
+	static uint8_t Counter=0;
+	Counter++;
+	
+	if(Counter==1)LED_GON();
+	else if(Counter==5)LED_GOFF();
+	else if(Counter==13)LED_GON();
+	else if(Counter==17)LED_GOFF();
+	else if(Counter==40)Counter=0;
+}
+
+/*
+ *函数简介:陀螺仪温度过高报警
+ *参数说明:无
+ *返回类型:无
+ *备注:IMU恒温控制调用,温度警戒50℃
+ *报警现象:绿灯常亮
+ */
+void Warming_IMUTemperatureTooHigh(void)
+{
+	LED_GON();
+}
+
+/*
+ *函数简介:电机报警状态
+ *参数说明:无
+ *返回类型:无
+ *报警现象:电机静止
+ */
+void Warming_MotorControl(void)
+{
+	GM6020_CAN2SetLIDVoltage(0,0,0,0);
+	M3508_CANSetLIDCurrent(0,0,0,0);
+	M2006_CANSetHIDCurrent(0,0,0,0);
+}
--- a/云台/云台/Function/Warming.h
+++ b/云台/云台/Function/Warming.h
@@ -0,0 +1,26 @@
+#ifndef __WARMING_H
+#define __WARMING_H
+
+/*====================	 报警列表	====================
+	遥控器未连接	················1s里红灯连闪两下
+	遥控器数据错误报警	············红灯常亮
+	CAN总线设备连接异常	············2s内蜂鸣器以高音6响n下,n为CAN.c文件里ID列表的索引
+	IST8310连接错误	················绿灯以1s为周期闪烁
+	BMI088连接错误	················1s里绿灯连闪两下
+	陀螺仪温度过高报警	············绿灯常亮
+	电机报警状态	················电机静止
+  ======================================================*/
+
+void Warming_Init(void);//报警初始化
+void Warming_Stop(void);//报警关闭
+void Warming_LEDClean(void);//报警LED清理
+void Warming_BuzzerClean(void);//报警蜂鸣器清理
+void Warming_RemoteNoCheck(void);//遥控器未连接报警
+void Warming_RemoteDataERROR(void);//遥控器数据错误报警
+void Warming_LinkError(void);//CAN总线设备连接异常报警
+void Warming_IST8310LinkError(void);//IST8310连接错误
+void Warming_BMI088LinkError(void);//BMI088连接错误
+void Warming_IMUTemperatureTooHigh(void);//陀螺仪温度过高报警
+void Warming_MotorControl(void);//电机报警状态
+
+#endif
--- a/云台/云台/Hardware/BMI088.c
+++ b/云台/云台/Hardware/BMI088.c
@@ -0,0 +1,579 @@
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+#include "Warming.h"
+#include "Delay.h"
+
+/*
+ *SPI模式选择:
+ *
+ *CPOL(时钟极性):
+ *		0/Low-空闲状态时,SCK=0
+ *		1/High-空闲状态时,SCK=1
+ *CPHA(时钟相位):
+ *		0/1Edge-SCK第一个边沿移入数据,第二个边沿移出数据
+ *		1/2Edge-SCK第一个边沿移出数据,第二个边沿移入数据
+ *
+ *模式0:CPOL=0,CPHA=0
+ *模式1:CPOL=0,CPHA=1
+ *模式2:CPOL=1,CPHA=0
+ *模式3:CPOL=1,CPHA=1
+ */
+
+//加速度计寄存器
+#define BMI088_ACC_CHIP_ID				0x00//加速度计Who Am I寄存器
+#define BMI088_ACC_PWR_CTRL				0x7D//加速度计电源控制寄存器
+#define BMI088_ACC_PWR_CONF				0x7C//加速度计电源配置寄存器
+#define BMI088_ACC_CONF					0x40//加速度计配置寄存器
+#define BMI088_ACC_RANGE				0x41//加速度计范围设置寄存器
+#define BMI088_INT1_IO_CONF				0x53//加速度计配置INT1输入输出引脚寄存器
+#define BMI088_INT1_INT2_MAP_DATA		0x58//加速度计映射数据就绪中断到INT1/INT2寄存器
+#define BMI088_ACC_SOFTRESET			0x7E//加速度计软件重启寄存器
+#define BMI088_ACC_AccelDataStart		0x12//加速度计数据寄存器首地址
+#define BMI088_ACC_TEMP_MSB				0x22//加速度计温度寄存器高八位
+#define BMI088_ACC_TEMP_LSB				0x23//加速度计温度寄存器低三位
+
+//陀螺仪寄存器
+#define BMI088_GYRO_CHIP_ID				0x00//陀螺仪Who Am I寄存器
+#define BMI088_GYRO_RANGE				0x0F//陀螺仪范围设置寄存器
+#define BMI088_GYRO_BANDWIDTH			0x10//陀螺仪带宽寄存器
+#define BMI088_GYRO_LPM1				0x11//陀螺仪主电源模式选择寄存器
+#define BMI088_GYRO_INT_CTRL			0x15//陀螺仪中断控制寄存器
+#define BMI088_INT3_INT4_IO_CONF		0x16//陀螺仪配置中断输入输出引脚寄存器
+#define BMI088_INT3_INT4_IO_MAP			0x18//陀螺仪映射数据就绪中断到INT3/INT4寄存器
+#define BMI088_GYRO_SOFTRESET			0x14//陀螺仪软件重启寄存器
+#define BMI088_GYRO_GyroDataStart		0x02//陀螺仪数据寄存器首地址
+
+#define BMI088_ACC_Address				0x1E//加速度计地址
+#define BMI088_GYRO_Address				0x0F//陀螺仪地址
+
+
+#define BMI088_CS_Accel(x)				GPIO_WriteBit(GPIOA,GPIO_Pin_4,(BitAction)(x))//写加速度计的片选引脚
+#define BMI088_CS_Gyro(x)				GPIO_WriteBit(GPIOB,GPIO_Pin_0,(BitAction)(x))//写陀螺仪的片选引脚
+
+#define BMI088_Accel_Start()			BMI088_CS_Accel(0)//BMI088加速度计硬件SPI数据交换开始(拉低BMI088_CS_Accel完成片选)
+#define BMI088_Accel_Stop()				BMI088_CS_Accel(1)//BMI088加速度计硬件SPI数据交换结束(拉高BMI088_CS_Accel结束片选)
+#define BMI088_Gyro_Start()				BMI088_CS_Gyro(0)//BMI088陀螺仪硬件SPI数据交换开始(拉低BMI088_CS_Gyro完成片选)
+#define BMI088_Gyro_Stop()				BMI088_CS_Gyro(1)//BMI088陀螺仪硬件SPI数据交换结束(拉高BMI088_CS_Gyro结束片选)
+
+
+uint8_t BMI088_SPI_DMASend[8],BMI088_SPI_DMAReceive[8];//BMI088的SPI发送DMA存储器数组,BMI088的SPI接收DMA存储器数组
+uint8_t BMI088_FirstDMA_Flag=2,BMI088_DMAAccGyroSelect;//BMI088的DMA首次启动标志位(0-已经首次启动,1-准备首次启动,2-等待首次启动),BMI088的DMA处于加速度计数据接收还是陀螺仪数据接收的状态选择(1-加速度计数据接收,2-陀螺仪数据接收)
+uint8_t BMI088_DataStartFlag;//BMI088开始接收数据标志位
+
+int16_t BMI088_RawAccelData[3],BMI088_RawGyroData[3],BMI088_RawTemperatureData;//BMI088的三轴加速度原始数据,三轴角速度原始数据和温度原始数据
+float BMI088_Accel[3],BMI088_Gyro[3],BMI088_Temperature;//BMI088的三轴加速度数据,三轴角速度数据和温度
+
+/*
+ *函数简介:BMI088专用微秒级延时
+ *参数说明:延时时长,单位us
+ *返回类型:无
+ *备注:参数范围:0~4294967295
+ */
+void BMI088_Delay_us(uint32_t us)
+{		
+	uint32_t temp;	    	 
+	SysTick->LOAD=us*21; 						//时间加载，我们要延时n倍的us, 1us是一个fac_ua周期，所以总共要延时的周期值为二者相乘最后送到Load中。		 
+	SysTick->VAL=0x00;        					//清空计数器
+	SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk;	//开启使能位 开始倒数
+	do temp=SysTick->CTRL;
+	while((temp&0x01) && !(temp&(1<<16)));		//用来判断 systick 定时器是否还处于开启状态，然后在等待时间到达，也就是数到0的时候,此时第十六位设置为1
+	SysTick->CTRL&=~SysTick_CTRL_ENABLE_Msk;	//关闭计数器使能位
+	SysTick->VAL=0x00;       					//清空计数器
+}
+
+/*
+ *函数简介:BMI088加速度计写寄存器
+ *参数说明:8bits寄存器地址
+ *参数说明:8bits寄存器写入数据
+ *返回类型:无
+ *备注:在第一个数据发送时,第二个数据已经在发送缓冲区等待以实现连续数据流
+ *备注:BMI088的寄存器地址的最高位bit需要为0(即&0x7F),以实现写寄存器
+ */
+void BMI088_SPI_AccelWriteRegister(uint8_t RegAddress,uint8_t Data)
+{
+	BMI088_Accel_Start();//开始
+	
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_TXE)!=SET);//发送缓冲区为空
+	SPI_I2S_SendData(SPI1,RegAddress & 0x7F);//将地址(写数据)放入发送缓冲区
+	
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_TXE)!=SET);//发送缓冲区为空
+	SPI_I2S_SendData(SPI1,Data);//SPI发送数据(放入发送缓冲区,实现连续数据流)
+	
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_RXNE)!=SET);//接收缓冲区非空,即第一个数据(地址数据)移位完成
+	SPI_I2S_ReceiveData(SPI1);//此数据来自发送地址,故读取当前接收缓冲区以清除接收数据和标志位
+	
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_RXNE)!=SET);//接收缓冲区非空,即第二个数据(接收数据)移位完成
+	SPI_I2S_ReceiveData(SPI1);//SPI接收数据,清除接收数据和标志位
+	
+	BMI088_Accel_Stop();//结束
+}
+
+/*
+ *函数简介:BMI088加速度计读寄存器
+ *参数说明:8bits寄存器地址
+ *返回类型:8bits寄存器读出数据
+ *备注:在第一个数据发送时,第二个数据已经在发送缓冲区等待以实现连续数据流
+ *备注:BMI088的寄存器地址的最高位bit需要为1(即|0x80),以实现读寄存器
+ *备注:加速度计读取寄存器时(包括连续读取和非连续读取),第一个读出数据是乱码,从第二个开始才是有效数据
+ */
+uint8_t BMI088_SPI_AccelReadRegister(uint8_t RegAddress)
+{
+	BMI088_Accel_Start();//开始
+	
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_TXE)!=SET);//发送缓冲区为空
+	SPI_I2S_SendData(SPI1,RegAddress | 0x80);//将地址(读数据)放入发送缓冲区
+	
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_TXE)!=SET);//发送缓冲区为空
+	SPI_I2S_SendData(SPI1,0x00);//SPI发送数据(放入发送缓冲区,实现连续数据流)
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_RXNE)!=SET);//接收缓冲区非空,即第一个数据(地址数据)移位完成
+	SPI_I2S_ReceiveData(SPI1);//此数据来自发送地址,故读取当前接收缓冲区以清除接收数据和标志位
+	
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_TXE)!=SET);//发送缓冲区为空
+	SPI_I2S_SendData(SPI1,0x00);//SPI发送数据(放入发送缓冲区,实现连续数据流)
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_RXNE)!=SET);//接收缓冲区非空,即第二个数据(地址数据)移位完成
+	SPI_I2S_ReceiveData(SPI1);//此回传数据为乱码,故读取当前接收缓冲区以清除接收数据和标志位
+	
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_RXNE)!=SET);//接收缓冲区非空,即第三个数据(接收数据)移位完成
+	BMI088_Accel_Stop();//结束
+	
+	return SPI_I2S_ReceiveData(SPI1);//SPI接收数据
+}
+
+/*
+ *函数简介:BMI088陀螺仪写寄存器
+ *参数说明:8bits寄存器地址
+ *参数说明:8bits寄存器写入数据
+ *返回类型:无
+ *备注:在第一个数据发送时,第二个数据已经在发送缓冲区等待以实现连续数据流
+ *备注:BMI088的寄存器地址的最高位bit需要为0(即&0x7F),以实现写寄存器
+ */
+void BMI088_SPI_GyroWriteRegister(uint8_t RegAddress,uint8_t Data)
+{
+	BMI088_Gyro_Start();//开始
+	
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_TXE)!=SET);//发送缓冲区为空
+	SPI_I2S_SendData(SPI1,RegAddress & 0x7F);//将地址(写数据)放入发送缓冲区
+	
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_TXE)!=SET);//发送缓冲区为空
+	SPI_I2S_SendData(SPI1,Data);//SPI发送数据(放入发送缓冲区,实现连续数据流)
+	
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_RXNE)!=SET);//接收缓冲区非空,即第一个数据(地址数据)移位完成
+	SPI_I2S_ReceiveData(SPI1);//此数据来自发送地址,故读取当前接收缓冲区以清除接收数据和标志位
+	
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_RXNE)!=SET);//接收缓冲区非空,即第二个数据(接收数据)移位完成
+	SPI_I2S_ReceiveData(SPI1);//SPI接收数据,清除接收数据和标志位
+	
+	BMI088_Gyro_Stop();//结束
+}
+
+/*
+ *函数简介:BMI088陀螺仪读寄存器
+ *参数说明:8bits寄存器地址
+ *返回类型:8bits寄存器读出数据
+ *备注:在第一个数据发送时,第二个数据已经在发送缓冲区等待以实现连续数据流
+ *备注:BMI088的寄存器地址的最高位bit需要为1(即|0x80),以实现读寄存器
+ */
+uint8_t BMI088_SPI_GyroReadRegister(uint8_t RegAddress)
+{
+	BMI088_Gyro_Start();//开始
+	
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_TXE)!=SET);//发送缓冲区为空
+	SPI_I2S_SendData(SPI1,RegAddress | 0x80);//将地址(读数据)放入发送缓冲区
+	
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_TXE)!=SET);//发送缓冲区为空
+	SPI_I2S_SendData(SPI1,0x00);//SPI发送数据(放入发送缓冲区,实现连续数据流)
+	
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_RXNE)!=SET);//接收缓冲区非空,即第一个数据(地址数据)移位完成
+	SPI_I2S_ReceiveData(SPI1);//此数据来自发送地址,故读取当前接收缓冲区以清除接收数据和标志位
+	
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_RXNE)!=SET);//接收缓冲区非空,即第二个数据(接收数据)移位完成
+	BMI088_Gyro_Stop();//结束
+	
+	return SPI_I2S_ReceiveData(SPI1);//SPI接收数据
+}
+
+/*
+ *函数简介:BMI088初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:使用SPI1,SPI模式3(CPOL=1,CPHA=1),波特率5.25MHz
+ *备注:规定SPI1_CLK为PB3,SPI1_MISO为PB4,SPI1_MOSI为PA7,CS1_Accel为PA4(加速度计片选引脚),CS1_Gyro为PB0(陀螺仪片选引脚)
+ *备注:规定INT1_Accel为PC4,INT1_Gyro为PC5,分别连接芯片的INT1和INT3,配置为数据就绪中断(下降沿)
+ *备注:采用SPI收发DMA节约CPU资源(SPI1发送DMA为DMA2数据流3通道3,SPI1接收DMA为DMA2数据流2通道3)
+ *备注:在初始化中对寄存器进行了配置,最关键配置为加速度量程±3g,角速度量程±2000°/s
+ *备注:配置寄存器时会对加速度计和陀螺仪进行软重启,加速度计耗时1ms,陀螺仪耗时30ms,同时软重启之后第一次读写有bug,数据会错误
+ *备注:加速度计软重启之后需要重新上电,需要配置BMI088_ACC_PWR_CTRL和BMI088_ACC_PWR_CONF两个寄存器,每次配置需要等待一段时间,测试得到250us足矣,共耗时500us,保险起见采用300us,共耗时600us
+ *备注:保险起见在每一次配置寄存器之后加入300us的延时,共计3.6ms
+ *备注:初始化时会检查加速度计和陀螺仪的ID,ID错误会进行报警,并且程序会卡死不断的进行检测,具体报警现象见Warming.h
+ */
+void BMI088_Init(void)
+{
+	/*===============配置时钟===============*/
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE);
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB,ENABLE);
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC,ENABLE);
+	RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1,ENABLE);
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2,ENABLE);
+	RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG,ENABLE);//开启时钟
+	
+	/*===============配置GPIO===============*/
+	GPIO_InitTypeDef GPIO_InitStructure;
+	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_OUT;
+	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;//推挽输出
+	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;//默认上拉
+	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_4;
+	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_100MHz;
+	GPIO_Init(GPIOA,&GPIO_InitStructure);//配置CS1_Accel(加速度计片选引脚)
+	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0;
+	GPIO_Init(GPIOB,&GPIO_InitStructure);//配置CS1_Gyro(陀螺仪片选引脚)
+	
+	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF;//复用推挽
+	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_3 | GPIO_Pin_4;
+	GPIO_Init(GPIOB,&GPIO_InitStructure);//配置SPI1_CLK和SPI1_MISO
+	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_7;
+	GPIO_Init(GPIOA,&GPIO_InitStructure);//配置SPI1_MOSI
+	
+	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN;//上拉输入
+	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_4 | GPIO_Pin_5;
+	GPIO_Init(GPIOC,&GPIO_InitStructure);//配置INT1_Accel和INT1_Gyro(加速度计和陀螺仪的中断线)
+	
+	GPIO_PinAFConfig(GPIOA,GPIO_PinSource7,GPIO_AF_SPI1);//开启PA7的SPI1复用模式
+	GPIO_PinAFConfig(GPIOB,GPIO_PinSource3,GPIO_AF_SPI1);//开启PB3的SPI1复用模式
+	GPIO_PinAFConfig(GPIOB,GPIO_PinSource4,GPIO_AF_SPI1);//开启PB4的SPI1复用模式
+	
+	/*===============配置SPI和SPI收发DMA===============*/
+	SPI_InitTypeDef SPI_InitStructure;
+	SPI_InitStructure.SPI_Mode=SPI_Mode_Master;//主机模式
+	SPI_InitStructure.SPI_Direction=SPI_Direction_2Lines_FullDuplex;//双线全双工
+	SPI_InitStructure.SPI_DataSize=SPI_DataSize_8b;//8位数据帧
+	SPI_InitStructure.SPI_FirstBit=SPI_FirstBit_MSB;//高位先行
+	SPI_InitStructure.SPI_BaudRatePrescaler=SPI_BaudRatePrescaler_8;//波特率预分频系数8,SCK频率为PCLK/分频系数,即Freq_SCK=42MHz/8=5.25MHz
+	SPI_InitStructure.SPI_CPOL=SPI_CPOL_High;//CPOL=1
+	SPI_InitStructure.SPI_CPHA=SPI_CPHA_2Edge;//第二个边沿开始采样,即CPHA=1
+	SPI_InitStructure.SPI_NSS=SPI_NSS_Soft;//软件NSS模式
+	SPI_InitStructure.SPI_CRCPolynomial=10;//CRC检测,不懂
+	SPI_Init(SPI1,&SPI_InitStructure);
+	
+	DMA_InitTypeDef DMA_InitStructure;
+	DMA_InitStructure.DMA_Channel=DMA_Channel_3;//选择DMA通道3
+	DMA_InitStructure.DMA_Mode=DMA_Mode_Normal;//普通模式(非自动重装)
+	DMA_InitStructure.DMA_DIR=DMA_DIR_MemoryToPeripheral;//转运方向为存储器到外设
+	DMA_InitStructure.DMA_BufferSize=8;//数据传输量为8字节
+	DMA_InitStructure.DMA_Priority=DMA_Priority_VeryHigh;//最高优先级
+	DMA_InitStructure.DMA_PeripheralBaseAddr=(uint32_t)&(SPI1->DR);//外设地址(SPI1的DR数据接收寄存器)
+	DMA_InitStructure.DMA_PeripheralBurst=DMA_PeripheralBurst_Single;//外设突发单次传输
+	DMA_InitStructure.DMA_PeripheralDataSize=DMA_PeripheralDataSize_Byte;//外设数据长度为1字节(8bits)
+	DMA_InitStructure.DMA_PeripheralInc=DMA_PeripheralInc_Disable;//外设地址不自增
+	DMA_InitStructure.DMA_Memory0BaseAddr=(uint32_t)BMI088_SPI_DMASend;//存储器地址(BMI088的SPI发送DMA存储器数组)
+	DMA_InitStructure.DMA_MemoryBurst=DMA_MemoryBurst_Single;//存储器突发单次传输
+	DMA_InitStructure.DMA_MemoryDataSize=DMA_MemoryDataSize_Byte;//存储器数据长度为1字节(8bits)
+	DMA_InitStructure.DMA_MemoryInc=DMA_MemoryInc_Enable;//存储器地址自增
+	DMA_InitStructure.DMA_FIFOMode=DMA_FIFOMode_Disable;//不使用FIFO模式
+	DMA_InitStructure.DMA_FIFOThreshold=DMA_FIFOStatus_1QuarterFull;//设置FIFO阈值为1/4(不使用FIFO模式时,此位无意义)
+	DMA_Init(DMA2_Stream3,&DMA_InitStructure);//初始化数据流3(SPI1发送DMA)
+	
+	DMA_InitStructure.DMA_DIR=DMA_DIR_PeripheralToMemory;//转运方向为外设到存储器
+	DMA_InitStructure.DMA_Memory0BaseAddr=(uint32_t)BMI088_SPI_DMAReceive;//存储器地址(BMI088的SPI接收DMA存储器数组)
+	DMA_Init(DMA2_Stream2,&DMA_InitStructure);//初始化数据流2(SPI1接收DMA)
+	
+	SPI_I2S_DMACmd(SPI1,SPI_I2S_DMAReq_Tx,ENABLE);//使能SPI1的发送DMA搬运
+	SPI_I2S_DMACmd(SPI1,SPI_I2S_DMAReq_Rx,ENABLE);//使能SPI1的接收DMA搬运
+	
+	BMI088_CS_Accel(1);//复位CS1_Accel(加速度计片选引脚)
+	BMI088_CS_Gyro(1);//复位CS1_Gyro(陀螺仪片选引脚)
+		
+	/*===============配置外部中断和SPI1接收DMA传输完成中断===============*/
+	SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOC,EXTI_PinSource4);//配置PC4与中断线的映射关系
+	SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOC,EXTI_PinSource5);//配置PC5与中断线的映射关系
+	
+	EXTI_InitTypeDef EXTI_InitStructure;
+	EXTI_InitStructure.EXTI_Line=EXTI_Line4;//配置中断线4
+	EXTI_InitStructure.EXTI_LineCmd=ENABLE;//使能中断线
+	EXTI_InitStructure.EXTI_Mode=EXTI_Mode_Interrupt;//配置为外部中断模式
+	EXTI_InitStructure.EXTI_Trigger=EXTI_Trigger_Falling;//选择下降沿触发
+	EXTI_Init(&EXTI_InitStructure);//初始化EXTI
+	EXTI_InitStructure.EXTI_Line=EXTI_Line5;//配置中断线5
+	EXTI_Init(&EXTI_InitStructure);//初始化EXTI
+	
+	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//选择NVIC分组为2
+	
+	NVIC_InitTypeDef NVIC_InitStructure;
+	NVIC_InitStructure.NVIC_IRQChannel=EXTI4_IRQn;//配置NVIC通道4
+	NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;//使能NVIC通道
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;//抢占优先级
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;//响应优先级
+	NVIC_Init(&NVIC_InitStructure);//初始化NVIC
+	NVIC_InitStructure.NVIC_IRQChannel=EXTI9_5_IRQn;//配置NVIC通道9_5
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;//抢占优先级
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;//响应优先级
+	NVIC_Init(&NVIC_InitStructure);//初始化NVIC
+	
+	DMA_ITConfig(DMA2_Stream2,DMA_IT_TC,ENABLE);//打通SPI1到NVIC的接收传输完成中断通道
+		
+	NVIC_InitStructure.NVIC_IRQChannel=DMA2_Stream2_IRQn;//选择SPI1接收DMA传输完成中断通道
+	NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;//使能中断通道
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1;//抢占优先级为1
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;//响应优先级为1
+	NVIC_Init(&NVIC_InitStructure);//初始化SPI1接收DMA传输完成中断的NVIC
+	
+	/*===============使能===============*/
+	DMA_Cmd(DMA2_Stream3,DISABLE);//失能DMA2的数据流3(SPI1发送DMA)
+	DMA_Cmd(DMA2_Stream2,DISABLE);//失能DMA2的数据流2(SPI1接收DMA)
+	SPI_Cmd(SPI1,ENABLE);//使能SPI1
+
+	/*===============检测加速度计和陀螺仪ID并配置寄存器===============*/
+	while(1)
+	{
+		if(BMI088_SPI_AccelReadRegister(BMI088_ACC_CHIP_ID)==BMI088_ACC_Address && BMI088_SPI_GyroReadRegister(BMI088_GYRO_CHIP_ID)==BMI088_GYRO_Address)//设备连接正常,加速度计和陀螺仪Who Am I正确
+		{
+			NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;//关闭NVIC通道
+			NVIC_Init(&NVIC_InitStructure);//初始化NVIC
+			
+			BMI088_SPI_AccelWriteRegister(BMI088_ACC_SOFTRESET,0xB6);BMI088_Delay_us(1000);//加速度计软重启,耗时1ms
+			BMI088_SPI_GyroWriteRegister(BMI088_GYRO_SOFTRESET,0xB6);BMI088_Delay_us(30000);//陀螺仪软重启,耗时30ms
+			
+			BMI088_SPI_AccelReadRegister(BMI088_ACC_CHIP_ID);//再次读取ID,促使从机BMI088的SPI重新开始工作(软重启之后第一次读写有bug)
+			BMI088_SPI_GyroReadRegister(BMI088_GYRO_CHIP_ID);
+			
+			BMI088_SPI_AccelWriteRegister(BMI088_ACC_PWR_CTRL,0x04);BMI088_Delay_us(300);//打开加速度计
+			BMI088_SPI_AccelWriteRegister(BMI088_ACC_PWR_CONF,0x00);BMI088_Delay_us(300);//加速度计正常工作(不挂起)
+			BMI088_SPI_AccelWriteRegister(BMI088_ACC_CONF,0xAB);BMI088_Delay_us(300);//配置加速度计正常低通滤波带宽,800Hz输出
+			BMI088_SPI_AccelWriteRegister(BMI088_ACC_RANGE,0x00);BMI088_Delay_us(300);//配置加速度计量程±3g
+			BMI088_SPI_AccelWriteRegister(BMI088_INT1_IO_CONF,0x08);BMI088_Delay_us(300);//配置加速度计INT1推挽输出,低电平有效(下降沿)
+			BMI088_SPI_AccelWriteRegister(BMI088_INT1_INT2_MAP_DATA,0x04);BMI088_Delay_us(300);//配置INT1中断映射为数据就绪中断
+			
+			BMI088_SPI_GyroWriteRegister(BMI088_GYRO_RANGE,0x00);BMI088_Delay_us(300);//配置陀螺仪量程±2000°/s
+			BMI088_SPI_GyroWriteRegister(BMI088_GYRO_BANDWIDTH,0x82);BMI088_Delay_us(300);//配置陀螺仪滤波器带宽116Hz,1000Hz输出(写此寄存器,写入数据最高位需要为1)
+			BMI088_SPI_GyroWriteRegister(BMI088_GYRO_LPM1,0x00);BMI088_Delay_us(300);//配置陀螺仪主电源模式为正常模式
+			BMI088_SPI_GyroWriteRegister(BMI088_GYRO_INT_CTRL,0x80);BMI088_Delay_us(300);//使能陀螺仪数据就绪中断
+			BMI088_SPI_GyroWriteRegister(BMI088_INT3_INT4_IO_CONF,0x00);BMI088_Delay_us(300);//配置陀螺仪INT3推挽输出,低电平有效(下降沿)
+			BMI088_SPI_GyroWriteRegister(BMI088_INT3_INT4_IO_MAP,0x01);BMI088_Delay_us(300);//配置INT3中断映射为数据就绪中断
+			
+			BMI088_FirstDMA_Flag=1;//准备首次启动DMA
+			break;
+		}
+		else//设备异常
+		{
+			NVIC_InitStructure.NVIC_IRQChannelCmd=DISABLE;//关闭NVIC通道
+			NVIC_Init(&NVIC_InitStructure);//初始化NVIC
+			Warming_BMI088LinkError();//BMI088连接异常报警
+			Delay_ms(25);
+		}
+	}
+	
+	while(BMI088_DataStartFlag==0);//等待数据开始接收
+}
+
+/*
+ *函数简介:BMI088处理加速度计数据
+ *参数说明:无
+ *返回类型:无
+ *备注:本函数用于SPI接收DMA传输完成之后,数据来源为BMI088的SPI接收DMA存储器数组BMI088_SPI_DMAReceive
+ *备注:加速度a(m2/s)=a_raw(g)*9.8=(a_raw/32768*Range)*9.8
+ *					 =(a_raw/32768*3)*9.8
+ *					 =a_raw*0.0008974358974
+ */
+void BMI088_ProcessAccelData(void)
+{
+	BMI088_RawAccelData[0]=(int16_t)((uint16_t)BMI088_SPI_DMAReceive[3]<<8|BMI088_SPI_DMAReceive[2]);//拼接为原始数据
+	BMI088_RawAccelData[1]=(int16_t)((uint16_t)BMI088_SPI_DMAReceive[5]<<8|BMI088_SPI_DMAReceive[4]);
+	BMI088_RawAccelData[2]=(int16_t)((uint16_t)BMI088_SPI_DMAReceive[7]<<8|BMI088_SPI_DMAReceive[6]);
+	
+	BMI088_Accel[0]=BMI088_RawAccelData[0]*0.0008974358974f;
+	BMI088_Accel[1]=BMI088_RawAccelData[1]*0.0008974358974f;
+	BMI088_Accel[2]=BMI088_RawAccelData[2]*0.0008974358974f;
+//	BMI088_Accel[0]=BMI088_RawAccelData[0]/32768.0f*9.8f*3.0f;
+//	BMI088_Accel[1]=BMI088_RawAccelData[1]/32768.0f*9.8f*3.0f;
+//	BMI088_Accel[2]=BMI088_RawAccelData[2]/32768.0f*9.8f*3.0f;
+}
+
+/*
+ *函数简介:BMI088处理温度数据
+ *参数说明:无
+ *返回类型:无
+ *备注:本函数用于SPI接收DMA传输完成之后,数据来源为BMI088的SPI接收DMA存储器数组BMI088_SPI_DMAReceive
+ *备注:温度t(℃)=t_raw*0.125+23
+ *备注:温度数据是11bits数据
+ */
+void BMI088_ProcessTemperatureData(void)
+{
+	uint16_t unsignedTemperatureData=((uint16_t)BMI088_SPI_DMAReceive[2]<<3) | (BMI088_SPI_DMAReceive[3]>>5);//拼接为原始数据
+	
+	if(unsignedTemperatureData>1023)BMI088_RawTemperatureData=unsignedTemperatureData-2048;//对11bits数据进行正负数处理
+	else BMI088_RawTemperatureData=unsignedTemperatureData;
+	
+	BMI088_Temperature=BMI088_RawTemperatureData*0.125f+23.0f;
+}
+
+/*
+ *函数简介:BMI088处理陀螺仪数据
+ *参数说明:无
+ *返回类型:无
+ *备注:本函数用于SPI接收DMA传输完成之后,数据来源为BMI088的SPI接收DMA存储器数组BMI088_SPI_DMAReceive
+ *备注:角速度w(rad/s)=w_raw(°/s)/180*Π=(w_raw/32768*Range)/180*Π
+ *					  =(w_raw/32768*2000)/180*Π
+ *					  =w_raw*0.00106526443603169529841533860381
+ */
+void BMI088_ProcessGyroData(void)
+{
+	BMI088_RawGyroData[0]=(int16_t)((uint16_t)BMI088_SPI_DMAReceive[2]<<8|BMI088_SPI_DMAReceive[1]);//拼接为原始数据
+	BMI088_RawGyroData[1]=(int16_t)((uint16_t)BMI088_SPI_DMAReceive[4]<<8|BMI088_SPI_DMAReceive[3]);
+	BMI088_RawGyroData[2]=(int16_t)((uint16_t)BMI088_SPI_DMAReceive[6]<<8|BMI088_SPI_DMAReceive[5]);
+	
+	BMI088_Gyro[0]=BMI088_RawGyroData[0]*0.00106526443603169529841533860381f;
+	BMI088_Gyro[1]=BMI088_RawGyroData[1]*0.00106526443603169529841533860381f;
+	BMI088_Gyro[2]=BMI088_RawGyroData[2]*0.00106526443603169529841533860381f;
+//	BMI088_Gyro[0]=BMI088_RawGyroData[0]/32768.0f*2000.0f/180.0f*3.141592653589793238462643383279f;
+//	BMI088_Gyro[1]=BMI088_RawGyroData[1]/32768.0f*2000.0f/180.0f*3.141592653589793238462643383279f;
+//	BMI088_Gyro[2]=BMI088_RawGyroData[2]/32768.0f*2000.0f/180.0f*3.141592653589793238462643383279f;
+}
+
+/*
+ *函数简介:BMI088检测并关闭DMA
+ *参数说明:无
+ *返回类型:无
+ *备注:用在外部中断中用来等待SPI传输结束后配合BMI088_OpenDMA函数重新启动DMA
+ */
+void BMI088_CheckAndCloseDMA(void)
+{
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_BSY)==SET);//等待总线空闲
+	while(DMA_GetFlagStatus(DMA2_Stream3,DMA_FLAG_TCIF3)==RESET);//判断发送完成
+	DMA_ClearFlag(DMA2_Stream3,DMA_FLAG_TCIF3);//清除发送完成标志位
+	while(SPI_I2S_GetFlagStatus(SPI1,SPI_I2S_FLAG_BSY)==SET);//等待总线空闲
+	DMA_Cmd(DMA2_Stream3,DISABLE);//失能DMA2的数据流2
+	DMA_Cmd(DMA2_Stream2,DISABLE);//失能DMA2的数据流3
+}
+
+/*
+ *函数简介:BMI088开启DMA
+ *参数说明:DMA传输数据个数
+ *返回类型:无
+ *备注:SPI收发DMA开启后会立刻开始发送接收,请在使用函数前配置BMI088的SPI发送DMA存储器数组BMI088_SPI_DMASend
+ */
+void BMI088_OpenDMA(uint8_t DMA_BufferSize)
+{
+	while(DMA_GetCmdStatus(DMA2_Stream2)!=DISABLE);//检测DMA2的数据流2为可配置状态
+	DMA_SetCurrDataCounter(DMA2_Stream2,DMA_BufferSize);//恢复传输计数器的值
+	DMA_Cmd(DMA2_Stream2,ENABLE);//使能DMA2的数据流2
+	while(DMA_GetCmdStatus(DMA2_Stream3)!=DISABLE);//检测DMA2的数据流3为可配置状态
+	DMA_SetCurrDataCounter(DMA2_Stream3,DMA_BufferSize);//恢复传输计数器的值
+	DMA_Cmd(DMA2_Stream3,ENABLE);//使能DMA2的数据流3
+}
+
+/*
+ *函数简介:BMI088加速度计外部中断中断函数
+ *参数说明:无
+ *返回类型:无
+ *备注:在中断函数中启动DMA收发以实现减少CPU负担
+ */
+void EXTI4_IRQHandler(void)
+{
+	if(EXTI_GetITStatus(EXTI_Line4)==SET)//检测BMI088加速度计外部中断触发(即检测EXTI通道4中断触发)
+	{
+		EXTI_ClearITPendingBit(EXTI_Line4);//清除标志位
+		
+		if(BMI088_FirstDMA_Flag==0)//非第一次启动DMA
+		{
+			BMI088_CheckAndCloseDMA();//关闭DMA准备配置
+			
+			BMI088_Accel_Start();//片选加速度计
+			BMI088_DMAAccGyroSelect=1;//DMA为加速度计数据接收
+			BMI088_SPI_DMASend[0]=BMI088_ACC_AccelDataStart | 0x80;//配置SPI的发送数据的地址(读数据)
+			
+			BMI088_OpenDMA(8);//开启DMA转运8个数据
+		}
+		else if(BMI088_FirstDMA_Flag==1)//第一次启动DMA
+		{
+			BMI088_FirstDMA_Flag=0;
+			
+			BMI088_Accel_Start();//片选加速度计
+			BMI088_DMAAccGyroSelect=1;//DMA为加速度计数据接收
+			BMI088_SPI_DMASend[0]=BMI088_ACC_AccelDataStart | 0x80;//配置SPI的发送数据的地址(读数据)
+			
+			DMA_Cmd(DMA2_Stream2,ENABLE);//使能DMA2的数据流2
+			DMA_Cmd(DMA2_Stream3,ENABLE);//使能DMA2的数据流3
+		}
+	}
+}
+
+/*
+ *函数简介:BMI088陀螺仪外部中断中断函数
+ *参数说明:无
+ *返回类型:无
+ *备注:在中断函数中启动DMA收发以实现减少CPU负担
+ *备注:第一次DMA转运8个数据,从第二次DMA开始转运7个数据
+ */
+void EXTI9_5_IRQHandler(void)
+{
+	if(EXTI_GetITStatus(EXTI_Line5)==SET)//检测BMI088陀螺仪外部中断触发(即检测EXTI通道5中断触发)
+	{
+		EXTI_ClearITPendingBit(EXTI_Line5);//清除标志位
+		
+		if(BMI088_FirstDMA_Flag==0)//非第一次启动DMA
+		{
+			BMI088_CheckAndCloseDMA();//关闭DMA准备配置
+			
+			BMI088_Gyro_Start();//片选陀螺仪
+			BMI088_DMAAccGyroSelect=2;//DMA为陀螺仪数据接收
+			BMI088_SPI_DMASend[0]=BMI088_GYRO_GyroDataStart | 0x80;//配置SPI的发送数据的地址(读数据)
+			
+			BMI088_OpenDMA(7);//开启DMA转运7个数据
+		}
+		else if(BMI088_FirstDMA_Flag==1)//第一次启动DMA
+		{
+			BMI088_FirstDMA_Flag=0;	
+			
+			BMI088_Gyro_Start();//片选陀螺仪
+			BMI088_DMAAccGyroSelect=2;//DMA为陀螺仪数据接收
+			BMI088_SPI_DMASend[0]=BMI088_GYRO_GyroDataStart | 0x80;//配置SPI的发送数据的地址(读数据)
+			
+			DMA_Cmd(DMA2_Stream2,ENABLE);//使能DMA2的数据流2
+			DMA_Cmd(DMA2_Stream3,ENABLE);//使能DMA2的数据流3
+		}
+	}
+}
+
+/*
+ *函数简介:SPI1接收DMA传输完成中断中断函数
+ *参数说明:无
+ *返回类型:无
+ *备注:在此函数中会处理接收数据获取BMI088的三轴加速度数据,三轴角速度数据和温度
+ *备注:在此函数中如果接收的是加速度计数据会再开启一个DMA去接收温度数据
+ */
+void DMA2_Stream2_IRQHandler(void)
+{
+	if(DMA_GetITStatus(DMA2_Stream2,DMA_IT_TCIF2)==SET)//检测SPI1接收DMA传输完成中断触发
+	{
+		static uint8_t BMI088_ReceiveTEMPFlag=0;//BMI088的DMA接收温度数据标志位(0-未在接收温度数据,1-正在接收温度数据)
+		BMI088_DataStartFlag=1;//数据开始接收
+		DMA_ClearITPendingBit(DMA2_Stream2,DMA_IT_TCIF2);//清除标志位
+		
+		if(BMI088_ReceiveTEMPFlag==1)//正在接收温度数据
+		{
+			BMI088_Accel_Stop();//结束加速度计片选
+			BMI088_ProcessTemperatureData();//处理温度数据
+			BMI088_ReceiveTEMPFlag=0;
+		}
+		else//接收加速度或角速度数据
+		{
+			if(BMI088_DMAAccGyroSelect==1)//接收加速度计数据
+			{
+				BMI088_Accel_Stop();//结束加速度计片选
+				BMI088_ProcessAccelData();//处理加速度数据
+				
+				BMI088_ReceiveTEMPFlag=1;//开始接收温度数据
+				BMI088_CheckAndCloseDMA();//关闭DMA准备配置
+				
+				BMI088_Accel_Start();//片选加速度计
+				BMI088_SPI_DMASend[0]=BMI088_ACC_TEMP_MSB | 0x80;//配置SPI的发送数据的地址(读数据)
+				
+				BMI088_OpenDMA(4);//开启DMA转运4个数据
+			}
+			else if(BMI088_DMAAccGyroSelect==2)//接收陀螺仪数据
+			{
+				BMI088_Gyro_Stop();//结束陀螺仪片选
+				BMI088_ProcessGyroData();//处理陀螺仪数据
+			}
+		}
+	}
+}
--- a/云台/云台/Hardware/BMI088.h
+++ b/云台/云台/Hardware/BMI088.h
@@ -0,0 +1,9 @@
+#ifndef __BMI088_H
+#define __BMI088_H
+
+extern float BMI088_Accel[],BMI088_Gyro[],BMI088_Temperature;//BMI088的三轴加速度数据,三轴角速度数据和温度
+extern int16_t BMI088_RawAccelData[],BMI088_RawGyroData[],BMI088_RawTemperatureData;//BMI088的三轴加速度原始数据,三轴角速度原始数据和温度原始数据
+
+void BMI088_Init(void);//BMI088初始化
+
+#endif
--- a/云台/云台/Hardware/Buzzer.c
+++ b/云台/云台/Hardware/Buzzer.c
@@ -0,0 +1,107 @@
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+#include "Buzzer.h"
+#include "Delay.h"
+
+int16_t Buzzer_ToneFreq[37]=
+{
+	0,
+	32107,30305,28604,26999,25483,24053,22703,21429,20226,19091,18019,17008,
+	16053,15152,14302,13499,12742,12026,11352,10714,10113,9545,9010,8504,
+	8027,7576,7151,6750,6371,6013,5676,5357,5056,4773,4505,4252,
+};//蜂鸣器音调频率表
+
+/*
+ *函数简介:蜂鸣器初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:无源蜂鸣器
+ *备注:默认TIM4-CH3(PD14)
+ */
+void Buzzer_Init(void)
+{
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD,ENABLE);//开启时钟
+	
+	TIM_InternalClockConfig(TIM4);//选择时基单元TIM4
+	
+	GPIO_InitTypeDef GPIO_InitStructure;
+	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF;
+	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;//复用推挽
+	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;//默认上拉
+	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_14;
+	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
+	GPIO_Init(GPIOD,&GPIO_InitStructure);
+	
+	GPIO_PinAFConfig(GPIOD,GPIO_PinSource14,GPIO_AF_TIM4);//开启PD14的TIM4复用模式
+	
+	TIM_TimeBaseInitTypeDef TIM_InitStructure;
+	TIM_InitStructure.TIM_ClockDivision=TIM_CKD_DIV1;//配置时钟分频为1分频
+	TIM_InitStructure.TIM_CounterMode=TIM_CounterMode_Up;//配置计数器模式为向上计数
+	TIM_InitStructure.TIM_Period=10-1;//ARR,PWM为十分位
+	TIM_InitStructure.TIM_Prescaler=19091-1;//PSC,默认频率低音6(440Hz)
+	TIM_InitStructure.TIM_RepetitionCounter=0;//配置重复计数单元的置为0
+	TIM_TimeBaseInit(TIM4,&TIM_InitStructure);
+	
+	TIM_OCInitTypeDef TIM_OCInitStructure;
+	TIM_OCStructInit(&TIM_OCInitStructure);
+	TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM1;//配置输出比较模式
+	TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_High;//配置输出比较的极性
+	TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;//输出使能
+	TIM_OCInitStructure.TIM_Pulse=0;//配置输出比较寄存器CCR的值,默认占空比0%
+	TIM_OC3Init(TIM4,&TIM_OCInitStructure);//配置PD14输出PWM
+	
+	TIM_Cmd(TIM4,ENABLE);//启动定时器
+}
+
+/*
+ *函数简介:蜂鸣器发声
+ *参数说明:枚举音调
+ *参数说明:持续时间,单位ms
+ *返回类型:无
+ *备注:无
+ */
+void Buzzer_Time(Buzzer_Tone Tone,uint16_t ms)
+{
+	if(Tone!=P)//非停止调
+	{
+		TIM_PrescalerConfig(TIM4,Buzzer_ToneFreq[Tone],TIM_PSCReloadMode_Update);//配置频率
+		TIM_SetCompare3(TIM4,5);//占空比50%
+	}
+	else//停止调(即空拍)
+		TIM_SetCompare3(TIM4,0);//占空比0%,即关闭PWM
+	
+	Delay_ms(ms);
+	TIM_SetCompare3(TIM4,0);//占空比0%,即关闭PWM
+}
+
+/*
+ *函数简介:蜂鸣器打开
+ *参数说明:枚举音调
+ *返回类型:无
+ *备注:无
+ */
+void Buzzer_ON(Buzzer_Tone Tone)
+{
+	TIM_Cmd(TIM4,ENABLE);//打开定时器
+	
+	if(Tone!=P)//非停止调
+	{
+		TIM_PrescalerConfig(TIM4,Buzzer_ToneFreq[Tone],TIM_PSCReloadMode_Update);//配置频率
+		TIM_SetCompare3(TIM4,5);//占空比50%
+	}
+	else//停止调(即空拍)
+		TIM_SetCompare3(TIM4,0);//占空比0%,即关闭PWM
+}
+
+/*
+ *函数简介:蜂鸣器关闭
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void Buzzer_OFF(void)
+{
+	TIM_SetCompare3(TIM4,0);//占空比0%,即关闭PWM
+	TIM_Cmd(TIM4,DISABLE);//关闭定时器
+}
--- a/云台/云台/Hardware/Buzzer.h
+++ b/云台/云台/Hardware/Buzzer.h
@@ -0,0 +1,17 @@
+#ifndef __BUZZER_H
+#define __BUZZER_H
+
+typedef enum
+{
+	P=0,//空拍
+	L1,L1_,L2,L2_,L3,L4,L4_,L5,L5_,L6,L6_,L7,//低音
+	M1,M1_,M2,M2_,M3,M4,M4_,M5,M5_,M6,M6_,M7,//中音
+	H1,H1_,H2,H2_,H3,H4,H4_,H5,H5_,H6,H6_,H7,//高音
+}Buzzer_Tone;//蜂鸣器音调枚举
+
+void Buzzer_Init(void);//蜂鸣器初始化
+void Buzzer_Time(Buzzer_Tone Tone,uint16_t ms);//蜂鸣器发声
+void Buzzer_ON(Buzzer_Tone Tone);//蜂鸣器打开
+void Buzzer_OFF(void);//蜂鸣器关闭
+
+#endif
--- a/云台/云台/Hardware/IST8310.c
+++ b/云台/云台/Hardware/IST8310.c
@@ -0,0 +1,268 @@
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+#include "MyI2C.h"
+#include "Warming.h"
+#include "Delay.h"
+
+#define IST8310_Address		0x0E//IST8310的地址
+
+#define IST8310_Who_Am_I	0x00//Who Am I寄存器
+#define IST8310_CNTL1		0x0A//控制设置1寄存器
+#define IST8310_CNTL2		0x0B//控制设置2寄存器
+#define IST8310_AVGCNTL		0x41//采样平均寄存器
+#define IST8310_PDCNTL		0x42//脉冲持续时间寄存器
+#define IST8310_DataStart	0x03//数据寄存器首地址
+#define IST8310_TEMPL		0x1C//温度寄存器-温度低八位
+#define IST8310_TEMPH		0x1D//温度寄存器-温度高八位
+
+MyI2C_InitTypedef MyI2C_InitStruction;//I2C配置结构体
+uint8_t IST8310_DataStartFlag;//IST8310开始接收数据标志位
+int16_t IST8310_RawData[4];//IST8310原始数据,1~3为xyz轴磁场原始数据,4为温度原始数据
+float IST8310_MagneticField[3];//IST8310磁场数据,分别为xyz轴磁场数据(单位uT)
+float IST8310_Temperature;//IST8310温度数据(单位℃)
+
+/*
+ *函数简介:IST8310的RSTN延时
+ *参数说明:无
+ *返回类型:无
+ *备注:默认配置RSTN延时500us,重启一次延时1ms
+ */
+void IST8310_Delay_us(void)
+{		
+	uint32_t temp;	    	 
+	SysTick->LOAD=500*21; 						//时间加载，我们要延时500倍的us, 1us是一个fac_ua周期，所以总共要延时的周期值为二者相乘最后送到Load中。		 
+	SysTick->VAL=0x00;        					//清空计数器
+	SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk;	//开启使能位 开始倒数
+	do temp=SysTick->CTRL;
+	while((temp&0x01) && !(temp&(1<<16)));		//用来判断 systick 定时器是否还处于开启状态，然后在等待时间到达，也就是数到0的时候,此时第十六位设置为1
+	SysTick->CTRL&=~SysTick_CTRL_ENABLE_Msk;	//关闭计数器使能位
+	SysTick->VAL=0x00;       					//清空计数器
+}
+
+/*
+ *函数简介:IST8310配置RSTN电平
+ *参数说明:高低电平,0-低电平 1-高电平
+ *返回类型:无
+ *备注:规定RSTN为PG6
+ *备注:RSTN为低电平时重启IST8310
+ *备注:每次修改RSTN,需要等待一段时间产生作用(测试得到0.5ms足矣)
+ */
+void IST8310_RSTN(uint8_t x)
+{
+	GPIO_WriteBit(GPIOG,GPIO_Pin_6,(BitAction)(x));
+	IST8310_Delay_us();//延时0.5ms
+}
+
+/*
+ *函数简介:IST8310重启
+ *参数说明:无
+ *返回类型:无
+ *备注:重启大概耗时1ms
+ */
+void IST8310_Reset(void)
+{
+	IST8310_RSTN(0);
+	IST8310_RSTN(1);
+}
+
+/*
+ *函数简介:IST8310初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:规定SCL为PA8,SDA为PC9,DRDY为PG3(下降沿)
+ *备注:初始化中配置了寄存器并进行了重启,大概耗时1ms
+ *备注:在初始化中对寄存器进行了配置
+ *备注:初始化时会检查IST8310的ID,ID错误会进行报警,并且程序会卡死不断的进行检测,具体报警现象见Warming.h
+ */
+void IST8310_Init(void)
+{
+	RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG,ENABLE);
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOG,ENABLE);//开启时钟
+	
+	MyI2C_InitStruction.MyI2C_SCL_RCC=RCC_AHB1Periph_GPIOA;//配置SCL为PA8
+	MyI2C_InitStruction.MyI2C_SCL_GPIOx=GPIOA;
+	MyI2C_InitStruction.MyI2C_SCL_Pin=GPIO_Pin_8;
+	MyI2C_InitStruction.MyI2C_SDA_RCC=RCC_AHB1Periph_GPIOC;//配置SDA为PC9
+	MyI2C_InitStruction.MyI2C_SDA_GPIOx=GPIOC;
+	MyI2C_InitStruction.MyI2C_SDA_Pin=GPIO_Pin_9;
+	MyI2C_Init(&MyI2C_InitStruction);
+	
+	GPIO_InitTypeDef GPIO_InitStructure;
+	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN;
+	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;//上拉输入
+	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_3;//配置DRDY(PG3)
+	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_100MHz;
+	GPIO_Init(GPIOG,&GPIO_InitStructure);
+	
+	SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOG,EXTI_PinSource3);//配置PG3与中断线的映射关系
+	
+	EXTI_InitTypeDef EXTI_InitStructure;
+	EXTI_InitStructure.EXTI_Line=EXTI_Line3;//配置中断线3
+	EXTI_InitStructure.EXTI_LineCmd=ENABLE;//使能中断线
+	EXTI_InitStructure.EXTI_Mode=EXTI_Mode_Interrupt;//配置为外部中断模式
+	EXTI_InitStructure.EXTI_Trigger=EXTI_Trigger_Falling;//选择下降沿触发
+	EXTI_Init(&EXTI_InitStructure);//初始化EXTI
+	
+	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//选择NVIC分组为2
+	
+	NVIC_InitTypeDef NVIC_InitStructure;
+	NVIC_InitStructure.NVIC_IRQChannel=EXTI3_IRQn;//配置NVIC通道3
+	NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;//使能NVIC通道
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1;//抢占优先级
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;//响应优先级
+	NVIC_Init(&NVIC_InitStructure);//初始化NVIC
+	
+	while(1)
+	{
+		if(MyI2C_CheckDevice(&MyI2C_InitStruction,IST8310_Address)==1 && MyI2C_CheckWhoAmI(&MyI2C_InitStruction,IST8310_Address,IST8310_Who_Am_I)==0x10)//设备连接正常,Who Am I正确
+		{
+			NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;//开启NVIC通道
+			NVIC_Init(&NVIC_InitStructure);//初始化NVIC
+			
+			MyI2C_WriteRegister(&MyI2C_InitStruction,IST8310_Address,IST8310_CNTL1,0x03);//配置为连续输出模式,输出频率200Hz
+			MyI2C_WriteRegister(&MyI2C_InitStruction,IST8310_Address,IST8310_CNTL2,0x08);//配置为DRDY下降沿中断,不重启
+			MyI2C_WriteRegister(&MyI2C_InitStruction,IST8310_Address,IST8310_AVGCNTL,0x12);//配置为四次采样平均
+			MyI2C_WriteRegister(&MyI2C_InitStruction,IST8310_Address,IST8310_PDCNTL,0xC0);//配置为正常脉冲持续时间
+			IST8310_Reset();//IST8310重启
+			break;
+		}
+		else//设备异常
+		{
+			NVIC_InitStructure.NVIC_IRQChannelCmd=DISABLE;//关闭NVIC通道
+			NVIC_Init(&NVIC_InitStructure);//初始化NVIC
+			Warming_IST8310LinkError();//IST8310连接异常报警
+			Delay_ms(25);
+		}
+	}
+	
+	while(IST8310_DataStartFlag==0);//等待数据开始接收
+}
+
+/*
+ *函数简介:IST8310数据读取
+ *参数说明:无
+ *返回类型:无
+ *备注:读取三轴磁场(单位uT)和温度(单位℃)
+ *备注:温度转换比例没找到,暂且以0.001为比例转换
+ */
+void IST8310_GetData(void)
+{
+	uint8_t IST8310_MagneticFieldReceive[6],TempL,TempH;//三轴磁场返回数据,温度返回数据(低八位),温度返回数据(高八位)
+	
+	MyI2C_ContinuousReadRegister(&MyI2C_InitStruction,IST8310_Address,IST8310_DataStart,IST8310_MagneticFieldReceive,6);//读取三轴磁场返回数据
+	TempL=MyI2C_ReadRegister(&MyI2C_InitStruction,IST8310_Address,IST8310_TEMPL);//读取温度返回数据(低八位)
+	TempH=MyI2C_ReadRegister(&MyI2C_InitStruction,IST8310_Address,IST8310_TEMPH);//读取温度返回数据(高八位)
+	
+	IST8310_RawData[0]=(int16_t)(((uint16_t)(IST8310_MagneticFieldReceive[1])<<8)|IST8310_MagneticFieldReceive[0]);
+	IST8310_RawData[1]=(int16_t)(((uint16_t)(IST8310_MagneticFieldReceive[3])<<8)|IST8310_MagneticFieldReceive[2]);
+	IST8310_RawData[2]=(int16_t)(((uint16_t)(IST8310_MagneticFieldReceive[5])<<8)|IST8310_MagneticFieldReceive[4]);//获取三轴磁场原始数据
+	IST8310_RawData[3]=(int16_t)(((uint16_t)(TempH)<<8)|TempL);//获取温度原始数据
+
+	IST8310_MagneticField[0]=IST8310_RawData[0]*0.3f;
+	IST8310_MagneticField[1]=IST8310_RawData[1]*0.3f;
+	IST8310_MagneticField[2]=IST8310_RawData[2]*0.3f;//获取三轴磁场数据
+	IST8310_Temperature=IST8310_RawData[3]*0.001f;//获取温度
+}
+
+/*
+ *函数简介:IST8310外部中断中断函数
+ *参数说明:无
+ *返回类型:无
+ *备注:在中断函数中读取数据
+ */
+void EXTI3_IRQHandler(void)
+{
+	if(EXTI_GetITStatus(EXTI_Line3)==SET)//检测IST8310外部中断触发(即检测EXTI通道3中断触发)
+	{
+		EXTI_ClearITPendingBit(EXTI_Line3);//清除标志位
+		IST8310_GetData();//读取数据
+		IST8310_DataStartFlag=1;//数据开始接收
+	}
+}
+
+/*硬件I2C的遗骸*/
+////void IST8310_I2CInit(void)
+////{
+////	
+////	
+////	GPIO_InitTypeDef GPIO_InitStructure;
+////	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF;
+////	GPIO_InitStructure.GPIO_OType=GPIO_OType_OD;
+////	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;
+////	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_8;
+////	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
+////	GPIO_Init(GPIOA,&GPIO_InitStructure);
+////	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_9;
+////	GPIO_Init(GPIOC,&GPIO_InitStructure);
+////	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_OUT;
+////	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;
+////	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;
+////	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_6;
+////	GPIO_Init(GPIOG,&GPIO_InitStructure);
+////	
+////	GPIO_PinAFConfig(GPIOA,GPIO_PinSource8,GPIO_AF_I2C3);
+////	GPIO_PinAFConfig(GPIOC,GPIO_PinSource9,GPIO_AF_I2C3);
+////	
+////	I2C_InitTypeDef I2C_InitStructure;
+////	I2C_InitStructure.I2C_Mode=I2C_Mode_I2C;
+////	I2C_InitStructure.I2C_ClockSpeed=10000;
+////	I2C_InitStructure.I2C_DutyCycle=I2C_DutyCycle_2;
+////	I2C_InitStructure.I2C_Ack=I2C_Ack_Disable;
+////	I2C_InitStructure.I2C_AcknowledgedAddress=I2C_AcknowledgedAddress_7bit;
+////	I2C_InitStructure.I2C_OwnAddress1=0x01;
+////	I2C_Init(I2C3,&I2C_InitStructure);
+////	
+////	I2C3->CR1 |= I2C_CR1_SWRST;
+////	while(I2C_GetFlagStatus(I2C3,I2C_FLAG_BUSY)==SET);
+////	I2C3->CR1 &= ~I2C_CR1_SWRST;
+////	
+////	I2C_Cmd(I2C3,ENABLE);
+////	
+////	GPIO_ResetBits(GPIOG,GPIO_Pin_6);
+////	Delay_ms(50);
+////	GPIO_SetBits(GPIOG,GPIO_Pin_6);
+////	Delay_ms(50);
+////	LED_BInit();
+////}
+
+////void IST8310_I2CWriteData(uint8_t Address,uint8_t Data)
+////{
+////	uint8_t B=0;
+////	while(I2C_GetFlagStatus(I2C3,I2C_FLAG_BUSY)==SET);
+////	
+////	I2C_GenerateSTART(I2C3,ENABLE);
+////	while(I2C_CheckEvent(I2C3,I2C_EVENT_MASTER_MODE_SELECT)!=SUCCESS);
+////	
+////	while(I2C_GetFlagStatus(I2C3,I2C_FLAG_BUSY)!=SET);
+////	while(I2C_GetFlagStatus(I2C3,I2C_FLAG_MSL)!=SET);
+////	//I2C_SendData(I2C3,0x0E<<1);
+////	int i=0;
+////	do
+////	{
+////		I2C_Send7bitAddress(I2C3,i<<1,I2C_Direction_Receiver);
+////		i++;
+////		if(i==0x8F)break;
+////	}
+////	while(I2C_GetFlagStatus(I2C3,I2C_FLAG_ADDR)!=SET);
+////	if(i<0x8F)LED_BON();
+////	//while(I2C_CheckEvent(I2C3,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)!=SUCCESS);
+
+////	I2C_SendData(I2C3,0x00);
+////	//while(I2C_CheckEvent(I2C3,I2C_EVENT_MASTER_BYTE_TRANSMITTING)!=SUCCESS);
+////	
+//////	I2C_SendData(I2C3,Data);
+////	//while(I2C_CheckEvent(I2C3,I2C_EVENT_MASTER_BYTE_TRANSMITTED)!=SUCCESS);
+////	I2C_GenerateSTART(I2C3,ENABLE);
+////	//while(I2C_CheckEvent(I2C3,I2C_EVENT_MASTER_MODE_SELECT)!=SUCCESS);
+////	
+////	//I2C_SendData(I2C3,(0x0E<<1)|0x01);
+////	I2C_Send7bitAddress(I2C3,0x0E,I2C_Direction_Receiver);
+////	//while(I2C_GetFlagStatus(I2C3,I2C_FLAG_AF)==SET);
+////	//while(I2C_GetFlagStatus(I2C3,I2C_FLAG_ADDR)!=SET);
+////	//while(I2C_CheckEvent(I2C3,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)!=SUCCESS);
+
+////	B=I2C_ReceiveData(I2C3);
+////	//while(I2C_CheckEvent(I2C3,I2C_EVENT_MASTER_BYTE_TRANSMITTING)!=SUCCESS);
+////	
+////	I2C_GenerateSTOP(I2C3,ENABLE);
+////}
--- a/云台/云台/Hardware/IST8310.h
+++ b/云台/云台/Hardware/IST8310.h
@@ -0,0 +1,12 @@
+#ifndef __IST8310_H
+#define __IST8310_H
+
+extern int16_t IST8310_RawData[];//IST8310原始数据,1~3为xyz轴磁场原始数据,4为温度原始数据
+extern float IST8310_MagneticField[];//IST8310磁场数据,分别为xyz轴磁场数据(单位uT)
+extern float IST8310_Temperature;//IST8310温度数据(单位℃)
+
+void IST8310_Init(void);//IST8310初始化
+void IST8310_Reset(void);//IST8310重启
+void IST8310_GetData(void);//IST8310数据读取
+
+#endif
--- a/云台/云台/Hardware/LED.c
+++ b/云台/云台/Hardware/LED.c
@@ -0,0 +1,255 @@
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+
+/*
+ *函数简介:三色单色LED初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:蓝色-PH10,绿色-PH11,红色-PH12
+ */
+void LED_Init(void)
+{
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOH,ENABLE);//开启时钟
+	
+	GPIO_InitTypeDef GPIO_InitStructure;
+	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_OUT;
+	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;//推挽输出
+	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;//默认上拉
+	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_10 | GPIO_Pin_11 | GPIO_Pin_12;
+	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_100MHz;
+	GPIO_Init(GPIOH,&GPIO_InitStructure);
+	
+	GPIO_ResetBits(GPIOH,GPIO_Pin_10);
+	GPIO_ResetBits(GPIOH,GPIO_Pin_11);
+	GPIO_ResetBits(GPIOH,GPIO_Pin_12);//默认三灯均熄灭
+}
+
+/*
+ *函数简介:蓝色单色LED初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:引脚PH10
+ */
+void LED_BInit(void)
+{
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOH,ENABLE);//开启时钟
+	
+	GPIO_InitTypeDef GPIO_InitStructure;
+	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_OUT;
+	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;//推挽输出
+	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;//默认上拉
+	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_10;
+	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_100MHz;
+	GPIO_Init(GPIOH,&GPIO_InitStructure);
+	
+	GPIO_ResetBits(GPIOH,GPIO_Pin_10);//默认熄灭
+}
+
+/*
+ *函数简介:蓝灯点亮
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void LED_BON(void)
+{
+	GPIO_SetBits(GPIOH,GPIO_Pin_10);
+}
+
+/*
+ *函数简介:蓝灯熄灭
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void LED_BOFF(void)
+{
+	GPIO_ResetBits(GPIOH,GPIO_Pin_10);
+}
+
+/*
+ *函数简介:蓝灯亮灭反转
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void LED_BTurn(void)
+{
+	if(GPIO_ReadInputDataBit(GPIOH,GPIO_Pin_10)==0)//当前蓝灯灭
+		GPIO_SetBits(GPIOH,GPIO_Pin_10);
+	else//当前蓝灯亮
+		GPIO_ResetBits(GPIOH,GPIO_Pin_10);
+}
+
+/*
+ *函数简介:绿色单色LED初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:引脚PH11
+ */
+void LED_GInit(void)
+{
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOH,ENABLE);//开启时钟
+	
+	GPIO_InitTypeDef GPIO_InitStructure;
+	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_OUT;
+	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;//推挽输出
+	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;//默认上拉
+	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_11;
+	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_100MHz;
+	GPIO_Init(GPIOH,&GPIO_InitStructure);
+	
+	GPIO_ResetBits(GPIOH,GPIO_Pin_11);//默认熄灭
+}
+
+/*
+ *函数简介:绿灯点亮
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void LED_GON(void)
+{
+	GPIO_SetBits(GPIOH,GPIO_Pin_11);
+}
+
+/*
+ *函数简介:绿灯熄灭
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void LED_GOFF(void)
+{
+	GPIO_ResetBits(GPIOH,GPIO_Pin_11);
+}
+
+/*
+ *函数简介:绿灯亮灭反转
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void LED_GTurn(void)
+{
+	if(GPIO_ReadInputDataBit(GPIOH,GPIO_Pin_11)==0)//当前绿灯灭
+		GPIO_SetBits(GPIOH,GPIO_Pin_11);
+	else//当前绿灯亮
+		GPIO_ResetBits(GPIOH,GPIO_Pin_11);
+}
+
+/*
+ *函数简介:红色单色LED初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void LED_RInit(void)
+{
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOH,ENABLE);//开启时钟
+	
+	GPIO_InitTypeDef GPIO_InitStructure;
+	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_OUT;
+	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;//推挽输出
+	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;//默认上拉
+	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_12;
+	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_100MHz;
+	GPIO_Init(GPIOH,&GPIO_InitStructure);
+	
+	GPIO_ResetBits(GPIOH,GPIO_Pin_12);//默认熄灭
+}
+
+/*
+ *函数简介:红灯点亮
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void LED_RON(void)
+{
+	GPIO_SetBits(GPIOH,GPIO_Pin_12);
+}
+
+/*
+ *函数简介:红灯熄灭
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void LED_ROFF(void)
+{
+	GPIO_ResetBits(GPIOH,GPIO_Pin_12);
+}
+
+/*
+ *函数简介:红灯亮灭反转
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void LED_RTurn(void)
+{
+	if(GPIO_ReadInputDataBit(GPIOH,GPIO_Pin_12)==0)//当前红灯灭
+		GPIO_SetBits(GPIOH,GPIO_Pin_12);
+	else//当前红灯亮
+		GPIO_ResetBits(GPIOH,GPIO_Pin_12);
+}
+
+/*
+ *函数简介:RGB混色LED初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:蓝色-PH10,绿色-PH11,红色-PH12
+ */
+void LED_MaxInit(void)
+{
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5,ENABLE);
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOH,ENABLE);//开启时钟
+	
+	TIM_InternalClockConfig(TIM5);//选择时基单元TIM5
+	
+	GPIO_InitTypeDef GPIO_InitStructure;
+	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF;   
+	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;//复用推挽
+	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;//默认上拉
+	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_10 | GPIO_Pin_11 | GPIO_Pin_12;
+	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_100MHz;
+	GPIO_Init(GPIOH,&GPIO_InitStructure);//配置TIM5的CH1-3
+	
+	GPIO_PinAFConfig(GPIOH,GPIO_PinSource10,GPIO_AF_TIM5);
+	GPIO_PinAFConfig(GPIOH,GPIO_PinSource11,GPIO_AF_TIM5);
+	GPIO_PinAFConfig(GPIOH,GPIO_PinSource12,GPIO_AF_TIM5);//开启PH10-12的TIM5复用模式
+	
+	TIM_TimeBaseInitTypeDef TIM_InitStructure;
+	TIM_InitStructure.TIM_ClockDivision=TIM_CKD_DIV1;//配置时钟分频为1分频
+	TIM_InitStructure.TIM_CounterMode=TIM_CounterMode_Up;//配置计数器模式为向上计数
+	TIM_InitStructure.TIM_Period=1000-1;//ARR,PWM为千分位
+	TIM_InitStructure.TIM_Prescaler=84-1;//PSC,默认1000Hz
+	TIM_InitStructure.TIM_RepetitionCounter=0;//配置重复计数单元的置为0
+	TIM_TimeBaseInit(TIM5,&TIM_InitStructure);
+	
+	TIM_OCInitTypeDef TIM_OCInitStructure;
+	TIM_OCStructInit(&TIM_OCInitStructure);
+	TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM1;//配置输出比较模式
+	TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_High;//配置输出比较的极性
+	TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;//输出使能
+	TIM_OCInitStructure.TIM_Pulse=0;//配置输出比较寄存器CCR的值
+	TIM_OC1Init(TIM5,&TIM_OCInitStructure);
+	TIM_OC2Init(TIM5,&TIM_OCInitStructure);
+	TIM_OC3Init(TIM5,&TIM_OCInitStructure);
+	
+	TIM_Cmd(TIM5,ENABLE);//启动定时器
+}
+
+/*
+ *函数简介:设置混色LED的RGB
+ *参数说明:三个8位整型,表示RGB的三个值
+ *返回类型:无
+ *备注:无
+ */
+void LED_SetColor(uint8_t R,uint8_t G,uint8_t B)
+{
+	TIM_SetCompare1(TIM5,B*1000/255);
+	TIM_SetCompare2(TIM5,G*1000/255);
+	TIM_SetCompare3(TIM5,R*1000/255);
+}
--- a/云台/云台/Hardware/LED.h
+++ b/云台/云台/Hardware/LED.h
@@ -0,0 +1,20 @@
+#ifndef __LED_H
+#define __LED_H
+
+void LED_Init(void);//三色单色LED初始化
+void LED_BInit(void);//蓝色单色LED初始化
+void LED_BON(void);//蓝灯点亮
+void LED_BOFF(void);//蓝灯熄灭
+void LED_BTurn(void);//蓝灯亮灭反转
+void LED_GInit(void);//绿色单色LED初始化
+void LED_GON(void);//绿灯点亮
+void LED_GOFF(void);//绿灯熄灭
+void LED_GTurn(void);//绿灯亮灭反转
+void LED_RInit(void);//红色单色LED初始化
+void LED_RON(void);//红灯点亮
+void LED_ROFF(void);//红灯熄灭
+void LED_RTurn(void);//红灯亮灭反转
+void LED_MaxInit(void);//RGB混色LED初始化
+void LED_SetColor(uint8_t R,uint8_t G,uint8_t B);//设置混色LED的RGB
+
+#endif
--- a/云台/云台/Hardware/Laser.c
+++ b/云台/云台/Hardware/Laser.c
@@ -0,0 +1,111 @@
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+
+/*
+ *函数简介:激光初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:规定引脚为PC8,高电平点亮
+ */
+void Laser_Init(void)
+{
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC,ENABLE);//开启时钟
+	
+	GPIO_InitTypeDef GPIO_InitStructure;
+	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_OUT;
+	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;//推挽输出
+	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;//默认上拉
+	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_8;
+	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_100MHz;
+	GPIO_Init(GPIOC,&GPIO_InitStructure);
+	
+	GPIO_ResetBits(GPIOC,GPIO_Pin_8);//默认关闭
+}
+
+/*
+ *函数简介:激光普通模式打开激光
+ *参数说明:无
+ *返回类型:无
+ *备注:规定引脚为PC8,高电平点亮
+ */
+void Laser_ON(void)
+{
+	GPIO_SetBits(GPIOC,GPIO_Pin_8);
+}
+
+/*
+ *函数简介:激光普通模式关闭激光
+ *参数说明:无
+ *返回类型:无
+ *备注:规定引脚为PC8,低电平关闭
+ */
+void Laser_OFF(void)
+{
+	GPIO_ResetBits(GPIOC,GPIO_Pin_8);
+}
+
+/*
+ *函数简介:激光PWM模式初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:规定引脚为PC8(TIM3_CH3),占空比越高越亮
+ */
+void Laser_PWMInit(void)
+{
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC,ENABLE);//开启时钟
+	
+	TIM_InternalClockConfig(TIM3);//选择时基单元TIM3
+	
+	GPIO_InitTypeDef GPIO_InitStructure;
+	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF;   
+	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;//复用推挽
+	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;//默认上拉
+	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_8;
+	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_100MHz;
+	GPIO_Init(GPIOC,&GPIO_InitStructure);
+	
+	GPIO_PinAFConfig(GPIOC,GPIO_PinSource8,GPIO_AF_TIM3);//开启PC8的TIM3复用模式
+	
+	TIM_TimeBaseInitTypeDef TIM_InitStructure;
+	TIM_InitStructure.TIM_ClockDivision=TIM_CKD_DIV1;//配置时钟分频为1分频
+	TIM_InitStructure.TIM_CounterMode=TIM_CounterMode_Up;//配置计数器模式为向上计数
+	TIM_InitStructure.TIM_Period=1000-1;//ARR,PWM为千分位1ms
+	TIM_InitStructure.TIM_Prescaler=84-1;//PSC
+	TIM_InitStructure.TIM_RepetitionCounter=0;//配置重复计数单元的置为0
+	TIM_TimeBaseInit(TIM3,&TIM_InitStructure);
+	
+	TIM_OCInitTypeDef TIM_OCInitStructure;
+	TIM_OCStructInit(&TIM_OCInitStructure);
+	TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM1;//配置输出比较模式
+	TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_High;//配置输出比较的极性
+	TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;//输出使能
+	TIM_OCInitStructure.TIM_Pulse=0;//配置输出比较寄存器CCR的值,默认占空比0
+	TIM_OC3Init(TIM3,&TIM_OCInitStructure);//配置CH3(PC8)输出PWM
+	
+	TIM_Cmd(TIM3,DISABLE);//默认关闭定时器
+}
+
+/*
+ *函数简介:激光PWM模式以一定亮度打开激光
+ *参数说明:亮度百分比,范围0~100,支持一位小数
+ *返回类型:无
+ *备注:规定引脚为PC8(TIM3_CH3),占空比越高越亮
+ */
+void Laser_PWMON(float Brightness)
+{
+	TIM_SetCompare3(TIM3,Brightness*10.0f);//设置占空比
+	TIM_Cmd(TIM3,ENABLE);//启动定时器
+}
+
+/*
+ *函数简介:激光PWM模式关闭激光
+ *参数说明:无
+ *返回类型:无
+ *备注:规定引脚为PC8(TIM3_CH3)
+ */
+void Laser_PWMOFF(void)
+{
+	TIM_SetCompare3(TIM3,0);//设置占空比为0
+	TIM_Cmd(TIM3,DISABLE);//关闭定时器
+}
--- a/云台/云台/Hardware/Laser.h
+++ b/云台/云台/Hardware/Laser.h
@@ -0,0 +1,11 @@
+#ifndef __LASER_H
+#define __LASER_H
+
+void Laser_Init(void);//激光初始化
+void Laser_ON(void);//激光普通模式打开激光
+void Laser_OFF(void);//激光普通模式关闭激光
+void Laser_PWMInit(void);//激光PWM模式初始化
+void Laser_PWMON(float Brightness);//激光PWM模式以一定亮度打开激光
+void Laser_PWMOFF(void);//激光PWM模式关闭激光
+
+#endif
--- a/云台/云台/Hardware/Remote.c
+++ b/云台/云台/Hardware/Remote.c
@@ -0,0 +1,265 @@
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+#include "Remote.h"
+#include "UART.h"
+#include "Warming.h"
+#include "RefereeSystem.h"
+
+uint8_t Remote_RxData0[18];//遥控器DMA数据存储器0
+uint8_t Remote_RxData1[18];//遥控器DMA数据存储器1
+
+Remote_Data Remote_RxData;//遥控器接收数据
+Remote_Data Remote_LastRxData;//遥控器上一次接收数据
+uint8_t Remote_Status;//遥控器连接状态,默认未连接(0)
+uint8_t Remote_StartFlag=1;//遥控器启动标志位,0-未在启动阶段,1-准备启动,2-第一次接收到数据
+
+/*
+ *函数简介:遥控器初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:默认接收引脚为PC11(USART3-Rx)
+ *备注:采用串口DMA双缓冲接收
+ *备注:配置定时中断为TIM7 25ms,用来检测遥控器连接情况
+ *备注:加入独立看门狗,用来在数据接收错误时复位(只在上电的一刻可能数据错误)
+ *备注:独立看门狗时钟为LSI(32kHz),预分频数默认为8,故IWDG时钟4kHz,重装载值为0x0FFF(4095)
+ *备注:喂狗时间(溢出时间)T_OUT=Reload/(LSI/Prescaler)=4095/(32k/8)=1.02375s
+ */
+void Remote_Init(void)
+{
+	/*===============配置时钟===============*/
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC,ENABLE);
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3,ENABLE);
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1,ENABLE);
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7,ENABLE);//开启时钟
+	
+	/*===============配置GPIO===============*/
+	GPIO_InitTypeDef GPIO_InitStructure;
+	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF;
+	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;//复用推挽
+	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;//默认上拉
+	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_11;
+	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_100MHz;
+	GPIO_Init(GPIOC,&GPIO_InitStructure);//初始化USART3-Rx(PC11)
+	
+	GPIO_PinAFConfig(GPIOC,GPIO_PinSource11,GPIO_AF_USART3);//开启PC11的USART3复用模式
+	
+	/*===============配置USART和串口接收DMA===============*/
+	USART_InitTypeDef USART_InitStructure;
+	USART_InitStructure.USART_BaudRate=100000;//配置波特率100k
+	USART_InitStructure.USART_HardwareFlowControl=USART_HardwareFlowControl_None;//配置无硬件流控制
+	USART_InitStructure.USART_Mode=USART_Mode_Rx;//配置为接收模式
+	USART_InitStructure.USART_Parity=USART_Parity_Even;//配置为偶校验
+	USART_InitStructure.USART_StopBits=USART_StopBits_1;//配置停止位为1
+	USART_InitStructure.USART_WordLength=USART_WordLength_8b;//配置字长8bit
+	USART_Init(USART3,&USART_InitStructure);//初始化USART3
+	
+	DMA_InitTypeDef DMA_InitStructure;
+	DMA_InitStructure.DMA_Channel=DMA_Channel_4;//选择DMA通道4
+	DMA_InitStructure.DMA_Mode=DMA_Mode_Normal;//普通模式(非自动重装)
+	DMA_InitStructure.DMA_DIR=DMA_DIR_PeripheralToMemory;//转运方向为外设到存储器
+	DMA_InitStructure.DMA_BufferSize=18;//数据传输量为18字节
+	DMA_InitStructure.DMA_Priority=DMA_Priority_VeryHigh;//最高优先级
+	DMA_InitStructure.DMA_PeripheralBaseAddr=(uint32_t)&(USART3->DR);//外设地址(USART的DR数据接收寄存器)
+	DMA_InitStructure.DMA_PeripheralBurst=DMA_PeripheralBurst_Single;//外设突发单次传输
+	DMA_InitStructure.DMA_PeripheralDataSize=DMA_PeripheralDataSize_Byte;//外设数据长度为1字节(8bits)
+	DMA_InitStructure.DMA_PeripheralInc=DMA_PeripheralInc_Disable;//外设地址不自增
+	DMA_InitStructure.DMA_Memory0BaseAddr=(uint32_t)Remote_RxData0;//存储器地址(遥控器DMA数据存储器0)
+	DMA_InitStructure.DMA_MemoryBurst=DMA_MemoryBurst_Single;//存储器突发单次传输
+	DMA_InitStructure.DMA_MemoryDataSize=DMA_MemoryDataSize_Byte;//存储器数据长度为1字节(8bits)
+	DMA_InitStructure.DMA_MemoryInc=DMA_MemoryInc_Enable;//存储器地址自增
+	DMA_InitStructure.DMA_FIFOMode=DMA_FIFOMode_Disable;//不使用FIFO模式
+	DMA_InitStructure.DMA_FIFOThreshold=DMA_FIFOStatus_1QuarterFull;//设置FIFO阈值为1/4(不使用FIFO模式时,此位无意义)
+	DMA_Init(DMA1_Stream1,&DMA_InitStructure);//初始化数据流1
+	
+	DMA_DoubleBufferModeConfig(DMA1_Stream1,(uint32_t)Remote_RxData1,DMA_Memory_0);//设置双缓冲搬运从遥控器DMA数据存储器0开始
+	DMA_DoubleBufferModeCmd(DMA1_Stream1,ENABLE);//使能DMA双缓冲功能
+	
+	/*===============配置定时器===============*/
+	TIM_InternalClockConfig(TIM7);//选择时基单元的时钟(TIM7)
+	
+	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;//配置时基单元（配置参数）
+	TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;//配置时钟分频为1分频
+	TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;//配置计数器模式为向上计数
+	TIM_TimeBaseInitStructure.TIM_Period=21000-1;//配置自动重装值ARR
+	TIM_TimeBaseInitStructure.TIM_Prescaler=1000-1;//配置分频值PSC,默认定时25ms
+	TIM_TimeBaseInitStructure.TIM_RepetitionCounter=0;//配置重复计数单元的置为0
+	TIM_TimeBaseInit(TIM7,&TIM_TimeBaseInitStructure);//初始化TIM7
+	
+	TIM_ClearFlag(TIM7,TIM_FLAG_Update);//清除配置时基单元产生的中断标志位
+	
+	/*===============配置接收中断和定时器中断===============*/
+	USART_ITConfig(USART3,USART_IT_RXNE,ENABLE);//打通USART3到NVIC的串口接收中断通道
+	TIM_ITConfig(TIM7,TIM_IT_Update,ENABLE);//使能TIM7更新中断
+		
+	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//选择NVIC分组2(2位抢占优先级,2位响应优先级)
+	
+	NVIC_InitTypeDef NVIC_InitStructure;
+	NVIC_InitStructure.NVIC_IRQChannel=USART3_IRQn;//选择USART3中断通道
+	NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;//使能中断通道
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1;//抢占优先级为1
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;//响应优先级为1
+	NVIC_Init(&NVIC_InitStructure);//初始化USART3的NVIC
+	NVIC_InitStructure.NVIC_IRQChannel=TIM7_IRQn;//选择中断通道为TIM2
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;//TIM2的抢占优先级
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority=2;//TIM2的响应优先级
+	NVIC_Init(&NVIC_InitStructure);//初始化NVIC
+	
+	/*===============使能===============*/
+	DMA_Cmd(DMA1_Stream1,ENABLE);//使能DMA1的数据流1
+	USART_DMACmd(USART3,USART_DMAReq_Rx,ENABLE);//使能串口USART3的DMA搬运
+	USART_Cmd(USART3,ENABLE);//启动USART3
+	TIM_Cmd(TIM7,ENABLE);//启动定时器
+	
+	/*===============配置IWDG===============*/
+	IWDG_WriteAccessCmd(IWDG_WriteAccess_Enable);
+	IWDG_SetPrescaler(IWDG_Prescaler_8);//8分频
+	IWDG_SetReload(0x0FFF);//设置重装载值
+	IWDG_Enable();
+}
+
+/*
+ *函数简介:遥控器开启
+ *参数说明:无
+ *返回类型:无
+ *备注:默认开启串口USART3
+ */
+void Remote_ON(void)
+{
+	USART_Cmd(USART3,ENABLE);//启动USART3
+}
+
+/*
+ *函数简介:遥控器关闭
+ *参数说明:无
+ *返回类型:无
+ *备注:默认关闭串口USART3
+ */
+void Remote_OFF(void)
+{
+	USART_Cmd(USART3,DISABLE);//失能USART3
+	Remote_Status=0;//遥控器连接状态变为未连接
+}
+
+/*
+ *函数简介:遥控器DMA转运复位
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void Remote_TransferReset(void)
+{
+	while(DMA_GetFlagStatus(DMA1_Stream1,DMA_FLAG_TCIF1)==RESET);//判断接收完成
+	DMA_ClearFlag(DMA1_Stream1,DMA_FLAG_TCIF1);//清除接收完成标志位
+	DMA_Cmd(DMA1_Stream1,DISABLE);//失能DMA1的数据流1
+	while(DMA_GetCmdStatus(DMA1_Stream1)!=DISABLE);//检测DMA1的数据流1为可配置状态
+	DMA_SetCurrDataCounter(DMA1_Stream1,18);//恢复传输计数器的值
+	DMA_Cmd(DMA1_Stream1,ENABLE);//使能DMA1的数据流1
+}
+
+/*
+ *函数简介:遥控器数据处理
+ *参数说明:无
+ *返回类型:无
+ *备注:遥控器接收数据共18Bytes(144bits)
+ */
+void Remote_DataProcess(void)
+{
+	uint8_t *Data;//选择存储器
+	uint16_t Remote_R_RL_True;
+	if(DMA_GetCurrentMemoryTarget(DMA1_Stream1)==0)Data=Remote_RxData1;//若当前转运位于存储器0,则存储器1数据完整,采用存储器1进行数据处理
+	else Data=Remote_RxData0;//若当前转运位于存储器1,则存储器0数据完整,采用存储器0进行数据处理
+	
+	Remote_RxData.Remote_Mouse_KeyLastR=Remote_RxData.Remote_Mouse_KeyR;//获取上一次五个键的状态
+	Remote_RxData.Remote_KeyLast_Q=Remote_RxData.Remote_Key_Q;
+	Remote_RxData.Remote_KeyLast_E=Remote_RxData.Remote_Key_E;
+	Remote_RxData.Remote_KeyLast_Shift=Remote_RxData.Remote_Key_Shift;
+	Remote_RxData.Remote_KeyLast_Ctrl=Remote_RxData.Remote_Key_Ctrl;	
+	
+	//Remote_RxData.Remote_R_RL=(((uint16_t)Data[1]<<8) | Data[0]) & 0x07FF;//B[0:10],11bits
+	Remote_R_RL_True=(((uint16_t)Data[1]<<8) | Data[0]) & 0x07FF;//B[0:10],11bits
+	if(Remote_R_RL_True>1025)
+	  Remote_RxData.Remote_R_RL=Remote_R_RL_True-1;
+    else if(Remote_R_RL_True<1023)
+	  Remote_RxData.Remote_R_RL=Remote_R_RL_True+1;
+	else
+	 Remote_RxData.Remote_R_RL=1024;
+
+	Remote_RxData.Remote_R_RL=(((uint16_t)Data[1]<<8) | Data[0]) & 0x07FF;//B[0:10],11bits
+	Remote_RxData.Remote_R_UD=(((uint16_t)Data[2]<<5) | (Data[1]>>3)) & 0x07FF;//B[11:21],11bits
+	Remote_RxData.Remote_L_RL=(((uint16_t)Data[4]<<10) | (((uint16_t)Data[3]<<2) | (Data[2]>>6))) & 0x07FF;//B[22:32],11bits
+	Remote_RxData.Remote_L_UD=(((uint16_t)Data[5]<<7) | (Data[4]>>1)) & 0x07FF;//B[33:43],11bits
+	
+	Remote_RxData.Remote_RS=(Data[5]>>4) & 0x03;//B[44:45],2bits
+	Remote_RxData.Remote_LS=(Data[5]>>6) & 0x03;//B[46:47],2bits
+		
+	Remote_RxData.Remote_Mouse_RL=(int16_t)(((uint16_t)Data[7]<<8) | Data[6]);//B[48:63],16bits
+	Remote_RxData.Remote_Mouse_DU=(int16_t)(((uint16_t)Data[9]<<8) | Data[8]);//B[64:79],16bits
+	Remote_RxData.Remote_Mouse_Wheel=(int16_t)(((uint16_t)Data[11]<<8) | Data[10]);//B[80:95],16bits
+	Remote_RxData.Remote_Mouse_KeyL=Data[12];//B[96:103],8bits
+	Remote_RxData.Remote_Mouse_KeyR=Data[13];//B[104:111],8bits
+	
+	Remote_RxData.Remote_Key_W=Data[14] & 0x01;//B[112:112],1bits
+	Remote_RxData.Remote_Key_S=(Data[14]>>1) & 0x01;//B[113:113],1bits
+	Remote_RxData.Remote_Key_A=(Data[14]>>2) & 0x01;//B[114:114],1bits
+	Remote_RxData.Remote_Key_D=(Data[14]>>3) & 0x01;//B[115:115],1bits
+	Remote_RxData.Remote_Key_Shift=(Data[14]>>4) & 0x01;//B[116:116],1bits
+	Remote_RxData.Remote_Key_Ctrl=(Data[14]>>5) & 0x01;//B[117:117],1bits
+	Remote_RxData.Remote_Key_Q=(Data[14]>>6) & 0x01;//B[118:118],1bits
+	Remote_RxData.Remote_Key_E=(Data[14]>>7) & 0x01;//B[119:119],1bits
+	
+	Remote_RxData.Remote_ThumbWheel=(int16_t)((uint16_t)Data[17]<<8) | Data[16];//B[120:135],16bits
+
+	if(Remote_RxData.Remote_KeyLast_Q==0 && Remote_RxData.Remote_Key_Q==1)Remote_RxData.Remote_KeyPush_Q=!Remote_RxData.Remote_KeyPush_Q;//检测是否按下
+	if(Remote_RxData.Remote_KeyLast_E==0 && Remote_RxData.Remote_Key_E==1)Remote_RxData.Remote_KeyPush_E=!Remote_RxData.Remote_KeyPush_E;
+	if(Remote_RxData.Remote_KeyLast_Shift==0 && Remote_RxData.Remote_Key_Shift==1)Remote_RxData.Remote_KeyPush_Shift=!Remote_RxData.Remote_KeyPush_Shift;
+	if(Remote_RxData.Remote_KeyLast_Ctrl==0 && Remote_RxData.Remote_Key_Ctrl==1)Remote_RxData.Remote_KeyPush_Ctrl=!Remote_RxData.Remote_KeyPush_Ctrl;
+	if(Remote_RxData.Remote_Mouse_KeyLastR==0 && Remote_RxData.Remote_Mouse_KeyR==1)Remote_RxData.Remote_Mouse_KeyPushR=1;
+	else Remote_RxData.Remote_Mouse_KeyPushR=0;
+}
+
+/*
+ *函数简介:遥控器接收中断
+ *参数说明:无
+ *返回类型:无
+ *备注:USART的接收中断
+ */
+void USART3_IRQHandler(void)
+{
+	TIM_SetCounter(TIM7,0);
+	TIM_Cmd(TIM7,DISABLE);//关闭定时器并重置计数值
+	if(DMA_GetCurrDataCounter(DMA1_Stream1)==18)//转运一次完成,并交换了存储器
+	{
+		Remote_TransferReset();//复位DMA1的数据流1
+		Remote_DataProcess();//数据处理
+		if(Remote_StartFlag==1)//第一次接收数据
+		{
+			while(Remote_RxData.Remote_R_RL!=1024 || Remote_RxData.Remote_R_UD!=1024 || Remote_RxData.Remote_L_RL!=1024 || Remote_RxData.Remote_L_UD!=1024)//数据错误
+				Warming_RemoteDataERROR();//数据错误报错,等待看门狗复位
+			Remote_StartFlag=2;
+			Warming_LEDClean();
+		}
+		Remote_Status=1;//遥控器已连接
+	}
+	TIM_Cmd(TIM7,ENABLE);//开启定时
+	
+	USART_ClearITPendingBit(USART3,USART_IT_RXNE);//清除接收中断标志位
+}
+
+/*
+ *函数简介:TIM7定时器更新中断函数
+ *参数说明:无
+ *返回类型:无
+ *备注:进入中断即遥控器未连接
+ */
+void TIM7_IRQHandler(void)
+{
+	if(TIM_GetITStatus(TIM7,TIM_IT_Update)==SET)//检测TIM2更新
+	{
+		TIM_ClearITPendingBit(TIM7,TIM_IT_Update);//清除标志位
+		Warming_RemoteNoCheck();//遥控器未连接报警
+		RefereeSystem_Status=0;//裁判系统(图传链路)连接状态变为未连接
+		Remote_Status=0;//遥控器连接状态变为未连接
+		Remote_StartFlag=1;//遥控器处于准备启动阶段
+	}
+}
+
--- a/云台/云台/Hardware/Remote.h
+++ b/云台/云台/Hardware/Remote.h
@@ -0,0 +1,51 @@
+#ifndef __REMOTE_H
+#define __REMOTE_H
+
+typedef struct
+{
+	uint16_t Remote_R_RL;//通道0-右摇杆左右(右为大),范围364(最左端)~1684(最右端),默认值1024(中间)
+	uint16_t Remote_R_UD;//通道1-右摇杆上下(上为大),范围364(最下端)~1684(最上端),默认值1024(中间)
+	uint16_t Remote_L_RL;//通道2-左摇杆左右(右为大),范围364(最左端)~1684(最右端),默认值1024(中间)
+	uint16_t Remote_L_UD;//通道3-左摇杆上下(上为大),范围364(最下端)~1684(最上端),默认值1024(中间)
+	
+	uint8_t Remote_LS;//S1-左侧拨动开关,范围1~3,上为1,下为2,中间为3
+	uint8_t Remote_RS;//S2-右侧拨动开关,范围1~3,上为1,下为2,中间为3
+	
+	int16_t Remote_Mouse_RL;//鼠标X轴-鼠标左右速度,范围-32768~32767,向右为正,向左为负,静止值为0
+	int16_t Remote_Mouse_DU;//鼠标Y轴-鼠标前后速度,范围-32768~32767,向后为正,向前为负,静止值为0
+	int16_t Remote_Mouse_Wheel;//鼠标Z轴-鼠标滚轮速度,范围-32768~32767,向前为正,向后为负,静止值为0
+	uint8_t Remote_Mouse_KeyL;//鼠标左键,按下为1,未按下为0
+	uint8_t Remote_Mouse_KeyR;//鼠标右键,按下为1,未按下为0
+	
+	uint8_t Remote_Key_W;//键盘W键,按下为1,未按下为0
+	uint8_t Remote_Key_S;//键盘S键,按下为1,未按下为0
+	uint8_t Remote_Key_A;//键盘A键,按下为1,未按下为0
+	uint8_t Remote_Key_D;//键盘D键,按下为1,未按下为0
+	uint8_t Remote_Key_Q;//键盘Q键,按下为1,未按下为0
+	uint8_t Remote_Key_E;//键盘E键,按下为1,未按下为0
+	uint8_t Remote_Key_Shift;//键盘Shift键,按下为1,未按下为0
+	uint8_t Remote_Key_Ctrl;//键盘Ctrl键,按下为1,未按下为0
+	
+	uint8_t Remote_Mouse_KeyLastR;//上一次鼠标右键
+	uint8_t Remote_KeyLast_Q;//上一次键盘Q键
+	uint8_t Remote_KeyLast_E;//上一次键盘E键
+	uint8_t Remote_KeyLast_Shift;//上一次键盘Shift键
+	uint8_t Remote_KeyLast_Ctrl;//上一次键盘Ctrl键
+	uint8_t Remote_Mouse_KeyPushR;//按下鼠标右键,按下瞬间为1,其他为0
+	uint8_t Remote_KeyPush_Q;//按下键盘Q键,按下时0,1切换
+	uint8_t Remote_KeyPush_E;//按下键盘E键,按下时0,1切换
+	uint8_t Remote_KeyPush_Shift;//按下键盘Shift键,按下时0,1切换
+	uint8_t Remote_KeyPush_Ctrl;//按下键盘Ctrl键,按下时0,1切换
+	
+	int16_t Remote_ThumbWheel;//保留字段-遥控器拨轮,范围-3278(最上端)~1684(最下端),默认值1024
+}Remote_Data;//遥控器接收结构体
+
+extern Remote_Data Remote_RxData;//遥控器接收数据
+extern uint8_t Remote_Status;//遥控器连接状态,默认未连接(0)
+extern uint8_t Remote_StartFlag;//遥控器启动标志位,0-未在启动阶段,1-准备启动,2-第一次接收到数据
+
+void Remote_Init(void);//遥控器初始化
+void Remote_ON(void);//遥控器开启
+void Remote_OFF(void);//遥控器关闭
+
+#endif
--- a/云台/云台/Library/misc.c
+++ b/云台/云台/Library/misc.c
@@ -0,0 +1,241 @@
+/**
+  ******************************************************************************
+  * @file    misc.c
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file provides all the miscellaneous firmware functions (add-on
+  *          to CMSIS functions).
+  *          
+  *  @verbatim   
+  *                               
+  *          ===================================================================      
+  *                        How to configure Interrupts using driver 
+  *          ===================================================================      
+  * 
+  *            This section provide functions allowing to configure the NVIC interrupts (IRQ).
+  *            The Cortex-M4 exceptions are managed by CMSIS functions.
+  *
+  *            1. Configure the NVIC Priority Grouping using NVIC_PriorityGroupConfig()
+  *                function according to the following table.
+ 
+  *  The table below gives the allowed values of the pre-emption priority and subpriority according
+  *  to the Priority Grouping configuration performed by NVIC_PriorityGroupConfig function
+  *    ==========================================================================================================================
+  *      NVIC_PriorityGroup   | NVIC_IRQChannelPreemptionPriority | NVIC_IRQChannelSubPriority  |       Description
+  *    ==========================================================================================================================
+  *     NVIC_PriorityGroup_0  |                0                  |            0-15             | 0 bits for pre-emption priority
+  *                           |                                   |                             | 4 bits for subpriority
+  *    --------------------------------------------------------------------------------------------------------------------------
+  *     NVIC_PriorityGroup_1  |                0-1                |            0-7              | 1 bits for pre-emption priority
+  *                           |                                   |                             | 3 bits for subpriority
+  *    --------------------------------------------------------------------------------------------------------------------------    
+  *     NVIC_PriorityGroup_2  |                0-3                |            0-3              | 2 bits for pre-emption priority
+  *                           |                                   |                             | 2 bits for subpriority
+  *    --------------------------------------------------------------------------------------------------------------------------    
+  *     NVIC_PriorityGroup_3  |                0-7                |            0-1              | 3 bits for pre-emption priority
+  *                           |                                   |                             | 1 bits for subpriority
+  *    --------------------------------------------------------------------------------------------------------------------------    
+  *     NVIC_PriorityGroup_4  |                0-15               |            0                | 4 bits for pre-emption priority
+  *                           |                                   |                             | 0 bits for subpriority                       
+  *    ==========================================================================================================================     
+  *
+  *            2. Enable and Configure the priority of the selected IRQ Channels using NVIC_Init()  
+  *
+  * @note  When the NVIC_PriorityGroup_0 is selected, IRQ pre-emption is no more possible. 
+  *        The pending IRQ priority will be managed only by the subpriority.
+  *
+  * @note  IRQ priority order (sorted by highest to lowest priority):
+  *         - Lowest pre-emption priority
+  *         - Lowest subpriority
+  *         - Lowest hardware priority (IRQ number)
+  *
+  *  @endverbatim
+  *
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "misc.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @defgroup MISC 
+  * @brief MISC driver modules
+  * @{
+  */
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+#define AIRCR_VECTKEY_MASK    ((uint32_t)0x05FA0000)
+
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/** @defgroup MISC_Private_Functions
+  * @{
+  */
+
+/**
+  * @brief  Configures the priority grouping: pre-emption priority and subpriority.
+  * @param  NVIC_PriorityGroup: specifies the priority grouping bits length. 
+  *   This parameter can be one of the following values:
+  *     @arg NVIC_PriorityGroup_0: 0 bits for pre-emption priority
+  *                                4 bits for subpriority
+  *     @arg NVIC_PriorityGroup_1: 1 bits for pre-emption priority
+  *                                3 bits for subpriority
+  *     @arg NVIC_PriorityGroup_2: 2 bits for pre-emption priority
+  *                                2 bits for subpriority
+  *     @arg NVIC_PriorityGroup_3: 3 bits for pre-emption priority
+  *                                1 bits for subpriority
+  *     @arg NVIC_PriorityGroup_4: 4 bits for pre-emption priority
+  *                                0 bits for subpriority
+  * @note   When the NVIC_PriorityGroup_0 is selected, IRQ pre-emption is no more possible. 
+  *         The pending IRQ priority will be managed only by the subpriority. 
+  * @retval None
+  */
+void NVIC_PriorityGroupConfig(uint32_t NVIC_PriorityGroup)
+{
+  /* Check the parameters */
+  assert_param(IS_NVIC_PRIORITY_GROUP(NVIC_PriorityGroup));
+  
+  /* Set the PRIGROUP[10:8] bits according to NVIC_PriorityGroup value */
+  SCB->AIRCR = AIRCR_VECTKEY_MASK | NVIC_PriorityGroup;
+}
+
+/**
+  * @brief  Initializes the NVIC peripheral according to the specified
+  *         parameters in the NVIC_InitStruct.
+  * @note   To configure interrupts priority correctly, the NVIC_PriorityGroupConfig()
+  *         function should be called before. 
+  * @param  NVIC_InitStruct: pointer to a NVIC_InitTypeDef structure that contains
+  *         the configuration information for the specified NVIC peripheral.
+  * @retval None
+  */
+void NVIC_Init(NVIC_InitTypeDef* NVIC_InitStruct)
+{
+  uint8_t tmppriority = 0x00, tmppre = 0x00, tmpsub = 0x0F;
+  
+  /* Check the parameters */
+  assert_param(IS_FUNCTIONAL_STATE(NVIC_InitStruct->NVIC_IRQChannelCmd));
+  assert_param(IS_NVIC_PREEMPTION_PRIORITY(NVIC_InitStruct->NVIC_IRQChannelPreemptionPriority));  
+  assert_param(IS_NVIC_SUB_PRIORITY(NVIC_InitStruct->NVIC_IRQChannelSubPriority));
+    
+  if (NVIC_InitStruct->NVIC_IRQChannelCmd != DISABLE)
+  {
+    /* Compute the Corresponding IRQ Priority --------------------------------*/    
+    tmppriority = (0x700 - ((SCB->AIRCR) & (uint32_t)0x700))>> 0x08;
+    tmppre = (0x4 - tmppriority);
+    tmpsub = tmpsub >> tmppriority;
+
+    tmppriority = NVIC_InitStruct->NVIC_IRQChannelPreemptionPriority << tmppre;
+    tmppriority |=  (uint8_t)(NVIC_InitStruct->NVIC_IRQChannelSubPriority & tmpsub);
+        
+    tmppriority = tmppriority << 0x04;
+        
+    NVIC->IP[NVIC_InitStruct->NVIC_IRQChannel] = tmppriority;
+    
+    /* Enable the Selected IRQ Channels --------------------------------------*/
+    NVIC->ISER[NVIC_InitStruct->NVIC_IRQChannel >> 0x05] =
+      (uint32_t)0x01 << (NVIC_InitStruct->NVIC_IRQChannel & (uint8_t)0x1F);
+  }
+  else
+  {
+    /* Disable the Selected IRQ Channels -------------------------------------*/
+    NVIC->ICER[NVIC_InitStruct->NVIC_IRQChannel >> 0x05] =
+      (uint32_t)0x01 << (NVIC_InitStruct->NVIC_IRQChannel & (uint8_t)0x1F);
+  }
+}
+
+/**
+  * @brief  Sets the vector table location and Offset.
+  * @param  NVIC_VectTab: specifies if the vector table is in RAM or FLASH memory.
+  *   This parameter can be one of the following values:
+  *     @arg NVIC_VectTab_RAM: Vector Table in internal SRAM.
+  *     @arg NVIC_VectTab_FLASH: Vector Table in internal FLASH.
+  * @param  Offset: Vector Table base offset field. This value must be a multiple of 0x200.
+  * @retval None
+  */
+void NVIC_SetVectorTable(uint32_t NVIC_VectTab, uint32_t Offset)
+{ 
+  /* Check the parameters */
+  assert_param(IS_NVIC_VECTTAB(NVIC_VectTab));
+  assert_param(IS_NVIC_OFFSET(Offset));  
+   
+  SCB->VTOR = NVIC_VectTab | (Offset & (uint32_t)0x1FFFFF80);
+}
+
+/**
+  * @brief  Selects the condition for the system to enter low power mode.
+  * @param  LowPowerMode: Specifies the new mode for the system to enter low power mode.
+  *   This parameter can be one of the following values:
+  *     @arg NVIC_LP_SEVONPEND: Low Power SEV on Pend.
+  *     @arg NVIC_LP_SLEEPDEEP: Low Power DEEPSLEEP request.
+  *     @arg NVIC_LP_SLEEPONEXIT: Low Power Sleep on Exit.
+  * @param  NewState: new state of LP condition. This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void NVIC_SystemLPConfig(uint8_t LowPowerMode, FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_NVIC_LP(LowPowerMode));
+  assert_param(IS_FUNCTIONAL_STATE(NewState));  
+  
+  if (NewState != DISABLE)
+  {
+    SCB->SCR |= LowPowerMode;
+  }
+  else
+  {
+    SCB->SCR &= (uint32_t)(~(uint32_t)LowPowerMode);
+  }
+}
+
+/**
+  * @brief  Configures the SysTick clock source.
+  * @param  SysTick_CLKSource: specifies the SysTick clock source.
+  *   This parameter can be one of the following values:
+  *     @arg SysTick_CLKSource_HCLK_Div8: AHB clock divided by 8 selected as SysTick clock source.
+  *     @arg SysTick_CLKSource_HCLK: AHB clock selected as SysTick clock source.
+  * @retval None
+  */
+void SysTick_CLKSourceConfig(uint32_t SysTick_CLKSource)
+{
+  /* Check the parameters */
+  assert_param(IS_SYSTICK_CLK_SOURCE(SysTick_CLKSource));
+  if (SysTick_CLKSource == SysTick_CLKSource_HCLK)
+  {
+    SysTick->CTRL |= SysTick_CLKSource_HCLK;
+  }
+  else
+  {
+    SysTick->CTRL &= SysTick_CLKSource_HCLK_Div8;
+  }
+}
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
--- a/云台/云台/Library/misc.h
+++ b/云台/云台/Library/misc.h
@@ -0,0 +1,170 @@
+/**
+  ******************************************************************************
+  * @file    misc.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file contains all the functions prototypes for the miscellaneous
+  *          firmware library functions (add-on to CMSIS functions).
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __MISC_H
+#define __MISC_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup MISC
+  * @{
+  */
+
+/* Exported types ------------------------------------------------------------*/
+
+/** 
+  * @brief  NVIC Init Structure definition  
+  */
+
+typedef struct
+{
+  uint8_t NVIC_IRQChannel;                    /*!< Specifies the IRQ channel to be enabled or disabled.
+                                                   This parameter can be an enumerator of @ref IRQn_Type 
+                                                   enumeration (For the complete STM32 Devices IRQ Channels
+                                                   list, please refer to stm32f4xx.h file) */
+
+  uint8_t NVIC_IRQChannelPreemptionPriority;  /*!< Specifies the pre-emption priority for the IRQ channel
+                                                   specified in NVIC_IRQChannel. This parameter can be a value
+                                                   between 0 and 15 as described in the table @ref MISC_NVIC_Priority_Table
+                                                   A lower priority value indicates a higher priority */
+
+  uint8_t NVIC_IRQChannelSubPriority;         /*!< Specifies the subpriority level for the IRQ channel specified
+                                                   in NVIC_IRQChannel. This parameter can be a value
+                                                   between 0 and 15 as described in the table @ref MISC_NVIC_Priority_Table
+                                                   A lower priority value indicates a higher priority */
+
+  FunctionalState NVIC_IRQChannelCmd;         /*!< Specifies whether the IRQ channel defined in NVIC_IRQChannel
+                                                   will be enabled or disabled. 
+                                                   This parameter can be set either to ENABLE or DISABLE */   
+} NVIC_InitTypeDef;
+ 
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup MISC_Exported_Constants
+  * @{
+  */
+
+/** @defgroup MISC_Vector_Table_Base 
+  * @{
+  */
+
+#define NVIC_VectTab_RAM             ((uint32_t)0x20000000)
+#define NVIC_VectTab_FLASH           ((uint32_t)0x08000000)
+#define IS_NVIC_VECTTAB(VECTTAB) (((VECTTAB) == NVIC_VectTab_RAM) || \
+                                  ((VECTTAB) == NVIC_VectTab_FLASH))
+/**
+  * @}
+  */
+
+/** @defgroup MISC_System_Low_Power 
+  * @{
+  */
+
+#define NVIC_LP_SEVONPEND            ((uint8_t)0x10)
+#define NVIC_LP_SLEEPDEEP            ((uint8_t)0x04)
+#define NVIC_LP_SLEEPONEXIT          ((uint8_t)0x02)
+#define IS_NVIC_LP(LP) (((LP) == NVIC_LP_SEVONPEND) || \
+                        ((LP) == NVIC_LP_SLEEPDEEP) || \
+                        ((LP) == NVIC_LP_SLEEPONEXIT))
+/**
+  * @}
+  */
+
+/** @defgroup MISC_Preemption_Priority_Group 
+  * @{
+  */
+
+#define NVIC_PriorityGroup_0         ((uint32_t)0x700) /*!< 0 bits for pre-emption priority
+                                                            4 bits for subpriority */
+#define NVIC_PriorityGroup_1         ((uint32_t)0x600) /*!< 1 bits for pre-emption priority
+                                                            3 bits for subpriority */
+#define NVIC_PriorityGroup_2         ((uint32_t)0x500) /*!< 2 bits for pre-emption priority
+                                                            2 bits for subpriority */
+#define NVIC_PriorityGroup_3         ((uint32_t)0x400) /*!< 3 bits for pre-emption priority
+                                                            1 bits for subpriority */
+#define NVIC_PriorityGroup_4         ((uint32_t)0x300) /*!< 4 bits for pre-emption priority
+                                                            0 bits for subpriority */
+
+#define IS_NVIC_PRIORITY_GROUP(GROUP) (((GROUP) == NVIC_PriorityGroup_0) || \
+                                       ((GROUP) == NVIC_PriorityGroup_1) || \
+                                       ((GROUP) == NVIC_PriorityGroup_2) || \
+                                       ((GROUP) == NVIC_PriorityGroup_3) || \
+                                       ((GROUP) == NVIC_PriorityGroup_4))
+
+#define IS_NVIC_PREEMPTION_PRIORITY(PRIORITY)  ((PRIORITY) < 0x10)
+
+#define IS_NVIC_SUB_PRIORITY(PRIORITY)  ((PRIORITY) < 0x10)
+
+#define IS_NVIC_OFFSET(OFFSET)  ((OFFSET) < 0x000FFFFF)
+
+/**
+  * @}
+  */
+
+/** @defgroup MISC_SysTick_clock_source 
+  * @{
+  */
+
+#define SysTick_CLKSource_HCLK_Div8    ((uint32_t)0xFFFFFFFB)
+#define SysTick_CLKSource_HCLK         ((uint32_t)0x00000004)
+#define IS_SYSTICK_CLK_SOURCE(SOURCE) (((SOURCE) == SysTick_CLKSource_HCLK) || \
+                                       ((SOURCE) == SysTick_CLKSource_HCLK_Div8))
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/
+
+void NVIC_PriorityGroupConfig(uint32_t NVIC_PriorityGroup);
+void NVIC_Init(NVIC_InitTypeDef* NVIC_InitStruct);
+void NVIC_SetVectorTable(uint32_t NVIC_VectTab, uint32_t Offset);
+void NVIC_SystemLPConfig(uint8_t LowPowerMode, FunctionalState NewState);
+void SysTick_CLKSourceConfig(uint32_t SysTick_CLKSource);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MISC_H */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
--- a/云台/云台/Library/stm32f4xx_adc.c
+++ b/云台/云台/Library/stm32f4xx_adc.c
--- a/云台/云台/Library/stm32f4xx_adc.h
+++ b/云台/云台/Library/stm32f4xx_adc.h
@@ -0,0 +1,648 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_adc.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file contains all the functions prototypes for the ADC firmware 
+  *          library.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_ADC_H
+#define __STM32F4xx_ADC_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup ADC
+  * @{
+  */ 
+
+/* Exported types ------------------------------------------------------------*/
+
+/** 
+  * @brief   ADC Init structure definition  
+  */ 
+typedef struct
+{
+  uint32_t ADC_Resolution;                /*!< Configures the ADC resolution dual mode. 
+                                               This parameter can be a value of @ref ADC_resolution */                                   
+  FunctionalState ADC_ScanConvMode;       /*!< Specifies whether the conversion 
+                                               is performed in Scan (multichannels) 
+                                               or Single (one channel) mode.
+                                               This parameter can be set to ENABLE or DISABLE */ 
+  FunctionalState ADC_ContinuousConvMode; /*!< Specifies whether the conversion 
+                                               is performed in Continuous or Single mode.
+                                               This parameter can be set to ENABLE or DISABLE. */
+  uint32_t ADC_ExternalTrigConvEdge;      /*!< Select the external trigger edge and
+                                               enable the trigger of a regular group. 
+                                               This parameter can be a value of 
+                                               @ref ADC_external_trigger_edge_for_regular_channels_conversion */
+  uint32_t ADC_ExternalTrigConv;          /*!< Select the external event used to trigger 
+                                               the start of conversion of a regular group.
+                                               This parameter can be a value of 
+                                               @ref ADC_extrenal_trigger_sources_for_regular_channels_conversion */
+  uint32_t ADC_DataAlign;                 /*!< Specifies whether the ADC data  alignment
+                                               is left or right. This parameter can be 
+                                               a value of @ref ADC_data_align */
+  uint8_t  ADC_NbrOfConversion;           /*!< Specifies the number of ADC conversions
+                                               that will be done using the sequencer for
+                                               regular channel group.
+                                               This parameter must range from 1 to 16. */
+}ADC_InitTypeDef;
+  
+/** 
+  * @brief   ADC Common Init structure definition  
+  */ 
+typedef struct 
+{
+  uint32_t ADC_Mode;                      /*!< Configures the ADC to operate in 
+                                               independent or multi mode. 
+                                               This parameter can be a value of @ref ADC_Common_mode */                                              
+  uint32_t ADC_Prescaler;                 /*!< Select the frequency of the clock 
+                                               to the ADC. The clock is common for all the ADCs.
+                                               This parameter can be a value of @ref ADC_Prescaler */
+  uint32_t ADC_DMAAccessMode;             /*!< Configures the Direct memory access 
+                                              mode for multi ADC mode.
+                                               This parameter can be a value of 
+                                               @ref ADC_Direct_memory_access_mode_for_multi_mode */
+  uint32_t ADC_TwoSamplingDelay;          /*!< Configures the Delay between 2 sampling phases.
+                                               This parameter can be a value of 
+                                               @ref ADC_delay_between_2_sampling_phases */
+  
+}ADC_CommonInitTypeDef;
+
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup ADC_Exported_Constants
+  * @{
+  */ 
+#define IS_ADC_ALL_PERIPH(PERIPH) (((PERIPH) == ADC1) || \
+                                   ((PERIPH) == ADC2) || \
+                                   ((PERIPH) == ADC3))  
+
+/** @defgroup ADC_Common_mode 
+  * @{
+  */ 
+#define ADC_Mode_Independent                       ((uint32_t)0x00000000)       
+#define ADC_DualMode_RegSimult_InjecSimult         ((uint32_t)0x00000001)
+#define ADC_DualMode_RegSimult_AlterTrig           ((uint32_t)0x00000002)
+#define ADC_DualMode_InjecSimult                   ((uint32_t)0x00000005)
+#define ADC_DualMode_RegSimult                     ((uint32_t)0x00000006)
+#define ADC_DualMode_Interl                        ((uint32_t)0x00000007)
+#define ADC_DualMode_AlterTrig                     ((uint32_t)0x00000009)
+#define ADC_TripleMode_RegSimult_InjecSimult       ((uint32_t)0x00000011)
+#define ADC_TripleMode_RegSimult_AlterTrig         ((uint32_t)0x00000012)
+#define ADC_TripleMode_InjecSimult                 ((uint32_t)0x00000015)
+#define ADC_TripleMode_RegSimult                   ((uint32_t)0x00000016)
+#define ADC_TripleMode_Interl                      ((uint32_t)0x00000017)
+#define ADC_TripleMode_AlterTrig                   ((uint32_t)0x00000019)
+#define IS_ADC_MODE(MODE) (((MODE) == ADC_Mode_Independent) || \
+                           ((MODE) == ADC_DualMode_RegSimult_InjecSimult) || \
+                           ((MODE) == ADC_DualMode_RegSimult_AlterTrig) || \
+                           ((MODE) == ADC_DualMode_InjecSimult) || \
+                           ((MODE) == ADC_DualMode_RegSimult) || \
+                           ((MODE) == ADC_DualMode_Interl) || \
+                           ((MODE) == ADC_DualMode_AlterTrig) || \
+                           ((MODE) == ADC_TripleMode_RegSimult_InjecSimult) || \
+                           ((MODE) == ADC_TripleMode_RegSimult_AlterTrig) || \
+                           ((MODE) == ADC_TripleMode_InjecSimult) || \
+                           ((MODE) == ADC_TripleMode_RegSimult) || \
+                           ((MODE) == ADC_TripleMode_Interl) || \
+                           ((MODE) == ADC_TripleMode_AlterTrig))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_Prescaler 
+  * @{
+  */ 
+#define ADC_Prescaler_Div2                         ((uint32_t)0x00000000)
+#define ADC_Prescaler_Div4                         ((uint32_t)0x00010000)
+#define ADC_Prescaler_Div6                         ((uint32_t)0x00020000)
+#define ADC_Prescaler_Div8                         ((uint32_t)0x00030000)
+#define IS_ADC_PRESCALER(PRESCALER) (((PRESCALER) == ADC_Prescaler_Div2) || \
+                                     ((PRESCALER) == ADC_Prescaler_Div4) || \
+                                     ((PRESCALER) == ADC_Prescaler_Div6) || \
+                                     ((PRESCALER) == ADC_Prescaler_Div8))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_Direct_memory_access_mode_for_multi_mode 
+  * @{
+  */ 
+#define ADC_DMAAccessMode_Disabled      ((uint32_t)0x00000000)     /* DMA mode disabled */
+#define ADC_DMAAccessMode_1             ((uint32_t)0x00004000)     /* DMA mode 1 enabled (2 / 3 half-words one by one - 1 then 2 then 3)*/
+#define ADC_DMAAccessMode_2             ((uint32_t)0x00008000)     /* DMA mode 2 enabled (2 / 3 half-words by pairs - 2&1 then 1&3 then 3&2)*/
+#define ADC_DMAAccessMode_3             ((uint32_t)0x0000C000)     /* DMA mode 3 enabled (2 / 3 bytes by pairs - 2&1 then 1&3 then 3&2) */
+#define IS_ADC_DMA_ACCESS_MODE(MODE) (((MODE) == ADC_DMAAccessMode_Disabled) || \
+                                      ((MODE) == ADC_DMAAccessMode_1) || \
+                                      ((MODE) == ADC_DMAAccessMode_2) || \
+                                      ((MODE) == ADC_DMAAccessMode_3))
+                                     
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_delay_between_2_sampling_phases 
+  * @{
+  */ 
+#define ADC_TwoSamplingDelay_5Cycles               ((uint32_t)0x00000000)
+#define ADC_TwoSamplingDelay_6Cycles               ((uint32_t)0x00000100)
+#define ADC_TwoSamplingDelay_7Cycles               ((uint32_t)0x00000200)
+#define ADC_TwoSamplingDelay_8Cycles               ((uint32_t)0x00000300)
+#define ADC_TwoSamplingDelay_9Cycles               ((uint32_t)0x00000400)
+#define ADC_TwoSamplingDelay_10Cycles              ((uint32_t)0x00000500)
+#define ADC_TwoSamplingDelay_11Cycles              ((uint32_t)0x00000600)
+#define ADC_TwoSamplingDelay_12Cycles              ((uint32_t)0x00000700)
+#define ADC_TwoSamplingDelay_13Cycles              ((uint32_t)0x00000800)
+#define ADC_TwoSamplingDelay_14Cycles              ((uint32_t)0x00000900)
+#define ADC_TwoSamplingDelay_15Cycles              ((uint32_t)0x00000A00)
+#define ADC_TwoSamplingDelay_16Cycles              ((uint32_t)0x00000B00)
+#define ADC_TwoSamplingDelay_17Cycles              ((uint32_t)0x00000C00)
+#define ADC_TwoSamplingDelay_18Cycles              ((uint32_t)0x00000D00)
+#define ADC_TwoSamplingDelay_19Cycles              ((uint32_t)0x00000E00)
+#define ADC_TwoSamplingDelay_20Cycles              ((uint32_t)0x00000F00)
+#define IS_ADC_SAMPLING_DELAY(DELAY) (((DELAY) == ADC_TwoSamplingDelay_5Cycles) || \
+                                      ((DELAY) == ADC_TwoSamplingDelay_6Cycles) || \
+                                      ((DELAY) == ADC_TwoSamplingDelay_7Cycles) || \
+                                      ((DELAY) == ADC_TwoSamplingDelay_8Cycles) || \
+                                      ((DELAY) == ADC_TwoSamplingDelay_9Cycles) || \
+                                      ((DELAY) == ADC_TwoSamplingDelay_10Cycles) || \
+                                      ((DELAY) == ADC_TwoSamplingDelay_11Cycles) || \
+                                      ((DELAY) == ADC_TwoSamplingDelay_12Cycles) || \
+                                      ((DELAY) == ADC_TwoSamplingDelay_13Cycles) || \
+                                      ((DELAY) == ADC_TwoSamplingDelay_14Cycles) || \
+                                      ((DELAY) == ADC_TwoSamplingDelay_15Cycles) || \
+                                      ((DELAY) == ADC_TwoSamplingDelay_16Cycles) || \
+                                      ((DELAY) == ADC_TwoSamplingDelay_17Cycles) || \
+                                      ((DELAY) == ADC_TwoSamplingDelay_18Cycles) || \
+                                      ((DELAY) == ADC_TwoSamplingDelay_19Cycles) || \
+                                      ((DELAY) == ADC_TwoSamplingDelay_20Cycles))
+                                     
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_resolution 
+  * @{
+  */ 
+#define ADC_Resolution_12b                         ((uint32_t)0x00000000)
+#define ADC_Resolution_10b                         ((uint32_t)0x01000000)
+#define ADC_Resolution_8b                          ((uint32_t)0x02000000)
+#define ADC_Resolution_6b                          ((uint32_t)0x03000000)
+#define IS_ADC_RESOLUTION(RESOLUTION) (((RESOLUTION) == ADC_Resolution_12b) || \
+                                       ((RESOLUTION) == ADC_Resolution_10b) || \
+                                       ((RESOLUTION) == ADC_Resolution_8b) || \
+                                       ((RESOLUTION) == ADC_Resolution_6b))
+                                      
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_external_trigger_edge_for_regular_channels_conversion 
+  * @{
+  */ 
+#define ADC_ExternalTrigConvEdge_None          ((uint32_t)0x00000000)
+#define ADC_ExternalTrigConvEdge_Rising        ((uint32_t)0x10000000)
+#define ADC_ExternalTrigConvEdge_Falling       ((uint32_t)0x20000000)
+#define ADC_ExternalTrigConvEdge_RisingFalling ((uint32_t)0x30000000)
+#define IS_ADC_EXT_TRIG_EDGE(EDGE) (((EDGE) == ADC_ExternalTrigConvEdge_None) || \
+                             ((EDGE) == ADC_ExternalTrigConvEdge_Rising) || \
+                             ((EDGE) == ADC_ExternalTrigConvEdge_Falling) || \
+                             ((EDGE) == ADC_ExternalTrigConvEdge_RisingFalling))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_extrenal_trigger_sources_for_regular_channels_conversion 
+  * @{
+  */ 
+#define ADC_ExternalTrigConv_T1_CC1                ((uint32_t)0x00000000)
+#define ADC_ExternalTrigConv_T1_CC2                ((uint32_t)0x01000000)
+#define ADC_ExternalTrigConv_T1_CC3                ((uint32_t)0x02000000)
+#define ADC_ExternalTrigConv_T2_CC2                ((uint32_t)0x03000000)
+#define ADC_ExternalTrigConv_T2_CC3                ((uint32_t)0x04000000)
+#define ADC_ExternalTrigConv_T2_CC4                ((uint32_t)0x05000000)
+#define ADC_ExternalTrigConv_T2_TRGO               ((uint32_t)0x06000000)
+#define ADC_ExternalTrigConv_T3_CC1                ((uint32_t)0x07000000)
+#define ADC_ExternalTrigConv_T3_TRGO               ((uint32_t)0x08000000)
+#define ADC_ExternalTrigConv_T4_CC4                ((uint32_t)0x09000000)
+#define ADC_ExternalTrigConv_T5_CC1                ((uint32_t)0x0A000000)
+#define ADC_ExternalTrigConv_T5_CC2                ((uint32_t)0x0B000000)
+#define ADC_ExternalTrigConv_T5_CC3                ((uint32_t)0x0C000000)
+#define ADC_ExternalTrigConv_T8_CC1                ((uint32_t)0x0D000000)
+#define ADC_ExternalTrigConv_T8_TRGO               ((uint32_t)0x0E000000)
+#define ADC_ExternalTrigConv_Ext_IT11              ((uint32_t)0x0F000000)
+#define IS_ADC_EXT_TRIG(REGTRIG) (((REGTRIG) == ADC_ExternalTrigConv_T1_CC1) || \
+                                  ((REGTRIG) == ADC_ExternalTrigConv_T1_CC2) || \
+                                  ((REGTRIG) == ADC_ExternalTrigConv_T1_CC3) || \
+                                  ((REGTRIG) == ADC_ExternalTrigConv_T2_CC2) || \
+                                  ((REGTRIG) == ADC_ExternalTrigConv_T2_CC3) || \
+                                  ((REGTRIG) == ADC_ExternalTrigConv_T2_CC4) || \
+                                  ((REGTRIG) == ADC_ExternalTrigConv_T2_TRGO) || \
+                                  ((REGTRIG) == ADC_ExternalTrigConv_T3_CC1) || \
+                                  ((REGTRIG) == ADC_ExternalTrigConv_T3_TRGO) || \
+                                  ((REGTRIG) == ADC_ExternalTrigConv_T4_CC4) || \
+                                  ((REGTRIG) == ADC_ExternalTrigConv_T5_CC1) || \
+                                  ((REGTRIG) == ADC_ExternalTrigConv_T5_CC2) || \
+                                  ((REGTRIG) == ADC_ExternalTrigConv_T5_CC3) || \
+                                  ((REGTRIG) == ADC_ExternalTrigConv_T8_CC1) || \
+                                  ((REGTRIG) == ADC_ExternalTrigConv_T8_TRGO) || \
+                                  ((REGTRIG) == ADC_ExternalTrigConv_Ext_IT11))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_data_align 
+  * @{
+  */ 
+#define ADC_DataAlign_Right                        ((uint32_t)0x00000000)
+#define ADC_DataAlign_Left                         ((uint32_t)0x00000800)
+#define IS_ADC_DATA_ALIGN(ALIGN) (((ALIGN) == ADC_DataAlign_Right) || \
+                                  ((ALIGN) == ADC_DataAlign_Left))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_channels 
+  * @{
+  */ 
+#define ADC_Channel_0                               ((uint8_t)0x00)
+#define ADC_Channel_1                               ((uint8_t)0x01)
+#define ADC_Channel_2                               ((uint8_t)0x02)
+#define ADC_Channel_3                               ((uint8_t)0x03)
+#define ADC_Channel_4                               ((uint8_t)0x04)
+#define ADC_Channel_5                               ((uint8_t)0x05)
+#define ADC_Channel_6                               ((uint8_t)0x06)
+#define ADC_Channel_7                               ((uint8_t)0x07)
+#define ADC_Channel_8                               ((uint8_t)0x08)
+#define ADC_Channel_9                               ((uint8_t)0x09)
+#define ADC_Channel_10                              ((uint8_t)0x0A)
+#define ADC_Channel_11                              ((uint8_t)0x0B)
+#define ADC_Channel_12                              ((uint8_t)0x0C)
+#define ADC_Channel_13                              ((uint8_t)0x0D)
+#define ADC_Channel_14                              ((uint8_t)0x0E)
+#define ADC_Channel_15                              ((uint8_t)0x0F)
+#define ADC_Channel_16                              ((uint8_t)0x10)
+#define ADC_Channel_17                              ((uint8_t)0x11)
+#define ADC_Channel_18                              ((uint8_t)0x12)
+
+#if defined (STM32F40_41xxx) || defined(STM32F412xG) || defined(STM32F413_423xx)
+#define ADC_Channel_TempSensor                      ((uint8_t)ADC_Channel_16)
+#endif /* STM32F40_41xxx || STM32F412xG || STM32F413_423xx */
+
+#if defined (STM32F427_437xx) || defined (STM32F429_439xx) || defined (STM32F401xx) || defined (STM32F410xx) || defined (STM32F411xE)
+#define ADC_Channel_TempSensor                      ((uint8_t)ADC_Channel_18)
+#endif /* STM32F427_437xx || STM32F429_439xx || STM32F401xx || STM32F410xx || STM32F411xE */
+
+#define ADC_Channel_Vrefint                         ((uint8_t)ADC_Channel_17)
+#define ADC_Channel_Vbat                            ((uint8_t)ADC_Channel_18)
+
+#define IS_ADC_CHANNEL(CHANNEL) (((CHANNEL) == ADC_Channel_0) || \
+                                 ((CHANNEL) == ADC_Channel_1) || \
+                                 ((CHANNEL) == ADC_Channel_2) || \
+                                 ((CHANNEL) == ADC_Channel_3) || \
+                                 ((CHANNEL) == ADC_Channel_4) || \
+                                 ((CHANNEL) == ADC_Channel_5) || \
+                                 ((CHANNEL) == ADC_Channel_6) || \
+                                 ((CHANNEL) == ADC_Channel_7) || \
+                                 ((CHANNEL) == ADC_Channel_8) || \
+                                 ((CHANNEL) == ADC_Channel_9) || \
+                                 ((CHANNEL) == ADC_Channel_10) || \
+                                 ((CHANNEL) == ADC_Channel_11) || \
+                                 ((CHANNEL) == ADC_Channel_12) || \
+                                 ((CHANNEL) == ADC_Channel_13) || \
+                                 ((CHANNEL) == ADC_Channel_14) || \
+                                 ((CHANNEL) == ADC_Channel_15) || \
+                                 ((CHANNEL) == ADC_Channel_16) || \
+                                 ((CHANNEL) == ADC_Channel_17) || \
+                                 ((CHANNEL) == ADC_Channel_18))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_sampling_times 
+  * @{
+  */ 
+#define ADC_SampleTime_3Cycles                    ((uint8_t)0x00)
+#define ADC_SampleTime_15Cycles                   ((uint8_t)0x01)
+#define ADC_SampleTime_28Cycles                   ((uint8_t)0x02)
+#define ADC_SampleTime_56Cycles                   ((uint8_t)0x03)
+#define ADC_SampleTime_84Cycles                   ((uint8_t)0x04)
+#define ADC_SampleTime_112Cycles                  ((uint8_t)0x05)
+#define ADC_SampleTime_144Cycles                  ((uint8_t)0x06)
+#define ADC_SampleTime_480Cycles                  ((uint8_t)0x07)
+#define IS_ADC_SAMPLE_TIME(TIME) (((TIME) == ADC_SampleTime_3Cycles) || \
+                                  ((TIME) == ADC_SampleTime_15Cycles) || \
+                                  ((TIME) == ADC_SampleTime_28Cycles) || \
+                                  ((TIME) == ADC_SampleTime_56Cycles) || \
+                                  ((TIME) == ADC_SampleTime_84Cycles) || \
+                                  ((TIME) == ADC_SampleTime_112Cycles) || \
+                                  ((TIME) == ADC_SampleTime_144Cycles) || \
+                                  ((TIME) == ADC_SampleTime_480Cycles))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_external_trigger_edge_for_injected_channels_conversion 
+  * @{
+  */ 
+#define ADC_ExternalTrigInjecConvEdge_None          ((uint32_t)0x00000000)
+#define ADC_ExternalTrigInjecConvEdge_Rising        ((uint32_t)0x00100000)
+#define ADC_ExternalTrigInjecConvEdge_Falling       ((uint32_t)0x00200000)
+#define ADC_ExternalTrigInjecConvEdge_RisingFalling ((uint32_t)0x00300000)
+#define IS_ADC_EXT_INJEC_TRIG_EDGE(EDGE) (((EDGE) == ADC_ExternalTrigInjecConvEdge_None) || \
+                                          ((EDGE) == ADC_ExternalTrigInjecConvEdge_Rising) || \
+                                          ((EDGE) == ADC_ExternalTrigInjecConvEdge_Falling) || \
+                                          ((EDGE) == ADC_ExternalTrigInjecConvEdge_RisingFalling))
+                                            
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_extrenal_trigger_sources_for_injected_channels_conversion 
+  * @{
+  */ 
+#define ADC_ExternalTrigInjecConv_T1_CC4            ((uint32_t)0x00000000)
+#define ADC_ExternalTrigInjecConv_T1_TRGO           ((uint32_t)0x00010000)
+#define ADC_ExternalTrigInjecConv_T2_CC1            ((uint32_t)0x00020000)
+#define ADC_ExternalTrigInjecConv_T2_TRGO           ((uint32_t)0x00030000)
+#define ADC_ExternalTrigInjecConv_T3_CC2            ((uint32_t)0x00040000)
+#define ADC_ExternalTrigInjecConv_T3_CC4            ((uint32_t)0x00050000)
+#define ADC_ExternalTrigInjecConv_T4_CC1            ((uint32_t)0x00060000)
+#define ADC_ExternalTrigInjecConv_T4_CC2            ((uint32_t)0x00070000)
+#define ADC_ExternalTrigInjecConv_T4_CC3            ((uint32_t)0x00080000)
+#define ADC_ExternalTrigInjecConv_T4_TRGO           ((uint32_t)0x00090000)
+#define ADC_ExternalTrigInjecConv_T5_CC4            ((uint32_t)0x000A0000)
+#define ADC_ExternalTrigInjecConv_T5_TRGO           ((uint32_t)0x000B0000)
+#define ADC_ExternalTrigInjecConv_T8_CC2            ((uint32_t)0x000C0000)
+#define ADC_ExternalTrigInjecConv_T8_CC3            ((uint32_t)0x000D0000)
+#define ADC_ExternalTrigInjecConv_T8_CC4            ((uint32_t)0x000E0000)
+#define ADC_ExternalTrigInjecConv_Ext_IT15          ((uint32_t)0x000F0000)
+#define IS_ADC_EXT_INJEC_TRIG(INJTRIG) (((INJTRIG) == ADC_ExternalTrigInjecConv_T1_CC4) || \
+                                        ((INJTRIG) == ADC_ExternalTrigInjecConv_T1_TRGO) || \
+                                        ((INJTRIG) == ADC_ExternalTrigInjecConv_T2_CC1) || \
+                                        ((INJTRIG) == ADC_ExternalTrigInjecConv_T2_TRGO) || \
+                                        ((INJTRIG) == ADC_ExternalTrigInjecConv_T3_CC2) || \
+                                        ((INJTRIG) == ADC_ExternalTrigInjecConv_T3_CC4) || \
+                                        ((INJTRIG) == ADC_ExternalTrigInjecConv_T4_CC1) || \
+                                        ((INJTRIG) == ADC_ExternalTrigInjecConv_T4_CC2) || \
+                                        ((INJTRIG) == ADC_ExternalTrigInjecConv_T4_CC3) || \
+                                        ((INJTRIG) == ADC_ExternalTrigInjecConv_T4_TRGO) || \
+                                        ((INJTRIG) == ADC_ExternalTrigInjecConv_T5_CC4) || \
+                                        ((INJTRIG) == ADC_ExternalTrigInjecConv_T5_TRGO) || \
+                                        ((INJTRIG) == ADC_ExternalTrigInjecConv_T8_CC2) || \
+                                        ((INJTRIG) == ADC_ExternalTrigInjecConv_T8_CC3) || \
+                                        ((INJTRIG) == ADC_ExternalTrigInjecConv_T8_CC4) || \
+                                        ((INJTRIG) == ADC_ExternalTrigInjecConv_Ext_IT15))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_injected_channel_selection 
+  * @{
+  */ 
+#define ADC_InjectedChannel_1                       ((uint8_t)0x14)
+#define ADC_InjectedChannel_2                       ((uint8_t)0x18)
+#define ADC_InjectedChannel_3                       ((uint8_t)0x1C)
+#define ADC_InjectedChannel_4                       ((uint8_t)0x20)
+#define IS_ADC_INJECTED_CHANNEL(CHANNEL) (((CHANNEL) == ADC_InjectedChannel_1) || \
+                                          ((CHANNEL) == ADC_InjectedChannel_2) || \
+                                          ((CHANNEL) == ADC_InjectedChannel_3) || \
+                                          ((CHANNEL) == ADC_InjectedChannel_4))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_analog_watchdog_selection 
+  * @{
+  */ 
+#define ADC_AnalogWatchdog_SingleRegEnable         ((uint32_t)0x00800200)
+#define ADC_AnalogWatchdog_SingleInjecEnable       ((uint32_t)0x00400200)
+#define ADC_AnalogWatchdog_SingleRegOrInjecEnable  ((uint32_t)0x00C00200)
+#define ADC_AnalogWatchdog_AllRegEnable            ((uint32_t)0x00800000)
+#define ADC_AnalogWatchdog_AllInjecEnable          ((uint32_t)0x00400000)
+#define ADC_AnalogWatchdog_AllRegAllInjecEnable    ((uint32_t)0x00C00000)
+#define ADC_AnalogWatchdog_None                    ((uint32_t)0x00000000)
+#define IS_ADC_ANALOG_WATCHDOG(WATCHDOG) (((WATCHDOG) == ADC_AnalogWatchdog_SingleRegEnable) || \
+                                          ((WATCHDOG) == ADC_AnalogWatchdog_SingleInjecEnable) || \
+                                          ((WATCHDOG) == ADC_AnalogWatchdog_SingleRegOrInjecEnable) || \
+                                          ((WATCHDOG) == ADC_AnalogWatchdog_AllRegEnable) || \
+                                          ((WATCHDOG) == ADC_AnalogWatchdog_AllInjecEnable) || \
+                                          ((WATCHDOG) == ADC_AnalogWatchdog_AllRegAllInjecEnable) || \
+                                          ((WATCHDOG) == ADC_AnalogWatchdog_None))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_interrupts_definition 
+  * @{
+  */ 
+#define ADC_IT_EOC                                 ((uint16_t)0x0205)  
+#define ADC_IT_AWD                                 ((uint16_t)0x0106)  
+#define ADC_IT_JEOC                                ((uint16_t)0x0407)  
+#define ADC_IT_OVR                                 ((uint16_t)0x201A)  
+#define IS_ADC_IT(IT) (((IT) == ADC_IT_EOC) || ((IT) == ADC_IT_AWD) || \
+                       ((IT) == ADC_IT_JEOC)|| ((IT) == ADC_IT_OVR)) 
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_flags_definition 
+  * @{
+  */ 
+#define ADC_FLAG_AWD                               ((uint8_t)0x01)
+#define ADC_FLAG_EOC                               ((uint8_t)0x02)
+#define ADC_FLAG_JEOC                              ((uint8_t)0x04)
+#define ADC_FLAG_JSTRT                             ((uint8_t)0x08)
+#define ADC_FLAG_STRT                              ((uint8_t)0x10)
+#define ADC_FLAG_OVR                               ((uint8_t)0x20)   
+  
+#define IS_ADC_CLEAR_FLAG(FLAG) ((((FLAG) & (uint8_t)0xC0) == 0x00) && ((FLAG) != 0x00))   
+#define IS_ADC_GET_FLAG(FLAG) (((FLAG) == ADC_FLAG_AWD) || \
+                               ((FLAG) == ADC_FLAG_EOC) || \
+                               ((FLAG) == ADC_FLAG_JEOC) || \
+                               ((FLAG)== ADC_FLAG_JSTRT) || \
+                               ((FLAG) == ADC_FLAG_STRT) || \
+                               ((FLAG)== ADC_FLAG_OVR))     
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_thresholds 
+  * @{
+  */ 
+#define IS_ADC_THRESHOLD(THRESHOLD) ((THRESHOLD) <= 0xFFF)
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_injected_offset 
+  * @{
+  */ 
+#define IS_ADC_OFFSET(OFFSET) ((OFFSET) <= 0xFFF)
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_injected_length 
+  * @{
+  */ 
+#define IS_ADC_INJECTED_LENGTH(LENGTH) (((LENGTH) >= 0x1) && ((LENGTH) <= 0x4))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_injected_rank 
+  * @{
+  */ 
+#define IS_ADC_INJECTED_RANK(RANK) (((RANK) >= 0x1) && ((RANK) <= 0x4))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_regular_length 
+  * @{
+  */ 
+#define IS_ADC_REGULAR_LENGTH(LENGTH) (((LENGTH) >= 0x1) && ((LENGTH) <= 0x10))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_regular_rank 
+  * @{
+  */ 
+#define IS_ADC_REGULAR_RANK(RANK) (((RANK) >= 0x1) && ((RANK) <= 0x10))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup ADC_regular_discontinuous_mode_number 
+  * @{
+  */ 
+#define IS_ADC_REGULAR_DISC_NUMBER(NUMBER) (((NUMBER) >= 0x1) && ((NUMBER) <= 0x8))
+/**
+  * @}
+  */ 
+
+
+/**
+  * @}
+  */ 
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/  
+
+/*  Function used to set the ADC configuration to the default reset state *****/  
+void ADC_DeInit(void);
+
+/* Initialization and Configuration functions *********************************/
+void ADC_Init(ADC_TypeDef* ADCx, ADC_InitTypeDef* ADC_InitStruct);
+void ADC_StructInit(ADC_InitTypeDef* ADC_InitStruct);
+void ADC_CommonInit(ADC_CommonInitTypeDef* ADC_CommonInitStruct);
+void ADC_CommonStructInit(ADC_CommonInitTypeDef* ADC_CommonInitStruct);
+void ADC_Cmd(ADC_TypeDef* ADCx, FunctionalState NewState);
+
+/* Analog Watchdog configuration functions ************************************/
+void ADC_AnalogWatchdogCmd(ADC_TypeDef* ADCx, uint32_t ADC_AnalogWatchdog);
+void ADC_AnalogWatchdogThresholdsConfig(ADC_TypeDef* ADCx, uint16_t HighThreshold,uint16_t LowThreshold);
+void ADC_AnalogWatchdogSingleChannelConfig(ADC_TypeDef* ADCx, uint8_t ADC_Channel);
+
+/* Temperature Sensor, Vrefint and VBAT management functions ******************/
+void ADC_TempSensorVrefintCmd(FunctionalState NewState);
+void ADC_VBATCmd(FunctionalState NewState);
+
+/* Regular Channels Configuration functions ***********************************/
+void ADC_RegularChannelConfig(ADC_TypeDef* ADCx, uint8_t ADC_Channel, uint8_t Rank, uint8_t ADC_SampleTime);
+void ADC_SoftwareStartConv(ADC_TypeDef* ADCx);
+FlagStatus ADC_GetSoftwareStartConvStatus(ADC_TypeDef* ADCx);
+void ADC_EOCOnEachRegularChannelCmd(ADC_TypeDef* ADCx, FunctionalState NewState);
+void ADC_ContinuousModeCmd(ADC_TypeDef* ADCx, FunctionalState NewState);
+void ADC_DiscModeChannelCountConfig(ADC_TypeDef* ADCx, uint8_t Number);
+void ADC_DiscModeCmd(ADC_TypeDef* ADCx, FunctionalState NewState);
+uint16_t ADC_GetConversionValue(ADC_TypeDef* ADCx);
+uint32_t ADC_GetMultiModeConversionValue(void);
+
+/* Regular Channels DMA Configuration functions *******************************/
+void ADC_DMACmd(ADC_TypeDef* ADCx, FunctionalState NewState);
+void ADC_DMARequestAfterLastTransferCmd(ADC_TypeDef* ADCx, FunctionalState NewState);
+void ADC_MultiModeDMARequestAfterLastTransferCmd(FunctionalState NewState);
+
+/* Injected channels Configuration functions **********************************/
+void ADC_InjectedChannelConfig(ADC_TypeDef* ADCx, uint8_t ADC_Channel, uint8_t Rank, uint8_t ADC_SampleTime);
+void ADC_InjectedSequencerLengthConfig(ADC_TypeDef* ADCx, uint8_t Length);
+void ADC_SetInjectedOffset(ADC_TypeDef* ADCx, uint8_t ADC_InjectedChannel, uint16_t Offset);
+void ADC_ExternalTrigInjectedConvConfig(ADC_TypeDef* ADCx, uint32_t ADC_ExternalTrigInjecConv);
+void ADC_ExternalTrigInjectedConvEdgeConfig(ADC_TypeDef* ADCx, uint32_t ADC_ExternalTrigInjecConvEdge);
+void ADC_SoftwareStartInjectedConv(ADC_TypeDef* ADCx);
+FlagStatus ADC_GetSoftwareStartInjectedConvCmdStatus(ADC_TypeDef* ADCx);
+void ADC_AutoInjectedConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState);
+void ADC_InjectedDiscModeCmd(ADC_TypeDef* ADCx, FunctionalState NewState);
+uint16_t ADC_GetInjectedConversionValue(ADC_TypeDef* ADCx, uint8_t ADC_InjectedChannel);
+
+/* Interrupts and flags management functions **********************************/
+void ADC_ITConfig(ADC_TypeDef* ADCx, uint16_t ADC_IT, FunctionalState NewState);
+FlagStatus ADC_GetFlagStatus(ADC_TypeDef* ADCx, uint8_t ADC_FLAG);
+void ADC_ClearFlag(ADC_TypeDef* ADCx, uint8_t ADC_FLAG);
+ITStatus ADC_GetITStatus(ADC_TypeDef* ADCx, uint16_t ADC_IT);
+void ADC_ClearITPendingBit(ADC_TypeDef* ADCx, uint16_t ADC_IT);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__STM32F4xx_ADC_H */
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
--- a/云台/云台/Library/stm32f4xx_can.c
+++ b/云台/云台/Library/stm32f4xx_can.c
--- a/云台/云台/Library/stm32f4xx_can.h
+++ b/云台/云台/Library/stm32f4xx_can.h
@@ -0,0 +1,649 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_can.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file contains all the functions prototypes for the CAN firmware 
+  *          library.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_CAN_H
+#define __STM32F4xx_CAN_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup CAN
+  * @{
+  */
+
+/* Exported types ------------------------------------------------------------*/
+#if defined(STM32F413_423xx)
+#define IS_CAN_ALL_PERIPH(PERIPH) (((PERIPH) == CAN1) || \
+                                   ((PERIPH) == CAN2) || \
+                                   ((PERIPH) == CAN3))
+#else
+#define IS_CAN_ALL_PERIPH(PERIPH) (((PERIPH) == CAN1) || \
+                                   ((PERIPH) == CAN2))
+#endif /* STM32F413_423xx */
+
+/** 
+  * @brief  CAN init structure definition
+  */
+typedef struct
+{
+  uint16_t CAN_Prescaler;   /*!< Specifies the length of a time quantum. 
+                                 It ranges from 1 to 1024. */
+  
+  uint8_t CAN_Mode;         /*!< Specifies the CAN operating mode.
+                                 This parameter can be a value of @ref CAN_operating_mode */
+
+  uint8_t CAN_SJW;          /*!< Specifies the maximum number of time quanta 
+                                 the CAN hardware is allowed to lengthen or 
+                                 shorten a bit to perform resynchronization.
+                                 This parameter can be a value of @ref CAN_synchronisation_jump_width */
+
+  uint8_t CAN_BS1;          /*!< Specifies the number of time quanta in Bit 
+                                 Segment 1. This parameter can be a value of 
+                                 @ref CAN_time_quantum_in_bit_segment_1 */
+
+  uint8_t CAN_BS2;          /*!< Specifies the number of time quanta in Bit Segment 2.
+                                 This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_2 */
+  
+  FunctionalState CAN_TTCM; /*!< Enable or disable the time triggered communication mode.
+                                This parameter can be set either to ENABLE or DISABLE. */
+  
+  FunctionalState CAN_ABOM;  /*!< Enable or disable the automatic bus-off management.
+                                  This parameter can be set either to ENABLE or DISABLE. */
+
+  FunctionalState CAN_AWUM;  /*!< Enable or disable the automatic wake-up mode. 
+                                  This parameter can be set either to ENABLE or DISABLE. */
+
+  FunctionalState CAN_NART;  /*!< Enable or disable the non-automatic retransmission mode.
+                                  This parameter can be set either to ENABLE or DISABLE. */
+
+  FunctionalState CAN_RFLM;  /*!< Enable or disable the Receive FIFO Locked mode.
+                                  This parameter can be set either to ENABLE or DISABLE. */
+
+  FunctionalState CAN_TXFP;  /*!< Enable or disable the transmit FIFO priority.
+                                  This parameter can be set either to ENABLE or DISABLE. */
+} CAN_InitTypeDef;
+
+/** 
+  * @brief  CAN filter init structure definition
+  */
+typedef struct
+{
+  uint16_t CAN_FilterIdHigh;         /*!< Specifies the filter identification number (MSBs for a 32-bit
+                                              configuration, first one for a 16-bit configuration).
+                                              This parameter can be a value between 0x0000 and 0xFFFF */
+
+  uint16_t CAN_FilterIdLow;          /*!< Specifies the filter identification number (LSBs for a 32-bit
+                                              configuration, second one for a 16-bit configuration).
+                                              This parameter can be a value between 0x0000 and 0xFFFF */
+
+  uint16_t CAN_FilterMaskIdHigh;     /*!< Specifies the filter mask number or identification number,
+                                              according to the mode (MSBs for a 32-bit configuration,
+                                              first one for a 16-bit configuration).
+                                              This parameter can be a value between 0x0000 and 0xFFFF */
+
+  uint16_t CAN_FilterMaskIdLow;      /*!< Specifies the filter mask number or identification number,
+                                              according to the mode (LSBs for a 32-bit configuration,
+                                              second one for a 16-bit configuration).
+                                              This parameter can be a value between 0x0000 and 0xFFFF */
+
+  uint16_t CAN_FilterFIFOAssignment; /*!< Specifies the FIFO (0 or 1) which will be assigned to the filter.
+                                              This parameter can be a value of @ref CAN_filter_FIFO */
+  
+  uint8_t CAN_FilterNumber;          /*!< Specifies the filter which will be initialized. It ranges from 0 to 13. */
+
+  uint8_t CAN_FilterMode;            /*!< Specifies the filter mode to be initialized.
+                                              This parameter can be a value of @ref CAN_filter_mode */
+
+  uint8_t CAN_FilterScale;           /*!< Specifies the filter scale.
+                                              This parameter can be a value of @ref CAN_filter_scale */
+
+  FunctionalState CAN_FilterActivation; /*!< Enable or disable the filter.
+                                              This parameter can be set either to ENABLE or DISABLE. */
+} CAN_FilterInitTypeDef;
+
+/** 
+  * @brief  CAN Tx message structure definition  
+  */
+typedef struct
+{
+  uint32_t StdId;  /*!< Specifies the standard identifier.
+                        This parameter can be a value between 0 to 0x7FF. */
+
+  uint32_t ExtId;  /*!< Specifies the extended identifier.
+                        This parameter can be a value between 0 to 0x1FFFFFFF. */
+
+  uint8_t IDE;     /*!< Specifies the type of identifier for the message that 
+                        will be transmitted. This parameter can be a value 
+                        of @ref CAN_identifier_type */
+
+  uint8_t RTR;     /*!< Specifies the type of frame for the message that will 
+                        be transmitted. This parameter can be a value of 
+                        @ref CAN_remote_transmission_request */
+
+  uint8_t DLC;     /*!< Specifies the length of the frame that will be 
+                        transmitted. This parameter can be a value between 
+                        0 to 8 */
+
+  uint8_t Data[8]; /*!< Contains the data to be transmitted. It ranges from 0 
+                        to 0xFF. */
+} CanTxMsg;
+
+/** 
+  * @brief  CAN Rx message structure definition  
+  */
+typedef struct
+{
+  uint32_t StdId;  /*!< Specifies the standard identifier.
+                        This parameter can be a value between 0 to 0x7FF. */
+
+  uint32_t ExtId;  /*!< Specifies the extended identifier.
+                        This parameter can be a value between 0 to 0x1FFFFFFF. */
+
+  uint8_t IDE;     /*!< Specifies the type of identifier for the message that 
+                        will be received. This parameter can be a value of 
+                        @ref CAN_identifier_type */
+
+  uint8_t RTR;     /*!< Specifies the type of frame for the received message.
+                        This parameter can be a value of 
+                        @ref CAN_remote_transmission_request */
+
+  uint8_t DLC;     /*!< Specifies the length of the frame that will be received.
+                        This parameter can be a value between 0 to 8 */
+
+  uint8_t Data[8]; /*!< Contains the data to be received. It ranges from 0 to 
+                        0xFF. */
+
+  uint8_t FMI;     /*!< Specifies the index of the filter the message stored in 
+                        the mailbox passes through. This parameter can be a 
+                        value between 0 to 0xFF */
+} CanRxMsg;
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup CAN_Exported_Constants
+  * @{
+  */
+
+/** @defgroup CAN_InitStatus 
+  * @{
+  */
+
+#define CAN_InitStatus_Failed              ((uint8_t)0x00) /*!< CAN initialization failed */
+#define CAN_InitStatus_Success             ((uint8_t)0x01) /*!< CAN initialization OK */
+
+
+/* Legacy defines */
+#define CANINITFAILED    CAN_InitStatus_Failed
+#define CANINITOK        CAN_InitStatus_Success
+/**
+  * @}
+  */
+
+/** @defgroup CAN_operating_mode 
+  * @{
+  */
+
+#define CAN_Mode_Normal             ((uint8_t)0x00)  /*!< normal mode */
+#define CAN_Mode_LoopBack           ((uint8_t)0x01)  /*!< loopback mode */
+#define CAN_Mode_Silent             ((uint8_t)0x02)  /*!< silent mode */
+#define CAN_Mode_Silent_LoopBack    ((uint8_t)0x03)  /*!< loopback combined with silent mode */
+
+#define IS_CAN_MODE(MODE) (((MODE) == CAN_Mode_Normal) || \
+                           ((MODE) == CAN_Mode_LoopBack)|| \
+                           ((MODE) == CAN_Mode_Silent) || \
+                           ((MODE) == CAN_Mode_Silent_LoopBack))
+/**
+  * @}
+  */
+
+
+ /**
+  * @defgroup CAN_operating_mode 
+  * @{
+  */  
+#define CAN_OperatingMode_Initialization  ((uint8_t)0x00) /*!< Initialization mode */
+#define CAN_OperatingMode_Normal          ((uint8_t)0x01) /*!< Normal mode */
+#define CAN_OperatingMode_Sleep           ((uint8_t)0x02) /*!< sleep mode */
+
+
+#define IS_CAN_OPERATING_MODE(MODE) (((MODE) == CAN_OperatingMode_Initialization) ||\
+                                    ((MODE) == CAN_OperatingMode_Normal)|| \
+																		((MODE) == CAN_OperatingMode_Sleep))
+/**
+  * @}
+  */
+  
+/**
+  * @defgroup CAN_operating_mode_status
+  * @{
+  */  
+
+#define CAN_ModeStatus_Failed    ((uint8_t)0x00)                /*!< CAN entering the specific mode failed */
+#define CAN_ModeStatus_Success   ((uint8_t)!CAN_ModeStatus_Failed)   /*!< CAN entering the specific mode Succeed */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_synchronisation_jump_width 
+  * @{
+  */
+#define CAN_SJW_1tq                 ((uint8_t)0x00)  /*!< 1 time quantum */
+#define CAN_SJW_2tq                 ((uint8_t)0x01)  /*!< 2 time quantum */
+#define CAN_SJW_3tq                 ((uint8_t)0x02)  /*!< 3 time quantum */
+#define CAN_SJW_4tq                 ((uint8_t)0x03)  /*!< 4 time quantum */
+
+#define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1tq) || ((SJW) == CAN_SJW_2tq)|| \
+                         ((SJW) == CAN_SJW_3tq) || ((SJW) == CAN_SJW_4tq))
+/**
+  * @}
+  */
+
+/** @defgroup CAN_time_quantum_in_bit_segment_1 
+  * @{
+  */
+#define CAN_BS1_1tq                 ((uint8_t)0x00)  /*!< 1 time quantum */
+#define CAN_BS1_2tq                 ((uint8_t)0x01)  /*!< 2 time quantum */
+#define CAN_BS1_3tq                 ((uint8_t)0x02)  /*!< 3 time quantum */
+#define CAN_BS1_4tq                 ((uint8_t)0x03)  /*!< 4 time quantum */
+#define CAN_BS1_5tq                 ((uint8_t)0x04)  /*!< 5 time quantum */
+#define CAN_BS1_6tq                 ((uint8_t)0x05)  /*!< 6 time quantum */
+#define CAN_BS1_7tq                 ((uint8_t)0x06)  /*!< 7 time quantum */
+#define CAN_BS1_8tq                 ((uint8_t)0x07)  /*!< 8 time quantum */
+#define CAN_BS1_9tq                 ((uint8_t)0x08)  /*!< 9 time quantum */
+#define CAN_BS1_10tq                ((uint8_t)0x09)  /*!< 10 time quantum */
+#define CAN_BS1_11tq                ((uint8_t)0x0A)  /*!< 11 time quantum */
+#define CAN_BS1_12tq                ((uint8_t)0x0B)  /*!< 12 time quantum */
+#define CAN_BS1_13tq                ((uint8_t)0x0C)  /*!< 13 time quantum */
+#define CAN_BS1_14tq                ((uint8_t)0x0D)  /*!< 14 time quantum */
+#define CAN_BS1_15tq                ((uint8_t)0x0E)  /*!< 15 time quantum */
+#define CAN_BS1_16tq                ((uint8_t)0x0F)  /*!< 16 time quantum */
+
+#define IS_CAN_BS1(BS1) ((BS1) <= CAN_BS1_16tq)
+/**
+  * @}
+  */
+
+/** @defgroup CAN_time_quantum_in_bit_segment_2 
+  * @{
+  */
+#define CAN_BS2_1tq                 ((uint8_t)0x00)  /*!< 1 time quantum */
+#define CAN_BS2_2tq                 ((uint8_t)0x01)  /*!< 2 time quantum */
+#define CAN_BS2_3tq                 ((uint8_t)0x02)  /*!< 3 time quantum */
+#define CAN_BS2_4tq                 ((uint8_t)0x03)  /*!< 4 time quantum */
+#define CAN_BS2_5tq                 ((uint8_t)0x04)  /*!< 5 time quantum */
+#define CAN_BS2_6tq                 ((uint8_t)0x05)  /*!< 6 time quantum */
+#define CAN_BS2_7tq                 ((uint8_t)0x06)  /*!< 7 time quantum */
+#define CAN_BS2_8tq                 ((uint8_t)0x07)  /*!< 8 time quantum */
+
+#define IS_CAN_BS2(BS2) ((BS2) <= CAN_BS2_8tq)
+/**
+  * @}
+  */
+
+/** @defgroup CAN_clock_prescaler 
+  * @{
+  */
+#define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1) && ((PRESCALER) <= 1024))
+/**
+  * @}
+  */
+
+/** @defgroup CAN_filter_number 
+  * @{
+  */
+#define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 27)
+/**
+  * @}
+  */
+
+/** @defgroup CAN_filter_mode 
+  * @{
+  */
+#define CAN_FilterMode_IdMask       ((uint8_t)0x00)  /*!< identifier/mask mode */
+#define CAN_FilterMode_IdList       ((uint8_t)0x01)  /*!< identifier list mode */
+
+#define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FilterMode_IdMask) || \
+                                  ((MODE) == CAN_FilterMode_IdList))
+/**
+  * @}
+  */
+
+/** @defgroup CAN_filter_scale 
+  * @{
+  */
+#define CAN_FilterScale_16bit       ((uint8_t)0x00) /*!< Two 16-bit filters */
+#define CAN_FilterScale_32bit       ((uint8_t)0x01) /*!< One 32-bit filter */
+
+#define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FilterScale_16bit) || \
+                                    ((SCALE) == CAN_FilterScale_32bit))
+/**
+  * @}
+  */
+
+/** @defgroup CAN_filter_FIFO
+  * @{
+  */
+#define CAN_Filter_FIFO0             ((uint8_t)0x00)  /*!< Filter FIFO 0 assignment for filter x */
+#define CAN_Filter_FIFO1             ((uint8_t)0x01)  /*!< Filter FIFO 1 assignment for filter x */
+#define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FilterFIFO0) || \
+                                  ((FIFO) == CAN_FilterFIFO1))
+
+/* Legacy defines */
+#define CAN_FilterFIFO0  CAN_Filter_FIFO0
+#define CAN_FilterFIFO1  CAN_Filter_FIFO1
+/**
+  * @}
+  */
+
+/** @defgroup CAN_Start_bank_filter_for_slave_CAN 
+  * @{
+  */
+#define IS_CAN_BANKNUMBER(BANKNUMBER) (((BANKNUMBER) >= 1) && ((BANKNUMBER) <= 27))
+/**
+  * @}
+  */
+
+/** @defgroup CAN_Tx 
+  * @{
+  */
+#define IS_CAN_TRANSMITMAILBOX(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= ((uint8_t)0x02))
+#define IS_CAN_STDID(STDID)   ((STDID) <= ((uint32_t)0x7FF))
+#define IS_CAN_EXTID(EXTID)   ((EXTID) <= ((uint32_t)0x1FFFFFFF))
+#define IS_CAN_DLC(DLC)       ((DLC) <= ((uint8_t)0x08))
+/**
+  * @}
+  */
+
+/** @defgroup CAN_identifier_type 
+  * @{
+  */
+#define CAN_Id_Standard             ((uint32_t)0x00000000)  /*!< Standard Id */
+#define CAN_Id_Extended             ((uint32_t)0x00000004)  /*!< Extended Id */
+#define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_Id_Standard) || \
+                               ((IDTYPE) == CAN_Id_Extended))
+
+/* Legacy defines */
+#define CAN_ID_STD      CAN_Id_Standard           
+#define CAN_ID_EXT      CAN_Id_Extended
+/**
+  * @}
+  */
+
+/** @defgroup CAN_remote_transmission_request 
+  * @{
+  */
+#define CAN_RTR_Data                ((uint32_t)0x00000000)  /*!< Data frame */
+#define CAN_RTR_Remote              ((uint32_t)0x00000002)  /*!< Remote frame */
+#define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_Data) || ((RTR) == CAN_RTR_Remote))
+
+/* Legacy defines */
+#define CAN_RTR_DATA     CAN_RTR_Data         
+#define CAN_RTR_REMOTE   CAN_RTR_Remote
+/**
+  * @}
+  */
+
+/** @defgroup CAN_transmit_constants 
+  * @{
+  */
+#define CAN_TxStatus_Failed         ((uint8_t)0x00)/*!< CAN transmission failed */
+#define CAN_TxStatus_Ok             ((uint8_t)0x01) /*!< CAN transmission succeeded */
+#define CAN_TxStatus_Pending        ((uint8_t)0x02) /*!< CAN transmission pending */
+#define CAN_TxStatus_NoMailBox      ((uint8_t)0x04) /*!< CAN cell did not provide 
+                                                         an empty mailbox */
+/* Legacy defines */	
+#define CANTXFAILED                  CAN_TxStatus_Failed
+#define CANTXOK                      CAN_TxStatus_Ok
+#define CANTXPENDING                 CAN_TxStatus_Pending
+#define CAN_NO_MB                    CAN_TxStatus_NoMailBox
+/**
+  * @}
+  */
+
+/** @defgroup CAN_receive_FIFO_number_constants 
+  * @{
+  */
+#define CAN_FIFO0                 ((uint8_t)0x00) /*!< CAN FIFO 0 used to receive */
+#define CAN_FIFO1                 ((uint8_t)0x01) /*!< CAN FIFO 1 used to receive */
+
+#define IS_CAN_FIFO(FIFO) (((FIFO) == CAN_FIFO0) || ((FIFO) == CAN_FIFO1))
+/**
+  * @}
+  */
+
+/** @defgroup CAN_sleep_constants 
+  * @{
+  */
+#define CAN_Sleep_Failed     ((uint8_t)0x00) /*!< CAN did not enter the sleep mode */
+#define CAN_Sleep_Ok         ((uint8_t)0x01) /*!< CAN entered the sleep mode */
+
+/* Legacy defines */	
+#define CANSLEEPFAILED   CAN_Sleep_Failed
+#define CANSLEEPOK       CAN_Sleep_Ok
+/**
+  * @}
+  */
+
+/** @defgroup CAN_wake_up_constants 
+  * @{
+  */
+#define CAN_WakeUp_Failed        ((uint8_t)0x00) /*!< CAN did not leave the sleep mode */
+#define CAN_WakeUp_Ok            ((uint8_t)0x01) /*!< CAN leaved the sleep mode */
+
+/* Legacy defines */
+#define CANWAKEUPFAILED   CAN_WakeUp_Failed        
+#define CANWAKEUPOK       CAN_WakeUp_Ok        
+/**
+  * @}
+  */
+
+/**
+  * @defgroup CAN_Error_Code_constants
+  * @{
+  */                                                         
+#define CAN_ErrorCode_NoErr           ((uint8_t)0x00) /*!< No Error */ 
+#define	CAN_ErrorCode_StuffErr        ((uint8_t)0x10) /*!< Stuff Error */ 
+#define	CAN_ErrorCode_FormErr         ((uint8_t)0x20) /*!< Form Error */ 
+#define	CAN_ErrorCode_ACKErr          ((uint8_t)0x30) /*!< Acknowledgment Error */ 
+#define	CAN_ErrorCode_BitRecessiveErr ((uint8_t)0x40) /*!< Bit Recessive Error */ 
+#define	CAN_ErrorCode_BitDominantErr  ((uint8_t)0x50) /*!< Bit Dominant Error */ 
+#define	CAN_ErrorCode_CRCErr          ((uint8_t)0x60) /*!< CRC Error  */ 
+#define	CAN_ErrorCode_SoftwareSetErr  ((uint8_t)0x70) /*!< Software Set Error */ 
+/**
+  * @}
+  */
+
+/** @defgroup CAN_flags 
+  * @{
+  */
+/* If the flag is 0x3XXXXXXX, it means that it can be used with CAN_GetFlagStatus()
+   and CAN_ClearFlag() functions. */
+/* If the flag is 0x1XXXXXXX, it means that it can only be used with 
+   CAN_GetFlagStatus() function.  */
+
+/* Transmit Flags */
+#define CAN_FLAG_RQCP0             ((uint32_t)0x38000001) /*!< Request MailBox0 Flag */
+#define CAN_FLAG_RQCP1             ((uint32_t)0x38000100) /*!< Request MailBox1 Flag */
+#define CAN_FLAG_RQCP2             ((uint32_t)0x38010000) /*!< Request MailBox2 Flag */
+
+/* Receive Flags */
+#define CAN_FLAG_FMP0              ((uint32_t)0x12000003) /*!< FIFO 0 Message Pending Flag */
+#define CAN_FLAG_FF0               ((uint32_t)0x32000008) /*!< FIFO 0 Full Flag            */
+#define CAN_FLAG_FOV0              ((uint32_t)0x32000010) /*!< FIFO 0 Overrun Flag         */
+#define CAN_FLAG_FMP1              ((uint32_t)0x14000003) /*!< FIFO 1 Message Pending Flag */
+#define CAN_FLAG_FF1               ((uint32_t)0x34000008) /*!< FIFO 1 Full Flag            */
+#define CAN_FLAG_FOV1              ((uint32_t)0x34000010) /*!< FIFO 1 Overrun Flag         */
+
+/* Operating Mode Flags */
+#define CAN_FLAG_WKU               ((uint32_t)0x31000008) /*!< Wake up Flag */
+#define CAN_FLAG_SLAK              ((uint32_t)0x31000012) /*!< Sleep acknowledge Flag */
+/* @note When SLAK interrupt is disabled (SLKIE=0), no polling on SLAKI is possible. 
+         In this case the SLAK bit can be polled.*/
+
+/* Error Flags */
+#define CAN_FLAG_EWG               ((uint32_t)0x10F00001) /*!< Error Warning Flag   */
+#define CAN_FLAG_EPV               ((uint32_t)0x10F00002) /*!< Error Passive Flag   */
+#define CAN_FLAG_BOF               ((uint32_t)0x10F00004) /*!< Bus-Off Flag         */
+#define CAN_FLAG_LEC               ((uint32_t)0x30F00070) /*!< Last error code Flag */
+
+#define IS_CAN_GET_FLAG(FLAG) (((FLAG) == CAN_FLAG_LEC)  || ((FLAG) == CAN_FLAG_BOF)   || \
+                               ((FLAG) == CAN_FLAG_EPV)  || ((FLAG) == CAN_FLAG_EWG)   || \
+                               ((FLAG) == CAN_FLAG_WKU)  || ((FLAG) == CAN_FLAG_FOV0)  || \
+                               ((FLAG) == CAN_FLAG_FF0)  || ((FLAG) == CAN_FLAG_FMP0)  || \
+                               ((FLAG) == CAN_FLAG_FOV1) || ((FLAG) == CAN_FLAG_FF1)   || \
+                               ((FLAG) == CAN_FLAG_FMP1) || ((FLAG) == CAN_FLAG_RQCP2) || \
+                               ((FLAG) == CAN_FLAG_RQCP1)|| ((FLAG) == CAN_FLAG_RQCP0) || \
+                               ((FLAG) == CAN_FLAG_SLAK ))
+
+#define IS_CAN_CLEAR_FLAG(FLAG)(((FLAG) == CAN_FLAG_LEC) || ((FLAG) == CAN_FLAG_RQCP2) || \
+                                ((FLAG) == CAN_FLAG_RQCP1)  || ((FLAG) == CAN_FLAG_RQCP0) || \
+                                ((FLAG) == CAN_FLAG_FF0)  || ((FLAG) == CAN_FLAG_FOV0) ||\
+                                ((FLAG) == CAN_FLAG_FF1) || ((FLAG) == CAN_FLAG_FOV1) || \
+                                ((FLAG) == CAN_FLAG_WKU) || ((FLAG) == CAN_FLAG_SLAK))
+/**
+  * @}
+  */
+
+  
+/** @defgroup CAN_interrupts 
+  * @{
+  */ 
+#define CAN_IT_TME                  ((uint32_t)0x00000001) /*!< Transmit mailbox empty Interrupt*/
+
+/* Receive Interrupts */
+#define CAN_IT_FMP0                 ((uint32_t)0x00000002) /*!< FIFO 0 message pending Interrupt*/
+#define CAN_IT_FF0                  ((uint32_t)0x00000004) /*!< FIFO 0 full Interrupt*/
+#define CAN_IT_FOV0                 ((uint32_t)0x00000008) /*!< FIFO 0 overrun Interrupt*/
+#define CAN_IT_FMP1                 ((uint32_t)0x00000010) /*!< FIFO 1 message pending Interrupt*/
+#define CAN_IT_FF1                  ((uint32_t)0x00000020) /*!< FIFO 1 full Interrupt*/
+#define CAN_IT_FOV1                 ((uint32_t)0x00000040) /*!< FIFO 1 overrun Interrupt*/
+
+/* Operating Mode Interrupts */
+#define CAN_IT_WKU                  ((uint32_t)0x00010000) /*!< Wake-up Interrupt*/
+#define CAN_IT_SLK                  ((uint32_t)0x00020000) /*!< Sleep acknowledge Interrupt*/
+
+/* Error Interrupts */
+#define CAN_IT_EWG                  ((uint32_t)0x00000100) /*!< Error warning Interrupt*/
+#define CAN_IT_EPV                  ((uint32_t)0x00000200) /*!< Error passive Interrupt*/
+#define CAN_IT_BOF                  ((uint32_t)0x00000400) /*!< Bus-off Interrupt*/
+#define CAN_IT_LEC                  ((uint32_t)0x00000800) /*!< Last error code Interrupt*/
+#define CAN_IT_ERR                  ((uint32_t)0x00008000) /*!< Error Interrupt*/
+
+/* Flags named as Interrupts : kept only for FW compatibility */
+#define CAN_IT_RQCP0   CAN_IT_TME
+#define CAN_IT_RQCP1   CAN_IT_TME
+#define CAN_IT_RQCP2   CAN_IT_TME
+
+
+#define IS_CAN_IT(IT)        (((IT) == CAN_IT_TME) || ((IT) == CAN_IT_FMP0)  ||\
+                             ((IT) == CAN_IT_FF0)  || ((IT) == CAN_IT_FOV0)  ||\
+                             ((IT) == CAN_IT_FMP1) || ((IT) == CAN_IT_FF1)   ||\
+                             ((IT) == CAN_IT_FOV1) || ((IT) == CAN_IT_EWG)   ||\
+                             ((IT) == CAN_IT_EPV)  || ((IT) == CAN_IT_BOF)   ||\
+                             ((IT) == CAN_IT_LEC)  || ((IT) == CAN_IT_ERR)   ||\
+                             ((IT) == CAN_IT_WKU)  || ((IT) == CAN_IT_SLK))
+
+#define IS_CAN_CLEAR_IT(IT) (((IT) == CAN_IT_TME) || ((IT) == CAN_IT_FF0)    ||\
+                             ((IT) == CAN_IT_FOV0)|| ((IT) == CAN_IT_FF1)    ||\
+                             ((IT) == CAN_IT_FOV1)|| ((IT) == CAN_IT_EWG)    ||\
+                             ((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF)    ||\
+                             ((IT) == CAN_IT_LEC) || ((IT) == CAN_IT_ERR)    ||\
+                             ((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK))
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/  
+
+/*  Function used to set the CAN configuration to the default reset state *****/ 
+void CAN_DeInit(CAN_TypeDef* CANx);
+
+/* Initialization and Configuration functions *********************************/ 
+uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct);
+#if defined(STM32F413_423xx)
+void CAN_FilterInit(CAN_TypeDef* CANx, CAN_FilterInitTypeDef* CAN_FilterInitStruct);
+#else
+void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct);
+#endif /* STM32F413_423xx */
+void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct);
+#if defined(STM32F413_423xx)
+void CAN_SlaveStartBank(CAN_TypeDef* CANx, uint8_t CAN_BankNumber);
+#else
+void CAN_SlaveStartBank(uint8_t CAN_BankNumber);
+#endif /* STM32F413_423xx */
+void CAN_DBGFreeze(CAN_TypeDef* CANx, FunctionalState NewState);
+void CAN_TTComModeCmd(CAN_TypeDef* CANx, FunctionalState NewState);
+
+/* CAN Frames Transmission functions ******************************************/
+uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage);
+uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox);
+void CAN_CancelTransmit(CAN_TypeDef* CANx, uint8_t Mailbox);
+
+/* CAN Frames Reception functions *********************************************/
+void CAN_Receive(CAN_TypeDef* CANx, uint8_t FIFONumber, CanRxMsg* RxMessage);
+void CAN_FIFORelease(CAN_TypeDef* CANx, uint8_t FIFONumber);
+uint8_t CAN_MessagePending(CAN_TypeDef* CANx, uint8_t FIFONumber);
+
+/* Operation modes functions **************************************************/
+uint8_t CAN_OperatingModeRequest(CAN_TypeDef* CANx, uint8_t CAN_OperatingMode);
+uint8_t CAN_Sleep(CAN_TypeDef* CANx);
+uint8_t CAN_WakeUp(CAN_TypeDef* CANx);
+
+/* CAN Bus Error management functions *****************************************/
+uint8_t CAN_GetLastErrorCode(CAN_TypeDef* CANx);
+uint8_t CAN_GetReceiveErrorCounter(CAN_TypeDef* CANx);
+uint8_t CAN_GetLSBTransmitErrorCounter(CAN_TypeDef* CANx);
+
+/* Interrupts and flags management functions **********************************/
+void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState NewState);
+FlagStatus CAN_GetFlagStatus(CAN_TypeDef* CANx, uint32_t CAN_FLAG);
+void CAN_ClearFlag(CAN_TypeDef* CANx, uint32_t CAN_FLAG);
+ITStatus CAN_GetITStatus(CAN_TypeDef* CANx, uint32_t CAN_IT);
+void CAN_ClearITPendingBit(CAN_TypeDef* CANx, uint32_t CAN_IT);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F4xx_CAN_H */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
--- a/云台/云台/Library/stm32f4xx_cec.c
+++ b/云台/云台/Library/stm32f4xx_cec.c
@@ -0,0 +1,600 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_cec.c
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file provides firmware functions to manage the following 
+  *          functionalities of the Consumer Electronics Control (CEC) peripheral
+  *          applicable only on STM32F446xx devices:
+  *            + Initialization and Configuration
+  *            + Data transfers functions
+  *            + Interrupts and flags management
+  *               
+  *  @verbatim
+  ==============================================================================
+                            ##### CEC features #####
+  ==============================================================================
+      [..] This device provides some features:
+           (#) Supports HDMI-CEC specification 1.4.
+           (#) Supports two source clocks(HSI/244 or LSE).
+           (#) Works in stop mode(without APB clock, but with CEC clock 32KHz).
+               It can genarate an interrupt in the CEC clock domain that the CPU 
+               wakes up from the low power mode.
+           (#) Configurable Signal Free Time before of transmission start. The 
+               number of nominal data bit periods waited before transmission can be
+               ruled by Hardware or Software.
+           (#) Configurable Peripheral Address (multi-addressing configuration).
+           (#) Supports listen mode.The CEC Messages addressed to different destination
+               can be received without interfering with CEC bus when Listen mode option is enabled.
+           (#) Configurable Rx-Tolerance(Standard and Extended tolerance margin).
+           (#) Error detection with configurable error bit generation.
+           (#) Arbitration lost error in the case of two CEC devices starting at the same time.
+
+                            ##### How to use this driver ##### 
+  ==============================================================================
+      [..] This driver provides functions to configure and program the CEC device,
+       follow steps below:
+           (#) The source clock can be configured using:
+               (++) RCC_CECCLKConfig(RCC_CECCLK_HSI_Div244) for HSI(Default) 
+               (++) RCC_CECCLKConfig(RCC_CECCLK_LSE) for LSE.
+           (#) Enable CEC peripheral clock using RCC_APBPeriphClockCmd(RCC_APBPeriph_CEC, ENABLE).
+           (#) Peripherals alternate function.
+               (++) Connect the pin to the desired peripherals' Alternate Function (AF) using 
+               GPIO_PinAFConfig() function.
+               (++) Configure the desired pin in alternate function by:
+               GPIO_InitStruct->GPIO_Mode = GPIO_Mode_AF.
+               (++) Select the type open-drain and output speed via GPIO_OType 
+               and GPIO_Speed members.
+               (++) Call GPIO_Init() function.
+           (#) Configure the Signal Free Time, Rx Tolerance, Stop reception generation 
+               and Bit error generation using the CEC_Init() function.
+               The function CEC_Init() must be called when the CEC peripheral is disabled.
+           (#) Configure the CEC own address by calling the fuction CEC_OwnAddressConfig().
+           (#) Optionally, you can configure the Listen mode using the function CEC_ListenModeCmd().
+           (#) Enable the NVIC and the corresponding interrupt using the function 
+               CEC_ITConfig() if you need to use interrupt mode.
+               CEC_ITConfig() must be called before enabling the CEC peripheral.
+           (#) Enable the CEC using the CEC_Cmd() function.
+           (#) Charge the first data byte in the TXDR register using CEC_SendDataByte().
+           (#) Enable the transmission of the Byte of a CEC message using CEC_StartOfMessage() 
+           (#) Transmit single data through the CEC peripheral using CEC_SendDataByte() 
+               and Receive the last transmitted byte using CEC_ReceiveDataByte().
+           (#) Enable the CEC_EndOfMessage() in order to indicate the last byte of the message.
+      [..]
+           (@) If the listen mode is enabled, Stop reception generation and Bit error generation 
+               must be in reset state.
+           (@) If the CEC message consists of only 1 byte, the function CEC_EndOfMessage()
+               must be called before CEC_StartOfMessage().
+  
+   @endverbatim
+  *
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_cec.h"
+#include "stm32f4xx_rcc.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @defgroup CEC 
+  * @brief CEC driver modules
+  * @{
+  */
+#if defined(STM32F446xx)
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+#define BROADCAST_ADDRESS      ((uint32_t)0x0000F)
+#define CFGR_CLEAR_MASK        ((uint32_t)0x7000FE00)   /* CFGR register Mask */
+
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/** @defgroup CEC_Private_Functions 
+  * @{
+  */
+
+/** @defgroup CEC_Group1 Initialization and Configuration functions
+ *  @brief   Initialization and Configuration functions
+ *
+@verbatim  
+ ===============================================================================
+                            ##### Initialization and Configuration functions #####
+ ===============================================================================
+      [..] This section provides functions allowing to initialize:
+            (+) CEC own addresses
+            (+) CEC Signal Free Time
+            (+) CEC Rx Tolerance
+            (+) CEC Stop Reception
+            (+) CEC Bit Rising Error
+            (+) CEC Long Bit Period Error
+      [..] This section provides also a function to configure the CEC peripheral in Listen Mode.
+           Messages addressed to different destination can be received when Listen mode is 
+           enabled without interfering with CEC bus.
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Deinitializes the CEC peripheral registers to their default reset values.
+  * @param  None
+  * @retval None
+  */
+void CEC_DeInit(void)
+{
+  RCC_APB1PeriphResetCmd(RCC_APB1Periph_CEC, ENABLE);
+  RCC_APB1PeriphResetCmd(RCC_APB1Periph_CEC, DISABLE);
+}
+
+/**
+  * @brief  Initializes the CEC peripheral according to the specified parameters
+  *         in the CEC_InitStruct.
+  * @note   The CEC parameters must be configured before enabling the CEC peripheral.
+  * @param  CEC_InitStruct: pointer to an CEC_InitTypeDef structure that contains
+  *         the configuration information for the specified CEC peripheral.
+  * @retval None
+  */
+void CEC_Init(CEC_InitTypeDef* CEC_InitStruct)
+{
+  uint32_t tmpreg = 0;
+
+  /* Check the parameters */
+  assert_param(IS_CEC_SIGNAL_FREE_TIME(CEC_InitStruct->CEC_SignalFreeTime));
+  assert_param(IS_CEC_RX_TOLERANCE(CEC_InitStruct->CEC_RxTolerance));
+  assert_param(IS_CEC_STOP_RECEPTION(CEC_InitStruct->CEC_StopReception));
+  assert_param(IS_CEC_BIT_RISING_ERROR(CEC_InitStruct->CEC_BitRisingError));
+  assert_param(IS_CEC_LONG_BIT_PERIOD_ERROR(CEC_InitStruct->CEC_LongBitPeriodError));
+  assert_param(IS_CEC_BDR_NO_GEN_ERROR(CEC_InitStruct->CEC_BRDNoGen));
+  assert_param(IS_CEC_SFT_OPTION(CEC_InitStruct->CEC_SFTOption));
+
+  /* Get the CEC CFGR value */
+  tmpreg = CEC->CFGR;
+
+  /* Clear CFGR bits */
+  tmpreg &= CFGR_CLEAR_MASK;
+
+  /* Configure the CEC peripheral */
+  tmpreg |= (CEC_InitStruct->CEC_SignalFreeTime | CEC_InitStruct->CEC_RxTolerance |
+             CEC_InitStruct->CEC_StopReception  | CEC_InitStruct->CEC_BitRisingError |
+             CEC_InitStruct->CEC_LongBitPeriodError| CEC_InitStruct->CEC_BRDNoGen |
+             CEC_InitStruct->CEC_SFTOption);
+
+  /* Write to CEC CFGR  register */
+  CEC->CFGR = tmpreg;
+}
+
+/**
+  * @brief  Fills each CEC_InitStruct member with its default value.
+  * @param  CEC_InitStruct: pointer to a CEC_InitTypeDef structure which will 
+  *         be initialized.
+  * @retval None
+  */
+void CEC_StructInit(CEC_InitTypeDef* CEC_InitStruct)
+{
+  CEC_InitStruct->CEC_SignalFreeTime = CEC_SignalFreeTime_Standard;
+  CEC_InitStruct->CEC_RxTolerance = CEC_RxTolerance_Standard;
+  CEC_InitStruct->CEC_StopReception = CEC_StopReception_Off;
+  CEC_InitStruct->CEC_BitRisingError = CEC_BitRisingError_Off;
+  CEC_InitStruct->CEC_LongBitPeriodError = CEC_LongBitPeriodError_Off;
+  CEC_InitStruct->CEC_BRDNoGen = CEC_BRDNoGen_Off;
+  CEC_InitStruct->CEC_SFTOption = CEC_SFTOption_Off;
+}
+
+/**
+  * @brief  Enables or disables the CEC peripheral.
+  * @param  NewState: new state of the CEC peripheral.
+  *          This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void CEC_Cmd(FunctionalState NewState)
+{
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    /* Enable the CEC peripheral */
+    CEC->CR |= CEC_CR_CECEN;
+  }
+  else
+  {
+    /* Disable the CEC peripheral */
+    CEC->CR &= ~CEC_CR_CECEN;
+  }
+}
+
+/**
+  * @brief  Enables or disables the CEC Listen Mode.
+  * @param  NewState: new state of the Listen Mode.
+  *          This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void CEC_ListenModeCmd(FunctionalState NewState)
+{
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    /* Enable the Listen Mode */
+    CEC->CFGR |= CEC_CFGR_LSTN;
+  }
+  else
+  {
+    /* Disable the Listen Mode */
+    CEC->CFGR &= ~CEC_CFGR_LSTN;
+  }
+}
+
+/**
+  * @brief  Defines the Own Address of the CEC device.
+  * @param  CEC_OwnAddress: The CEC own address.
+  * @retval None
+  */
+void CEC_OwnAddressConfig(uint8_t CEC_OwnAddress)
+{
+  uint32_t tmp =0x00;
+  /* Check the parameters */
+  assert_param(IS_CEC_ADDRESS(CEC_OwnAddress));
+  tmp = 1 <<(CEC_OwnAddress + 16);
+  /* Set the CEC own address */
+  CEC->CFGR |= tmp;
+}
+
+/**
+  * @brief  Clears the Own Address of the CEC device.
+  * @param  CEC_OwnAddress: The CEC own address.
+  * @retval None
+  */
+void CEC_OwnAddressClear(void)
+{
+  /* Set the CEC own address */
+  CEC->CFGR = 0x0;
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup CEC_Group2 Data transfers functions
+ *  @brief    Data transfers functions
+ *
+@verbatim
+ ===============================================================================
+                            ##### Data transfers functions #####
+ ===============================================================================
+    [..] This section provides functions allowing the CEC data transfers.The read 
+         access of the CEC_RXDR register can be done using the CEC_ReceiveData()function 
+         and returns the Rx buffered value. Whereas a write access to the CEC_TXDR can be 
+         done using CEC_SendData() function.
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Transmits single data through the CEC peripheral.
+  * @param  Data: the data to transmit.
+  * @retval None
+  */
+void CEC_SendData(uint8_t Data)
+{
+  /* Transmit Data */
+  CEC->TXDR = Data;
+}
+
+/**
+  * @brief  Returns the most recent received data by the CEC peripheral.
+  * @param  None
+  * @retval The received data.
+  */
+uint8_t CEC_ReceiveData(void)
+{
+  /* Receive Data */
+  return (uint8_t)(CEC->RXDR);
+}
+
+/**
+  * @brief  Starts a new message.
+  * @param  None
+  * @retval None
+  */
+void CEC_StartOfMessage(void)
+{
+  /* Starts of new message */
+  CEC->CR |= CEC_CR_TXSOM; 
+}
+
+/**
+  * @brief  Transmits message with an EOM bit.
+  * @param  None
+  * @retval None
+  */
+void CEC_EndOfMessage(void)
+{
+  /* The data byte will be transmitted with an EOM bit */
+  CEC->CR |= CEC_CR_TXEOM;
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup CEC_Group3 Interrupts and flags management functions
+ *  @brief    Interrupts and flags management functions
+*
+@verbatim
+ ===============================================================================
+                            ##### Interrupts and flags management functions ##### 
+ ===============================================================================
+    [..] This section provides functions allowing to configure the CEC Interrupts
+         sources and check or clear the flags or pending bits status.
+    [..] The user should identify which mode will be used in his application to manage
+         the communication: Polling mode or Interrupt mode.
+  
+    [..] In polling mode, the CEC can be managed by the following flags:
+            (+) CEC_FLAG_TXACKE : to indicate a missing acknowledge in transmission mode.
+            (+) CEC_FLAG_TXERR  : to indicate an error occurs during transmission mode.
+                                  The initiator detects low impedance in the CEC line.
+            (+) CEC_FLAG_TXUDR  : to indicate if an underrun error occurs in transmission mode.
+                                  The transmission is enabled while the software has not yet 
+                                  loaded any value into the TXDR register.
+            (+) CEC_FLAG_TXEND  : to indicate the end of successful transmission.
+            (+) CEC_FLAG_TXBR   : to indicate the next transmission data has to be written to TXDR.
+            (+) CEC_FLAG_ARBLST : to indicate arbitration lost in the case of two CEC devices
+                                  starting at the same time.
+            (+) CEC_FLAG_RXACKE : to indicate a missing acknowledge in receive mode.
+            (+) CEC_FLAG_LBPE   : to indicate a long bit period error generated during receive mode.
+            (+) CEC_FLAG_SBPE   : to indicate a short bit period error generated during receive mode.
+            (+) CEC_FLAG_BRE    : to indicate a bit rising error generated during receive mode.
+            (+) CEC_FLAG_RXOVR  : to indicate if an overrun error occur while receiving a CEC message.
+                                  A byte is not yet received while a new byte is stored in the RXDR register.
+            (+) CEC_FLAG_RXEND  : to indicate the end Of reception
+            (+) CEC_FLAG_RXBR   : to indicate a new byte has been received from the CEC line and 
+                                  stored into the RXDR buffer.
+    [..]
+           (@)In this Mode, it is advised to use the following functions:
+              FlagStatus CEC_GetFlagStatus(uint16_t CEC_FLAG);
+              void CEC_ClearFlag(uint16_t CEC_FLAG);
+
+    [..] In Interrupt mode, the CEC can be managed by the following interrupt sources:
+           (+) CEC_IT_TXACKE : to indicate a TX Missing acknowledge 
+           (+) CEC_IT_TXACKE : to indicate a missing acknowledge in transmission mode.
+           (+) CEC_IT_TXERR  : to indicate an error occurs during transmission mode.
+                               The initiator detects low impedance in the CEC line.
+           (+) CEC_IT_TXUDR  : to indicate if an underrun error occurs in transmission mode.
+                               The transmission is enabled while the software has not yet 
+                               loaded any value into the TXDR register.
+           (+) CEC_IT_TXEND  : to indicate the end of successful transmission.
+           (+) CEC_IT_TXBR   : to indicate the next transmission data has to be written to TXDR register.
+           (+) CEC_IT_ARBLST : to indicate arbitration lost in the case of two CEC devices
+                                starting at the same time.
+           (+) CEC_IT_RXACKE : to indicate a missing acknowledge in receive mode.
+           (+) CEC_IT_LBPE   : to indicate a long bit period error generated during receive mode.
+           (+) CEC_IT_SBPE   : to indicate a short bit period error generated during receive mode.
+           (+) CEC_IT_BRE    : to indicate a bit rising error generated during receive mode.
+           (+) CEC_IT_RXOVR  : to indicate if an overrun error occur while receiving a CEC message.
+                               A byte is not yet received while a new byte is stored in the RXDR register.
+           (+) CEC_IT_RXEND  : to indicate the end Of reception
+           (+) CEC_IT_RXBR   : to indicate a new byte has been received from the CEC line and 
+                                stored into the RXDR buffer.
+    [..]
+           (@)In this Mode it is advised to use the following functions:
+              void CEC_ITConfig( uint16_t CEC_IT, FunctionalState NewState);
+              ITStatus CEC_GetITStatus(uint16_t CEC_IT);
+              void CEC_ClearITPendingBit(uint16_t CEC_IT);
+              
+
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Enables or disables the selected CEC interrupts.
+  * @param  CEC_IT: specifies the CEC interrupt source to be enabled.
+  *          This parameter can be any combination of the following values:
+  *            @arg CEC_IT_TXACKE: Tx Missing acknowledge Error
+  *            @arg CEC_IT_TXERR: Tx Error.
+  *            @arg CEC_IT_TXUDR: Tx-Buffer Underrun.
+  *            @arg CEC_IT_TXEND: End of Transmission (successful transmission of the last byte).
+  *            @arg CEC_IT_TXBR: Tx-Byte Request.
+  *            @arg CEC_IT_ARBLST: Arbitration Lost
+  *            @arg CEC_IT_RXACKE: Rx-Missing Acknowledge
+  *            @arg CEC_IT_LBPE: Rx Long period Error
+  *            @arg CEC_IT_SBPE: Rx Short period Error
+  *            @arg CEC_IT_BRE: Rx Bit Rising Error
+  *            @arg CEC_IT_RXOVR: Rx Overrun.
+  *            @arg CEC_IT_RXEND: End Of Reception
+  *            @arg CEC_IT_RXBR: Rx-Byte Received
+  * @param  NewState: new state of the selected CEC interrupts.
+  *          This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void CEC_ITConfig(uint16_t CEC_IT, FunctionalState NewState)
+{
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+  assert_param(IS_CEC_IT(CEC_IT));
+
+  if (NewState != DISABLE)
+  {
+    /* Enable the selected CEC interrupt */
+    CEC->IER |= CEC_IT;
+  }
+  else
+  {
+    CEC_IT =~CEC_IT;
+    /* Disable the selected CEC interrupt */
+    CEC->IER &= CEC_IT;
+  }
+}
+
+/**
+  * @brief  Gets the CEC flag status.
+  * @param  CEC_FLAG: specifies the CEC flag to check.
+  *     This parameter can be one of the following values:
+  *            @arg CEC_FLAG_TXACKE: Tx Missing acknowledge Error
+  *            @arg CEC_FLAG_TXERR: Tx Error.
+  *            @arg CEC_FLAG_TXUDR: Tx-Buffer Underrun.
+  *            @arg CEC_FLAG_TXEND: End of transmission (successful transmission of the last byte).
+  *            @arg CEC_FLAG_TXBR: Tx-Byte Request.
+  *            @arg CEC_FLAG_ARBLST: Arbitration Lost
+  *            @arg CEC_FLAG_RXACKE: Rx-Missing Acknowledge 
+  *            @arg CEC_FLAG_LBPE: Rx Long period Error
+  *            @arg CEC_FLAG_SBPE: Rx Short period Error
+  *            @arg CEC_FLAG_BRE: Rx Bit Rissing Error
+  *            @arg CEC_FLAG_RXOVR: Rx Overrun.
+  *            @arg CEC_FLAG_RXEND: End Of Reception.
+  *            @arg CEC_FLAG_RXBR: Rx-Byte Received.
+  * @retval The new state of CEC_FLAG (SET or RESET)
+  */
+FlagStatus CEC_GetFlagStatus(uint16_t CEC_FLAG) 
+{
+  FlagStatus bitstatus = RESET;
+  
+  assert_param(IS_CEC_GET_FLAG(CEC_FLAG));
+  
+  /* Check the status of the specified CEC flag */
+  if ((CEC->ISR & CEC_FLAG) != (uint16_t)RESET)
+  {
+    /* CEC flag is set */
+    bitstatus = SET;
+  }
+  else
+  {
+    /* CEC flag is reset */
+    bitstatus = RESET;
+  }
+
+  /* Return the CEC flag status */
+  return  bitstatus;
+}
+
+/**
+  * @brief  Clears the CEC's pending flags.
+  * @param  CEC_FLAG: specifies the flag to clear. 
+  *          This parameter can be any combination of the following values:
+  *            @arg CEC_FLAG_TXACKE: Tx Missing acknowledge Error
+  *            @arg CEC_FLAG_TXERR: Tx Error
+  *            @arg CEC_FLAG_TXUDR: Tx-Buffer Underrun
+  *            @arg CEC_FLAG_TXEND: End of transmission (successful transmission of the last byte).
+  *            @arg CEC_FLAG_TXBR: Tx-Byte Request
+  *            @arg CEC_FLAG_ARBLST: Arbitration Lost
+  *            @arg CEC_FLAG_RXACKE: Rx Missing Acknowledge 
+  *            @arg CEC_FLAG_LBPE: Rx Long period Error
+  *            @arg CEC_FLAG_SBPE: Rx Short period Error
+  *            @arg CEC_FLAG_BRE: Rx Bit Rising Error
+  *            @arg CEC_FLAG_RXOVR: Rx Overrun
+  *            @arg CEC_FLAG_RXEND: End Of Reception
+  *            @arg CEC_FLAG_RXBR: Rx-Byte Received
+  * @retval None
+  */
+void CEC_ClearFlag(uint32_t CEC_FLAG)
+{
+  assert_param(IS_CEC_CLEAR_FLAG(CEC_FLAG));
+
+  /* Clear the selected CEC flag */
+  CEC->ISR = CEC_FLAG;
+}
+
+/**
+  * @brief  Checks whether the specified CEC interrupt has occurred or not.
+  * @param  CEC_IT: specifies the CEC interrupt source to check. 
+  *          This parameter can be one of the following values:
+  *            @arg CEC_IT_TXACKE: Tx Missing acknowledge Error
+  *            @arg CEC_IT_TXERR: Tx Error.
+  *            @arg CEC_IT_TXUDR: Tx-Buffer Underrun.
+  *            @arg CEC_IT_TXEND: End of transmission (successful transmission of the last byte).
+  *            @arg CEC_IT_TXBR: Tx-Byte Request.
+  *            @arg CEC_IT_ARBLST: Arbitration Lost.
+  *            @arg CEC_IT_RXACKE: Rx-Missing Acknowledge.
+  *            @arg CEC_IT_LBPE: Rx Long period Error.
+  *            @arg CEC_IT_SBPE: Rx Short period Error.
+  *            @arg CEC_IT_BRE: Rx Bit Rising Error.
+  *            @arg CEC_IT_RXOVR: Rx Overrun.
+  *            @arg CEC_IT_RXEND: End Of Reception.
+  *            @arg CEC_IT_RXBR: Rx-Byte Received 
+  * @retval The new state of CEC_IT (SET or RESET).
+  */
+ITStatus CEC_GetITStatus(uint16_t CEC_IT)
+{
+  ITStatus bitstatus = RESET;
+  uint32_t enablestatus = 0;
+
+  /* Check the parameters */
+  assert_param(IS_CEC_GET_IT(CEC_IT));
+
+  /* Get the CEC IT enable bit status */
+  enablestatus = (CEC->IER & CEC_IT);
+
+  /* Check the status of the specified CEC interrupt */
+  if (((CEC->ISR & CEC_IT) != (uint32_t)RESET) && enablestatus)
+  {
+    /* CEC interrupt is set */
+    bitstatus = SET;
+  }
+  else
+  {
+    /* CEC interrupt is reset */
+    bitstatus = RESET;
+  }
+
+  /* Return the CEC interrupt status */
+  return  bitstatus;
+}
+
+/**
+  * @brief  Clears the CEC's interrupt pending bits.
+  * @param  CEC_IT: specifies the CEC interrupt pending bit to clear.
+  *          This parameter can be any combination of the following values:
+  *            @arg CEC_IT_TXACKE: Tx Missing acknowledge Error
+  *            @arg CEC_IT_TXERR: Tx Error
+  *            @arg CEC_IT_TXUDR: Tx-Buffer Underrun
+  *            @arg CEC_IT_TXEND: End of Transmission
+  *            @arg CEC_IT_TXBR: Tx-Byte Request
+  *            @arg CEC_IT_ARBLST: Arbitration Lost
+  *            @arg CEC_IT_RXACKE: Rx-Missing Acknowledge
+  *            @arg CEC_IT_LBPE: Rx Long period Error
+  *            @arg CEC_IT_SBPE: Rx Short period Error
+  *            @arg CEC_IT_BRE: Rx Bit Rising Error
+  *            @arg CEC_IT_RXOVR: Rx Overrun
+  *            @arg CEC_IT_RXEND: End Of Reception
+  *            @arg CEC_IT_RXBR: Rx-Byte Received
+  * @retval None
+  */
+void CEC_ClearITPendingBit(uint16_t CEC_IT)
+{
+  assert_param(IS_CEC_IT(CEC_IT));
+
+  /* Clear the selected CEC interrupt pending bits */
+  CEC->ISR = CEC_IT;
+}
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+#endif /* STM32F446xx */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
--- a/云台/云台/Library/stm32f4xx_cec.h
+++ b/云台/云台/Library/stm32f4xx_cec.h
@@ -0,0 +1,293 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_cec.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file contains all the functions prototypes for the CEC firmware 
+  *          library, applicable only for STM32F466xx devices.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4XX_CEC_H
+#define __STM32F4XX_CEC_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup CEC
+  * @{
+  */
+#if defined(STM32F446xx)
+/* Exported types ------------------------------------------------------------*/
+  
+/** 
+  * @brief CEC Init structure definition 
+  */
+typedef struct
+{
+  uint32_t CEC_SignalFreeTime;     /*!< Specifies the CEC Signal Free Time configuration.
+                                   This parameter can be a value of @ref CEC_Signal_Free_Time */
+  uint32_t CEC_RxTolerance;        /*!< Specifies the CEC Reception Tolerance.
+                                   This parameter can be a value of @ref CEC_RxTolerance */
+  uint32_t CEC_StopReception;      /*!< Specifies the CEC Stop Reception.
+                                   This parameter can be a value of @ref CEC_Stop_Reception */
+  uint32_t CEC_BitRisingError;     /*!< Specifies the CEC Bit Rising Error generation.
+                                   This parameter can be a value of @ref CEC_Bit_Rising_Error_Generation */
+  uint32_t CEC_LongBitPeriodError; /*!< Specifies the CEC Long Bit Error generation.
+                                   This parameter can be a value of @ref CEC_Long_Bit_Error_Generation */
+  uint32_t CEC_BRDNoGen;           /*!< Specifies the CEC Broadcast Error generation.
+                                   This parameter can be a value of @ref CEC_BDR_No_Gen */
+  uint32_t CEC_SFTOption;          /*!< Specifies the CEC Signal Free Time option.
+                                   This parameter can be a value of @ref CEC_SFT_Option */
+
+}CEC_InitTypeDef;
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup CEC_Exported_Constants
+  * @{
+  */
+
+/** @defgroup CEC_Signal_Free_Time
+  * @{
+  */
+#define CEC_SignalFreeTime_Standard     ((uint32_t)0x00000000) /*!< CEC Signal Free Time Standard         */
+#define CEC_SignalFreeTime_1T           ((uint32_t)0x00000001) /*!< CEC  1.5 nominal data bit periods     */
+#define CEC_SignalFreeTime_2T           ((uint32_t)0x00000002) /*!< CEC  2.5 nominal data bit periods     */
+#define CEC_SignalFreeTime_3T           ((uint32_t)0x00000003) /*!< CEC  3.5 nominal data bit periods     */
+#define CEC_SignalFreeTime_4T           ((uint32_t)0x00000004) /*!< CEC  4.5 nominal data bit periods     */
+#define CEC_SignalFreeTime_5T           ((uint32_t)0x00000005) /*!< CEC  5.5 nominal data bit periods     */
+#define CEC_SignalFreeTime_6T           ((uint32_t)0x00000006) /*!< CEC  6.5 nominal data bit periods     */
+#define CEC_SignalFreeTime_7T           ((uint32_t)0x00000007) /*!< CEC  7.5 nominal data bit periods     */
+
+#define IS_CEC_SIGNAL_FREE_TIME(TIME) (((TIME) == CEC_SignalFreeTime_Standard) || \
+                                       ((TIME) == CEC_SignalFreeTime_1T)|| \
+                                       ((TIME) == CEC_SignalFreeTime_2T)|| \
+                                       ((TIME) == CEC_SignalFreeTime_3T)|| \
+                                       ((TIME) == CEC_SignalFreeTime_4T)|| \
+                                       ((TIME) == CEC_SignalFreeTime_5T)|| \
+                                       ((TIME) == CEC_SignalFreeTime_6T)|| \
+                                       ((TIME) == CEC_SignalFreeTime_7T))
+/**
+  * @}
+  */
+
+/** @defgroup CEC_RxTolerance
+  * @{
+  */
+#define CEC_RxTolerance_Standard        ((uint32_t)0x00000000) /*!< Standard Tolerance Margin            */
+#define CEC_RxTolerance_Extended        CEC_CFGR_RXTOL         /*!< Extended Tolerance Margin            */
+
+#define IS_CEC_RX_TOLERANCE(TOLERANCE) (((TOLERANCE) == CEC_RxTolerance_Standard) || \
+                                        ((TOLERANCE) == CEC_RxTolerance_Extended))
+/**
+  * @}
+  */
+
+/** @defgroup CEC_Stop_Reception
+  * @{
+  */
+#define CEC_StopReception_Off           ((uint32_t)0x00000000) /*!< No RX Stop on bit Rising Error (BRE) */
+#define CEC_StopReception_On            CEC_CFGR_BRESTP        /*!< RX Stop on bit Rising Error (BRE)    */
+
+#define IS_CEC_STOP_RECEPTION(RECEPTION) (((RECEPTION) == CEC_StopReception_On) || \
+                                          ((RECEPTION) == CEC_StopReception_Off))
+/**
+  * @}
+  */
+
+/** @defgroup CEC_Bit_Rising_Error_Generation
+  * @{
+  */
+#define CEC_BitRisingError_Off          ((uint32_t)0x00000000) /*!< Bit Rising Error generation turned Off */
+#define CEC_BitRisingError_On           CEC_CFGR_BREGEN        /*!< Bit Rising Error generation turned On  */
+
+#define IS_CEC_BIT_RISING_ERROR(ERROR) (((ERROR) == CEC_BitRisingError_Off) || \
+                                        ((ERROR) == CEC_BitRisingError_On))
+/**
+  * @}
+  */
+
+/** @defgroup CEC_Long_Bit_Error_Generation
+  * @{
+  */
+#define CEC_LongBitPeriodError_Off      ((uint32_t)0x00000000)  /*!< Long Bit Period Error generation turned Off */
+#define CEC_LongBitPeriodError_On       CEC_CFGR_LREGEN         /*!< Long Bit Period Error generation turned On  */
+
+#define IS_CEC_LONG_BIT_PERIOD_ERROR(ERROR) (((ERROR) == CEC_LongBitPeriodError_Off) || \
+                                             ((ERROR) == CEC_LongBitPeriodError_On))
+/**
+  * @}
+  */
+
+/** @defgroup CEC_BDR_No_Gen
+  * @{
+  */
+
+#define CEC_BRDNoGen_Off      ((uint32_t)0x00000000)  /*!< Broadcast Bit Rising Error generation turned Off */
+#define CEC_BRDNoGen_On       CEC_CFGR_BRDNOGEN       /*!< Broadcast Bit Rising Error generation turned On  */
+
+#define IS_CEC_BDR_NO_GEN_ERROR(ERROR) (((ERROR) == CEC_BRDNoGen_Off) || \
+                                        ((ERROR) == CEC_BRDNoGen_On))
+/**
+  * @}
+  */
+
+/** @defgroup CEC_SFT_Option
+  * @{
+  */
+#define CEC_SFTOption_Off              ((uint32_t)0x00000000)  /*!< SFT option turned Off                   */
+#define CEC_SFTOption_On               CEC_CFGR_SFTOPT         /*!< SFT option turned On                    */
+
+#define IS_CEC_SFT_OPTION(OPTION) (((OPTION) == CEC_SFTOption_Off) || \
+                                  ((OPTION) == CEC_SFTOption_On))
+/**
+  * @}
+  */
+
+/** @defgroup CEC_Own_Address
+  * @{
+  */
+#define IS_CEC_ADDRESS(ADDRESS)         ((ADDRESS) < 0x10)
+
+/**
+  * @}
+  */
+
+/** @defgroup CEC_Interrupt_Configuration_definition
+  * @{
+  */
+#define CEC_IT_TXACKE                   CEC_IER_TXACKEIE
+#define CEC_IT_TXERR                    CEC_IER_TXERRIE
+#define CEC_IT_TXUDR                    CEC_IER_TXUDRIE
+#define CEC_IT_TXEND                    CEC_IER_TXENDIE
+#define CEC_IT_TXBR                     CEC_IER_TXBRIE
+#define CEC_IT_ARBLST                   CEC_IER_ARBLSTIE
+#define CEC_IT_RXACKE                   CEC_IER_RXACKEIE
+#define CEC_IT_LBPE                     CEC_IER_LBPEIE
+#define CEC_IT_SBPE                     CEC_IER_SBPEIE
+#define CEC_IT_BRE                      CEC_IER_BREIEIE
+#define CEC_IT_RXOVR                    CEC_IER_RXOVRIE
+#define CEC_IT_RXEND                    CEC_IER_RXENDIE
+#define CEC_IT_RXBR                     CEC_IER_RXBRIE
+
+#define IS_CEC_IT(IT) ((((IT) & (uint32_t)0xFFFFE000) == 0x00) && ((IT) != 0x00))
+
+#define IS_CEC_GET_IT(IT) (((IT) == CEC_IT_TXACKE) || \
+                           ((IT) == CEC_IT_TXERR)|| \
+                           ((IT) == CEC_IT_TXUDR)|| \
+                           ((IT) == CEC_IT_TXEND)|| \
+                           ((IT) == CEC_IT_TXBR)|| \
+                           ((IT) == CEC_IT_ARBLST)|| \
+                           ((IT) == CEC_IT_RXACKE)|| \
+                           ((IT) == CEC_IT_LBPE)|| \
+                           ((IT) == CEC_IT_SBPE)|| \
+                           ((IT) == CEC_IT_BRE)|| \
+                           ((IT) == CEC_IT_RXOVR)|| \
+                           ((IT) == CEC_IT_RXEND)|| \
+                           ((IT) == CEC_IT_RXBR))
+/**
+  * @}
+  */
+
+/** @defgroup CEC_ISR_register_flags_definition
+  * @{
+  */
+#define CEC_FLAG_TXACKE                 CEC_ISR_TXACKE
+#define CEC_FLAG_TXERR                  CEC_ISR_TXERR
+#define CEC_FLAG_TXUDR                  CEC_ISR_TXUDR
+#define CEC_FLAG_TXEND                  CEC_ISR_TXEND
+#define CEC_FLAG_TXBR                   CEC_ISR_TXBR
+#define CEC_FLAG_ARBLST                 CEC_ISR_ARBLST
+#define CEC_FLAG_RXACKE                 CEC_ISR_RXACKE
+#define CEC_FLAG_LBPE                   CEC_ISR_LBPE
+#define CEC_FLAG_SBPE                   CEC_ISR_SBPE
+#define CEC_FLAG_BRE                    CEC_ISR_BRE
+#define CEC_FLAG_RXOVR                  CEC_ISR_RXOVR
+#define CEC_FLAG_RXEND                  CEC_ISR_RXEND
+#define CEC_FLAG_RXBR                   CEC_ISR_RXBR
+
+#define IS_CEC_CLEAR_FLAG(FLAG) ((((FLAG) & (uint32_t)0xFFFFE000) == 0x00) && ((FLAG) != 0x00))
+
+#define IS_CEC_GET_FLAG(FLAG) (((FLAG) == CEC_FLAG_TXACKE) || \
+                               ((FLAG) == CEC_FLAG_TXERR)|| \
+                               ((FLAG) == CEC_FLAG_TXUDR)|| \
+                               ((FLAG) == CEC_FLAG_TXEND)|| \
+                               ((FLAG) == CEC_FLAG_TXBR)|| \
+                               ((FLAG) == CEC_FLAG_ARBLST)|| \
+                               ((FLAG) == CEC_FLAG_RXACKE)|| \
+                               ((FLAG) == CEC_FLAG_LBPE)|| \
+                               ((FLAG) == CEC_FLAG_SBPE)|| \
+                               ((FLAG) == CEC_FLAG_BRE)|| \
+                               ((FLAG) == CEC_FLAG_RXOVR)|| \
+                               ((FLAG) == CEC_FLAG_RXEND)|| \
+                               ((FLAG) == CEC_FLAG_RXBR))
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions ------------------------------------------------------- */
+
+/*  Function used to set the CEC configuration to the default reset state *****/
+void CEC_DeInit(void);
+
+/* CEC_Initialization and Configuration functions *****************************/
+void CEC_Init(CEC_InitTypeDef* CEC_InitStruct);
+void CEC_StructInit(CEC_InitTypeDef* CEC_InitStruct);
+void CEC_Cmd(FunctionalState NewState);
+void CEC_ListenModeCmd(FunctionalState NewState);
+void CEC_OwnAddressConfig(uint8_t CEC_OwnAddress);
+void CEC_OwnAddressClear(void);
+
+/* CEC_Data transfers functions ***********************************************/
+void CEC_SendData(uint8_t Data);
+uint8_t CEC_ReceiveData(void);
+void CEC_StartOfMessage(void);
+void CEC_EndOfMessage(void);
+
+/* CEC_Interrupts and flags management functions ******************************/
+void CEC_ITConfig(uint16_t CEC_IT, FunctionalState NewState);
+FlagStatus CEC_GetFlagStatus(uint16_t CEC_FLAG);
+void CEC_ClearFlag(uint32_t CEC_FLAG);
+ITStatus CEC_GetITStatus(uint16_t CEC_IT);
+void CEC_ClearITPendingBit(uint16_t CEC_IT);
+#endif /* STM32F446xx */
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__STM32F4xx_CEC_H */
+
--- a/云台/云台/Library/stm32f4xx_crc.c
+++ b/云台/云台/Library/stm32f4xx_crc.c
@@ -0,0 +1,125 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_crc.c
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file provides all the CRC firmware functions.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_crc.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @defgroup CRC 
+  * @brief CRC driver modules
+  * @{
+  */
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/** @defgroup CRC_Private_Functions
+  * @{
+  */
+
+/**
+  * @brief  Resets the CRC Data register (DR).
+  * @param  None
+  * @retval None
+  */
+void CRC_ResetDR(void)
+{
+  /* Reset CRC generator */
+  CRC->CR = CRC_CR_RESET;
+}
+
+/**
+  * @brief  Computes the 32-bit CRC of a given data word(32-bit).
+  * @param  Data: data word(32-bit) to compute its CRC
+  * @retval 32-bit CRC
+  */
+uint32_t CRC_CalcCRC(uint32_t Data)
+{
+  CRC->DR = Data;
+  
+  return (CRC->DR);
+}
+
+/**
+  * @brief  Computes the 32-bit CRC of a given buffer of data word(32-bit).
+  * @param  pBuffer: pointer to the buffer containing the data to be computed
+  * @param  BufferLength: length of the buffer to be computed					
+  * @retval 32-bit CRC
+  */
+uint32_t CRC_CalcBlockCRC(uint32_t pBuffer[], uint32_t BufferLength)
+{
+  uint32_t index = 0;
+  
+  for(index = 0; index < BufferLength; index++)
+  {
+    CRC->DR = pBuffer[index];
+  }
+  return (CRC->DR);
+}
+
+/**
+  * @brief  Returns the current CRC value.
+  * @param  None
+  * @retval 32-bit CRC
+  */
+uint32_t CRC_GetCRC(void)
+{
+  return (CRC->DR);
+}
+
+/**
+  * @brief  Stores a 8-bit data in the Independent Data(ID) register.
+  * @param  IDValue: 8-bit value to be stored in the ID register 					
+  * @retval None
+  */
+void CRC_SetIDRegister(uint8_t IDValue)
+{
+  CRC->IDR = IDValue;
+}
+
+/**
+  * @brief  Returns the 8-bit data stored in the Independent Data(ID) register
+  * @param  None
+  * @retval 8-bit value of the ID register 
+  */
+uint8_t CRC_GetIDRegister(void)
+{
+  return (CRC->IDR);
+}
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
--- a/云台/云台/Library/stm32f4xx_crc.h
+++ b/云台/云台/Library/stm32f4xx_crc.h
@@ -0,0 +1,75 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_crc.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file contains all the functions prototypes for the CRC firmware 
+  *          library.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_CRC_H
+#define __STM32F4xx_CRC_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup CRC
+  * @{
+  */
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup CRC_Exported_Constants
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/  
+
+void CRC_ResetDR(void);
+uint32_t CRC_CalcCRC(uint32_t Data);
+uint32_t CRC_CalcBlockCRC(uint32_t pBuffer[], uint32_t BufferLength);
+uint32_t CRC_GetCRC(void);
+void CRC_SetIDRegister(uint8_t IDValue);
+uint8_t CRC_GetIDRegister(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F4xx_CRC_H */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
--- a/云台/云台/Library/stm32f4xx_cryp.c
+++ b/云台/云台/Library/stm32f4xx_cryp.c
@@ -0,0 +1,926 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_cryp.c
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file provides firmware functions to manage the following 
+  *          functionalities of the  Cryptographic processor (CRYP) peripheral:
+  *           + Initialization and Configuration functions
+  *           + Data treatment functions 
+  *           + Context swapping functions     
+  *           + DMA interface function       
+  *           + Interrupts and flags management       
+  *
+@verbatim
+ ===================================================================      
+                 ##### How to use this driver #####
+ =================================================================== 
+ [..]
+   (#) Enable the CRYP controller clock using 
+       RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_CRYP, ENABLE); function.
+  
+   (#) Initialize the CRYP using CRYP_Init(), CRYP_KeyInit() and if needed 
+       CRYP_IVInit(). 
+  
+   (#) Flush the IN and OUT FIFOs by using CRYP_FIFOFlush() function.
+  
+   (#) Enable the CRYP controller using the CRYP_Cmd() function. 
+  
+   (#) If using DMA for Data input and output transfer, activate the needed DMA 
+       Requests using CRYP_DMACmd() function 
+  
+   (#) If DMA is not used for data transfer, use CRYP_DataIn() and  CRYP_DataOut() 
+       functions to enter data to IN FIFO and get result from OUT FIFO.
+  
+   (#) To control CRYP events you can use one of the following two methods:
+       (++) Check on CRYP flags using the CRYP_GetFlagStatus() function.  
+       (++) Use CRYP interrupts through the function CRYP_ITConfig() at 
+            initialization phase and CRYP_GetITStatus() function into interrupt 
+            routines in processing phase.
+         
+   (#) Save and restore Cryptographic processor context using CRYP_SaveContext() 
+       and CRYP_RestoreContext() functions.     
+  
+  
+ *** Procedure to perform an encryption or a decryption ***
+ ========================================================== 
+  
+ *** Initialization ***
+ ====================== 
+ [..] 
+   (#) Initialize the peripheral using CRYP_Init(), CRYP_KeyInit() and CRYP_IVInit 
+       functions:
+       (++) Configure the key size (128-, 192- or 256-bit, in the AES only) 
+       (++) Enter the symmetric key 
+       (++) Configure the data type
+       (++) In case of decryption in AES-ECB or AES-CBC, you must prepare 
+            the key: configure the key preparation mode. Then Enable the CRYP 
+            peripheral using CRYP_Cmd() function: the BUSY flag is set. 
+            Wait until BUSY flag is reset : the key is prepared for decryption
+       (++) Configure the algorithm and chaining (the DES/TDES in ECB/CBC, the 
+            AES in ECB/CBC/CTR) 
+       (++) Configure the direction (encryption/decryption).
+       (++) Write the initialization vectors (in CBC or CTR modes only)
+  
+   (#) Flush the IN and OUT FIFOs using the CRYP_FIFOFlush() function
+  
+  
+  *** Basic Processing mode (polling mode) *** 
+  ============================================  
+  [..]
+    (#) Enable the cryptographic processor using CRYP_Cmd() function.
+  
+    (#) Write the first blocks in the input FIFO (2 to 8 words) using 
+        CRYP_DataIn() function.
+  
+    (#) Repeat the following sequence until the complete message has been 
+        processed:
+  
+        (++) Wait for flag CRYP_FLAG_OFNE occurs (using CRYP_GetFlagStatus() 
+            function), then read the OUT-FIFO using CRYP_DataOut() function
+            (1 block or until the FIFO is empty)
+  
+         (++) Wait for flag CRYP_FLAG_IFNF occurs, (using CRYP_GetFlagStatus() 
+            function then write the IN FIFO using CRYP_DataIn() function 
+            (1 block or until the FIFO is full)
+  
+    (#) At the end of the processing, CRYP_FLAG_BUSY flag will be reset and 
+          both FIFOs are empty (CRYP_FLAG_IFEM is set and CRYP_FLAG_OFNE is 
+          reset). You can disable the peripheral using CRYP_Cmd() function.
+  
+ *** Interrupts Processing mode *** 
+ ==================================
+ [..] In this mode, Processing is done when the data are transferred by the 
+      CPU during interrupts.
+  
+    (#) Enable the interrupts CRYP_IT_INI and CRYP_IT_OUTI using CRYP_ITConfig()
+        function.
+  
+    (#) Enable the cryptographic processor using CRYP_Cmd() function.
+  
+    (#) In the CRYP_IT_INI interrupt handler : load the input message into the 
+         IN FIFO using CRYP_DataIn() function . You can load 2 or 4 words at a 
+         time, or load data until the IN FIFO is full. When the last word of
+         the message has been entered into the IN FIFO, disable the CRYP_IT_INI 
+         interrupt (using CRYP_ITConfig() function).
+  
+    (#) In the CRYP_IT_OUTI interrupt handler : read the output message from 
+         the OUT FIFO using CRYP_DataOut() function. You can read 1 block (2 or 
+         4 words) at a time or read data until the FIFO is empty.
+         When the last word has been read, INIM=0, BUSY=0 and both FIFOs are 
+         empty (CRYP_FLAG_IFEM is set and CRYP_FLAG_OFNE is reset). 
+         You can disable the CRYP_IT_OUTI interrupt (using CRYP_ITConfig() 
+         function) and you can disable the peripheral using CRYP_Cmd() function.
+  
+ *** DMA Processing mode *** 
+ ===========================
+ [..] In this mode, Processing is done when the DMA is used to transfer the 
+      data from/to the memory.
+  
+    (#) Configure the DMA controller to transfer the input data from the 
+         memory using DMA_Init() function. 
+         The transfer length is the length of the message. 
+         As message padding is not managed by the peripheral, the message 
+         length must be an entire number of blocks. The data are transferred 
+         in burst mode. The burst length is 4 words in the AES and 2 or 4 
+         words in the DES/TDES. The DMA should be configured to set an 
+         interrupt on transfer completion of the output data to indicate that 
+         the processing is finished. 
+         Refer to DMA peripheral driver for more details.  
+  
+     (#) Enable the cryptographic processor using CRYP_Cmd() function. 
+         Enable the DMA requests CRYP_DMAReq_DataIN and CRYP_DMAReq_DataOUT 
+         using CRYP_DMACmd() function.
+  
+     (#) All the transfers and processing are managed by the DMA and the 
+         cryptographic processor. The DMA transfer complete interrupt indicates 
+         that the processing is complete. Both FIFOs are normally empty and 
+         CRYP_FLAG_BUSY flag is reset.
+  
+    @endverbatim
+  *
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_cryp.h"
+#include "stm32f4xx_rcc.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @defgroup CRYP 
+  * @brief CRYP driver modules
+  * @{
+  */ 
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+#define FLAG_MASK     ((uint8_t)0x20)
+#define MAX_TIMEOUT   ((uint16_t)0xFFFF)
+
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/** @defgroup CRYP_Private_Functions
+  * @{
+  */ 
+
+/** @defgroup CRYP_Group1 Initialization and Configuration functions
+ *  @brief    Initialization and Configuration functions 
+ *
+@verbatim    
+ ===============================================================================
+             ##### Initialization and Configuration functions #####
+ ===============================================================================  
+ [..] This section provides functions allowing to 
+   (+) Initialize the cryptographic Processor using CRYP_Init() function 
+       (++)  Encrypt or Decrypt 
+       (++)  mode : TDES-ECB, TDES-CBC, 
+                    DES-ECB, DES-CBC, 
+                    AES-ECB, AES-CBC, AES-CTR, AES-Key, AES-GCM, AES-CCM 
+       (++) DataType :  32-bit data, 16-bit data, bit data or bit-string
+       (++) Key Size (only in AES modes)
+   (+) Configure the Encrypt or Decrypt Key using CRYP_KeyInit() function 
+   (+) Configure the Initialization Vectors(IV) for CBC and CTR modes using 
+       CRYP_IVInit() function.  
+   (+) Flushes the IN and OUT FIFOs : using CRYP_FIFOFlush() function.                         
+   (+) Enable or disable the CRYP Processor using CRYP_Cmd() function 
+       
+@endverbatim
+  * @{
+  */
+/**
+  * @brief  Deinitializes the CRYP peripheral registers to their default reset values
+  * @param  None
+  * @retval None
+  */
+void CRYP_DeInit(void)
+{
+  /* Enable CRYP reset state */
+  RCC_AHB2PeriphResetCmd(RCC_AHB2Periph_CRYP, ENABLE);
+
+  /* Release CRYP from reset state */
+  RCC_AHB2PeriphResetCmd(RCC_AHB2Periph_CRYP, DISABLE);
+}
+
+/**
+  * @brief  Initializes the CRYP peripheral according to the specified parameters
+  *         in the CRYP_InitStruct.
+  * @param  CRYP_InitStruct: pointer to a CRYP_InitTypeDef structure that contains
+  *         the configuration information for the CRYP peripheral.
+  * @retval None
+  */
+void CRYP_Init(CRYP_InitTypeDef* CRYP_InitStruct)
+{
+  /* Check the parameters */
+  assert_param(IS_CRYP_ALGOMODE(CRYP_InitStruct->CRYP_AlgoMode));
+  assert_param(IS_CRYP_DATATYPE(CRYP_InitStruct->CRYP_DataType));
+  assert_param(IS_CRYP_ALGODIR(CRYP_InitStruct->CRYP_AlgoDir));
+
+  /* Select Algorithm mode*/  
+  CRYP->CR &= ~CRYP_CR_ALGOMODE;
+  CRYP->CR |= CRYP_InitStruct->CRYP_AlgoMode;
+
+  /* Select dataType */ 
+  CRYP->CR &= ~CRYP_CR_DATATYPE;
+  CRYP->CR |= CRYP_InitStruct->CRYP_DataType;
+
+  /* select Key size (used only with AES algorithm) */
+  if ((CRYP_InitStruct->CRYP_AlgoMode != CRYP_AlgoMode_TDES_ECB) &&
+      (CRYP_InitStruct->CRYP_AlgoMode != CRYP_AlgoMode_TDES_CBC) &&
+      (CRYP_InitStruct->CRYP_AlgoMode != CRYP_AlgoMode_DES_ECB) &&
+      (CRYP_InitStruct->CRYP_AlgoMode != CRYP_AlgoMode_DES_CBC))
+  {
+    assert_param(IS_CRYP_KEYSIZE(CRYP_InitStruct->CRYP_KeySize));
+    CRYP->CR &= ~CRYP_CR_KEYSIZE;
+    CRYP->CR |= CRYP_InitStruct->CRYP_KeySize; /* Key size and value must be 
+                                                  configured once the key has 
+                                                  been prepared */
+  }
+
+  /* Select data Direction */ 
+  CRYP->CR &= ~CRYP_CR_ALGODIR;
+  CRYP->CR |= CRYP_InitStruct->CRYP_AlgoDir;
+}
+
+/**
+  * @brief  Fills each CRYP_InitStruct member with its default value.
+  * @param  CRYP_InitStruct: pointer to a CRYP_InitTypeDef structure which will
+  *         be initialized.
+  * @retval None
+  */
+void CRYP_StructInit(CRYP_InitTypeDef* CRYP_InitStruct)
+{
+  /* Initialize the CRYP_AlgoDir member */
+  CRYP_InitStruct->CRYP_AlgoDir = CRYP_AlgoDir_Encrypt;
+
+  /* initialize the CRYP_AlgoMode member */
+  CRYP_InitStruct->CRYP_AlgoMode = CRYP_AlgoMode_TDES_ECB;
+
+  /* initialize the CRYP_DataType member */
+  CRYP_InitStruct->CRYP_DataType = CRYP_DataType_32b;
+  
+  /* Initialize the CRYP_KeySize member */
+  CRYP_InitStruct->CRYP_KeySize = CRYP_KeySize_128b;
+}
+
+/**
+  * @brief  Initializes the CRYP Keys according to the specified parameters in
+  *         the CRYP_KeyInitStruct.
+  * @param  CRYP_KeyInitStruct: pointer to a CRYP_KeyInitTypeDef structure that
+  *         contains the configuration information for the CRYP Keys.
+  * @retval None
+  */
+void CRYP_KeyInit(CRYP_KeyInitTypeDef* CRYP_KeyInitStruct)
+{
+  /* Key Initialisation */
+  CRYP->K0LR = CRYP_KeyInitStruct->CRYP_Key0Left;
+  CRYP->K0RR = CRYP_KeyInitStruct->CRYP_Key0Right;
+  CRYP->K1LR = CRYP_KeyInitStruct->CRYP_Key1Left;
+  CRYP->K1RR = CRYP_KeyInitStruct->CRYP_Key1Right;
+  CRYP->K2LR = CRYP_KeyInitStruct->CRYP_Key2Left;
+  CRYP->K2RR = CRYP_KeyInitStruct->CRYP_Key2Right;
+  CRYP->K3LR = CRYP_KeyInitStruct->CRYP_Key3Left;
+  CRYP->K3RR = CRYP_KeyInitStruct->CRYP_Key3Right;
+}
+
+/**
+  * @brief  Fills each CRYP_KeyInitStruct member with its default value.
+  * @param  CRYP_KeyInitStruct: pointer to a CRYP_KeyInitTypeDef structure 
+  *         which will be initialized.
+  * @retval None
+  */
+void CRYP_KeyStructInit(CRYP_KeyInitTypeDef* CRYP_KeyInitStruct)
+{
+  CRYP_KeyInitStruct->CRYP_Key0Left  = 0;
+  CRYP_KeyInitStruct->CRYP_Key0Right = 0;
+  CRYP_KeyInitStruct->CRYP_Key1Left  = 0;
+  CRYP_KeyInitStruct->CRYP_Key1Right = 0;
+  CRYP_KeyInitStruct->CRYP_Key2Left  = 0;
+  CRYP_KeyInitStruct->CRYP_Key2Right = 0;
+  CRYP_KeyInitStruct->CRYP_Key3Left  = 0;
+  CRYP_KeyInitStruct->CRYP_Key3Right = 0;
+}
+/**
+  * @brief  Initializes the CRYP Initialization Vectors(IV) according to the
+  *         specified parameters in the CRYP_IVInitStruct.
+  * @param  CRYP_IVInitStruct: pointer to a CRYP_IVInitTypeDef structure that contains
+  *         the configuration information for the CRYP Initialization Vectors(IV).
+  * @retval None
+  */
+void CRYP_IVInit(CRYP_IVInitTypeDef* CRYP_IVInitStruct)
+{
+  CRYP->IV0LR = CRYP_IVInitStruct->CRYP_IV0Left;
+  CRYP->IV0RR = CRYP_IVInitStruct->CRYP_IV0Right;
+  CRYP->IV1LR = CRYP_IVInitStruct->CRYP_IV1Left;
+  CRYP->IV1RR = CRYP_IVInitStruct->CRYP_IV1Right;
+}
+
+/**
+  * @brief  Fills each CRYP_IVInitStruct member with its default value.
+  * @param  CRYP_IVInitStruct: pointer to a CRYP_IVInitTypeDef Initialization 
+  *         Vectors(IV) structure which will be initialized.
+  * @retval None
+  */
+void CRYP_IVStructInit(CRYP_IVInitTypeDef* CRYP_IVInitStruct)
+{
+  CRYP_IVInitStruct->CRYP_IV0Left  = 0;
+  CRYP_IVInitStruct->CRYP_IV0Right = 0;
+  CRYP_IVInitStruct->CRYP_IV1Left  = 0;
+  CRYP_IVInitStruct->CRYP_IV1Right = 0;
+}
+
+/**
+  * @brief  Configures the AES-CCM and AES-GCM phases
+  * @note   This function is used only with AES-CCM or AES-GCM Algorithms  
+  * @param  CRYP_Phase: specifies the CRYP AES-CCM and AES-GCM phase to be configured.
+  *           This parameter can be one of the following values:
+  *            @arg CRYP_Phase_Init: Initialization phase
+  *            @arg CRYP_Phase_Header: Header phase
+  *            @arg CRYP_Phase_Payload: Payload phase
+  *            @arg CRYP_Phase_Final: Final phase 
+  * @retval None
+  */
+void CRYP_PhaseConfig(uint32_t CRYP_Phase)
+{ uint32_t tempcr = 0;
+
+  /* Check the parameter */
+  assert_param(IS_CRYP_PHASE(CRYP_Phase));
+
+  /* Get the CR register */
+  tempcr = CRYP->CR;
+  
+  /* Reset the phase configuration bits: GCMP_CCMPH */
+  tempcr &= (uint32_t)(~CRYP_CR_GCM_CCMPH);
+  /* Set the selected phase */
+  tempcr |= (uint32_t)CRYP_Phase;
+
+  /* Set the CR register */ 
+  CRYP->CR = tempcr;    
+}
+
+/**
+  * @brief  Flushes the IN and OUT FIFOs (that is read and write pointers of the 
+  *         FIFOs are reset)
+  * @note   The FIFOs must be flushed only when BUSY flag is reset.  
+  * @param  None
+  * @retval None
+  */
+void CRYP_FIFOFlush(void)
+{
+  /* Reset the read and write pointers of the FIFOs */
+  CRYP->CR |= CRYP_CR_FFLUSH;
+}
+
+/**
+  * @brief  Enables or disables the CRYP peripheral.
+  * @param  NewState: new state of the CRYP peripheral.
+  *          This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void CRYP_Cmd(FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    /* Enable the Cryptographic processor */
+    CRYP->CR |= CRYP_CR_CRYPEN;
+  }
+  else
+  {
+    /* Disable the Cryptographic processor */
+    CRYP->CR &= ~CRYP_CR_CRYPEN;
+  }
+}
+/**
+  * @}
+  */
+  
+/** @defgroup CRYP_Group2 CRYP Data processing functions
+ *  @brief    CRYP Data processing functions
+ *
+@verbatim    
+ ===============================================================================
+                    ##### CRYP Data processing functions #####
+ ===============================================================================  
+ [..] This section provides functions allowing the encryption and decryption 
+      operations: 
+   (+) Enter data to be treated in the IN FIFO : using CRYP_DataIn() function.
+   (+) Get the data result from the OUT FIFO : using CRYP_DataOut() function.
+
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Writes data in the Data Input register (DIN).
+  * @note   After the DIN register has been read once or several times, 
+  *         the FIFO must be flushed (using CRYP_FIFOFlush() function).  
+  * @param  Data: data to write in Data Input register
+  * @retval None
+  */
+void CRYP_DataIn(uint32_t Data)
+{
+  CRYP->DR = Data;
+}
+
+/**
+  * @brief  Returns the last data entered into the output FIFO.
+  * @param  None
+  * @retval Last data entered into the output FIFO.
+  */
+uint32_t CRYP_DataOut(void)
+{
+  return CRYP->DOUT;
+}
+/**
+  * @}
+  */
+  
+/** @defgroup CRYP_Group3 Context swapping functions
+ *  @brief   Context swapping functions
+ *
+@verbatim   
+ ===============================================================================
+                      ##### Context swapping functions #####
+ ===============================================================================  
+ [..] This section provides functions allowing to save and store CRYP Context
+
+ [..] It is possible to interrupt an encryption/ decryption/ key generation process 
+      to perform another processing with a higher priority, and to complete the 
+      interrupted process later on, when the higher-priority task is complete. To do 
+      so, the context of the interrupted task must be saved from the CRYP registers 
+      to memory, and then be restored from memory to the CRYP registers.
+   
+   (#) To save the current context, use CRYP_SaveContext() function
+   (#) To restore the saved context, use CRYP_RestoreContext() function 
+
+@endverbatim
+  * @{
+  */
+  
+/**
+  * @brief  Saves the CRYP peripheral Context. 
+  * @note   This function stops DMA transfer before to save the context. After 
+  *         restoring the context, you have to enable the DMA again (if the DMA
+  *         was previously used).
+  * @param  CRYP_ContextSave: pointer to a CRYP_Context structure that contains
+  *         the repository for current context.
+  * @param  CRYP_KeyInitStruct: pointer to a CRYP_KeyInitTypeDef structure that 
+  *         contains the configuration information for the CRYP Keys.  
+  * @retval None
+  */
+ErrorStatus CRYP_SaveContext(CRYP_Context* CRYP_ContextSave,
+                             CRYP_KeyInitTypeDef* CRYP_KeyInitStruct)
+{
+  __IO uint32_t timeout = 0;
+  uint32_t ckeckmask = 0, bitstatus;    
+  ErrorStatus status = ERROR;
+
+  /* Stop DMA transfers on the IN FIFO by clearing the DIEN bit in the CRYP_DMACR */
+  CRYP->DMACR &= ~(uint32_t)CRYP_DMACR_DIEN;
+    
+  /* Wait until both the IN and OUT FIFOs are empty  
+    (IFEM=1 and OFNE=0 in the CRYP_SR register) and the 
+     BUSY bit is cleared. */
+
+  if ((CRYP->CR & (uint32_t)(CRYP_CR_ALGOMODE_TDES_ECB | CRYP_CR_ALGOMODE_TDES_CBC)) != (uint32_t)0 )/* TDES */
+  { 
+    ckeckmask =  CRYP_SR_IFEM | CRYP_SR_BUSY ;
+  }
+  else /* AES or DES */
+  {
+    ckeckmask =  CRYP_SR_IFEM | CRYP_SR_BUSY | CRYP_SR_OFNE;
+  }           
+   
+  do 
+  {
+    bitstatus = CRYP->SR & ckeckmask;
+    timeout++;
+  }
+  while ((timeout != MAX_TIMEOUT) && (bitstatus != CRYP_SR_IFEM));
+     
+  if ((CRYP->SR & ckeckmask) != CRYP_SR_IFEM)
+  {
+    status = ERROR;
+  }
+  else
+  {      
+    /* Stop DMA transfers on the OUT FIFO by 
+       - writing the DOEN bit to 0 in the CRYP_DMACR register 
+       - and clear the CRYPEN bit. */
+
+    CRYP->DMACR &= ~(uint32_t)CRYP_DMACR_DOEN;
+    CRYP->CR &= ~(uint32_t)CRYP_CR_CRYPEN;
+
+    /* Save the current configuration (bit 19, bit[17:16] and bits [9:2] in the CRYP_CR register) */
+    CRYP_ContextSave->CR_CurrentConfig  = CRYP->CR & (CRYP_CR_GCM_CCMPH |
+                                                      CRYP_CR_KEYSIZE  |
+                                                      CRYP_CR_DATATYPE |
+                                                      CRYP_CR_ALGOMODE |
+                                                      CRYP_CR_ALGODIR);
+
+    /* and, if not in ECB mode, the initialization vectors. */
+    CRYP_ContextSave->CRYP_IV0LR = CRYP->IV0LR;
+    CRYP_ContextSave->CRYP_IV0RR = CRYP->IV0RR;
+    CRYP_ContextSave->CRYP_IV1LR = CRYP->IV1LR;
+    CRYP_ContextSave->CRYP_IV1RR = CRYP->IV1RR;
+
+    /* save The key value */
+    CRYP_ContextSave->CRYP_K0LR = CRYP_KeyInitStruct->CRYP_Key0Left; 
+    CRYP_ContextSave->CRYP_K0RR = CRYP_KeyInitStruct->CRYP_Key0Right; 
+    CRYP_ContextSave->CRYP_K1LR = CRYP_KeyInitStruct->CRYP_Key1Left; 
+    CRYP_ContextSave->CRYP_K1RR = CRYP_KeyInitStruct->CRYP_Key1Right; 
+    CRYP_ContextSave->CRYP_K2LR = CRYP_KeyInitStruct->CRYP_Key2Left; 
+    CRYP_ContextSave->CRYP_K2RR = CRYP_KeyInitStruct->CRYP_Key2Right; 
+    CRYP_ContextSave->CRYP_K3LR = CRYP_KeyInitStruct->CRYP_Key3Left; 
+    CRYP_ContextSave->CRYP_K3RR = CRYP_KeyInitStruct->CRYP_Key3Right; 
+
+    /* Save the content of context swap registers */
+    CRYP_ContextSave->CRYP_CSGCMCCMR[0] = CRYP->CSGCMCCM0R;
+    CRYP_ContextSave->CRYP_CSGCMCCMR[1] = CRYP->CSGCMCCM1R;
+    CRYP_ContextSave->CRYP_CSGCMCCMR[2] = CRYP->CSGCMCCM2R;
+    CRYP_ContextSave->CRYP_CSGCMCCMR[3] = CRYP->CSGCMCCM3R;
+    CRYP_ContextSave->CRYP_CSGCMCCMR[4] = CRYP->CSGCMCCM4R;
+    CRYP_ContextSave->CRYP_CSGCMCCMR[5] = CRYP->CSGCMCCM5R;
+    CRYP_ContextSave->CRYP_CSGCMCCMR[6] = CRYP->CSGCMCCM6R;
+    CRYP_ContextSave->CRYP_CSGCMCCMR[7] = CRYP->CSGCMCCM7R;
+    
+    CRYP_ContextSave->CRYP_CSGCMR[0] = CRYP->CSGCM0R;
+    CRYP_ContextSave->CRYP_CSGCMR[1] = CRYP->CSGCM1R;
+    CRYP_ContextSave->CRYP_CSGCMR[2] = CRYP->CSGCM2R;
+    CRYP_ContextSave->CRYP_CSGCMR[3] = CRYP->CSGCM3R;
+    CRYP_ContextSave->CRYP_CSGCMR[4] = CRYP->CSGCM4R;
+    CRYP_ContextSave->CRYP_CSGCMR[5] = CRYP->CSGCM5R;
+    CRYP_ContextSave->CRYP_CSGCMR[6] = CRYP->CSGCM6R;
+    CRYP_ContextSave->CRYP_CSGCMR[7] = CRYP->CSGCM7R;
+    
+   /* When needed, save the DMA status (pointers for IN and OUT messages, 
+      number of remaining bytes, etc.) */
+     
+    status = SUCCESS;
+  }
+
+   return status;
+}
+
+/**
+  * @brief  Restores the CRYP peripheral Context.
+  * @note   Since the DMA transfer is stopped in CRYP_SaveContext() function,
+  *         after restoring the context, you have to enable the DMA again (if the
+  *         DMA was previously used).  
+  * @param  CRYP_ContextRestore: pointer to a CRYP_Context structure that contains
+  *         the repository for saved context.
+  * @note   The data that were saved during context saving must be rewritten into
+  *         the IN FIFO.
+  * @retval None
+  */
+void CRYP_RestoreContext(CRYP_Context* CRYP_ContextRestore)  
+{
+
+  /* Configure the processor with the saved configuration */
+  CRYP->CR = CRYP_ContextRestore->CR_CurrentConfig;
+
+  /* restore The key value */
+  CRYP->K0LR = CRYP_ContextRestore->CRYP_K0LR; 
+  CRYP->K0RR = CRYP_ContextRestore->CRYP_K0RR;
+  CRYP->K1LR = CRYP_ContextRestore->CRYP_K1LR;
+  CRYP->K1RR = CRYP_ContextRestore->CRYP_K1RR;
+  CRYP->K2LR = CRYP_ContextRestore->CRYP_K2LR;
+  CRYP->K2RR = CRYP_ContextRestore->CRYP_K2RR;
+  CRYP->K3LR = CRYP_ContextRestore->CRYP_K3LR;
+  CRYP->K3RR = CRYP_ContextRestore->CRYP_K3RR;
+
+  /* and the initialization vectors. */
+  CRYP->IV0LR = CRYP_ContextRestore->CRYP_IV0LR;
+  CRYP->IV0RR = CRYP_ContextRestore->CRYP_IV0RR;
+  CRYP->IV1LR = CRYP_ContextRestore->CRYP_IV1LR;
+  CRYP->IV1RR = CRYP_ContextRestore->CRYP_IV1RR;
+
+  /* Restore the content of context swap registers */
+  CRYP->CSGCMCCM0R = CRYP_ContextRestore->CRYP_CSGCMCCMR[0];
+  CRYP->CSGCMCCM1R = CRYP_ContextRestore->CRYP_CSGCMCCMR[1];
+  CRYP->CSGCMCCM2R = CRYP_ContextRestore->CRYP_CSGCMCCMR[2];
+  CRYP->CSGCMCCM3R = CRYP_ContextRestore->CRYP_CSGCMCCMR[3];
+  CRYP->CSGCMCCM4R = CRYP_ContextRestore->CRYP_CSGCMCCMR[4];
+  CRYP->CSGCMCCM5R = CRYP_ContextRestore->CRYP_CSGCMCCMR[5];
+  CRYP->CSGCMCCM6R = CRYP_ContextRestore->CRYP_CSGCMCCMR[6];
+  CRYP->CSGCMCCM7R = CRYP_ContextRestore->CRYP_CSGCMCCMR[7];
+  
+  CRYP->CSGCM0R = CRYP_ContextRestore->CRYP_CSGCMR[0];
+  CRYP->CSGCM1R = CRYP_ContextRestore->CRYP_CSGCMR[1];
+  CRYP->CSGCM2R = CRYP_ContextRestore->CRYP_CSGCMR[2];
+  CRYP->CSGCM3R = CRYP_ContextRestore->CRYP_CSGCMR[3];
+  CRYP->CSGCM4R = CRYP_ContextRestore->CRYP_CSGCMR[4];
+  CRYP->CSGCM5R = CRYP_ContextRestore->CRYP_CSGCMR[5];
+  CRYP->CSGCM6R = CRYP_ContextRestore->CRYP_CSGCMR[6];
+  CRYP->CSGCM7R = CRYP_ContextRestore->CRYP_CSGCMR[7];
+  
+  /* Enable the cryptographic processor */
+  CRYP->CR |= CRYP_CR_CRYPEN;
+}
+/**
+  * @}
+  */
+
+/** @defgroup CRYP_Group4 CRYP's DMA interface Configuration function
+ *  @brief   CRYP's DMA interface Configuration function 
+ *
+@verbatim   
+ ===============================================================================
+             ##### CRYP's DMA interface Configuration function #####
+ ===============================================================================  
+ [..] This section provides functions allowing to configure the DMA interface for 
+      CRYP data input and output transfer.
+   
+ [..] When the DMA mode is enabled (using the CRYP_DMACmd() function), data can be 
+      transferred:
+   (+) From memory to the CRYP IN FIFO using the DMA peripheral by enabling 
+       the CRYP_DMAReq_DataIN request.
+   (+) From the CRYP OUT FIFO to the memory using the DMA peripheral by enabling 
+       the CRYP_DMAReq_DataOUT request.
+
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Enables or disables the CRYP DMA interface.
+  * @param  CRYP_DMAReq: specifies the CRYP DMA transfer request to be enabled or disabled.
+  *           This parameter can be any combination of the following values:
+  *            @arg CRYP_DMAReq_DataOUT: DMA for outgoing(Tx) data transfer
+  *            @arg CRYP_DMAReq_DataIN: DMA for incoming(Rx) data transfer
+  * @param  NewState: new state of the selected CRYP DMA transfer request.
+  *          This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void CRYP_DMACmd(uint8_t CRYP_DMAReq, FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_CRYP_DMAREQ(CRYP_DMAReq));
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    /* Enable the selected CRYP DMA request */
+    CRYP->DMACR |= CRYP_DMAReq;
+  }
+  else
+  {
+    /* Disable the selected CRYP DMA request */
+    CRYP->DMACR &= (uint8_t)~CRYP_DMAReq;
+  }
+}
+/**
+  * @}
+  */
+
+/** @defgroup CRYP_Group5 Interrupts and flags management functions
+ *  @brief   Interrupts and flags management functions
+ *
+@verbatim   
+ ===============================================================================
+              ##### Interrupts and flags management functions #####
+ ===============================================================================  
+ 
+ [..] This section provides functions allowing to configure the CRYP Interrupts and 
+      to get the status and Interrupts pending bits.
+
+ [..] The CRYP provides 2 Interrupts sources and 7 Flags:
+
+ *** Flags : ***
+ ===============
+ [..] 
+   (#) CRYP_FLAG_IFEM :  Set when Input FIFO is empty. This Flag is cleared only
+       by hardware.
+      
+   (#) CRYP_FLAG_IFNF :  Set when Input FIFO is not full. This Flag is cleared 
+       only by hardware.
+
+
+   (#) CRYP_FLAG_INRIS  : Set when Input FIFO Raw interrupt is pending it gives 
+       the raw interrupt state prior to masking of the input FIFO service interrupt.
+       This Flag is cleared only by hardware.
+     
+   (#) CRYP_FLAG_OFNE   : Set when Output FIFO not empty. This Flag is cleared 
+       only by hardware.
+        
+   (#) CRYP_FLAG_OFFU   : Set when Output FIFO is full. This Flag is cleared only 
+       by hardware.
+                           
+   (#) CRYP_FLAG_OUTRIS : Set when Output FIFO Raw interrupt is pending it gives 
+       the raw interrupt state prior to masking of the output FIFO service interrupt.
+       This Flag is cleared only by hardware.
+                               
+   (#) CRYP_FLAG_BUSY   : Set when the CRYP core is currently processing a block 
+       of data or a key preparation (for AES decryption). This Flag is cleared 
+       only by hardware. To clear it, the CRYP core must be disabled and the last
+       processing has completed. 
+
+ *** Interrupts : ***
+ ====================
+ [..]
+   (#) CRYP_IT_INI   : The input FIFO service interrupt is asserted when there 
+      are less than 4 words in the input FIFO. This interrupt is associated to 
+      CRYP_FLAG_INRIS flag.
+
+      -@- This interrupt is cleared by performing write operations to the input FIFO 
+          until it holds 4 or more words. The input FIFO service interrupt INMIS is 
+          enabled with the CRYP enable bit. Consequently, when CRYP is disabled, the 
+          INMIS signal is low even if the input FIFO is empty.
+
+
+
+   (#) CRYP_IT_OUTI  : The output FIFO service interrupt is asserted when there 
+       is one or more (32-bit word) data items in the output FIFO. This interrupt 
+       is associated to CRYP_FLAG_OUTRIS flag.
+
+       -@- This interrupt is cleared by reading data from the output FIFO until there 
+           is no valid (32-bit) word left (that is, the interrupt follows the state 
+           of the OFNE (output FIFO not empty) flag).
+
+ *** Managing the CRYP controller events : ***
+ =============================================
+ [..] The user should identify which mode will be used in his application to manage 
+      the CRYP controller events: Polling mode or Interrupt mode.
+
+   (#) In the Polling Mode it is advised to use the following functions:
+       (++) CRYP_GetFlagStatus() : to check if flags events occur. 
+
+       -@@- The CRYPT flags do not need to be cleared since they are cleared as 
+            soon as the associated event are reset.   
+
+
+   (#) In the Interrupt Mode it is advised to use the following functions:
+       (++) CRYP_ITConfig()       : to enable or disable the interrupt source.
+       (++) CRYP_GetITStatus()    : to check if Interrupt occurs.
+
+       -@@- The CRYPT interrupts have no pending bits, the interrupt is cleared as 
+             soon as the associated event is reset. 
+
+@endverbatim
+  * @{
+  */ 
+
+/**
+  * @brief  Enables or disables the specified CRYP interrupts.
+  * @param  CRYP_IT: specifies the CRYP interrupt source to be enabled or disabled.
+  *          This parameter can be any combination of the following values:
+  *            @arg CRYP_IT_INI: Input FIFO interrupt
+  *            @arg CRYP_IT_OUTI: Output FIFO interrupt
+  * @param  NewState: new state of the specified CRYP interrupt.
+  *           This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void CRYP_ITConfig(uint8_t CRYP_IT, FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_CRYP_CONFIG_IT(CRYP_IT));
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    /* Enable the selected CRYP interrupt */
+    CRYP->IMSCR |= CRYP_IT;
+  }
+  else
+  {
+    /* Disable the selected CRYP interrupt */
+    CRYP->IMSCR &= (uint8_t)~CRYP_IT;
+  }
+}
+
+/**
+  * @brief  Checks whether the specified CRYP interrupt has occurred or not.
+  * @note   This function checks the status of the masked interrupt (i.e the 
+  *         interrupt should be previously enabled).     
+  * @param  CRYP_IT: specifies the CRYP (masked) interrupt source to check.
+  *           This parameter can be one of the following values:
+  *            @arg CRYP_IT_INI: Input FIFO interrupt
+  *            @arg CRYP_IT_OUTI: Output FIFO interrupt
+  * @retval The new state of CRYP_IT (SET or RESET).
+  */
+ITStatus CRYP_GetITStatus(uint8_t CRYP_IT)
+{
+  ITStatus bitstatus = RESET;
+  /* Check the parameters */
+  assert_param(IS_CRYP_GET_IT(CRYP_IT));
+
+  /* Check the status of the specified CRYP interrupt */
+  if ((CRYP->MISR &  CRYP_IT) != (uint8_t)RESET)
+  {
+    /* CRYP_IT is set */
+    bitstatus = SET;
+  }
+  else
+  {
+    /* CRYP_IT is reset */
+    bitstatus = RESET;
+  }
+  /* Return the CRYP_IT status */
+  return bitstatus;
+}
+
+/**
+  * @brief  Returns whether CRYP peripheral is enabled or disabled.
+  * @param  none.
+  * @retval Current state of the CRYP peripheral (ENABLE or DISABLE).
+  */
+FunctionalState CRYP_GetCmdStatus(void)
+{
+  FunctionalState state = DISABLE;
+
+  if ((CRYP->CR & CRYP_CR_CRYPEN) != 0)
+  {
+    /* CRYPEN bit is set */
+    state = ENABLE;
+  }
+  else
+  {
+    /* CRYPEN bit is reset */
+    state = DISABLE;
+  }
+  return state;
+}
+
+/**
+  * @brief  Checks whether the specified CRYP flag is set or not.
+  * @param  CRYP_FLAG: specifies the CRYP flag to check.
+  *          This parameter can be one of the following values:
+  *            @arg CRYP_FLAG_IFEM: Input FIFO Empty flag.
+  *            @arg CRYP_FLAG_IFNF: Input FIFO Not Full flag.
+  *            @arg CRYP_FLAG_OFNE: Output FIFO Not Empty flag.
+  *            @arg CRYP_FLAG_OFFU: Output FIFO Full flag.
+  *            @arg CRYP_FLAG_BUSY: Busy flag.
+  *            @arg CRYP_FLAG_OUTRIS: Output FIFO raw interrupt flag.
+  *            @arg CRYP_FLAG_INRIS: Input FIFO raw interrupt flag.
+  * @retval The new state of CRYP_FLAG (SET or RESET).
+  */
+FlagStatus CRYP_GetFlagStatus(uint8_t CRYP_FLAG)
+{
+  FlagStatus bitstatus = RESET;
+  uint32_t tempreg = 0;
+
+  /* Check the parameters */
+  assert_param(IS_CRYP_GET_FLAG(CRYP_FLAG));
+
+  /* check if the FLAG is in RISR register */
+  if ((CRYP_FLAG & FLAG_MASK) != 0x00) 
+  {
+    tempreg = CRYP->RISR;
+  }
+  else  /* The FLAG is in SR register */
+  {
+    tempreg = CRYP->SR;
+  }
+
+
+  /* Check the status of the specified CRYP flag */
+  if ((tempreg & CRYP_FLAG ) != (uint8_t)RESET)
+  {
+    /* CRYP_FLAG is set */
+    bitstatus = SET;
+  }
+  else
+  {
+    /* CRYP_FLAG is reset */
+    bitstatus = RESET;
+  }
+
+  /* Return the CRYP_FLAG status */
+  return  bitstatus;
+}
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
--- a/云台/云台/Library/stm32f4xx_cryp.h
+++ b/云台/云台/Library/stm32f4xx_cryp.h
@@ -0,0 +1,376 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_cryp.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file contains all the functions prototypes for the Cryptographic
+  *          processor(CRYP) firmware library.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_CRYP_H
+#define __STM32F4xx_CRYP_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup CRYP
+  * @{
+  */ 
+
+/* Exported types ------------------------------------------------------------*/
+
+/** 
+  * @brief   CRYP Init structure definition  
+  */ 
+typedef struct
+{
+  uint32_t CRYP_AlgoDir;   /*!< Encrypt or Decrypt. This parameter can be a 
+                                value of @ref CRYP_Algorithm_Direction */
+  uint32_t CRYP_AlgoMode;  /*!< TDES-ECB, TDES-CBC, DES-ECB, DES-CBC, AES-ECB, 
+                                AES-CBC, AES-CTR, AES-Key, AES-GCM and AES-CCM.
+                                This parameter can be a value of @ref CRYP_Algorithm_Mode */
+  uint32_t CRYP_DataType;  /*!< 32-bit data, 16-bit data, bit data or bit string.
+                                This parameter can be a value of @ref CRYP_Data_Type */ 
+  uint32_t CRYP_KeySize;   /*!< Used only in AES mode only : 128, 192 or 256 bit 
+                                key length. This parameter can be a value of 
+                                @ref CRYP_Key_Size_for_AES_only */
+}CRYP_InitTypeDef;
+
+/** 
+  * @brief   CRYP Key(s) structure definition  
+  */ 
+typedef struct
+{
+  uint32_t CRYP_Key0Left;  /*!< Key 0 Left  */
+  uint32_t CRYP_Key0Right; /*!< Key 0 Right */
+  uint32_t CRYP_Key1Left;  /*!< Key 1 left  */
+  uint32_t CRYP_Key1Right; /*!< Key 1 Right */
+  uint32_t CRYP_Key2Left;  /*!< Key 2 left  */
+  uint32_t CRYP_Key2Right; /*!< Key 2 Right */
+  uint32_t CRYP_Key3Left;  /*!< Key 3 left  */
+  uint32_t CRYP_Key3Right; /*!< Key 3 Right */
+}CRYP_KeyInitTypeDef;
+/** 
+  * @brief   CRYP Initialization Vectors (IV) structure definition  
+  */ 
+typedef struct
+{
+  uint32_t CRYP_IV0Left;  /*!< Init Vector 0 Left  */
+  uint32_t CRYP_IV0Right; /*!< Init Vector 0 Right */
+  uint32_t CRYP_IV1Left;  /*!< Init Vector 1 left  */
+  uint32_t CRYP_IV1Right; /*!< Init Vector 1 Right */
+}CRYP_IVInitTypeDef;
+
+/** 
+  * @brief  CRYP context swapping structure definition  
+  */ 
+typedef struct
+{
+  /*!< Current Configuration */
+  uint32_t CR_CurrentConfig;
+  /*!< IV */
+  uint32_t CRYP_IV0LR;
+  uint32_t CRYP_IV0RR;
+  uint32_t CRYP_IV1LR;
+  uint32_t CRYP_IV1RR;
+  /*!< KEY */
+  uint32_t CRYP_K0LR;
+  uint32_t CRYP_K0RR;
+  uint32_t CRYP_K1LR;
+  uint32_t CRYP_K1RR;
+  uint32_t CRYP_K2LR;
+  uint32_t CRYP_K2RR;
+  uint32_t CRYP_K3LR;
+  uint32_t CRYP_K3RR;
+  uint32_t CRYP_CSGCMCCMR[8];
+  uint32_t CRYP_CSGCMR[8];
+}CRYP_Context;
+
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup CRYP_Exported_Constants
+  * @{
+  */
+
+/** @defgroup CRYP_Algorithm_Direction 
+  * @{
+  */
+#define CRYP_AlgoDir_Encrypt      ((uint16_t)0x0000)
+#define CRYP_AlgoDir_Decrypt      ((uint16_t)0x0004)
+#define IS_CRYP_ALGODIR(ALGODIR) (((ALGODIR) == CRYP_AlgoDir_Encrypt) || \
+                                  ((ALGODIR) == CRYP_AlgoDir_Decrypt))
+
+/**
+  * @}
+  */ 
+ 
+/** @defgroup CRYP_Algorithm_Mode 
+  * @{
+  */
+
+/*!< TDES Modes */
+#define CRYP_AlgoMode_TDES_ECB    ((uint32_t)0x00000000)
+#define CRYP_AlgoMode_TDES_CBC    ((uint32_t)0x00000008)
+
+/*!< DES Modes */
+#define CRYP_AlgoMode_DES_ECB     ((uint32_t)0x00000010)
+#define CRYP_AlgoMode_DES_CBC     ((uint32_t)0x00000018)
+
+/*!< AES Modes */
+#define CRYP_AlgoMode_AES_ECB     ((uint32_t)0x00000020)
+#define CRYP_AlgoMode_AES_CBC     ((uint32_t)0x00000028)
+#define CRYP_AlgoMode_AES_CTR     ((uint32_t)0x00000030)
+#define CRYP_AlgoMode_AES_Key     ((uint32_t)0x00000038)
+#define CRYP_AlgoMode_AES_GCM     ((uint32_t)0x00080000)
+#define CRYP_AlgoMode_AES_CCM     ((uint32_t)0x00080008)
+
+#define IS_CRYP_ALGOMODE(ALGOMODE) (((ALGOMODE) == CRYP_AlgoMode_TDES_ECB) || \
+                                   ((ALGOMODE) == CRYP_AlgoMode_TDES_CBC)|| \
+                                   ((ALGOMODE) == CRYP_AlgoMode_DES_ECB) || \
+                                   ((ALGOMODE) == CRYP_AlgoMode_DES_CBC) || \
+                                   ((ALGOMODE) == CRYP_AlgoMode_AES_ECB) || \
+                                   ((ALGOMODE) == CRYP_AlgoMode_AES_CBC) || \
+                                   ((ALGOMODE) == CRYP_AlgoMode_AES_CTR) || \
+                                   ((ALGOMODE) == CRYP_AlgoMode_AES_Key) || \
+                                   ((ALGOMODE) == CRYP_AlgoMode_AES_GCM) || \
+                                   ((ALGOMODE) == CRYP_AlgoMode_AES_CCM))
+/**
+  * @}
+  */ 
+
+/** @defgroup CRYP_Phase 
+  * @{
+  */
+
+/*!< The phases are valid only for AES-GCM and AES-CCM modes */
+#define CRYP_Phase_Init           ((uint32_t)0x00000000)
+#define CRYP_Phase_Header         CRYP_CR_GCM_CCMPH_0
+#define CRYP_Phase_Payload        CRYP_CR_GCM_CCMPH_1
+#define CRYP_Phase_Final          CRYP_CR_GCM_CCMPH
+
+#define IS_CRYP_PHASE(PHASE) (((PHASE) == CRYP_Phase_Init)    || \
+                              ((PHASE) == CRYP_Phase_Header)  || \
+                              ((PHASE) == CRYP_Phase_Payload) || \
+                              ((PHASE) == CRYP_Phase_Final))
+
+/**
+  * @}
+  */ 
+
+/** @defgroup CRYP_Data_Type 
+  * @{
+  */
+#define CRYP_DataType_32b         ((uint16_t)0x0000)
+#define CRYP_DataType_16b         ((uint16_t)0x0040)
+#define CRYP_DataType_8b          ((uint16_t)0x0080)
+#define CRYP_DataType_1b          ((uint16_t)0x00C0)
+#define IS_CRYP_DATATYPE(DATATYPE) (((DATATYPE) == CRYP_DataType_32b) || \
+                                    ((DATATYPE) == CRYP_DataType_16b)|| \
+                                    ((DATATYPE) == CRYP_DataType_8b)|| \
+                                    ((DATATYPE) == CRYP_DataType_1b))  
+/**
+  * @}
+  */
+                                     
+/** @defgroup CRYP_Key_Size_for_AES_only 
+  * @{
+  */
+#define CRYP_KeySize_128b         ((uint16_t)0x0000)
+#define CRYP_KeySize_192b         ((uint16_t)0x0100)
+#define CRYP_KeySize_256b         ((uint16_t)0x0200)
+#define IS_CRYP_KEYSIZE(KEYSIZE) (((KEYSIZE) == CRYP_KeySize_128b)|| \
+                                  ((KEYSIZE) == CRYP_KeySize_192b)|| \
+                                  ((KEYSIZE) == CRYP_KeySize_256b))
+/**
+  * @}
+  */
+
+/** @defgroup CRYP_flags_definition 
+  * @{
+  */
+#define CRYP_FLAG_BUSY            ((uint8_t)0x10)  /*!< The CRYP core is currently 
+                                                        processing a block of data 
+                                                        or a key preparation (for 
+                                                        AES decryption). */
+#define CRYP_FLAG_IFEM            ((uint8_t)0x01)  /*!< Input Fifo Empty */
+#define CRYP_FLAG_IFNF            ((uint8_t)0x02)  /*!< Input Fifo is Not Full */
+#define CRYP_FLAG_INRIS           ((uint8_t)0x22)  /*!< Raw interrupt pending */
+#define CRYP_FLAG_OFNE            ((uint8_t)0x04)  /*!< Input Fifo service raw 
+                                                        interrupt status */
+#define CRYP_FLAG_OFFU            ((uint8_t)0x08)  /*!< Output Fifo is Full */
+#define CRYP_FLAG_OUTRIS          ((uint8_t)0x21)  /*!< Output Fifo service raw 
+                                                        interrupt status */
+
+#define IS_CRYP_GET_FLAG(FLAG) (((FLAG) == CRYP_FLAG_IFEM)  || \
+                                ((FLAG) == CRYP_FLAG_IFNF)  || \
+                                ((FLAG) == CRYP_FLAG_OFNE)  || \
+                                ((FLAG) == CRYP_FLAG_OFFU)  || \
+                                ((FLAG) == CRYP_FLAG_BUSY)  || \
+                                ((FLAG) == CRYP_FLAG_OUTRIS)|| \
+                                ((FLAG) == CRYP_FLAG_INRIS))
+/**
+  * @}
+  */
+
+/** @defgroup CRYP_interrupts_definition 
+  * @{
+  */
+#define CRYP_IT_INI               ((uint8_t)0x01) /*!< IN Fifo Interrupt */
+#define CRYP_IT_OUTI              ((uint8_t)0x02) /*!< OUT Fifo Interrupt */
+#define IS_CRYP_CONFIG_IT(IT) ((((IT) & (uint8_t)0xFC) == 0x00) && ((IT) != 0x00))
+#define IS_CRYP_GET_IT(IT) (((IT) == CRYP_IT_INI) || ((IT) == CRYP_IT_OUTI))
+
+/**
+  * @}
+  */
+
+/** @defgroup CRYP_Encryption_Decryption_modes_definition 
+  * @{
+  */
+#define MODE_ENCRYPT             ((uint8_t)0x01)
+#define MODE_DECRYPT             ((uint8_t)0x00)
+
+/**
+  * @}
+  */
+
+/** @defgroup CRYP_DMA_transfer_requests 
+  * @{
+  */
+#define CRYP_DMAReq_DataIN             ((uint8_t)0x01)
+#define CRYP_DMAReq_DataOUT            ((uint8_t)0x02)
+#define IS_CRYP_DMAREQ(DMAREQ) ((((DMAREQ) & (uint8_t)0xFC) == 0x00) && ((DMAREQ) != 0x00))
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/
+
+/*  Function used to set the CRYP configuration to the default reset state ****/
+void CRYP_DeInit(void);
+
+/* CRYP Initialization and Configuration functions ****************************/
+void CRYP_Init(CRYP_InitTypeDef* CRYP_InitStruct);
+void CRYP_StructInit(CRYP_InitTypeDef* CRYP_InitStruct);
+void CRYP_KeyInit(CRYP_KeyInitTypeDef* CRYP_KeyInitStruct);
+void CRYP_KeyStructInit(CRYP_KeyInitTypeDef* CRYP_KeyInitStruct);
+void CRYP_IVInit(CRYP_IVInitTypeDef* CRYP_IVInitStruct);
+void CRYP_IVStructInit(CRYP_IVInitTypeDef* CRYP_IVInitStruct);
+void CRYP_Cmd(FunctionalState NewState);
+void CRYP_PhaseConfig(uint32_t CRYP_Phase);
+void CRYP_FIFOFlush(void);
+/* CRYP Data processing functions *********************************************/
+void CRYP_DataIn(uint32_t Data);
+uint32_t CRYP_DataOut(void);
+
+/* CRYP Context swapping functions ********************************************/
+ErrorStatus CRYP_SaveContext(CRYP_Context* CRYP_ContextSave,
+                             CRYP_KeyInitTypeDef* CRYP_KeyInitStruct);
+void CRYP_RestoreContext(CRYP_Context* CRYP_ContextRestore);
+
+/* CRYP DMA interface function ************************************************/
+void CRYP_DMACmd(uint8_t CRYP_DMAReq, FunctionalState NewState);
+
+/* Interrupts and flags management functions **********************************/
+void CRYP_ITConfig(uint8_t CRYP_IT, FunctionalState NewState);
+ITStatus CRYP_GetITStatus(uint8_t CRYP_IT);
+FunctionalState CRYP_GetCmdStatus(void);
+FlagStatus CRYP_GetFlagStatus(uint8_t CRYP_FLAG);
+
+/* High Level AES functions **************************************************/
+ErrorStatus CRYP_AES_ECB(uint8_t Mode,
+                         uint8_t *Key, uint16_t Keysize,
+                         uint8_t *Input, uint32_t Ilength,
+                         uint8_t *Output);
+
+ErrorStatus CRYP_AES_CBC(uint8_t Mode,
+                         uint8_t InitVectors[16],
+                         uint8_t *Key, uint16_t Keysize,
+                         uint8_t *Input, uint32_t Ilength,
+                         uint8_t *Output);
+
+ErrorStatus CRYP_AES_CTR(uint8_t Mode,
+                         uint8_t InitVectors[16],
+                         uint8_t *Key, uint16_t Keysize,
+                         uint8_t *Input, uint32_t Ilength,
+                         uint8_t *Output);
+
+ErrorStatus CRYP_AES_GCM(uint8_t Mode, uint8_t InitVectors[16],
+                         uint8_t *Key, uint16_t Keysize,
+                         uint8_t *Input, uint32_t ILength,
+                         uint8_t *Header, uint32_t HLength,
+                         uint8_t *Output, uint8_t *AuthTAG);
+
+ErrorStatus CRYP_AES_CCM(uint8_t Mode, 
+                         uint8_t* Nonce, uint32_t NonceSize,
+                         uint8_t* Key, uint16_t Keysize,
+                         uint8_t* Input, uint32_t ILength,
+                         uint8_t* Header, uint32_t HLength, uint8_t *HBuffer,
+                         uint8_t* Output,
+                         uint8_t* AuthTAG, uint32_t TAGSize);
+
+/* High Level TDES functions **************************************************/
+ErrorStatus CRYP_TDES_ECB(uint8_t Mode,
+                           uint8_t Key[24], 
+                           uint8_t *Input, uint32_t Ilength,
+                           uint8_t *Output);
+
+ErrorStatus CRYP_TDES_CBC(uint8_t Mode,
+                          uint8_t Key[24],
+                          uint8_t InitVectors[8],
+                          uint8_t *Input, uint32_t Ilength,
+                          uint8_t *Output);
+
+/* High Level DES functions **************************************************/
+ErrorStatus CRYP_DES_ECB(uint8_t Mode,
+                         uint8_t Key[8],
+                         uint8_t *Input, uint32_t Ilength,
+                         uint8_t *Output);
+
+ErrorStatus CRYP_DES_CBC(uint8_t Mode,
+                         uint8_t Key[8],
+                         uint8_t InitVectors[8],
+                         uint8_t *Input,uint32_t Ilength,
+                         uint8_t *Output);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__STM32F4xx_CRYP_H */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */ 
+
--- a/云台/云台/Library/stm32f4xx_cryp_aes.c
+++ b/云台/云台/Library/stm32f4xx_cryp_aes.c
--- a/云台/云台/Library/stm32f4xx_cryp_des.c
+++ b/云台/云台/Library/stm32f4xx_cryp_des.c
@@ -0,0 +1,304 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_cryp_des.c
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file provides high level functions to encrypt and decrypt an 
+  *          input message using DES in ECB/CBC modes.
+  *          It uses the stm32f4xx_cryp.c/.h drivers to access the STM32F4xx CRYP
+  *          peripheral.
+  *
+@verbatim
+  
+ ===================================================================
+                  ##### How to use this driver #####
+ ===================================================================
+ [..] 
+   (#) Enable The CRYP controller clock using 
+       RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_CRYP, ENABLE); function.
+  
+   (#) Encrypt and decrypt using DES in ECB Mode using CRYP_DES_ECB() function.
+  
+   (#) Encrypt and decrypt using DES in CBC Mode using CRYP_DES_CBC() function.
+  
+@endverbatim
+  *
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_cryp.h"
+
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @defgroup CRYP 
+  * @brief CRYP driver modules
+  * @{
+  */
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+#define DESBUSY_TIMEOUT    ((uint32_t) 0x00010000)
+
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+
+/** @defgroup CRYP_Private_Functions
+  * @{
+  */ 
+
+/** @defgroup CRYP_Group8 High Level DES functions
+ *  @brief   High Level DES functions 
+ *
+@verbatim   
+ ===============================================================================
+                       ##### High Level DES functions #####
+ ===============================================================================
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Encrypt and decrypt using DES in ECB Mode
+  * @param  Mode: encryption or decryption Mode.
+  *           This parameter can be one of the following values:
+  *            @arg MODE_ENCRYPT: Encryption
+  *            @arg MODE_DECRYPT: Decryption
+  * @param  Key: Key used for DES algorithm.
+  * @param  Ilength: length of the Input buffer, must be a multiple of 8.
+  * @param  Input: pointer to the Input buffer.
+  * @param  Output: pointer to the returned buffer.
+  * @retval An ErrorStatus enumeration value:
+  *          - SUCCESS: Operation done
+  *          - ERROR: Operation failed
+  */
+ErrorStatus CRYP_DES_ECB(uint8_t Mode, uint8_t Key[8], uint8_t *Input, 
+                         uint32_t Ilength, uint8_t *Output)
+{
+  CRYP_InitTypeDef DES_CRYP_InitStructure;
+  CRYP_KeyInitTypeDef DES_CRYP_KeyInitStructure;
+  __IO uint32_t counter = 0;
+  uint32_t busystatus = 0;
+  ErrorStatus status = SUCCESS;
+  uint32_t keyaddr    = (uint32_t)Key;
+  uint32_t inputaddr  = (uint32_t)Input;
+  uint32_t outputaddr = (uint32_t)Output;
+  uint32_t i = 0;
+
+  /* Crypto structures initialisation*/
+  CRYP_KeyStructInit(&DES_CRYP_KeyInitStructure);
+
+  /* Crypto Init for Encryption process */
+  if( Mode == MODE_ENCRYPT ) /* DES encryption */
+  {
+     DES_CRYP_InitStructure.CRYP_AlgoDir  = CRYP_AlgoDir_Encrypt;
+  }
+  else/* if( Mode == MODE_DECRYPT )*/ /* DES decryption */
+  {      
+     DES_CRYP_InitStructure.CRYP_AlgoDir  = CRYP_AlgoDir_Decrypt;
+  }
+
+  DES_CRYP_InitStructure.CRYP_AlgoMode = CRYP_AlgoMode_DES_ECB;
+  DES_CRYP_InitStructure.CRYP_DataType = CRYP_DataType_8b;
+  CRYP_Init(&DES_CRYP_InitStructure);
+
+  /* Key Initialisation */
+  DES_CRYP_KeyInitStructure.CRYP_Key1Left = __REV(*(uint32_t*)(keyaddr));
+  keyaddr+=4;
+  DES_CRYP_KeyInitStructure.CRYP_Key1Right= __REV(*(uint32_t*)(keyaddr));
+  CRYP_KeyInit(& DES_CRYP_KeyInitStructure);
+
+  /* Flush IN/OUT FIFO */
+  CRYP_FIFOFlush();
+
+  /* Enable Crypto processor */
+  CRYP_Cmd(ENABLE);
+
+  if(CRYP_GetCmdStatus() == DISABLE)
+  {
+    /* The CRYP peripheral clock is not enabled or the device doesn't embed 
+    the CRYP peripheral (please check the device sales type. */
+    status = ERROR;
+  }
+  else
+  {
+    for(i=0; ((i<Ilength) && (status != ERROR)); i+=8)
+    {
+      
+      /* Write the Input block in the Input FIFO */
+      CRYP_DataIn(*(uint32_t*)(inputaddr));
+      inputaddr+=4;
+      CRYP_DataIn(*(uint32_t*)(inputaddr));
+      inputaddr+=4;
+      
+      /* Wait until the complete message has been processed */
+      counter = 0;
+      do
+      {
+        busystatus = CRYP_GetFlagStatus(CRYP_FLAG_BUSY);
+        counter++;
+      }while ((counter != DESBUSY_TIMEOUT) && (busystatus != RESET));
+      
+      if (busystatus != RESET)
+      {
+        status = ERROR;
+      }
+      else
+      {
+        
+        /* Read the Output block from the Output FIFO */
+        *(uint32_t*)(outputaddr) = CRYP_DataOut();
+        outputaddr+=4;
+        *(uint32_t*)(outputaddr) = CRYP_DataOut();
+        outputaddr+=4;
+      }
+    }
+    
+    /* Disable Crypto */
+    CRYP_Cmd(DISABLE);
+  }
+  return status; 
+}
+
+/**
+  * @brief  Encrypt and decrypt using DES in CBC Mode
+  * @param  Mode: encryption or decryption Mode.
+  *          This parameter can be one of the following values:
+  *            @arg MODE_ENCRYPT: Encryption
+  *            @arg MODE_DECRYPT: Decryption
+  * @param  Key: Key used for DES algorithm.
+  * @param  InitVectors: Initialisation Vectors used for DES algorithm.
+  * @param  Ilength: length of the Input buffer, must be a multiple of 8.
+  * @param  Input: pointer to the Input buffer.
+  * @param  Output: pointer to the returned buffer.
+  * @retval An ErrorStatus enumeration value:
+  *          - SUCCESS: Operation done
+  *          - ERROR: Operation failed
+  */
+ErrorStatus CRYP_DES_CBC(uint8_t Mode, uint8_t Key[8], uint8_t InitVectors[8],
+                         uint8_t *Input, uint32_t Ilength, uint8_t *Output)
+{
+  CRYP_InitTypeDef DES_CRYP_InitStructure;
+  CRYP_KeyInitTypeDef DES_CRYP_KeyInitStructure;
+  CRYP_IVInitTypeDef DES_CRYP_IVInitStructure;
+  __IO uint32_t counter = 0;
+  uint32_t busystatus = 0;
+  ErrorStatus status = SUCCESS;
+  uint32_t keyaddr    = (uint32_t)Key;
+  uint32_t inputaddr  = (uint32_t)Input;
+  uint32_t outputaddr = (uint32_t)Output;
+  uint32_t ivaddr     = (uint32_t)InitVectors;
+  uint32_t i = 0;
+
+  /* Crypto structures initialisation*/
+  CRYP_KeyStructInit(&DES_CRYP_KeyInitStructure);
+
+  /* Crypto Init for Encryption process */
+  if(Mode == MODE_ENCRYPT) /* DES encryption */
+  {
+     DES_CRYP_InitStructure.CRYP_AlgoDir  = CRYP_AlgoDir_Encrypt;
+  }
+  else /*if(Mode == MODE_DECRYPT)*/ /* DES decryption */
+  {
+     DES_CRYP_InitStructure.CRYP_AlgoDir  = CRYP_AlgoDir_Decrypt;
+  }
+
+  DES_CRYP_InitStructure.CRYP_AlgoMode = CRYP_AlgoMode_DES_CBC;
+  DES_CRYP_InitStructure.CRYP_DataType = CRYP_DataType_8b;
+  CRYP_Init(&DES_CRYP_InitStructure);
+
+  /* Key Initialisation */
+  DES_CRYP_KeyInitStructure.CRYP_Key1Left = __REV(*(uint32_t*)(keyaddr));
+  keyaddr+=4;
+  DES_CRYP_KeyInitStructure.CRYP_Key1Right= __REV(*(uint32_t*)(keyaddr));
+  CRYP_KeyInit(& DES_CRYP_KeyInitStructure);
+
+  /* Initialization Vectors */
+  DES_CRYP_IVInitStructure.CRYP_IV0Left = __REV(*(uint32_t*)(ivaddr));
+  ivaddr+=4;
+  DES_CRYP_IVInitStructure.CRYP_IV0Right= __REV(*(uint32_t*)(ivaddr));
+  CRYP_IVInit(&DES_CRYP_IVInitStructure);
+
+  /* Flush IN/OUT FIFO */
+  CRYP_FIFOFlush();
+  
+  /* Enable Crypto processor */
+  CRYP_Cmd(ENABLE);
+
+  if(CRYP_GetCmdStatus() == DISABLE)
+  {
+    /* The CRYP peripheral clock is not enabled or the device doesn't embed 
+    the CRYP peripheral (please check the device sales type. */
+    status = ERROR;
+  }
+  else
+  {
+    for(i=0; ((i<Ilength) && (status != ERROR)); i+=8)
+    {
+      /* Write the Input block in the Input FIFO */
+      CRYP_DataIn(*(uint32_t*)(inputaddr));
+      inputaddr+=4;
+      CRYP_DataIn(*(uint32_t*)(inputaddr));
+      inputaddr+=4;
+      
+      /* Wait until the complete message has been processed */
+      counter = 0;
+      do
+      {
+        busystatus = CRYP_GetFlagStatus(CRYP_FLAG_BUSY);
+        counter++;
+      }while ((counter != DESBUSY_TIMEOUT) && (busystatus != RESET));
+      
+      if (busystatus != RESET)
+      {
+        status = ERROR;
+      }
+      else
+      {
+        /* Read the Output block from the Output FIFO */
+        *(uint32_t*)(outputaddr) = CRYP_DataOut();
+        outputaddr+=4;
+        *(uint32_t*)(outputaddr) = CRYP_DataOut();
+        outputaddr+=4;
+      }
+    }
+    
+    /* Disable Crypto */
+    CRYP_Cmd(DISABLE);
+  }
+  return status; 
+}
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
--- a/云台/云台/Library/stm32f4xx_cryp_tdes.c
+++ b/云台/云台/Library/stm32f4xx_cryp_tdes.c
@@ -0,0 +1,320 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_cryp_tdes.c
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file provides high level functions to encrypt and decrypt an 
+  *          input message using TDES in ECB/CBC modes .
+  *          It uses the stm32f4xx_cryp.c/.h drivers to access the STM32F4xx CRYP
+  *          peripheral.
+  *
+@verbatim
+
+ ===============================================================================
+                           ##### How to use this driver #####
+ ===============================================================================
+ [..]
+   (#) Enable The CRYP controller clock using 
+       RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_CRYP, ENABLE); function.
+  
+   (#) Encrypt and decrypt using TDES in ECB Mode using CRYP_TDES_ECB() function.
+  
+   (#) Encrypt and decrypt using TDES in CBC Mode using CRYP_TDES_CBC() function.
+  
+@endverbatim
+  *
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_cryp.h"
+
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @defgroup CRYP 
+  * @brief CRYP driver modules
+  * @{
+  */
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+#define TDESBUSY_TIMEOUT    ((uint32_t) 0x00010000)
+
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+
+/** @defgroup CRYP_Private_Functions
+  * @{
+  */ 
+
+/** @defgroup CRYP_Group7 High Level TDES functions
+ *  @brief   High Level TDES functions 
+ *
+@verbatim   
+ ===============================================================================
+                      ##### High Level TDES functions #####
+ ===============================================================================
+
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Encrypt and decrypt using TDES in ECB Mode
+  * @param  Mode: encryption or decryption Mode.
+  *           This parameter can be one of the following values:
+  *            @arg MODE_ENCRYPT: Encryption
+  *            @arg MODE_DECRYPT: Decryption
+  * @param  Key: Key used for TDES algorithm.
+  * @param  Ilength: length of the Input buffer, must be a multiple of 8.
+  * @param  Input: pointer to the Input buffer.
+  * @param  Output: pointer to the returned buffer.
+  * @retval An ErrorStatus enumeration value:
+  *          - SUCCESS: Operation done
+  *          - ERROR: Operation failed
+  */
+ErrorStatus CRYP_TDES_ECB(uint8_t Mode, uint8_t Key[24], uint8_t *Input, 
+                          uint32_t Ilength, uint8_t *Output)
+{
+  CRYP_InitTypeDef TDES_CRYP_InitStructure;
+  CRYP_KeyInitTypeDef TDES_CRYP_KeyInitStructure;
+  __IO uint32_t counter = 0;
+  uint32_t busystatus = 0;
+  ErrorStatus status = SUCCESS;
+  uint32_t keyaddr    = (uint32_t)Key;
+  uint32_t inputaddr  = (uint32_t)Input;
+  uint32_t outputaddr = (uint32_t)Output;
+  uint32_t i = 0;
+
+  /* Crypto structures initialisation*/
+  CRYP_KeyStructInit(&TDES_CRYP_KeyInitStructure);
+
+  /* Crypto Init for Encryption process */
+  if(Mode == MODE_ENCRYPT) /* TDES encryption */
+  {
+     TDES_CRYP_InitStructure.CRYP_AlgoDir = CRYP_AlgoDir_Encrypt;
+  }
+  else /*if(Mode == MODE_DECRYPT)*/ /* TDES decryption */
+  {
+     TDES_CRYP_InitStructure.CRYP_AlgoDir = CRYP_AlgoDir_Decrypt;
+  }
+
+  TDES_CRYP_InitStructure.CRYP_AlgoMode = CRYP_AlgoMode_TDES_ECB;
+  TDES_CRYP_InitStructure.CRYP_DataType = CRYP_DataType_8b;
+  CRYP_Init(&TDES_CRYP_InitStructure);
+
+  /* Key Initialisation */
+  TDES_CRYP_KeyInitStructure.CRYP_Key1Left = __REV(*(uint32_t*)(keyaddr));
+  keyaddr+=4;
+  TDES_CRYP_KeyInitStructure.CRYP_Key1Right= __REV(*(uint32_t*)(keyaddr));
+  keyaddr+=4;
+  TDES_CRYP_KeyInitStructure.CRYP_Key2Left = __REV(*(uint32_t*)(keyaddr));
+  keyaddr+=4;
+  TDES_CRYP_KeyInitStructure.CRYP_Key2Right= __REV(*(uint32_t*)(keyaddr));
+  keyaddr+=4;
+  TDES_CRYP_KeyInitStructure.CRYP_Key3Left = __REV(*(uint32_t*)(keyaddr));
+  keyaddr+=4;
+  TDES_CRYP_KeyInitStructure.CRYP_Key3Right= __REV(*(uint32_t*)(keyaddr));
+  CRYP_KeyInit(& TDES_CRYP_KeyInitStructure);
+
+  /* Flush IN/OUT FIFO */
+  CRYP_FIFOFlush();
+
+  /* Enable Crypto processor */
+  CRYP_Cmd(ENABLE);
+
+  if(CRYP_GetCmdStatus() == DISABLE)
+  {
+    /* The CRYP peripheral clock is not enabled or the device doesn't embed 
+    the CRYP peripheral (please check the device sales type. */
+    status = ERROR;
+  }
+  else
+  {
+    for(i=0; ((i<Ilength) && (status != ERROR)); i+=8)
+    {
+      /* Write the Input block in the Input FIFO */
+      CRYP_DataIn(*(uint32_t*)(inputaddr));
+      inputaddr+=4;
+      CRYP_DataIn(*(uint32_t*)(inputaddr));
+      inputaddr+=4;
+      
+      /* Wait until the complete message has been processed */
+      counter = 0;
+      do
+      {
+        busystatus = CRYP_GetFlagStatus(CRYP_FLAG_BUSY);
+        counter++;
+      }while ((counter != TDESBUSY_TIMEOUT) && (busystatus != RESET));
+      
+      if (busystatus != RESET)
+      {
+        status = ERROR;
+      }
+      else
+      {
+        
+        /* Read the Output block from the Output FIFO */
+        *(uint32_t*)(outputaddr) = CRYP_DataOut();
+        outputaddr+=4;
+        *(uint32_t*)(outputaddr) = CRYP_DataOut();
+        outputaddr+=4;
+      }
+    }
+    
+    /* Disable Crypto */
+    CRYP_Cmd(DISABLE);
+  }
+  return status; 
+}
+
+/**
+  * @brief  Encrypt and decrypt using TDES in CBC Mode
+  * @param  Mode: encryption or decryption Mode.
+  *           This parameter can be one of the following values:
+  *            @arg MODE_ENCRYPT: Encryption
+  *            @arg MODE_DECRYPT: Decryption
+  * @param  Key: Key used for TDES algorithm.
+  * @param  InitVectors: Initialisation Vectors used for TDES algorithm.
+  * @param  Input: pointer to the Input buffer.
+  * @param  Ilength: length of the Input buffer, must be a multiple of 8.
+  * @param  Output: pointer to the returned buffer.
+  * @retval An ErrorStatus enumeration value:
+  *          - SUCCESS: Operation done
+  *          - ERROR: Operation failed
+  */
+ErrorStatus CRYP_TDES_CBC(uint8_t Mode, uint8_t Key[24], uint8_t InitVectors[8],
+                          uint8_t *Input, uint32_t Ilength, uint8_t *Output)
+{
+  CRYP_InitTypeDef TDES_CRYP_InitStructure;
+  CRYP_KeyInitTypeDef TDES_CRYP_KeyInitStructure;
+  CRYP_IVInitTypeDef TDES_CRYP_IVInitStructure;
+  __IO uint32_t counter = 0;
+  uint32_t busystatus = 0;
+  ErrorStatus status = SUCCESS;
+  uint32_t keyaddr    = (uint32_t)Key;
+  uint32_t inputaddr  = (uint32_t)Input;
+  uint32_t outputaddr = (uint32_t)Output;
+  uint32_t ivaddr     = (uint32_t)InitVectors;
+  uint32_t i = 0;
+
+  /* Crypto structures initialisation*/
+  CRYP_KeyStructInit(&TDES_CRYP_KeyInitStructure);
+
+  /* Crypto Init for Encryption process */
+  if(Mode == MODE_ENCRYPT) /* TDES encryption */
+  {
+    TDES_CRYP_InitStructure.CRYP_AlgoDir = CRYP_AlgoDir_Encrypt;
+  }
+  else
+  {
+    TDES_CRYP_InitStructure.CRYP_AlgoDir = CRYP_AlgoDir_Decrypt;
+  }
+  TDES_CRYP_InitStructure.CRYP_AlgoMode = CRYP_AlgoMode_TDES_CBC;
+  TDES_CRYP_InitStructure.CRYP_DataType = CRYP_DataType_8b;
+
+  CRYP_Init(&TDES_CRYP_InitStructure);
+
+  /* Key Initialisation */
+  TDES_CRYP_KeyInitStructure.CRYP_Key1Left = __REV(*(uint32_t*)(keyaddr));
+  keyaddr+=4;
+  TDES_CRYP_KeyInitStructure.CRYP_Key1Right= __REV(*(uint32_t*)(keyaddr));
+  keyaddr+=4;
+  TDES_CRYP_KeyInitStructure.CRYP_Key2Left = __REV(*(uint32_t*)(keyaddr));
+  keyaddr+=4;
+  TDES_CRYP_KeyInitStructure.CRYP_Key2Right= __REV(*(uint32_t*)(keyaddr));
+  keyaddr+=4;
+  TDES_CRYP_KeyInitStructure.CRYP_Key3Left = __REV(*(uint32_t*)(keyaddr));
+  keyaddr+=4;
+  TDES_CRYP_KeyInitStructure.CRYP_Key3Right= __REV(*(uint32_t*)(keyaddr));
+  CRYP_KeyInit(& TDES_CRYP_KeyInitStructure);
+  
+  /* Initialization Vectors */
+  TDES_CRYP_IVInitStructure.CRYP_IV0Left = __REV(*(uint32_t*)(ivaddr));
+  ivaddr+=4;
+  TDES_CRYP_IVInitStructure.CRYP_IV0Right= __REV(*(uint32_t*)(ivaddr));
+  CRYP_IVInit(&TDES_CRYP_IVInitStructure);
+  
+  /* Flush IN/OUT FIFO */
+  CRYP_FIFOFlush();
+  
+  /* Enable Crypto processor */
+  CRYP_Cmd(ENABLE);
+  
+  if(CRYP_GetCmdStatus() == DISABLE)
+  {
+    /* The CRYP peripheral clock is not enabled or the device doesn't embed 
+    the CRYP peripheral (please check the device sales type. */
+    status = ERROR;
+  }
+  else
+  {
+    for(i=0; ((i<Ilength) && (status != ERROR)); i+=8)
+    {
+      /* Write the Input block in the Input FIFO */
+      CRYP_DataIn(*(uint32_t*)(inputaddr));
+      inputaddr+=4;
+      CRYP_DataIn(*(uint32_t*)(inputaddr));
+      inputaddr+=4;
+      
+      /* Wait until the complete message has been processed */
+      counter = 0;
+      do
+      {
+        busystatus = CRYP_GetFlagStatus(CRYP_FLAG_BUSY);
+        counter++;
+      }while ((counter != TDESBUSY_TIMEOUT) && (busystatus != RESET));
+      
+      if (busystatus != RESET)
+      {
+        status = ERROR;
+      }
+      else
+      {
+        
+        /* Read the Output block from the Output FIFO */
+        *(uint32_t*)(outputaddr) = CRYP_DataOut();
+        outputaddr+=4;
+        *(uint32_t*)(outputaddr) = CRYP_DataOut();
+        outputaddr+=4;
+      }
+    }
+    
+    /* Disable Crypto */
+    CRYP_Cmd(DISABLE);
+  }
+  return status; 
+}
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
--- a/云台/云台/Library/stm32f4xx_dac.c
+++ b/云台/云台/Library/stm32f4xx_dac.c
@@ -0,0 +1,706 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_dac.c
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+   * @brief   This file provides firmware functions to manage the following 
+  *          functionalities of the Digital-to-Analog Converter (DAC) peripheral: 
+  *           + DAC channels configuration: trigger, output buffer, data format
+  *           + DMA management      
+  *           + Interrupts and flags management
+  *
+ @verbatim      
+ ===============================================================================
+                      ##### DAC Peripheral features #####
+ ===============================================================================
+    [..]        
+      *** DAC Channels ***
+      ====================  
+    [..]  
+    The device integrates two 12-bit Digital Analog Converters that can 
+    be used independently or simultaneously (dual mode):
+      (#) DAC channel1 with DAC_OUT1 (PA4) as output
+      (#) DAC channel2 with DAC_OUT2 (PA5) as output
+  
+      *** DAC Triggers ***
+      ====================
+    [..]
+    Digital to Analog conversion can be non-triggered using DAC_Trigger_None
+    and DAC_OUT1/DAC_OUT2 is available once writing to DHRx register 
+    using DAC_SetChannel1Data() / DAC_SetChannel2Data() functions.
+    [..] 
+    Digital to Analog conversion can be triggered by:
+      (#) External event: EXTI Line 9 (any GPIOx_Pin9) using DAC_Trigger_Ext_IT9.
+          The used pin (GPIOx_Pin9) must be configured in input mode.
+  
+      (#) Timers TRGO: TIM2, TIM4, TIM5, TIM6, TIM7 and TIM8 
+          (DAC_Trigger_T2_TRGO, DAC_Trigger_T4_TRGO...)
+          The timer TRGO event should be selected using TIM_SelectOutputTrigger()
+  
+      (#) Software using DAC_Trigger_Software
+  
+      *** DAC Buffer mode feature ***
+      =============================== 
+      [..] 
+      Each DAC channel integrates an output buffer that can be used to 
+      reduce the output impedance, and to drive external loads directly
+      without having to add an external operational amplifier.
+      To enable, the output buffer use  
+      DAC_InitStructure.DAC_OutputBuffer = DAC_OutputBuffer_Enable;
+      [..]           
+      (@) Refer to the device datasheet for more details about output 
+          impedance value with and without output buffer.
+            
+       *** DAC wave generation feature ***
+       =================================== 
+       [..]     
+       Both DAC channels can be used to generate
+         (#) Noise wave using DAC_WaveGeneration_Noise
+         (#) Triangle wave using DAC_WaveGeneration_Triangle
+          
+          -@-  Wave generation can be disabled using DAC_WaveGeneration_None
+  
+       *** DAC data format ***
+       =======================
+       [..]   
+       The DAC data format can be:
+         (#) 8-bit right alignment using DAC_Align_8b_R
+         (#) 12-bit left alignment using DAC_Align_12b_L
+         (#) 12-bit right alignment using DAC_Align_12b_R
+  
+       *** DAC data value to voltage correspondence ***  
+       ================================================ 
+       [..] 
+       The analog output voltage on each DAC channel pin is determined
+       by the following equation: 
+       DAC_OUTx = VREF+ * DOR / 4095
+       with  DOR is the Data Output Register
+          VEF+ is the input voltage reference (refer to the device datasheet)
+        e.g. To set DAC_OUT1 to 0.7V, use
+          DAC_SetChannel1Data(DAC_Align_12b_R, 868);
+          Assuming that VREF+ = 3.3V, DAC_OUT1 = (3.3 * 868) / 4095 = 0.7V
+  
+       *** DMA requests  ***
+       =====================
+       [..]    
+       A DMA1 request can be generated when an external trigger (but not
+       a software trigger) occurs if DMA1 requests are enabled using
+       DAC_DMACmd()
+       [..]
+       DMA1 requests are mapped as following:
+         (#) DAC channel1 : mapped on DMA1 Stream5 channel7 which must be 
+             already configured
+         (#) DAC channel2 : mapped on DMA1 Stream6 channel7 which must be 
+             already configured
+  
+      
+                      ##### How to use this driver #####
+ ===============================================================================
+    [..]          
+      (+) DAC APB clock must be enabled to get write access to DAC
+          registers using
+          RCC_APB1PeriphClockCmd(RCC_APB1Periph_DAC, ENABLE)
+      (+) Configure DAC_OUTx (DAC_OUT1: PA4, DAC_OUT2: PA5) in analog mode.
+      (+) Configure the DAC channel using DAC_Init() function
+      (+) Enable the DAC channel using DAC_Cmd() function
+   
+ @endverbatim    
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_dac.h"
+#include "stm32f4xx_rcc.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @defgroup DAC 
+  * @brief DAC driver modules
+  * @{
+  */ 
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+
+/* CR register Mask */
+#define CR_CLEAR_MASK              ((uint32_t)0x00000FFE)
+
+/* DAC Dual Channels SWTRIG masks */
+#define DUAL_SWTRIG_SET            ((uint32_t)0x00000003)
+#define DUAL_SWTRIG_RESET          ((uint32_t)0xFFFFFFFC)
+
+/* DHR registers offsets */
+#define DHR12R1_OFFSET             ((uint32_t)0x00000008)
+#define DHR12R2_OFFSET             ((uint32_t)0x00000014)
+#define DHR12RD_OFFSET             ((uint32_t)0x00000020)
+
+/* DOR register offset */
+#define DOR_OFFSET                 ((uint32_t)0x0000002C)
+
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/** @defgroup DAC_Private_Functions
+  * @{
+  */
+
+/** @defgroup DAC_Group1 DAC channels configuration
+ *  @brief   DAC channels configuration: trigger, output buffer, data format 
+ *
+@verbatim   
+ ===============================================================================
+   ##### DAC channels configuration: trigger, output buffer, data format #####
+ ===============================================================================  
+
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Deinitializes the DAC peripheral registers to their default reset values.
+  * @param  None
+  * @retval None
+  */
+void DAC_DeInit(void)
+{
+  /* Enable DAC reset state */
+  RCC_APB1PeriphResetCmd(RCC_APB1Periph_DAC, ENABLE);
+  /* Release DAC from reset state */
+  RCC_APB1PeriphResetCmd(RCC_APB1Periph_DAC, DISABLE);
+}
+
+/**
+  * @brief  Initializes the DAC peripheral according to the specified parameters
+  *         in the DAC_InitStruct.
+  * @param  DAC_Channel: the selected DAC channel. 
+  *          This parameter can be one of the following values:
+  *            @arg DAC_Channel_1: DAC Channel1 selected
+  *            @arg DAC_Channel_2: DAC Channel2 selected
+  * @param  DAC_InitStruct: pointer to a DAC_InitTypeDef structure that contains
+  *         the configuration information for the  specified DAC channel.
+  * @retval None
+  */
+void DAC_Init(uint32_t DAC_Channel, DAC_InitTypeDef* DAC_InitStruct)
+{
+  uint32_t tmpreg1 = 0, tmpreg2 = 0;
+
+  /* Check the DAC parameters */
+  assert_param(IS_DAC_TRIGGER(DAC_InitStruct->DAC_Trigger));
+  assert_param(IS_DAC_GENERATE_WAVE(DAC_InitStruct->DAC_WaveGeneration));
+  assert_param(IS_DAC_LFSR_UNMASK_TRIANGLE_AMPLITUDE(DAC_InitStruct->DAC_LFSRUnmask_TriangleAmplitude));
+  assert_param(IS_DAC_OUTPUT_BUFFER_STATE(DAC_InitStruct->DAC_OutputBuffer));
+
+/*---------------------------- DAC CR Configuration --------------------------*/
+  /* Get the DAC CR value */
+  tmpreg1 = DAC->CR;
+  /* Clear BOFFx, TENx, TSELx, WAVEx and MAMPx bits */
+  tmpreg1 &= ~(CR_CLEAR_MASK << DAC_Channel);
+  /* Configure for the selected DAC channel: buffer output, trigger, 
+     wave generation, mask/amplitude for wave generation */
+  /* Set TSELx and TENx bits according to DAC_Trigger value */
+  /* Set WAVEx bits according to DAC_WaveGeneration value */
+  /* Set MAMPx bits according to DAC_LFSRUnmask_TriangleAmplitude value */ 
+  /* Set BOFFx bit according to DAC_OutputBuffer value */   
+  tmpreg2 = (DAC_InitStruct->DAC_Trigger | DAC_InitStruct->DAC_WaveGeneration |
+             DAC_InitStruct->DAC_LFSRUnmask_TriangleAmplitude | \
+             DAC_InitStruct->DAC_OutputBuffer);
+  /* Calculate CR register value depending on DAC_Channel */
+  tmpreg1 |= tmpreg2 << DAC_Channel;
+  /* Write to DAC CR */
+  DAC->CR = tmpreg1;
+}
+
+/**
+  * @brief  Fills each DAC_InitStruct member with its default value.
+  * @param  DAC_InitStruct: pointer to a DAC_InitTypeDef structure which will 
+  *         be initialized.
+  * @retval None
+  */
+void DAC_StructInit(DAC_InitTypeDef* DAC_InitStruct)
+{
+/*--------------- Reset DAC init structure parameters values -----------------*/
+  /* Initialize the DAC_Trigger member */
+  DAC_InitStruct->DAC_Trigger = DAC_Trigger_None;
+  /* Initialize the DAC_WaveGeneration member */
+  DAC_InitStruct->DAC_WaveGeneration = DAC_WaveGeneration_None;
+  /* Initialize the DAC_LFSRUnmask_TriangleAmplitude member */
+  DAC_InitStruct->DAC_LFSRUnmask_TriangleAmplitude = DAC_LFSRUnmask_Bit0;
+  /* Initialize the DAC_OutputBuffer member */
+  DAC_InitStruct->DAC_OutputBuffer = DAC_OutputBuffer_Enable;
+}
+
+/**
+  * @brief  Enables or disables the specified DAC channel.
+  * @param  DAC_Channel: The selected DAC channel. 
+  *          This parameter can be one of the following values:
+  *            @arg DAC_Channel_1: DAC Channel1 selected
+  *            @arg DAC_Channel_2: DAC Channel2 selected
+  * @param  NewState: new state of the DAC channel. 
+  *          This parameter can be: ENABLE or DISABLE.
+  * @note   When the DAC channel is enabled the trigger source can no more be modified.
+  * @retval None
+  */
+void DAC_Cmd(uint32_t DAC_Channel, FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_DAC_CHANNEL(DAC_Channel));
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    /* Enable the selected DAC channel */
+    DAC->CR |= (DAC_CR_EN1 << DAC_Channel);
+  }
+  else
+  {
+    /* Disable the selected DAC channel */
+    DAC->CR &= (~(DAC_CR_EN1 << DAC_Channel));
+  }
+}
+
+/**
+  * @brief  Enables or disables the selected DAC channel software trigger.
+  * @param  DAC_Channel: The selected DAC channel. 
+  *          This parameter can be one of the following values:
+  *            @arg DAC_Channel_1: DAC Channel1 selected
+  *            @arg DAC_Channel_2: DAC Channel2 selected
+  * @param  NewState: new state of the selected DAC channel software trigger.
+  *          This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void DAC_SoftwareTriggerCmd(uint32_t DAC_Channel, FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_DAC_CHANNEL(DAC_Channel));
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    /* Enable software trigger for the selected DAC channel */
+    DAC->SWTRIGR |= (uint32_t)DAC_SWTRIGR_SWTRIG1 << (DAC_Channel >> 4);
+  }
+  else
+  {
+    /* Disable software trigger for the selected DAC channel */
+    DAC->SWTRIGR &= ~((uint32_t)DAC_SWTRIGR_SWTRIG1 << (DAC_Channel >> 4));
+  }
+}
+
+/**
+  * @brief  Enables or disables simultaneously the two DAC channels software triggers.
+  * @param  NewState: new state of the DAC channels software triggers.
+  *          This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void DAC_DualSoftwareTriggerCmd(FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    /* Enable software trigger for both DAC channels */
+    DAC->SWTRIGR |= DUAL_SWTRIG_SET;
+  }
+  else
+  {
+    /* Disable software trigger for both DAC channels */
+    DAC->SWTRIGR &= DUAL_SWTRIG_RESET;
+  }
+}
+
+/**
+  * @brief  Enables or disables the selected DAC channel wave generation.
+  * @param  DAC_Channel: The selected DAC channel. 
+  *          This parameter can be one of the following values:
+  *            @arg DAC_Channel_1: DAC Channel1 selected
+  *            @arg DAC_Channel_2: DAC Channel2 selected
+  * @param  DAC_Wave: specifies the wave type to enable or disable.
+  *          This parameter can be one of the following values:
+  *            @arg DAC_Wave_Noise: noise wave generation
+  *            @arg DAC_Wave_Triangle: triangle wave generation
+  * @param  NewState: new state of the selected DAC channel wave generation.
+  *          This parameter can be: ENABLE or DISABLE.  
+  * @retval None
+  */
+void DAC_WaveGenerationCmd(uint32_t DAC_Channel, uint32_t DAC_Wave, FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_DAC_CHANNEL(DAC_Channel));
+  assert_param(IS_DAC_WAVE(DAC_Wave)); 
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    /* Enable the selected wave generation for the selected DAC channel */
+    DAC->CR |= DAC_Wave << DAC_Channel;
+  }
+  else
+  {
+    /* Disable the selected wave generation for the selected DAC channel */
+    DAC->CR &= ~(DAC_Wave << DAC_Channel);
+  }
+}
+
+/**
+  * @brief  Set the specified data holding register value for DAC channel1.
+  * @param  DAC_Align: Specifies the data alignment for DAC channel1.
+  *          This parameter can be one of the following values:
+  *            @arg DAC_Align_8b_R: 8bit right data alignment selected
+  *            @arg DAC_Align_12b_L: 12bit left data alignment selected
+  *            @arg DAC_Align_12b_R: 12bit right data alignment selected
+  * @param  Data: Data to be loaded in the selected data holding register.
+  * @retval None
+  */
+void DAC_SetChannel1Data(uint32_t DAC_Align, uint16_t Data)
+{  
+  __IO uint32_t tmp = 0;
+  
+  /* Check the parameters */
+  assert_param(IS_DAC_ALIGN(DAC_Align));
+  assert_param(IS_DAC_DATA(Data));
+  
+  tmp = (uint32_t)DAC_BASE; 
+  tmp += DHR12R1_OFFSET + DAC_Align;
+
+  /* Set the DAC channel1 selected data holding register */
+  *(__IO uint32_t *) tmp = Data;
+}
+
+/**
+  * @brief  Set the specified data holding register value for DAC channel2.
+  * @param  DAC_Align: Specifies the data alignment for DAC channel2.
+  *          This parameter can be one of the following values:
+  *            @arg DAC_Align_8b_R: 8bit right data alignment selected
+  *            @arg DAC_Align_12b_L: 12bit left data alignment selected
+  *            @arg DAC_Align_12b_R: 12bit right data alignment selected
+  * @param  Data: Data to be loaded in the selected data holding register.
+  * @retval None
+  */
+void DAC_SetChannel2Data(uint32_t DAC_Align, uint16_t Data)
+{
+  __IO uint32_t tmp = 0;
+
+  /* Check the parameters */
+  assert_param(IS_DAC_ALIGN(DAC_Align));
+  assert_param(IS_DAC_DATA(Data));
+  
+  tmp = (uint32_t)DAC_BASE;
+  tmp += DHR12R2_OFFSET + DAC_Align;
+
+  /* Set the DAC channel2 selected data holding register */
+  *(__IO uint32_t *)tmp = Data;
+}
+
+/**
+  * @brief  Set the specified data holding register value for dual channel DAC.
+  * @param  DAC_Align: Specifies the data alignment for dual channel DAC.
+  *          This parameter can be one of the following values:
+  *            @arg DAC_Align_8b_R: 8bit right data alignment selected
+  *            @arg DAC_Align_12b_L: 12bit left data alignment selected
+  *            @arg DAC_Align_12b_R: 12bit right data alignment selected
+  * @param  Data2: Data for DAC Channel2 to be loaded in the selected data holding register.
+  * @param  Data1: Data for DAC Channel1 to be loaded in the selected data  holding register.
+  * @note   In dual mode, a unique register access is required to write in both
+  *          DAC channels at the same time.
+  * @retval None
+  */
+void DAC_SetDualChannelData(uint32_t DAC_Align, uint16_t Data2, uint16_t Data1)
+{
+  uint32_t data = 0, tmp = 0;
+  
+  /* Check the parameters */
+  assert_param(IS_DAC_ALIGN(DAC_Align));
+  assert_param(IS_DAC_DATA(Data1));
+  assert_param(IS_DAC_DATA(Data2));
+  
+  /* Calculate and set dual DAC data holding register value */
+  if (DAC_Align == DAC_Align_8b_R)
+  {
+    data = ((uint32_t)Data2 << 8) | Data1; 
+  }
+  else
+  {
+    data = ((uint32_t)Data2 << 16) | Data1;
+  }
+  
+  tmp = (uint32_t)DAC_BASE;
+  tmp += DHR12RD_OFFSET + DAC_Align;
+
+  /* Set the dual DAC selected data holding register */
+  *(__IO uint32_t *)tmp = data;
+}
+
+/**
+  * @brief  Returns the last data output value of the selected DAC channel.
+  * @param  DAC_Channel: The selected DAC channel. 
+  *          This parameter can be one of the following values:
+  *            @arg DAC_Channel_1: DAC Channel1 selected
+  *            @arg DAC_Channel_2: DAC Channel2 selected
+  * @retval The selected DAC channel data output value.
+  */
+uint16_t DAC_GetDataOutputValue(uint32_t DAC_Channel)
+{
+  __IO uint32_t tmp = 0;
+  
+  /* Check the parameters */
+  assert_param(IS_DAC_CHANNEL(DAC_Channel));
+  
+  tmp = (uint32_t) DAC_BASE ;
+  tmp += DOR_OFFSET + ((uint32_t)DAC_Channel >> 2);
+  
+  /* Returns the DAC channel data output register value */
+  return (uint16_t) (*(__IO uint32_t*) tmp);
+}
+/**
+  * @}
+  */
+
+/** @defgroup DAC_Group2 DMA management functions
+ *  @brief   DMA management functions
+ *
+@verbatim   
+ ===============================================================================
+                       ##### DMA management functions #####
+ ===============================================================================  
+
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Enables or disables the specified DAC channel DMA request.
+  * @note   When enabled DMA1 is generated when an external trigger (EXTI Line9,
+  *         TIM2, TIM4, TIM5, TIM6, TIM7 or TIM8  but not a software trigger) occurs.
+  * @param  DAC_Channel: The selected DAC channel. 
+  *          This parameter can be one of the following values:
+  *            @arg DAC_Channel_1: DAC Channel1 selected
+  *            @arg DAC_Channel_2: DAC Channel2 selected
+  * @param  NewState: new state of the selected DAC channel DMA request.
+  *          This parameter can be: ENABLE or DISABLE.
+  * @note   The DAC channel1 is mapped on DMA1 Stream 5 channel7 which must be
+  *          already configured.
+  * @note   The DAC channel2 is mapped on DMA1 Stream 6 channel7 which must be
+  *          already configured.    
+  * @retval None
+  */
+void DAC_DMACmd(uint32_t DAC_Channel, FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_DAC_CHANNEL(DAC_Channel));
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    /* Enable the selected DAC channel DMA request */
+    DAC->CR |= (DAC_CR_DMAEN1 << DAC_Channel);
+  }
+  else
+  {
+    /* Disable the selected DAC channel DMA request */
+    DAC->CR &= (~(DAC_CR_DMAEN1 << DAC_Channel));
+  }
+}
+/**
+  * @}
+  */
+
+/** @defgroup DAC_Group3 Interrupts and flags management functions
+ *  @brief   Interrupts and flags management functions
+ *
+@verbatim   
+ ===============================================================================
+             ##### Interrupts and flags management functions #####
+ ===============================================================================  
+
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Enables or disables the specified DAC interrupts.
+  * @param  DAC_Channel: The selected DAC channel. 
+  *          This parameter can be one of the following values:
+  *            @arg DAC_Channel_1: DAC Channel1 selected
+  *            @arg DAC_Channel_2: DAC Channel2 selected
+  * @param  DAC_IT: specifies the DAC interrupt sources to be enabled or disabled. 
+  *          This parameter can be the following values:
+  *            @arg DAC_IT_DMAUDR: DMA underrun interrupt mask
+  * @note   The DMA underrun occurs when a second external trigger arrives before the 
+  *         acknowledgement for the first external trigger is received (first request).
+  * @param  NewState: new state of the specified DAC interrupts.
+  *          This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */ 
+void DAC_ITConfig(uint32_t DAC_Channel, uint32_t DAC_IT, FunctionalState NewState)  
+{
+  /* Check the parameters */
+  assert_param(IS_DAC_CHANNEL(DAC_Channel));
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+  assert_param(IS_DAC_IT(DAC_IT)); 
+
+  if (NewState != DISABLE)
+  {
+    /* Enable the selected DAC interrupts */
+    DAC->CR |=  (DAC_IT << DAC_Channel);
+  }
+  else
+  {
+    /* Disable the selected DAC interrupts */
+    DAC->CR &= (~(uint32_t)(DAC_IT << DAC_Channel));
+  }
+}
+
+/**
+  * @brief  Checks whether the specified DAC flag is set or not.
+  * @param  DAC_Channel: The selected DAC channel. 
+  *          This parameter can be one of the following values:
+  *            @arg DAC_Channel_1: DAC Channel1 selected
+  *            @arg DAC_Channel_2: DAC Channel2 selected
+  * @param  DAC_FLAG: specifies the flag to check. 
+  *          This parameter can be only of the following value:
+  *            @arg DAC_FLAG_DMAUDR: DMA underrun flag
+  * @note   The DMA underrun occurs when a second external trigger arrives before the 
+  *         acknowledgement for the first external trigger is received (first request).
+  * @retval The new state of DAC_FLAG (SET or RESET).
+  */
+FlagStatus DAC_GetFlagStatus(uint32_t DAC_Channel, uint32_t DAC_FLAG)
+{
+  FlagStatus bitstatus = RESET;
+  /* Check the parameters */
+  assert_param(IS_DAC_CHANNEL(DAC_Channel));
+  assert_param(IS_DAC_FLAG(DAC_FLAG));
+
+  /* Check the status of the specified DAC flag */
+  if ((DAC->SR & (DAC_FLAG << DAC_Channel)) != (uint8_t)RESET)
+  {
+    /* DAC_FLAG is set */
+    bitstatus = SET;
+  }
+  else
+  {
+    /* DAC_FLAG is reset */
+    bitstatus = RESET;
+  }
+  /* Return the DAC_FLAG status */
+  return  bitstatus;
+}
+
+/**
+  * @brief  Clears the DAC channel's pending flags.
+  * @param  DAC_Channel: The selected DAC channel. 
+  *          This parameter can be one of the following values:
+  *            @arg DAC_Channel_1: DAC Channel1 selected
+  *            @arg DAC_Channel_2: DAC Channel2 selected
+  * @param  DAC_FLAG: specifies the flag to clear. 
+  *          This parameter can be of the following value:
+  *            @arg DAC_FLAG_DMAUDR: DMA underrun flag 
+  * @note   The DMA underrun occurs when a second external trigger arrives before the 
+  *         acknowledgement for the first external trigger is received (first request).                           
+  * @retval None
+  */
+void DAC_ClearFlag(uint32_t DAC_Channel, uint32_t DAC_FLAG)
+{
+  /* Check the parameters */
+  assert_param(IS_DAC_CHANNEL(DAC_Channel));
+  assert_param(IS_DAC_FLAG(DAC_FLAG));
+
+  /* Clear the selected DAC flags */
+  DAC->SR = (DAC_FLAG << DAC_Channel);
+}
+
+/**
+  * @brief  Checks whether the specified DAC interrupt has occurred or not.
+  * @param  DAC_Channel: The selected DAC channel. 
+  *          This parameter can be one of the following values:
+  *            @arg DAC_Channel_1: DAC Channel1 selected
+  *            @arg DAC_Channel_2: DAC Channel2 selected
+  * @param  DAC_IT: specifies the DAC interrupt source to check. 
+  *          This parameter can be the following values:
+  *            @arg DAC_IT_DMAUDR: DMA underrun interrupt mask
+  * @note   The DMA underrun occurs when a second external trigger arrives before the 
+  *         acknowledgement for the first external trigger is received (first request).
+  * @retval The new state of DAC_IT (SET or RESET).
+  */
+ITStatus DAC_GetITStatus(uint32_t DAC_Channel, uint32_t DAC_IT)
+{
+  ITStatus bitstatus = RESET;
+  uint32_t enablestatus = 0;
+  
+  /* Check the parameters */
+  assert_param(IS_DAC_CHANNEL(DAC_Channel));
+  assert_param(IS_DAC_IT(DAC_IT));
+
+  /* Get the DAC_IT enable bit status */
+  enablestatus = (DAC->CR & (DAC_IT << DAC_Channel)) ;
+  
+  /* Check the status of the specified DAC interrupt */
+  if (((DAC->SR & (DAC_IT << DAC_Channel)) != (uint32_t)RESET) && enablestatus)
+  {
+    /* DAC_IT is set */
+    bitstatus = SET;
+  }
+  else
+  {
+    /* DAC_IT is reset */
+    bitstatus = RESET;
+  }
+  /* Return the DAC_IT status */
+  return  bitstatus;
+}
+
+/**
+  * @brief  Clears the DAC channel's interrupt pending bits.
+  * @param  DAC_Channel: The selected DAC channel. 
+  *          This parameter can be one of the following values:
+  *            @arg DAC_Channel_1: DAC Channel1 selected
+  *            @arg DAC_Channel_2: DAC Channel2 selected
+  * @param  DAC_IT: specifies the DAC interrupt pending bit to clear.
+  *          This parameter can be the following values:
+  *            @arg DAC_IT_DMAUDR: DMA underrun interrupt mask                         
+  * @note   The DMA underrun occurs when a second external trigger arrives before the 
+  *         acknowledgement for the first external trigger is received (first request).                           
+  * @retval None
+  */
+void DAC_ClearITPendingBit(uint32_t DAC_Channel, uint32_t DAC_IT)
+{
+  /* Check the parameters */
+  assert_param(IS_DAC_CHANNEL(DAC_Channel));
+  assert_param(IS_DAC_IT(DAC_IT)); 
+
+  /* Clear the selected DAC interrupt pending bits */
+  DAC->SR = (DAC_IT << DAC_Channel);
+}
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
--- a/云台/云台/Library/stm32f4xx_dac.h
+++ b/云台/云台/Library/stm32f4xx_dac.h
@@ -0,0 +1,296 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_dac.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file contains all the functions prototypes for the DAC firmware 
+  *          library.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_DAC_H
+#define __STM32F4xx_DAC_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup DAC
+  * @{
+  */
+
+/* Exported types ------------------------------------------------------------*/
+
+/** 
+  * @brief  DAC Init structure definition
+  */
+
+typedef struct
+{
+  uint32_t DAC_Trigger;                      /*!< Specifies the external trigger for the selected DAC channel.
+                                                  This parameter can be a value of @ref DAC_trigger_selection */
+
+  uint32_t DAC_WaveGeneration;               /*!< Specifies whether DAC channel noise waves or triangle waves
+                                                  are generated, or whether no wave is generated.
+                                                  This parameter can be a value of @ref DAC_wave_generation */
+
+  uint32_t DAC_LFSRUnmask_TriangleAmplitude; /*!< Specifies the LFSR mask for noise wave generation or
+                                                  the maximum amplitude triangle generation for the DAC channel. 
+                                                  This parameter can be a value of @ref DAC_lfsrunmask_triangleamplitude */
+
+  uint32_t DAC_OutputBuffer;                 /*!< Specifies whether the DAC channel output buffer is enabled or disabled.
+                                                  This parameter can be a value of @ref DAC_output_buffer */
+}DAC_InitTypeDef;
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup DAC_Exported_Constants
+  * @{
+  */
+
+/** @defgroup DAC_trigger_selection 
+  * @{
+  */
+
+#define DAC_Trigger_None                   ((uint32_t)0x00000000) /*!< Conversion is automatic once the DAC1_DHRxxxx register 
+                                                                       has been loaded, and not by external trigger */
+#define DAC_Trigger_T2_TRGO                ((uint32_t)0x00000024) /*!< TIM2 TRGO selected as external conversion trigger for DAC channel */
+#define DAC_Trigger_T4_TRGO                ((uint32_t)0x0000002C) /*!< TIM4 TRGO selected as external conversion trigger for DAC channel */
+#define DAC_Trigger_T5_TRGO                ((uint32_t)0x0000001C) /*!< TIM5 TRGO selected as external conversion trigger for DAC channel */
+#define DAC_Trigger_T6_TRGO                ((uint32_t)0x00000004) /*!< TIM6 TRGO selected as external conversion trigger for DAC channel */
+#define DAC_Trigger_T7_TRGO                ((uint32_t)0x00000014) /*!< TIM7 TRGO selected as external conversion trigger for DAC channel */
+#define DAC_Trigger_T8_TRGO                ((uint32_t)0x0000000C) /*!< TIM8 TRGO selected as external conversion trigger for DAC channel */                                                                       
+
+#define DAC_Trigger_Ext_IT9                ((uint32_t)0x00000034) /*!< EXTI Line9 event selected as external conversion trigger for DAC channel */
+#define DAC_Trigger_Software               ((uint32_t)0x0000003C) /*!< Conversion started by software trigger for DAC channel */
+
+#define IS_DAC_TRIGGER(TRIGGER) (((TRIGGER) == DAC_Trigger_None) || \
+                                 ((TRIGGER) == DAC_Trigger_T6_TRGO) || \
+                                 ((TRIGGER) == DAC_Trigger_T8_TRGO) || \
+                                 ((TRIGGER) == DAC_Trigger_T7_TRGO) || \
+                                 ((TRIGGER) == DAC_Trigger_T5_TRGO) || \
+                                 ((TRIGGER) == DAC_Trigger_T2_TRGO) || \
+                                 ((TRIGGER) == DAC_Trigger_T4_TRGO) || \
+                                 ((TRIGGER) == DAC_Trigger_Ext_IT9) || \
+                                 ((TRIGGER) == DAC_Trigger_Software))
+
+/**
+  * @}
+  */
+
+/** @defgroup DAC_wave_generation 
+  * @{
+  */
+
+#define DAC_WaveGeneration_None            ((uint32_t)0x00000000)
+#define DAC_WaveGeneration_Noise           ((uint32_t)0x00000040)
+#define DAC_WaveGeneration_Triangle        ((uint32_t)0x00000080)
+#define IS_DAC_GENERATE_WAVE(WAVE) (((WAVE) == DAC_WaveGeneration_None) || \
+                                    ((WAVE) == DAC_WaveGeneration_Noise) || \
+                                    ((WAVE) == DAC_WaveGeneration_Triangle))
+/**
+  * @}
+  */
+
+/** @defgroup DAC_lfsrunmask_triangleamplitude
+  * @{
+  */
+
+#define DAC_LFSRUnmask_Bit0                ((uint32_t)0x00000000) /*!< Unmask DAC channel LFSR bit0 for noise wave generation */
+#define DAC_LFSRUnmask_Bits1_0             ((uint32_t)0x00000100) /*!< Unmask DAC channel LFSR bit[1:0] for noise wave generation */
+#define DAC_LFSRUnmask_Bits2_0             ((uint32_t)0x00000200) /*!< Unmask DAC channel LFSR bit[2:0] for noise wave generation */
+#define DAC_LFSRUnmask_Bits3_0             ((uint32_t)0x00000300) /*!< Unmask DAC channel LFSR bit[3:0] for noise wave generation */
+#define DAC_LFSRUnmask_Bits4_0             ((uint32_t)0x00000400) /*!< Unmask DAC channel LFSR bit[4:0] for noise wave generation */
+#define DAC_LFSRUnmask_Bits5_0             ((uint32_t)0x00000500) /*!< Unmask DAC channel LFSR bit[5:0] for noise wave generation */
+#define DAC_LFSRUnmask_Bits6_0             ((uint32_t)0x00000600) /*!< Unmask DAC channel LFSR bit[6:0] for noise wave generation */
+#define DAC_LFSRUnmask_Bits7_0             ((uint32_t)0x00000700) /*!< Unmask DAC channel LFSR bit[7:0] for noise wave generation */
+#define DAC_LFSRUnmask_Bits8_0             ((uint32_t)0x00000800) /*!< Unmask DAC channel LFSR bit[8:0] for noise wave generation */
+#define DAC_LFSRUnmask_Bits9_0             ((uint32_t)0x00000900) /*!< Unmask DAC channel LFSR bit[9:0] for noise wave generation */
+#define DAC_LFSRUnmask_Bits10_0            ((uint32_t)0x00000A00) /*!< Unmask DAC channel LFSR bit[10:0] for noise wave generation */
+#define DAC_LFSRUnmask_Bits11_0            ((uint32_t)0x00000B00) /*!< Unmask DAC channel LFSR bit[11:0] for noise wave generation */
+#define DAC_TriangleAmplitude_1            ((uint32_t)0x00000000) /*!< Select max triangle amplitude of 1 */
+#define DAC_TriangleAmplitude_3            ((uint32_t)0x00000100) /*!< Select max triangle amplitude of 3 */
+#define DAC_TriangleAmplitude_7            ((uint32_t)0x00000200) /*!< Select max triangle amplitude of 7 */
+#define DAC_TriangleAmplitude_15           ((uint32_t)0x00000300) /*!< Select max triangle amplitude of 15 */
+#define DAC_TriangleAmplitude_31           ((uint32_t)0x00000400) /*!< Select max triangle amplitude of 31 */
+#define DAC_TriangleAmplitude_63           ((uint32_t)0x00000500) /*!< Select max triangle amplitude of 63 */
+#define DAC_TriangleAmplitude_127          ((uint32_t)0x00000600) /*!< Select max triangle amplitude of 127 */
+#define DAC_TriangleAmplitude_255          ((uint32_t)0x00000700) /*!< Select max triangle amplitude of 255 */
+#define DAC_TriangleAmplitude_511          ((uint32_t)0x00000800) /*!< Select max triangle amplitude of 511 */
+#define DAC_TriangleAmplitude_1023         ((uint32_t)0x00000900) /*!< Select max triangle amplitude of 1023 */
+#define DAC_TriangleAmplitude_2047         ((uint32_t)0x00000A00) /*!< Select max triangle amplitude of 2047 */
+#define DAC_TriangleAmplitude_4095         ((uint32_t)0x00000B00) /*!< Select max triangle amplitude of 4095 */
+
+#define IS_DAC_LFSR_UNMASK_TRIANGLE_AMPLITUDE(VALUE) (((VALUE) == DAC_LFSRUnmask_Bit0) || \
+                                                      ((VALUE) == DAC_LFSRUnmask_Bits1_0) || \
+                                                      ((VALUE) == DAC_LFSRUnmask_Bits2_0) || \
+                                                      ((VALUE) == DAC_LFSRUnmask_Bits3_0) || \
+                                                      ((VALUE) == DAC_LFSRUnmask_Bits4_0) || \
+                                                      ((VALUE) == DAC_LFSRUnmask_Bits5_0) || \
+                                                      ((VALUE) == DAC_LFSRUnmask_Bits6_0) || \
+                                                      ((VALUE) == DAC_LFSRUnmask_Bits7_0) || \
+                                                      ((VALUE) == DAC_LFSRUnmask_Bits8_0) || \
+                                                      ((VALUE) == DAC_LFSRUnmask_Bits9_0) || \
+                                                      ((VALUE) == DAC_LFSRUnmask_Bits10_0) || \
+                                                      ((VALUE) == DAC_LFSRUnmask_Bits11_0) || \
+                                                      ((VALUE) == DAC_TriangleAmplitude_1) || \
+                                                      ((VALUE) == DAC_TriangleAmplitude_3) || \
+                                                      ((VALUE) == DAC_TriangleAmplitude_7) || \
+                                                      ((VALUE) == DAC_TriangleAmplitude_15) || \
+                                                      ((VALUE) == DAC_TriangleAmplitude_31) || \
+                                                      ((VALUE) == DAC_TriangleAmplitude_63) || \
+                                                      ((VALUE) == DAC_TriangleAmplitude_127) || \
+                                                      ((VALUE) == DAC_TriangleAmplitude_255) || \
+                                                      ((VALUE) == DAC_TriangleAmplitude_511) || \
+                                                      ((VALUE) == DAC_TriangleAmplitude_1023) || \
+                                                      ((VALUE) == DAC_TriangleAmplitude_2047) || \
+                                                      ((VALUE) == DAC_TriangleAmplitude_4095))
+/**
+  * @}
+  */
+
+/** @defgroup DAC_output_buffer 
+  * @{
+  */
+
+#define DAC_OutputBuffer_Enable            ((uint32_t)0x00000000)
+#define DAC_OutputBuffer_Disable           ((uint32_t)0x00000002)
+#define IS_DAC_OUTPUT_BUFFER_STATE(STATE) (((STATE) == DAC_OutputBuffer_Enable) || \
+                                           ((STATE) == DAC_OutputBuffer_Disable))
+/**
+  * @}
+  */
+
+/** @defgroup DAC_Channel_selection 
+  * @{
+  */
+
+#define DAC_Channel_1                      ((uint32_t)0x00000000)
+#define DAC_Channel_2                      ((uint32_t)0x00000010)
+#define IS_DAC_CHANNEL(CHANNEL) (((CHANNEL) == DAC_Channel_1) || \
+                                 ((CHANNEL) == DAC_Channel_2))
+/**
+  * @}
+  */
+
+/** @defgroup DAC_data_alignement 
+  * @{
+  */
+
+#define DAC_Align_12b_R                    ((uint32_t)0x00000000)
+#define DAC_Align_12b_L                    ((uint32_t)0x00000004)
+#define DAC_Align_8b_R                     ((uint32_t)0x00000008)
+#define IS_DAC_ALIGN(ALIGN) (((ALIGN) == DAC_Align_12b_R) || \
+                             ((ALIGN) == DAC_Align_12b_L) || \
+                             ((ALIGN) == DAC_Align_8b_R))
+/**
+  * @}
+  */
+
+/** @defgroup DAC_wave_generation 
+  * @{
+  */
+
+#define DAC_Wave_Noise                     ((uint32_t)0x00000040)
+#define DAC_Wave_Triangle                  ((uint32_t)0x00000080)
+#define IS_DAC_WAVE(WAVE) (((WAVE) == DAC_Wave_Noise) || \
+                           ((WAVE) == DAC_Wave_Triangle))
+/**
+  * @}
+  */
+
+/** @defgroup DAC_data 
+  * @{
+  */
+
+#define IS_DAC_DATA(DATA) ((DATA) <= 0xFFF0) 
+/**
+  * @}
+  */
+  
+/** @defgroup DAC_interrupts_definition 
+  * @{
+  */   
+#define DAC_IT_DMAUDR                      ((uint32_t)0x00002000)  
+#define IS_DAC_IT(IT) (((IT) == DAC_IT_DMAUDR)) 
+
+/**
+  * @}
+  */ 
+
+/** @defgroup DAC_flags_definition 
+  * @{
+  */ 
+  
+#define DAC_FLAG_DMAUDR                    ((uint32_t)0x00002000)  
+#define IS_DAC_FLAG(FLAG) (((FLAG) == DAC_FLAG_DMAUDR))  
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/  
+
+/*  Function used to set the DAC configuration to the default reset state *****/  
+void DAC_DeInit(void);
+
+/*  DAC channels configuration: trigger, output buffer, data format functions */
+void DAC_Init(uint32_t DAC_Channel, DAC_InitTypeDef* DAC_InitStruct);
+void DAC_StructInit(DAC_InitTypeDef* DAC_InitStruct);
+void DAC_Cmd(uint32_t DAC_Channel, FunctionalState NewState);
+void DAC_SoftwareTriggerCmd(uint32_t DAC_Channel, FunctionalState NewState);
+void DAC_DualSoftwareTriggerCmd(FunctionalState NewState);
+void DAC_WaveGenerationCmd(uint32_t DAC_Channel, uint32_t DAC_Wave, FunctionalState NewState);
+void DAC_SetChannel1Data(uint32_t DAC_Align, uint16_t Data);
+void DAC_SetChannel2Data(uint32_t DAC_Align, uint16_t Data);
+void DAC_SetDualChannelData(uint32_t DAC_Align, uint16_t Data2, uint16_t Data1);
+uint16_t DAC_GetDataOutputValue(uint32_t DAC_Channel);
+
+/* DMA management functions ***************************************************/
+void DAC_DMACmd(uint32_t DAC_Channel, FunctionalState NewState);
+
+/* Interrupts and flags management functions **********************************/
+void DAC_ITConfig(uint32_t DAC_Channel, uint32_t DAC_IT, FunctionalState NewState);
+FlagStatus DAC_GetFlagStatus(uint32_t DAC_Channel, uint32_t DAC_FLAG);
+void DAC_ClearFlag(uint32_t DAC_Channel, uint32_t DAC_FLAG);
+ITStatus DAC_GetITStatus(uint32_t DAC_Channel, uint32_t DAC_IT);
+void DAC_ClearITPendingBit(uint32_t DAC_Channel, uint32_t DAC_IT);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__STM32F4xx_DAC_H */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
--- a/云台/云台/Library/stm32f4xx_dbgmcu.c
+++ b/云台/云台/Library/stm32f4xx_dbgmcu.c
@@ -0,0 +1,172 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_dbgmcu.c
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file provides all the DBGMCU firmware functions.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_dbgmcu.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @defgroup DBGMCU 
+  * @brief DBGMCU driver modules
+  * @{
+  */ 
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+#define IDCODE_DEVID_MASK    ((uint32_t)0x00000FFF)
+
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/** @defgroup DBGMCU_Private_Functions
+  * @{
+  */ 
+
+/**
+  * @brief  Returns the device revision identifier.
+  * @param  None
+  * @retval Device revision identifier
+  */
+uint32_t DBGMCU_GetREVID(void)
+{
+   return(DBGMCU->IDCODE >> 16);
+}
+
+/**
+  * @brief  Returns the device identifier.
+  * @param  None
+  * @retval Device identifier
+  */
+uint32_t DBGMCU_GetDEVID(void)
+{
+   return(DBGMCU->IDCODE & IDCODE_DEVID_MASK);
+}
+
+/**
+  * @brief  Configures low power mode behavior when the MCU is in Debug mode.
+  * @param  DBGMCU_Periph: specifies the low power mode.
+  *   This parameter can be any combination of the following values:
+  *     @arg DBGMCU_SLEEP: Keep debugger connection during SLEEP mode              
+  *     @arg DBGMCU_STOP: Keep debugger connection during STOP mode               
+  *     @arg DBGMCU_STANDBY: Keep debugger connection during STANDBY mode        
+  * @param  NewState: new state of the specified low power mode in Debug mode.
+  *   This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void DBGMCU_Config(uint32_t DBGMCU_Periph, FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_DBGMCU_PERIPH(DBGMCU_Periph));
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+  if (NewState != DISABLE)
+  {
+    DBGMCU->CR |= DBGMCU_Periph;
+  }
+  else
+  {
+    DBGMCU->CR &= ~DBGMCU_Periph;
+  }
+}
+
+/**
+  * @brief  Configures APB1 peripheral behavior when the MCU is in Debug mode.
+  * @param  DBGMCU_Periph: specifies the APB1 peripheral.
+  *   This parameter can be any combination of the following values:        
+  *     @arg DBGMCU_TIM2_STOP: TIM2 counter stopped when Core is halted          
+  *     @arg DBGMCU_TIM3_STOP: TIM3 counter stopped when Core is halted          
+  *     @arg DBGMCU_TIM4_STOP: TIM4 counter stopped when Core is halted
+  *     @arg DBGMCU_TIM5_STOP: TIM5 counter stopped when Core is halted          
+  *     @arg DBGMCU_TIM6_STOP: TIM6 counter stopped when Core is halted          
+  *     @arg DBGMCU_TIM7_STOP: TIM7 counter stopped when Core is halted
+  *     @arg DBGMCU_TIM12_STOP: TIM12 counter stopped when Core is halted  
+  *     @arg DBGMCU_TIM13_STOP: TIM13 counter stopped when Core is halted  
+  *     @arg DBGMCU_TIM14_STOP: TIM14 counter stopped when Core is halted 
+  *     @arg DBGMCU_RTC_STOP: RTC Calendar and Wakeup counter stopped when Core is halted.                                                                                
+  *     @arg DBGMCU_WWDG_STOP: Debug WWDG stopped when Core is halted
+  *     @arg DBGMCU_IWDG_STOP: Debug IWDG stopped when Core is halted        
+  *     @arg DBGMCU_I2C1_SMBUS_TIMEOUT: I2C1 SMBUS timeout mode stopped when Core is halted
+  *     @arg DBGMCU_I2C2_SMBUS_TIMEOUT: I2C2 SMBUS timeout mode stopped when Core is halted
+  *     @arg DBGMCU_I2C3_SMBUS_TIMEOUT: I2C3 SMBUS timeout mode stopped when Core is halted
+  *     @arg DBGMCU_CAN2_STOP: Debug CAN1 stopped when Core is halted           
+  *     @arg DBGMCU_CAN1_STOP: Debug CAN2 stopped when Core is halted        
+  *   This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void DBGMCU_APB1PeriphConfig(uint32_t DBGMCU_Periph, FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_DBGMCU_APB1PERIPH(DBGMCU_Periph));
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    DBGMCU->APB1FZ |= DBGMCU_Periph;
+  }
+  else
+  {
+    DBGMCU->APB1FZ &= ~DBGMCU_Periph;
+  }
+}
+
+/**
+  * @brief  Configures APB2 peripheral behavior when the MCU is in Debug mode.
+  * @param  DBGMCU_Periph: specifies the APB2 peripheral.
+  *   This parameter can be any combination of the following values:       
+  *     @arg DBGMCU_TIM1_STOP: TIM1 counter stopped when Core is halted                
+  *     @arg DBGMCU_TIM8_STOP: TIM8 counter stopped when Core is halted
+  *     @arg DBGMCU_TIM9_STOP: TIM9 counter stopped when Core is halted   
+  *     @arg DBGMCU_TIM10_STOP: TIM10 counter stopped when Core is halted   
+  *     @arg DBGMCU_TIM11_STOP: TIM11 counter stopped when Core is halted                                                                                  
+  * @param  NewState: new state of the specified peripheral in Debug mode.
+  *   This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void DBGMCU_APB2PeriphConfig(uint32_t DBGMCU_Periph, FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_DBGMCU_APB2PERIPH(DBGMCU_Periph));
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    DBGMCU->APB2FZ |= DBGMCU_Periph;
+  }
+  else
+  {
+    DBGMCU->APB2FZ &= ~DBGMCU_Periph;
+  }
+}
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
--- a/云台/云台/Library/stm32f4xx_dbgmcu.h
+++ b/云台/云台/Library/stm32f4xx_dbgmcu.h
@@ -0,0 +1,101 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_dbgmcu.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file contains all the functions prototypes for the DBGMCU firmware library.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_DBGMCU_H
+#define __STM32F4xx_DBGMCU_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup DBGMCU
+  * @{
+  */ 
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup DBGMCU_Exported_Constants
+  * @{
+  */ 
+#define DBGMCU_SLEEP                 ((uint32_t)0x00000001)
+#define DBGMCU_STOP                  ((uint32_t)0x00000002)
+#define DBGMCU_STANDBY               ((uint32_t)0x00000004)
+#define IS_DBGMCU_PERIPH(PERIPH) ((((PERIPH) & 0xFFFFFFF8) == 0x00) && ((PERIPH) != 0x00))
+
+#define DBGMCU_TIM2_STOP             ((uint32_t)0x00000001)
+#define DBGMCU_TIM3_STOP             ((uint32_t)0x00000002)
+#define DBGMCU_TIM4_STOP             ((uint32_t)0x00000004)
+#define DBGMCU_TIM5_STOP             ((uint32_t)0x00000008)
+#define DBGMCU_TIM6_STOP             ((uint32_t)0x00000010)
+#define DBGMCU_TIM7_STOP             ((uint32_t)0x00000020)
+#define DBGMCU_TIM12_STOP            ((uint32_t)0x00000040)
+#define DBGMCU_TIM13_STOP            ((uint32_t)0x00000080)
+#define DBGMCU_TIM14_STOP            ((uint32_t)0x00000100)
+#define DBGMCU_RTC_STOP              ((uint32_t)0x00000400)
+#define DBGMCU_WWDG_STOP             ((uint32_t)0x00000800)
+#define DBGMCU_IWDG_STOP             ((uint32_t)0x00001000)
+#define DBGMCU_I2C1_SMBUS_TIMEOUT    ((uint32_t)0x00200000)
+#define DBGMCU_I2C2_SMBUS_TIMEOUT    ((uint32_t)0x00400000)
+#define DBGMCU_I2C3_SMBUS_TIMEOUT    ((uint32_t)0x00800000)
+#define DBGMCU_CAN1_STOP             ((uint32_t)0x02000000)
+#define DBGMCU_CAN2_STOP             ((uint32_t)0x04000000)
+#define IS_DBGMCU_APB1PERIPH(PERIPH) ((((PERIPH) & 0xF91FE200) == 0x00) && ((PERIPH) != 0x00))
+
+#define DBGMCU_TIM1_STOP             ((uint32_t)0x00000001)
+#define DBGMCU_TIM8_STOP             ((uint32_t)0x00000002)
+#define DBGMCU_TIM9_STOP             ((uint32_t)0x00010000)
+#define DBGMCU_TIM10_STOP            ((uint32_t)0x00020000)
+#define DBGMCU_TIM11_STOP            ((uint32_t)0x00040000)
+#define IS_DBGMCU_APB2PERIPH(PERIPH) ((((PERIPH) & 0xFFF8FFFC) == 0x00) && ((PERIPH) != 0x00))
+/**
+  * @}
+  */ 
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/ 
+uint32_t DBGMCU_GetREVID(void);
+uint32_t DBGMCU_GetDEVID(void);
+void DBGMCU_Config(uint32_t DBGMCU_Periph, FunctionalState NewState);
+void DBGMCU_APB1PeriphConfig(uint32_t DBGMCU_Periph, FunctionalState NewState);
+void DBGMCU_APB2PeriphConfig(uint32_t DBGMCU_Periph, FunctionalState NewState);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F4xx_DBGMCU_H */
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
--- a/云台/云台/Library/stm32f4xx_dcmi.c
+++ b/云台/云台/Library/stm32f4xx_dcmi.c
@@ -0,0 +1,530 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_dcmi.c
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file provides firmware functions to manage the following 
+  *          functionalities of the DCMI peripheral:           
+  *           + Initialization and Configuration
+  *           + Image capture functions  
+  *           + Interrupts and flags management
+  *
+ @verbatim          
+ ===============================================================================
+                        ##### How to use this driver #####
+ ===============================================================================  
+    [..]       
+      The sequence below describes how to use this driver to capture image
+      from a camera module connected to the DCMI Interface.
+      This sequence does not take into account the configuration of the  
+      camera module, which should be made before to configure and enable
+      the DCMI to capture images.
+             
+      (#) Enable the clock for the DCMI and associated GPIOs using the following 
+          functions:
+          RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_DCMI, ENABLE);
+          RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOx, ENABLE);
+  
+      (#) DCMI pins configuration 
+        (++) Connect the involved DCMI pins to AF13 using the following function 
+            GPIO_PinAFConfig(GPIOx, GPIO_PinSourcex, GPIO_AF_DCMI); 
+        (++) Configure these DCMI pins in alternate function mode by calling 
+            the function GPIO_Init();
+      
+      (#) Declare a DCMI_InitTypeDef structure, for example:
+          DCMI_InitTypeDef  DCMI_InitStructure;
+          and fill the DCMI_InitStructure variable with the allowed values
+          of the structure member.
+    
+      (#) Initialize the DCMI interface by calling the function
+          DCMI_Init(&DCMI_InitStructure); 
+    
+      (#) Configure the DMA2_Stream1 channel1 to transfer Data from DCMI DR
+          register to the destination memory buffer.
+    
+      (#) Enable DCMI interface using the function
+          DCMI_Cmd(ENABLE);
+                   
+      (#) Start the image capture using the function
+          DCMI_CaptureCmd(ENABLE);
+                   
+      (#) At this stage the DCMI interface waits for the first start of frame,
+          then a DMA request is generated continuously/once (depending on the
+          mode used, Continuous/Snapshot) to transfer the received data into
+          the destination memory. 
+     
+      -@-  If you need to capture only a rectangular window from the received
+           image, you have to use the DCMI_CROPConfig() function to configure 
+           the coordinates and size of the window to be captured, then enable 
+           the Crop feature using DCMI_CROPCmd(ENABLE);  
+           In this case, the Crop configuration should be made before to enable
+           and start the DCMI interface. 
+
+ @endverbatim     
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_dcmi.h"
+#include "stm32f4xx_rcc.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @defgroup DCMI 
+  * @brief DCMI driver modules
+  * @{
+  */ 
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/** @defgroup DCMI_Private_Functions
+  * @{
+  */ 
+
+/** @defgroup DCMI_Group1 Initialization and Configuration functions
+ *  @brief   Initialization and Configuration functions 
+ *
+@verbatim   
+ ===============================================================================
+              ##### Initialization and Configuration functions #####
+ ===============================================================================  
+
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Deinitializes the DCMI registers to their default reset values.
+  * @param  None
+  * @retval None
+  */
+void DCMI_DeInit(void)
+{
+  DCMI->CR = 0x0;
+  DCMI->IER = 0x0;
+  DCMI->ICR = 0x1F;
+  DCMI->ESCR = 0x0;
+  DCMI->ESUR = 0x0;
+  DCMI->CWSTRTR = 0x0;
+  DCMI->CWSIZER = 0x0;
+}
+
+/**
+  * @brief  Initializes the DCMI according to the specified parameters in the DCMI_InitStruct.
+  * @param  DCMI_InitStruct: pointer to a DCMI_InitTypeDef structure that contains 
+  *         the configuration information for the DCMI.
+  * @retval None
+  */
+void DCMI_Init(DCMI_InitTypeDef* DCMI_InitStruct)
+{
+  uint32_t temp = 0x0;
+  
+  /* Check the parameters */
+  assert_param(IS_DCMI_CAPTURE_MODE(DCMI_InitStruct->DCMI_CaptureMode));
+  assert_param(IS_DCMI_SYNCHRO(DCMI_InitStruct->DCMI_SynchroMode));
+  assert_param(IS_DCMI_PCKPOLARITY(DCMI_InitStruct->DCMI_PCKPolarity));
+  assert_param(IS_DCMI_VSPOLARITY(DCMI_InitStruct->DCMI_VSPolarity));
+  assert_param(IS_DCMI_HSPOLARITY(DCMI_InitStruct->DCMI_HSPolarity));
+  assert_param(IS_DCMI_CAPTURE_RATE(DCMI_InitStruct->DCMI_CaptureRate));
+  assert_param(IS_DCMI_EXTENDED_DATA(DCMI_InitStruct->DCMI_ExtendedDataMode));
+
+  /* The DCMI configuration registers should be programmed correctly before 
+  enabling the CR_ENABLE Bit and the CR_CAPTURE Bit */
+  DCMI->CR &= ~(DCMI_CR_ENABLE | DCMI_CR_CAPTURE);
+   
+  /* Reset the old DCMI configuration */
+  temp = DCMI->CR;
+  
+  temp &= ~((uint32_t)DCMI_CR_CM     | DCMI_CR_ESS   | DCMI_CR_PCKPOL |
+                      DCMI_CR_HSPOL  | DCMI_CR_VSPOL | DCMI_CR_FCRC_0 | 
+                      DCMI_CR_FCRC_1 | DCMI_CR_EDM_0 | DCMI_CR_EDM_1); 
+                  
+  /* Sets the new configuration of the DCMI peripheral */
+  temp |= ((uint32_t)DCMI_InitStruct->DCMI_CaptureMode |
+                     DCMI_InitStruct->DCMI_SynchroMode |
+                     DCMI_InitStruct->DCMI_PCKPolarity |
+                     DCMI_InitStruct->DCMI_VSPolarity |
+                     DCMI_InitStruct->DCMI_HSPolarity |
+                     DCMI_InitStruct->DCMI_CaptureRate |
+                     DCMI_InitStruct->DCMI_ExtendedDataMode);
+
+  DCMI->CR = temp;                              
+}
+
+/**
+  * @brief  Fills each DCMI_InitStruct member with its default value.
+  * @param  DCMI_InitStruct : pointer to a DCMI_InitTypeDef structure which will
+  *         be initialized.
+  * @retval None
+  */
+void DCMI_StructInit(DCMI_InitTypeDef* DCMI_InitStruct)
+{
+  /* Set the default configuration */
+  DCMI_InitStruct->DCMI_CaptureMode = DCMI_CaptureMode_Continuous;
+  DCMI_InitStruct->DCMI_SynchroMode = DCMI_SynchroMode_Hardware;
+  DCMI_InitStruct->DCMI_PCKPolarity = DCMI_PCKPolarity_Falling;
+  DCMI_InitStruct->DCMI_VSPolarity = DCMI_VSPolarity_Low;
+  DCMI_InitStruct->DCMI_HSPolarity = DCMI_HSPolarity_Low;
+  DCMI_InitStruct->DCMI_CaptureRate = DCMI_CaptureRate_All_Frame;
+  DCMI_InitStruct->DCMI_ExtendedDataMode = DCMI_ExtendedDataMode_8b;
+}
+
+/**
+  * @brief  Initializes the DCMI peripheral CROP mode according to the specified
+  *         parameters in the DCMI_CROPInitStruct.
+  * @note   This function should be called before to enable and start the DCMI interface.   
+  * @param  DCMI_CROPInitStruct:  pointer to a DCMI_CROPInitTypeDef structure that 
+  *         contains the configuration information for the DCMI peripheral CROP mode.
+  * @retval None
+  */
+void DCMI_CROPConfig(DCMI_CROPInitTypeDef* DCMI_CROPInitStruct)
+{  
+  /* Sets the CROP window coordinates */
+  DCMI->CWSTRTR = (uint32_t)((uint32_t)DCMI_CROPInitStruct->DCMI_HorizontalOffsetCount |
+                  ((uint32_t)DCMI_CROPInitStruct->DCMI_VerticalStartLine << 16));
+
+  /* Sets the CROP window size */
+  DCMI->CWSIZER = (uint32_t)(DCMI_CROPInitStruct->DCMI_CaptureCount |
+                  ((uint32_t)DCMI_CROPInitStruct->DCMI_VerticalLineCount << 16));
+}
+
+/**
+  * @brief  Enables or disables the DCMI Crop feature.
+  * @note   This function should be called before to enable and start the DCMI interface.
+  * @param  NewState: new state of the DCMI Crop feature. 
+  *          This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void DCMI_CROPCmd(FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+    
+  if (NewState != DISABLE)
+  {
+    /* Enable the DCMI Crop feature */
+    DCMI->CR |= (uint32_t)DCMI_CR_CROP;
+  }
+  else
+  {
+    /* Disable the DCMI Crop feature */
+    DCMI->CR &= ~(uint32_t)DCMI_CR_CROP;
+  }
+}
+
+/**
+  * @brief  Sets the embedded synchronization codes
+  * @param  DCMI_CodesInitTypeDef: pointer to a DCMI_CodesInitTypeDef structure that
+  *         contains the embedded synchronization codes for the DCMI peripheral.
+  * @retval None
+  */
+void DCMI_SetEmbeddedSynchroCodes(DCMI_CodesInitTypeDef* DCMI_CodesInitStruct)
+{
+  DCMI->ESCR = (uint32_t)(DCMI_CodesInitStruct->DCMI_FrameStartCode |
+                          ((uint32_t)DCMI_CodesInitStruct->DCMI_LineStartCode << 8)|
+                          ((uint32_t)DCMI_CodesInitStruct->DCMI_LineEndCode << 16)|
+                          ((uint32_t)DCMI_CodesInitStruct->DCMI_FrameEndCode << 24));
+}
+
+/**
+  * @brief  Enables or disables the DCMI JPEG format.
+  * @note   The Crop and Embedded Synchronization features cannot be used in this mode.  
+  * @param  NewState: new state of the DCMI JPEG format. 
+  *          This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void DCMI_JPEGCmd(FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+ 
+  if (NewState != DISABLE)
+  {
+    /* Enable the DCMI JPEG format */
+    DCMI->CR |= (uint32_t)DCMI_CR_JPEG;
+  }
+  else
+  {
+    /* Disable the DCMI JPEG format */
+    DCMI->CR &= ~(uint32_t)DCMI_CR_JPEG;
+  }
+}
+/**
+  * @}
+  */
+
+/** @defgroup DCMI_Group2 Image capture functions
+ *  @brief   Image capture functions
+ *
+@verbatim   
+ ===============================================================================
+                    ##### Image capture functions #####
+ ===============================================================================  
+
+@endverbatim
+  * @{
+  */
+  
+/**
+  * @brief  Enables or disables the DCMI interface.
+  * @param  NewState: new state of the DCMI interface. 
+  *          This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void DCMI_Cmd(FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+  
+  if (NewState != DISABLE)
+  {
+    /* Enable the DCMI by setting ENABLE bit */
+    DCMI->CR |= (uint32_t)DCMI_CR_ENABLE;
+  }
+  else
+  {
+    /* Disable the DCMI by clearing ENABLE bit */
+    DCMI->CR &= ~(uint32_t)DCMI_CR_ENABLE;
+  }
+}
+
+/**
+  * @brief  Enables or disables the DCMI Capture.
+  * @param  NewState: new state of the DCMI capture. 
+  *          This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void DCMI_CaptureCmd(FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+    
+  if (NewState != DISABLE)
+  {
+    /* Enable the DCMI Capture */
+    DCMI->CR |= (uint32_t)DCMI_CR_CAPTURE;
+  }
+  else
+  {
+    /* Disable the DCMI Capture */
+    DCMI->CR &= ~(uint32_t)DCMI_CR_CAPTURE;
+  }
+}
+
+/**
+  * @brief  Reads the data stored in the DR register.
+  * @param  None 
+  * @retval Data register value
+  */
+uint32_t DCMI_ReadData(void)
+{
+  return DCMI->DR;
+}
+/**
+  * @}
+  */
+
+/** @defgroup DCMI_Group3 Interrupts and flags management functions
+ *  @brief   Interrupts and flags management functions
+ *
+@verbatim   
+ ===============================================================================
+             ##### Interrupts and flags management functions #####
+ ===============================================================================  
+
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Enables or disables the DCMI interface interrupts.
+  * @param  DCMI_IT: specifies the DCMI interrupt sources to be enabled or disabled. 
+  *          This parameter can be any combination of the following values:
+  *            @arg DCMI_IT_FRAME: Frame capture complete interrupt mask
+  *            @arg DCMI_IT_OVF: Overflow interrupt mask
+  *            @arg DCMI_IT_ERR: Synchronization error interrupt mask
+  *            @arg DCMI_IT_VSYNC: VSYNC interrupt mask
+  *            @arg DCMI_IT_LINE: Line interrupt mask
+  * @param  NewState: new state of the specified DCMI interrupts.
+  *          This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void DCMI_ITConfig(uint16_t DCMI_IT, FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_DCMI_CONFIG_IT(DCMI_IT));
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+  
+  if (NewState != DISABLE)
+  {
+    /* Enable the Interrupt sources */
+    DCMI->IER |= DCMI_IT;
+  }
+  else
+  {
+    /* Disable the Interrupt sources */
+    DCMI->IER &= (uint16_t)(~DCMI_IT);
+  }  
+}
+
+/**
+  * @brief  Checks whether the  DCMI interface flag is set or not.
+  * @param  DCMI_FLAG: specifies the flag to check.
+  *          This parameter can be one of the following values:
+  *            @arg DCMI_FLAG_FRAMERI: Frame capture complete Raw flag mask
+  *            @arg DCMI_FLAG_OVFRI: Overflow Raw flag mask
+  *            @arg DCMI_FLAG_ERRRI: Synchronization error Raw flag mask
+  *            @arg DCMI_FLAG_VSYNCRI: VSYNC Raw flag mask
+  *            @arg DCMI_FLAG_LINERI: Line Raw flag mask
+  *            @arg DCMI_FLAG_FRAMEMI: Frame capture complete Masked flag mask
+  *            @arg DCMI_FLAG_OVFMI: Overflow Masked flag mask
+  *            @arg DCMI_FLAG_ERRMI: Synchronization error Masked flag mask
+  *            @arg DCMI_FLAG_VSYNCMI: VSYNC Masked flag mask
+  *            @arg DCMI_FLAG_LINEMI: Line Masked flag mask
+  *            @arg DCMI_FLAG_HSYNC: HSYNC flag mask
+  *            @arg DCMI_FLAG_VSYNC: VSYNC flag mask
+  *            @arg DCMI_FLAG_FNE: Fifo not empty flag mask
+  * @retval The new state of DCMI_FLAG (SET or RESET).
+  */
+FlagStatus DCMI_GetFlagStatus(uint16_t DCMI_FLAG)
+{
+  FlagStatus bitstatus = RESET;
+  uint32_t dcmireg, tempreg = 0;
+
+  /* Check the parameters */
+  assert_param(IS_DCMI_GET_FLAG(DCMI_FLAG));
+  
+  /* Get the DCMI register index */
+  dcmireg = (((uint16_t)DCMI_FLAG) >> 12);
+  
+  if (dcmireg == 0x00) /* The FLAG is in RISR register */
+  {
+    tempreg= DCMI->RISR;
+  }
+  else if (dcmireg == 0x02) /* The FLAG is in SR register */
+  {
+    tempreg = DCMI->SR;
+  }
+  else /* The FLAG is in MISR register */
+  {
+    tempreg = DCMI->MISR;
+  }
+  
+  if ((tempreg & DCMI_FLAG) != (uint16_t)RESET )
+  {
+    bitstatus = SET;
+  }
+  else
+  {
+    bitstatus = RESET;
+  }
+  /* Return the DCMI_FLAG status */
+  return  bitstatus;
+}
+
+/**
+  * @brief  Clears the DCMI's pending flags.
+  * @param  DCMI_FLAG: specifies the flag to clear.
+  *          This parameter can be any combination of the following values:
+  *            @arg DCMI_FLAG_FRAMERI: Frame capture complete Raw flag mask
+  *            @arg DCMI_FLAG_OVFRI: Overflow Raw flag mask
+  *            @arg DCMI_FLAG_ERRRI: Synchronization error Raw flag mask
+  *            @arg DCMI_FLAG_VSYNCRI: VSYNC Raw flag mask
+  *            @arg DCMI_FLAG_LINERI: Line Raw flag mask
+  * @retval None
+  */
+void DCMI_ClearFlag(uint16_t DCMI_FLAG)
+{
+  /* Check the parameters */
+  assert_param(IS_DCMI_CLEAR_FLAG(DCMI_FLAG));
+  
+  /* Clear the flag by writing in the ICR register 1 in the corresponding 
+  Flag position*/
+  
+  DCMI->ICR = DCMI_FLAG;
+}
+
+/**
+  * @brief  Checks whether the DCMI interrupt has occurred or not.
+  * @param  DCMI_IT: specifies the DCMI interrupt source to check.
+  *          This parameter can be one of the following values:
+  *            @arg DCMI_IT_FRAME: Frame capture complete interrupt mask
+  *            @arg DCMI_IT_OVF: Overflow interrupt mask
+  *            @arg DCMI_IT_ERR: Synchronization error interrupt mask
+  *            @arg DCMI_IT_VSYNC: VSYNC interrupt mask
+  *            @arg DCMI_IT_LINE: Line interrupt mask
+  * @retval The new state of DCMI_IT (SET or RESET).
+  */
+ITStatus DCMI_GetITStatus(uint16_t DCMI_IT)
+{
+  ITStatus bitstatus = RESET;
+  uint32_t itstatus = 0;
+  
+  /* Check the parameters */
+  assert_param(IS_DCMI_GET_IT(DCMI_IT));
+  
+  itstatus = DCMI->MISR & DCMI_IT; /* Only masked interrupts are checked */
+  
+  if ((itstatus != (uint16_t)RESET))
+  {
+    bitstatus = SET;
+  }
+  else
+  {
+    bitstatus = RESET;
+  }
+  return bitstatus;
+}
+
+/**
+  * @brief  Clears the DCMI's interrupt pending bits.
+  * @param  DCMI_IT: specifies the DCMI interrupt pending bit to clear.
+  *          This parameter can be any combination of the following values:
+  *            @arg DCMI_IT_FRAME: Frame capture complete interrupt mask
+  *            @arg DCMI_IT_OVF: Overflow interrupt mask
+  *            @arg DCMI_IT_ERR: Synchronization error interrupt mask
+  *            @arg DCMI_IT_VSYNC: VSYNC interrupt mask
+  *            @arg DCMI_IT_LINE: Line interrupt mask
+  * @retval None
+  */
+void DCMI_ClearITPendingBit(uint16_t DCMI_IT)
+{
+  /* Clear the interrupt pending Bit by writing in the ICR register 1 in the 
+  corresponding pending Bit position*/
+  
+  DCMI->ICR = DCMI_IT;
+}
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
--- a/云台/云台/Library/stm32f4xx_dcmi.h
+++ b/云台/云台/Library/stm32f4xx_dcmi.h
@@ -0,0 +1,304 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_dcmi.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file contains all the functions prototypes for the DCMI firmware library.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_DCMI_H
+#define __STM32F4xx_DCMI_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup DCMI
+  * @{
+  */ 
+
+/* Exported types ------------------------------------------------------------*/
+/** 
+  * @brief   DCMI Init structure definition  
+  */ 
+typedef struct
+{
+  uint16_t DCMI_CaptureMode;      /*!< Specifies the Capture Mode: Continuous or Snapshot.
+                                       This parameter can be a value of @ref DCMI_Capture_Mode */
+
+  uint16_t DCMI_SynchroMode;      /*!< Specifies the Synchronization Mode: Hardware or Embedded.
+                                       This parameter can be a value of @ref DCMI_Synchronization_Mode */
+
+  uint16_t DCMI_PCKPolarity;      /*!< Specifies the Pixel clock polarity: Falling or Rising.
+                                       This parameter can be a value of @ref DCMI_PIXCK_Polarity */
+
+  uint16_t DCMI_VSPolarity;       /*!< Specifies the Vertical synchronization polarity: High or Low.
+                                       This parameter can be a value of @ref DCMI_VSYNC_Polarity */
+
+  uint16_t DCMI_HSPolarity;       /*!< Specifies the Horizontal synchronization polarity: High or Low.
+                                       This parameter can be a value of @ref DCMI_HSYNC_Polarity */
+
+  uint16_t DCMI_CaptureRate;      /*!< Specifies the frequency of frame capture: All, 1/2 or 1/4.
+                                       This parameter can be a value of @ref DCMI_Capture_Rate */
+
+  uint16_t DCMI_ExtendedDataMode; /*!< Specifies the data width: 8-bit, 10-bit, 12-bit or 14-bit.
+                                       This parameter can be a value of @ref DCMI_Extended_Data_Mode */
+} DCMI_InitTypeDef;
+
+/** 
+  * @brief   DCMI CROP Init structure definition  
+  */ 
+typedef struct
+{
+  uint16_t DCMI_VerticalStartLine;      /*!< Specifies the Vertical start line count from which the image capture
+                                             will start. This parameter can be a value between 0x00 and 0x1FFF */
+
+  uint16_t DCMI_HorizontalOffsetCount;  /*!< Specifies the number of pixel clocks to count before starting a capture.
+                                             This parameter can be a value between 0x00 and 0x3FFF */
+
+  uint16_t DCMI_VerticalLineCount;      /*!< Specifies the number of lines to be captured from the starting point.
+                                             This parameter can be a value between 0x00 and 0x3FFF */
+
+  uint16_t DCMI_CaptureCount;           /*!< Specifies the number of pixel clocks to be captured from the starting
+                                             point on the same line.
+                                             This parameter can be a value between 0x00 and 0x3FFF */
+} DCMI_CROPInitTypeDef;
+
+/** 
+  * @brief   DCMI Embedded Synchronisation CODE Init structure definition  
+  */ 
+typedef struct
+{
+  uint8_t DCMI_FrameStartCode; /*!< Specifies the code of the frame start delimiter. */
+  uint8_t DCMI_LineStartCode;  /*!< Specifies the code of the line start delimiter. */
+  uint8_t DCMI_LineEndCode;    /*!< Specifies the code of the line end delimiter. */
+  uint8_t DCMI_FrameEndCode;   /*!< Specifies the code of the frame end delimiter. */
+} DCMI_CodesInitTypeDef;
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup DCMI_Exported_Constants
+  * @{
+  */
+
+/** @defgroup DCMI_Capture_Mode 
+  * @{
+  */ 
+#define DCMI_CaptureMode_Continuous    ((uint16_t)0x0000) /*!< The received data are transferred continuously 
+                                                               into the destination memory through the DMA */
+#define DCMI_CaptureMode_SnapShot      ((uint16_t)0x0002) /*!< Once activated, the interface waits for the start of 
+                                                               frame and then transfers a single frame through the DMA */
+#define IS_DCMI_CAPTURE_MODE(MODE)(((MODE) == DCMI_CaptureMode_Continuous) || \
+                                   ((MODE) == DCMI_CaptureMode_SnapShot))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DCMI_Synchronization_Mode
+  * @{
+  */ 
+#define DCMI_SynchroMode_Hardware    ((uint16_t)0x0000) /*!< Hardware synchronization data capture (frame/line start/stop)
+                                                             is synchronized with the HSYNC/VSYNC signals */
+#define DCMI_SynchroMode_Embedded    ((uint16_t)0x0010) /*!< Embedded synchronization data capture is synchronized with 
+                                                             synchronization codes embedded in the data flow */
+#define IS_DCMI_SYNCHRO(MODE)(((MODE) == DCMI_SynchroMode_Hardware) || \
+                              ((MODE) == DCMI_SynchroMode_Embedded))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DCMI_PIXCK_Polarity 
+  * @{
+  */ 
+#define DCMI_PCKPolarity_Falling    ((uint16_t)0x0000) /*!< Pixel clock active on Falling edge */
+#define DCMI_PCKPolarity_Rising     ((uint16_t)0x0020) /*!< Pixel clock active on Rising edge */
+#define IS_DCMI_PCKPOLARITY(POLARITY)(((POLARITY) == DCMI_PCKPolarity_Falling) || \
+                                      ((POLARITY) == DCMI_PCKPolarity_Rising))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DCMI_VSYNC_Polarity 
+  * @{
+  */ 
+#define DCMI_VSPolarity_Low     ((uint16_t)0x0000) /*!< Vertical synchronization active Low */
+#define DCMI_VSPolarity_High    ((uint16_t)0x0080) /*!< Vertical synchronization active High */
+#define IS_DCMI_VSPOLARITY(POLARITY)(((POLARITY) == DCMI_VSPolarity_Low) || \
+                                     ((POLARITY) == DCMI_VSPolarity_High))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DCMI_HSYNC_Polarity 
+  * @{
+  */ 
+#define DCMI_HSPolarity_Low     ((uint16_t)0x0000) /*!< Horizontal synchronization active Low */
+#define DCMI_HSPolarity_High    ((uint16_t)0x0040) /*!< Horizontal synchronization active High */
+#define IS_DCMI_HSPOLARITY(POLARITY)(((POLARITY) == DCMI_HSPolarity_Low) || \
+                                     ((POLARITY) == DCMI_HSPolarity_High))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DCMI_Capture_Rate 
+  * @{
+  */ 
+#define DCMI_CaptureRate_All_Frame     ((uint16_t)0x0000) /*!< All frames are captured */
+#define DCMI_CaptureRate_1of2_Frame    ((uint16_t)0x0100) /*!< Every alternate frame captured */
+#define DCMI_CaptureRate_1of4_Frame    ((uint16_t)0x0200) /*!< One frame in 4 frames captured */
+#define IS_DCMI_CAPTURE_RATE(RATE) (((RATE) == DCMI_CaptureRate_All_Frame) || \
+                                    ((RATE) == DCMI_CaptureRate_1of2_Frame) ||\
+                                    ((RATE) == DCMI_CaptureRate_1of4_Frame))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DCMI_Extended_Data_Mode 
+  * @{
+  */ 
+#define DCMI_ExtendedDataMode_8b     ((uint16_t)0x0000) /*!< Interface captures 8-bit data on every pixel clock */
+#define DCMI_ExtendedDataMode_10b    ((uint16_t)0x0400) /*!< Interface captures 10-bit data on every pixel clock */
+#define DCMI_ExtendedDataMode_12b    ((uint16_t)0x0800) /*!< Interface captures 12-bit data on every pixel clock */
+#define DCMI_ExtendedDataMode_14b    ((uint16_t)0x0C00) /*!< Interface captures 14-bit data on every pixel clock */
+#define IS_DCMI_EXTENDED_DATA(DATA)(((DATA) == DCMI_ExtendedDataMode_8b) || \
+                                    ((DATA) == DCMI_ExtendedDataMode_10b) ||\
+                                    ((DATA) == DCMI_ExtendedDataMode_12b) ||\
+                                    ((DATA) == DCMI_ExtendedDataMode_14b))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DCMI_interrupt_sources 
+  * @{
+  */ 
+#define DCMI_IT_FRAME    ((uint16_t)0x0001)
+#define DCMI_IT_OVF      ((uint16_t)0x0002)
+#define DCMI_IT_ERR      ((uint16_t)0x0004)
+#define DCMI_IT_VSYNC    ((uint16_t)0x0008)
+#define DCMI_IT_LINE     ((uint16_t)0x0010)
+#define IS_DCMI_CONFIG_IT(IT) ((((IT) & (uint16_t)0xFFE0) == 0x0000) && ((IT) != 0x0000))
+#define IS_DCMI_GET_IT(IT) (((IT) == DCMI_IT_FRAME) || \
+                            ((IT) == DCMI_IT_OVF) || \
+                            ((IT) == DCMI_IT_ERR) || \
+                            ((IT) == DCMI_IT_VSYNC) || \
+                            ((IT) == DCMI_IT_LINE))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DCMI_Flags 
+  * @{
+  */ 
+/** 
+  * @brief   DCMI SR register  
+  */ 
+#define DCMI_FLAG_HSYNC     ((uint16_t)0x2001)
+#define DCMI_FLAG_VSYNC     ((uint16_t)0x2002)
+#define DCMI_FLAG_FNE       ((uint16_t)0x2004)
+/** 
+  * @brief   DCMI RISR register  
+  */ 
+#define DCMI_FLAG_FRAMERI    ((uint16_t)0x0001)
+#define DCMI_FLAG_OVFRI      ((uint16_t)0x0002)
+#define DCMI_FLAG_ERRRI      ((uint16_t)0x0004)
+#define DCMI_FLAG_VSYNCRI    ((uint16_t)0x0008)
+#define DCMI_FLAG_LINERI     ((uint16_t)0x0010)
+/** 
+  * @brief   DCMI MISR register  
+  */ 
+#define DCMI_FLAG_FRAMEMI    ((uint16_t)0x1001)
+#define DCMI_FLAG_OVFMI      ((uint16_t)0x1002)
+#define DCMI_FLAG_ERRMI      ((uint16_t)0x1004)
+#define DCMI_FLAG_VSYNCMI    ((uint16_t)0x1008)
+#define DCMI_FLAG_LINEMI     ((uint16_t)0x1010)
+#define IS_DCMI_GET_FLAG(FLAG) (((FLAG) == DCMI_FLAG_HSYNC) || \
+                                ((FLAG) == DCMI_FLAG_VSYNC) || \
+                                ((FLAG) == DCMI_FLAG_FNE) || \
+                                ((FLAG) == DCMI_FLAG_FRAMERI) || \
+                                ((FLAG) == DCMI_FLAG_OVFRI) || \
+                                ((FLAG) == DCMI_FLAG_ERRRI) || \
+                                ((FLAG) == DCMI_FLAG_VSYNCRI) || \
+                                ((FLAG) == DCMI_FLAG_LINERI) || \
+                                ((FLAG) == DCMI_FLAG_FRAMEMI) || \
+                                ((FLAG) == DCMI_FLAG_OVFMI) || \
+                                ((FLAG) == DCMI_FLAG_ERRMI) || \
+                                ((FLAG) == DCMI_FLAG_VSYNCMI) || \
+                                ((FLAG) == DCMI_FLAG_LINEMI))
+                                
+#define IS_DCMI_CLEAR_FLAG(FLAG) ((((FLAG) & (uint16_t)0xFFE0) == 0x0000) && ((FLAG) != 0x0000))
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/ 
+
+/*  Function used to set the DCMI configuration to the default reset state ****/ 
+void DCMI_DeInit(void);
+
+/* Initialization and Configuration functions *********************************/
+void DCMI_Init(DCMI_InitTypeDef* DCMI_InitStruct);
+void DCMI_StructInit(DCMI_InitTypeDef* DCMI_InitStruct);
+void DCMI_CROPConfig(DCMI_CROPInitTypeDef* DCMI_CROPInitStruct);
+void DCMI_CROPCmd(FunctionalState NewState);
+void DCMI_SetEmbeddedSynchroCodes(DCMI_CodesInitTypeDef* DCMI_CodesInitStruct);
+void DCMI_JPEGCmd(FunctionalState NewState);
+
+/* Image capture functions ****************************************************/
+void DCMI_Cmd(FunctionalState NewState);
+void DCMI_CaptureCmd(FunctionalState NewState);
+uint32_t DCMI_ReadData(void);
+
+/* Interrupts and flags management functions **********************************/
+void DCMI_ITConfig(uint16_t DCMI_IT, FunctionalState NewState);
+FlagStatus DCMI_GetFlagStatus(uint16_t DCMI_FLAG);
+void DCMI_ClearFlag(uint16_t DCMI_FLAG);
+ITStatus DCMI_GetITStatus(uint16_t DCMI_IT);
+void DCMI_ClearITPendingBit(uint16_t DCMI_IT);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__STM32F4xx_DCMI_H */
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
--- a/云台/云台/Library/stm32f4xx_dfsdm.c
+++ b/云台/云台/Library/stm32f4xx_dfsdm.c
--- a/云台/云台/Library/stm32f4xx_dfsdm.h
+++ b/云台/云台/Library/stm32f4xx_dfsdm.h
@@ -0,0 +1,821 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_dfsdm.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file contains all the functions prototypes for the DFSDM
+  *          firmware library
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4XX_DFSDM_H
+#define __STM32F4XX_DFSDM_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+#if defined(STM32F412xG) || defined(STM32F413_423xx)
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup DFSDM
+  * @{
+  */
+
+/* Exported types ------------------------------------------------------------*/
+
+/** 
+  * @brief  DFSDM Transceiver init structure definition
+  */
+typedef struct
+{
+  uint32_t DFSDM_Interface;                 /*!< Selects the serial interface type and input clock phase.
+                                            This parameter can be a value of @ref DFSDM_Interface_Selection */
+
+  uint32_t DFSDM_Clock;                     /*!< Specifies the clock source for the serial interface transceiver.
+                                            This parameter can be a value of @ref DFSDM_Clock_Selection */
+
+  uint32_t DFSDM_Input;                     /*!< Specifies the Input mode for the serial interface transceiver.
+                                            This parameter can be a value of @ref DFSDM_Input_Selection */
+
+  uint32_t DFSDM_Redirection;               /*!< Specifies if the channel input is redirected from channel channel (y+1).
+                                            This parameter can be a value of @ref DFSDM_Redirection_Selection */
+
+  uint32_t DFSDM_PackingMode;               /*!< Specifies the packing mode for the serial interface transceiver.
+                                            This parameter can be a value of @ref DFSDM_Pack_Selection */
+
+  uint32_t DFSDM_DataRightShift;            /*!< Defines the final data right bit shift.
+                                            This parameter can be a value between 0 and 31 */
+
+  uint32_t DFSDM_Offset;                    /*!< Sets the calibration offset.
+                                            This parameter can be a value between 0 and 0xFFFFFF */
+
+  uint32_t DFSDM_CLKAbsenceDetector;        /*!< Enables or disables the Clock Absence Detector.
+                                            This parameter can be a value of @ref DFSDM_Clock_Absence_Detector_state */
+
+  uint32_t DFSDM_ShortCircuitDetector;      /*!< Enables or disables the Short Circuit Detector.
+                                            This parameter can be a value of @ref DFSDM_Short_Circuit_Detector_state */
+}DFSDM_TransceiverInitTypeDef;
+
+/** 
+  * @brief  DFSDM filter analog parameters structure definition  
+  */
+typedef struct
+{
+  uint32_t DFSDM_SincOrder;                  /*!< Sets the Sinc Filter Order .
+                                             This parameter can be a value of @ref DFSDM_Sinc_Order */
+
+  uint32_t DFSDM_FilterOversamplingRatio;    /*!< Sets the Sinc Filter Oversampling Ratio.
+                                             This parameter can be a value between 1 and 1024 */
+
+  uint32_t DFSDM_IntegratorOversamplingRatio;/*!< Sets the Integrator Oversampling Ratio.
+                                             This parameter can be a value between 1 and 256 */
+}DFSDM_FilterInitTypeDef;
+
+/* Exported constants --------------------------------------------------------*/
+/** @defgroup DFSDM_Interface_Selection
+  * @{
+  */
+#define DFSDM_Interface_SPI_RisingEdge   ((uint32_t)0x00000000)  /*!<  DFSDM SPI interface with rising edge to strobe data */
+#define DFSDM_Interface_SPI_FallingEdge  ((uint32_t)0x00000001)  /*!<  DFSDM SPI interface with falling edge to strobe data */
+#define DFSDM_Interface_Manchester1      ((uint32_t)0x00000002)  /*!<  DFSDM Manchester coded input, rising edge = logic 0, falling edge = logic 1 */
+#define DFSDM_Interface_Manchester2      ((uint32_t)0x00000003)  /*!<  DFSDM Manchester coded input, rising edge = logic 1, falling edge = logic 0 */
+
+#define IS_DFSDM_INTERFACE(INTERFACE)    (((INTERFACE) == DFSDM_Interface_SPI_RisingEdge) || \
+                                         ((INTERFACE) == DFSDM_Interface_SPI_FallingEdge) || \
+                                         ((INTERFACE) == DFSDM_Interface_Manchester1)     || \
+                                         ((INTERFACE) == DFSDM_Interface_Manchester2))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Clock_Selection
+  * @{
+  */
+#define DFSDM_Clock_External             ((uint32_t)0x00000000)  /*!<  DFSDM clock coming from external DFSDM_CKINy input */
+#define DFSDM_Clock_Internal             ((uint32_t)0x00000004)  /*!<  DFSDM clock coming from internal DFSDM_CKOUT output */
+#define DFSDM_Clock_InternalDiv2_Mode1   ((uint32_t)0x00000008)  /*!<  DFSDM clock coming from internal DFSDM_CKOUT output divided by 2
+                                                                       and clock change is on every rising edge of DFSDM_CKOUT output signal */
+#define DFSDM_Clock_InternalDiv2_Mode2   ((uint32_t)0x0000000C)  /*!<  DFSDM clock coming from internal DFSDM_CKOUT output divided by 2
+                                                                       and clock change is on every falling edge of DFSDM_CKOUT output signal */
+
+#define IS_DFSDM_CLOCK(CLOCK)            (((CLOCK) == DFSDM_Clock_External)          || \
+                                         ((CLOCK) == DFSDM_Clock_Internal)           || \
+                                         ((CLOCK) == DFSDM_Clock_InternalDiv2_Mode1) || \
+                                         ((CLOCK) == DFSDM_Clock_InternalDiv2_Mode2))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Input_Selection
+  * @{
+  */
+#define DFSDM_Input_External     ((uint32_t)0x00000000)  /*!<  DFSDM clock coming from external DFSDM_CKINy input */
+#define DFSDM_Input_ADC          ((uint32_t)0x00001000)  /*!<  DFSDM clock coming from internal DFSDM_CKOUT output */
+#define DFSDM_Input_Internal     ((uint32_t)0x00002000)  /*!<  DFSDM clock coming from internal DFSDM_CKOUT output divided by 2
+                                                               and clock change is on every rising edge of DFSDM_CKOUT output signal */
+
+#define IS_DFSDM_Input_MODE(INPUT)      (((INPUT) == DFSDM_Input_External) || \
+                                         ((INPUT) == DFSDM_Input_ADC)      || \
+                                         ((INPUT) == DFSDM_Input_Internal))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Redirection_Selection
+  * @{
+  */
+#define DFSDM_Redirection_Disabled       ((uint32_t)0x00000000)  /*!< DFSDM Channel serial inputs are taken from pins of the same channel y */
+#define DFSDM_Redirection_Enabled         DFSDM_CHCFGR1_CHINSEL  /*!< DFSDM Channel serial inputs are taken from pins of the channel (y+1) modulo 8 */
+
+#define IS_DFSDM_Redirection_STATE(STATE)      (((STATE) == DFSDM_Redirection_Disabled) || \
+                                                ((STATE) == DFSDM_Redirection_Enabled))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Pack_Selection
+  * @{
+  */
+#define DFSDM_PackingMode_Standard     ((uint32_t)0x00000000)  /*!<  DFSDM Input data in DFSDM_CHDATINyR register are stored only in INDAT0[15:0] */
+#define DFSDM_PackingMode_Interleaved  ((uint32_t)0x00004000)  /*!<  DFSDM Input data in DFSDM_CHDATINyR register are stored as two samples:
+                                                                        - first sample in INDAT0[15:0] - assigned to channel y
+                                                                        - second sample INDAT1[15:0]   - assigned to channel y */
+#define DFSDM_PackingMode_Dual         ((uint32_t)0x00008000)  /*!<  DFSDM Input data in DFSDM_CHDATINyR register are stored as two samples:
+                                                                        - first sample INDAT0[15:0]    - assigned to channel y
+                                                                        - second sample INDAT1[15:0]   - assigned to channel (y+1) */
+
+#define IS_DFSDM_PACK_MODE(MODE)        (((MODE) == DFSDM_PackingMode_Standard)    || \
+                                         ((MODE) == DFSDM_PackingMode_Interleaved) || \
+                                         ((MODE) == DFSDM_PackingMode_Dual))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Clock_Absence_Detector_state
+  * @{
+  */
+#define DFSDM_CLKAbsenceDetector_Enable     DFSDM_CHCFGR1_CKABEN    /*!<  DFSDM Clock Absence Detector is Enabled */
+#define DFSDM_CLKAbsenceDetector_Disable    ((uint32_t)0x00000000)  /*!<  DFSDM Clock Absence Detector is Disabled */
+
+#define IS_DFSDM_CLK_DETECTOR_STATE(STATE)  (((STATE) == DFSDM_CLKAbsenceDetector_Enable) || \
+                                             ((STATE) == DFSDM_CLKAbsenceDetector_Disable))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Short_Circuit_Detector_state
+  * @{
+  */
+#define DFSDM_ShortCircuitDetector_Enable   DFSDM_CHCFGR1_SCDEN     /*!<  DFSDM Short Circuit Detector is Enabled */
+#define DFSDM_ShortCircuitDetector_Disable  ((uint32_t)0x00000000)  /*!<  DFSDM Short Circuit Detector is Disabled */
+
+#define IS_DFSDM_SC_DETECTOR_STATE(STATE)  (((STATE) == DFSDM_ShortCircuitDetector_Enable) || \
+                                            ((STATE) == DFSDM_ShortCircuitDetector_Disable))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Sinc_Order
+  * @{
+  */
+#define DFSDM_SincOrder_FastSinc        ((uint32_t)0x00000000)  /*!<  DFSDM Sinc filter order = Fast sinc */
+#define DFSDM_SincOrder_Sinc1           ((uint32_t)0x20000000)  /*!<  DFSDM Sinc filter order = 1 */
+#define DFSDM_SincOrder_Sinc2           ((uint32_t)0x40000000)  /*!<  DFSDM Sinc filter order = 2 */
+#define DFSDM_SincOrder_Sinc3           ((uint32_t)0x60000000)  /*!<  DFSDM Sinc filter order = 3 */
+#define DFSDM_SincOrder_Sinc4           ((uint32_t)0x80000000)  /*!<  DFSDM Sinc filter order = 4 */
+#define DFSDM_SincOrder_Sinc5           ((uint32_t)0xA0000000)  /*!<  DFSDM Sinc filter order = 5 */
+
+#define IS_DFSDM_SINC_ORDER(ORDER)        (((ORDER) == DFSDM_SincOrder_FastSinc) || \
+                                          ((ORDER) == DFSDM_SincOrder_Sinc1)     || \
+                                          ((ORDER) == DFSDM_SincOrder_Sinc2)     || \
+                                          ((ORDER) == DFSDM_SincOrder_Sinc3)     || \
+                                          ((ORDER) == DFSDM_SincOrder_Sinc4)     || \
+                                          ((ORDER) == DFSDM_SincOrder_Sinc5))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Break_Signal_Assignment
+  * @{
+  */
+#define DFSDM_SCDBreak_0                 ((uint32_t)0x00001000)  /*!<  DFSDM Break 0 signal assigned to short circuit detector */
+#define DFSDM_SCDBreak_1                 ((uint32_t)0x00002000)  /*!<  DFSDM Break 1 signal assigned to short circuit detector */
+#define DFSDM_SCDBreak_2                 ((uint32_t)0x00004000)  /*!<  DFSDM Break 2 signal assigned to short circuit detector */
+#define DFSDM_SCDBreak_3                 ((uint32_t)0x00008000)  /*!<  DFSDM Break 3 signal assigned to short circuit detector */
+
+#define IS_DFSDM_SCD_BREAK_SIGNAL(RANK)    (((RANK) == DFSDM_SCDBreak_0) || \
+                                           ((RANK) == DFSDM_SCDBreak_1)  || \
+                                           ((RANK) == DFSDM_SCDBreak_2)  || \
+                                           ((RANK) == DFSDM_SCDBreak_3))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_AWD_Sinc_Order
+  * @{
+  */
+#define DFSDM_AWDSincOrder_Fast            ((uint32_t)0x00000000)  /*!<  DFSDM Fast sinc filter */
+#define DFSDM_AWDSincOrder_Sinc1           ((uint32_t)0x00400000)  /*!<  DFSDM sinc1 filter */
+#define DFSDM_AWDSincOrder_Sinc2           ((uint32_t)0x00800000)  /*!<  DFSDM sinc2 filter */
+#define DFSDM_AWDSincOrder_Sinc3           ((uint32_t)0x00C00000)  /*!<  DFSDM sinc3 filter */
+
+#define IS_DFSDM_AWD_SINC_ORDER(ORDER)    (((ORDER) == DFSDM_AWDSincOrder_Fast)  || \
+                                           ((ORDER) == DFSDM_AWDSincOrder_Sinc1) || \
+                                           ((ORDER) == DFSDM_AWDSincOrder_Sinc2) || \
+                                           ((ORDER) == DFSDM_AWDSincOrder_Sinc3))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_AWD_CHANNEL
+  * @{
+  */
+#define DFSDM_AWDChannel0               ((uint32_t)0x00010000)  /*!<  DFSDM AWDx guard channel 0 */
+#define DFSDM_AWDChannel1               ((uint32_t)0x00020000)  /*!<  DFSDM AWDx guard channel 1 */
+#define DFSDM_AWDChannel2               ((uint32_t)0x00040000)  /*!<  DFSDM AWDx guard channel 2 */
+#define DFSDM_AWDChannel3               ((uint32_t)0x00080000)  /*!<  DFSDM AWDx guard channel 3 */
+#define DFSDM_AWDChannel4               ((uint32_t)0x00100000)  /*!<  DFSDM AWDx guard channel 4 */
+#define DFSDM_AWDChannel5               ((uint32_t)0x00200000)  /*!<  DFSDM AWDx guard channel 5 */
+#define DFSDM_AWDChannel6               ((uint32_t)0x00400000)  /*!<  DFSDM AWDx guard channel 6 */
+#define DFSDM_AWDChannel7               ((uint32_t)0x00800000)  /*!<  DFSDM AWDx guard channel 7 */
+
+#define IS_DFSDM_AWD_CHANNEL(CHANNEL)    (((CHANNEL) == DFSDM_AWDChannel0) || \
+                                          ((CHANNEL) == DFSDM_AWDChannel1) || \
+                                          ((CHANNEL) == DFSDM_AWDChannel2) || \
+                                          ((CHANNEL) == DFSDM_AWDChannel3) || \
+                                          ((CHANNEL) == DFSDM_AWDChannel4) || \
+                                          ((CHANNEL) == DFSDM_AWDChannel5) || \
+                                          ((CHANNEL) == DFSDM_AWDChannel6) || \
+                                          ((CHANNEL) == DFSDM_AWDChannel7))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Threshold_Selection
+  * @{
+  */
+#define DFSDM_Threshold_Low               ((uint8_t)0x00)  /*!<  DFSDM Low threshold */
+#define DFSDM_Threshold_High              ((uint8_t)0x08)  /*!<  DFSDM High threshold */
+
+#define IS_DFSDM_Threshold(THR)          (((THR) == DFSDM_Threshold_Low) || \
+                                          ((THR) == DFSDM_Threshold_High))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_AWD_Fast_Mode_Selection
+  * @{
+  */
+#define DFSDM_AWDFastMode_Disable         ((uint32_t)0x00000000)  /*!<  DFSDM Fast mode for AWD is disabled */
+#define DFSDM_AWDFastMode_Enable          ((uint32_t)0x40000000)  /*!<  DFSDM Fast mode for AWD is enabled */
+
+#define IS_DFSDM_AWD_MODE(MODE)          (((MODE) == DFSDM_AWDFastMode_Disable) || \
+                                          ((MODE) == DFSDM_AWDFastMode_Enable))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Clock_Output_Source_Selection
+  * @{
+  */
+#define DFSDM_ClkOutSource_SysClock        ((uint32_t)0x00000000)  /*!<  DFSDM Source for output clock is comming from system clock */
+#define DFSDM_ClkOutSource_AudioClock      DFSDM_CHCFGR1_CKOUTSRC  /*!<  DFSDM Source for output clock is comming from audio clock */
+
+#define IS_DFSDM_CLOCK_OUT_SOURCE(SRC)    (((SRC) == DFSDM_ClkOutSource_SysClock) || \
+                                           ((SRC) == DFSDM_ClkOutSource_AudioClock))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Conversion_Mode
+  * @{
+  */
+#define DFSDM_DMAConversionMode_Regular     ((uint32_t)0x00000010)  /*!<  DFSDM Regular mode */
+#define DFSDM_DMAConversionMode_Injected    ((uint32_t)0x00000000)  /*!<  DFSDM Injected mode */
+
+#define IS_DFSDM_CONVERSION_MODE(MODE)    (((MODE) == DFSDM_DMAConversionMode_Regular) || \
+                                           ((MODE) == DFSDM_DMAConversionMode_Injected))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Extremes_Channel_Selection
+  * @{
+  */
+#define DFSDM_ExtremChannel0              ((uint32_t)0x00000100)  /*!<  DFSDM Extreme detector guard channel 0 */
+#define DFSDM_ExtremChannel1              ((uint32_t)0x00000200)  /*!<  DFSDM Extreme detector guard channel 1 */
+#define DFSDM_ExtremChannel2              ((uint32_t)0x00000400)  /*!<  DFSDM Extreme detector guard channel 2 */
+#define DFSDM_ExtremChannel3              ((uint32_t)0x00000800)  /*!<  DFSDM Extreme detector guard channel 3 */
+#define DFSDM_ExtremChannel4              ((uint32_t)0x00001000)  /*!<  DFSDM Extreme detector guard channel 4 */
+#define DFSDM_ExtremChannel5              ((uint32_t)0x00002000)  /*!<  DFSDM Extreme detector guard channel 5 */
+#define DFSDM_ExtremChannel6              ((uint32_t)0x00004000)  /*!<  DFSDM Extreme detector guard channel 6 */
+#define DFSDM_ExtremChannel7              ((uint32_t)0x00008000)  /*!<  DFSDM Extreme detector guard channel 7 */
+
+#define IS_DFSDM_EXTREM_CHANNEL(CHANNEL) (((CHANNEL) == DFSDM_ExtremChannel0) || \
+                                          ((CHANNEL) == DFSDM_ExtremChannel1) || \
+                                          ((CHANNEL) == DFSDM_ExtremChannel2) || \
+                                          ((CHANNEL) == DFSDM_ExtremChannel3) || \
+                                          ((CHANNEL) == DFSDM_ExtremChannel4) || \
+                                          ((CHANNEL) == DFSDM_ExtremChannel5) || \
+                                          ((CHANNEL) == DFSDM_ExtremChannel6) || \
+                                          ((CHANNEL) == DFSDM_ExtremChannel7))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Injected_Channel_Selection
+  * @{
+  */
+#define DFSDM_InjectedChannel0            ((uint32_t)0x00000001)  /*!<  DFSDM channel 0 is selected as injected channel */
+#define DFSDM_InjectedChannel1            ((uint32_t)0x00000002)  /*!<  DFSDM channel 1 is selected as injected channel */
+#define DFSDM_InjectedChannel2            ((uint32_t)0x00000004)  /*!<  DFSDM channel 2 is selected as injected channel */
+#define DFSDM_InjectedChannel3            ((uint32_t)0x00000008)  /*!<  DFSDM channel 3 is selected as injected channel */
+#define DFSDM_InjectedChannel4            ((uint32_t)0x00000010)  /*!<  DFSDM channel 4 is selected as injected channel */
+#define DFSDM_InjectedChannel5            ((uint32_t)0x00000020)  /*!<  DFSDM channel 5 is selected as injected channel */
+#define DFSDM_InjectedChannel6            ((uint32_t)0x00000040)  /*!<  DFSDM channel 6 is selected as injected channel */
+#define DFSDM_InjectedChannel7            ((uint32_t)0x00000080)  /*!<  DFSDM channel 7 is selected as injected channel */
+
+#define IS_DFSDM_INJECT_CHANNEL(CHANNEL) (((CHANNEL) == DFSDM_InjectedChannel0) || \
+                                          ((CHANNEL) == DFSDM_InjectedChannel1) || \
+                                          ((CHANNEL) == DFSDM_InjectedChannel2) || \
+                                          ((CHANNEL) == DFSDM_InjectedChannel3) || \
+                                          ((CHANNEL) == DFSDM_InjectedChannel4) || \
+                                          ((CHANNEL) == DFSDM_InjectedChannel5) || \
+                                          ((CHANNEL) == DFSDM_InjectedChannel6) || \
+                                          ((CHANNEL) == DFSDM_InjectedChannel7))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Regular_Channel_Selection
+  * @{
+  */
+#define DFSDM_RegularChannel0             ((uint32_t)0x00000000)  /*!<  DFSDM channel 0 is selected as regular channel */
+#define DFSDM_RegularChannel1             ((uint32_t)0x01000000)  /*!<  DFSDM channel 1 is selected as regular channel */
+#define DFSDM_RegularChannel2             ((uint32_t)0x02000000)  /*!<  DFSDM channel 2 is selected as regular channel */
+#define DFSDM_RegularChannel3             ((uint32_t)0x03000000)  /*!<  DFSDM channel 3 is selected as regular channel */
+#define DFSDM_RegularChannel4             ((uint32_t)0x04000000)  /*!<  DFSDM channel 4 is selected as regular channel */
+#define DFSDM_RegularChannel5             ((uint32_t)0x05000000)  /*!<  DFSDM channel 5 is selected as regular channel */
+#define DFSDM_RegularChannel6             ((uint32_t)0x06000000)  /*!<  DFSDM channel 6 is selected as regular channel */
+#define DFSDM_RegularChannel7             ((uint32_t)0x07000000)  /*!<  DFSDM channel 7 is selected as regular channel */
+
+#define IS_DFSDM_REGULAR_CHANNEL(CHANNEL) (((CHANNEL) == DFSDM_RegularChannel0) || \
+                                           ((CHANNEL) == DFSDM_RegularChannel1) || \
+                                           ((CHANNEL) == DFSDM_RegularChannel2) || \
+                                           ((CHANNEL) == DFSDM_RegularChannel3) || \
+                                           ((CHANNEL) == DFSDM_RegularChannel4) || \
+                                           ((CHANNEL) == DFSDM_RegularChannel5) || \
+                                           ((CHANNEL) == DFSDM_RegularChannel6) || \
+                                           ((CHANNEL) == DFSDM_RegularChannel7))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Injected_Trigger_signal
+  * @{
+  */
+#define DFSDM_Trigger_TIM1_TRGO          ((uint32_t)0x00000000)  /*!<  DFSDM Internal trigger 0 */
+#define DFSDM_Trigger_TIM1_TRGO2         ((uint32_t)0x00000100)  /*!<  DFSDM Internal trigger 1 */
+#define DFSDM_Trigger_TIM8_TRGO          ((uint32_t)0x00000200)  /*!<  DFSDM Internal trigger 2 */
+#define DFSDM_Trigger_TIM8_TRGO2         ((uint32_t)0x00000300)  /*!<  DFSDM Internal trigger 3 */
+#define DFSDM_Trigger_TIM3_TRGO          ((uint32_t)0x00000300)  /*!<  DFSDM Internal trigger 4 */
+#define DFSDM_Trigger_TIM4_TRGO          ((uint32_t)0x00000400)  /*!<  DFSDM Internal trigger 5 */
+#define DFSDM_Trigger_TIM16_OC1          ((uint32_t)0x00000400)  /*!<  DFSDM Internal trigger 6 */
+#define DFSDM_Trigger_TIM6_TRGO          ((uint32_t)0x00000500)  /*!<  DFSDM Internal trigger 7 */
+#define DFSDM_Trigger_TIM7_TRGO          ((uint32_t)0x00000500)  /*!<  DFSDM Internal trigger 8 */
+#define DFSDM_Trigger_EXTI11             ((uint32_t)0x00000600)  /*!<  DFSDM External trigger 0 */
+#define DFSDM_Trigger_EXTI15             ((uint32_t)0x00000700)  /*!<  DFSDM External trigger 1 */
+
+#define IS_DFSDM0_INJ_TRIGGER(TRIG)      (((TRIG) == DFSDM_Trigger_TIM1_TRGO)  || \
+                                          ((TRIG) == DFSDM_Trigger_TIM1_TRGO2) || \
+                                          ((TRIG) == DFSDM_Trigger_TIM8_TRGO)  || \
+                                          ((TRIG) == DFSDM_Trigger_TIM8_TRGO2) || \
+                                          ((TRIG) == DFSDM_Trigger_TIM4_TRGO)  || \
+                                          ((TRIG) == DFSDM_Trigger_TIM6_TRGO)  || \
+                                          ((TRIG) == DFSDM_Trigger_TIM7_TRGO)  || \
+                                          ((TRIG) == DFSDM_Trigger_EXTI15)     || \
+                                          ((TRIG) == DFSDM_Trigger_TIM3_TRGO)  || \
+                                          ((TRIG) == DFSDM_Trigger_TIM16_OC1)  || \
+                                          ((TRIG) == DFSDM_Trigger_EXTI11))  
+
+#define IS_DFSDM1_INJ_TRIGGER(TRIG)      IS_DFSDM0_INJ_TRIGGER(TRIG)
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Trigger_Edge_selection
+  * @{
+  */
+#define DFSDM_TriggerEdge_Disabled        ((uint32_t)0x00000000)  /*!<  DFSDM Trigger detection disabled */
+#define DFSDM_TriggerEdge_Rising          ((uint32_t)0x00002000)  /*!<  DFSDM Each rising edge makes a request to launch an injected conversion */
+#define DFSDM_TriggerEdge_Falling         ((uint32_t)0x00004000)  /*!<  DFSDM Each falling edge makes a request to launch an injected conversion */
+#define DFSDM_TriggerEdge_BothEdges       ((uint32_t)0x00006000)  /*!<  DFSDM Both edges make a request to launch an injected conversion */
+
+#define IS_DFSDM_TRIGGER_EDGE(EDGE)      (((EDGE) == DFSDM_TriggerEdge_Disabled) || \
+                                          ((EDGE) == DFSDM_TriggerEdge_Rising) || \
+                                          ((EDGE) == DFSDM_TriggerEdge_Falling) || \
+                                          ((EDGE) == DFSDM_TriggerEdge_BothEdges))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Injected_Conversion_Mode_Selection
+  * @{
+  */
+#define DFSDM_InjectConvMode_Single        ((uint32_t)0x00000000)  /*!<  DFSDM Trigger detection disabled */
+#define DFSDM_InjectConvMode_Scan          ((uint32_t)0x00000010)  /*!<  DFSDM Each rising edge makes a request to launch an injected conversion */
+
+#define IS_DFSDM_INJ_CONV_MODE(MODE)      (((MODE) == DFSDM_InjectConvMode_Single) || \
+                                           ((MODE) == DFSDM_InjectConvMode_Scan))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Interrupts_Definition
+  * @{
+  */
+#define DFSDM_IT_JEOC                            DFSDM_FLTCR2_JEOCIE
+#define DFSDM_IT_REOC                            DFSDM_FLTCR2_REOCIE
+#define DFSDM_IT_JOVR                            DFSDM_FLTCR2_JOVRIE
+#define DFSDM_IT_ROVR                            DFSDM_FLTCR2_ROVRIE
+#define DFSDM_IT_AWD                             DFSDM_FLTCR2_AWDIE
+#define DFSDM_IT_SCD                             DFSDM_FLTCR2_SCDIE
+#define DFSDM_IT_CKAB                            DFSDM_FLTCR2_CKABIE
+
+#define IS_DFSDM_IT(IT)                         (((IT) == DFSDM_IT_JEOC) || \
+                                                 ((IT) == DFSDM_IT_REOC) || \
+                                                 ((IT) == DFSDM_IT_JOVR) || \
+                                                 ((IT) == DFSDM_IT_ROVR) || \
+                                                 ((IT) == DFSDM_IT_AWD)  || \
+                                                 ((IT) == DFSDM_IT_SCD)  || \
+                                                 ((IT) == DFSDM_IT_CKAB))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Flag_Definition
+  * @{
+  */
+#define DFSDM_FLAG_JEOC                          DFSDM_FLTISR_JEOCF
+#define DFSDM_FLAG_REOC                          DFSDM_FLTISR_REOCF
+#define DFSDM_FLAG_JOVR                          DFSDM_FLTISR_JOVRF
+#define DFSDM_FLAG_ROVR                          DFSDM_FLTISR_ROVRF
+#define DFSDM_FLAG_AWD                           DFSDM_FLTISR_AWDF
+#define DFSDM_FLAG_JCIP                          DFSDM_FLTISR_JCIP
+#define DFSDM_FLAG_RCIP                          DFSDM_FLTISR_RCIP
+
+#define IS_DFSDM_FLAG(FLAG)                     (((FLAG) == DFSDM_FLAG_JEOC) || \
+                                                 ((FLAG) == DFSDM_FLAG_REOC) || \
+                                                 ((FLAG) == DFSDM_FLAG_JOVR) || \
+                                                 ((FLAG) == DFSDM_FLAG_ROVR) || \
+                                                 ((FLAG) == DFSDM_FLAG_AWD)  || \
+                                                 ((FLAG) == DFSDM_FLAG_JCIP) || \
+                                                 ((FLAG) == DFSDM_FLAG_RCIP))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Clock_Absence_Flag_Definition
+  * @{
+  */
+#define DFSDM_FLAG_CLKAbsence_Channel0           ((uint32_t)0x00010000)
+#define DFSDM_FLAG_CLKAbsence_Channel1           ((uint32_t)0x00020000)
+#define DFSDM_FLAG_CLKAbsence_Channel2           ((uint32_t)0x00040000)
+#define DFSDM_FLAG_CLKAbsence_Channel3           ((uint32_t)0x00080000)
+#define DFSDM_FLAG_CLKAbsence_Channel4           ((uint32_t)0x00100000)
+#define DFSDM_FLAG_CLKAbsence_Channel5           ((uint32_t)0x00200000)
+#define DFSDM_FLAG_CLKAbsence_Channel6           ((uint32_t)0x00400000)
+#define DFSDM_FLAG_CLKAbsence_Channel7           ((uint32_t)0x00800000)
+
+#define IS_DFSDM_CLK_ABS_FLAG(FLAG)             (((FLAG) == DFSDM_FLAG_CLKAbsence_Channel0) || \
+                                                 ((FLAG) == DFSDM_FLAG_CLKAbsence_Channel1) || \
+                                                 ((FLAG) == DFSDM_FLAG_CLKAbsence_Channel2) || \
+                                                 ((FLAG) == DFSDM_FLAG_CLKAbsence_Channel3) || \
+                                                 ((FLAG) == DFSDM_FLAG_CLKAbsence_Channel4) || \
+                                                 ((FLAG) == DFSDM_FLAG_CLKAbsence_Channel5) || \
+                                                 ((FLAG) == DFSDM_FLAG_CLKAbsence_Channel6) || \
+                                                 ((FLAG) == DFSDM_FLAG_CLKAbsence_Channel7))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_SCD_Flag_Definition
+  * @{
+  */
+#define DFSDM_FLAG_SCD_Channel0                  ((uint32_t)0x01000000)
+#define DFSDM_FLAG_SCD_Channel1                  ((uint32_t)0x02000000)
+#define DFSDM_FLAG_SCD_Channel2                  ((uint32_t)0x04000000)
+#define DFSDM_FLAG_SCD_Channel3                  ((uint32_t)0x08000000)
+#define DFSDM_FLAG_SCD_Channel4                  ((uint32_t)0x10000000)
+#define DFSDM_FLAG_SCD_Channel5                  ((uint32_t)0x20000000)
+#define DFSDM_FLAG_SCD_Channel6                  ((uint32_t)0x40000000)
+#define DFSDM_FLAG_SCD_Channel7                  ((uint32_t)0x80000000)
+
+#define IS_DFSDM_SCD_FLAG(FLAG)                 (((FLAG) == DFSDM_FLAG_SCD_Channel0) || \
+                                                 ((FLAG) == DFSDM_FLAG_SCD_Channel1) || \
+                                                 ((FLAG) == DFSDM_FLAG_SCD_Channel2) || \
+                                                 ((FLAG) == DFSDM_FLAG_SCD_Channel3) || \
+                                                 ((FLAG) == DFSDM_FLAG_SCD_Channel4) || \
+                                                 ((FLAG) == DFSDM_FLAG_SCD_Channel5) || \
+                                                 ((FLAG) == DFSDM_FLAG_SCD_Channel6) || \
+                                                 ((FLAG) == DFSDM_FLAG_SCD_Channel7))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Clear_Flag_Definition
+  * @{
+  */
+#define DFSDM_CLEARF_JOVR                          DFSDM_FLTICR_CLRJOVRF
+#define DFSDM_CLEARF_ROVR                          DFSDM_FLTICR_CLRROVRF
+
+#define IS_DFSDM_CLEAR_FLAG(FLAG)                (((FLAG) == DFSDM_CLEARF_JOVR) || \
+                                                  ((FLAG) == DFSDM_CLEARF_ROVR))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Clear_ClockAbs_Flag_Definition
+  * @{
+  */
+#define DFSDM_CLEARF_CLKAbsence_Channel0           ((uint32_t)0x00010000)
+#define DFSDM_CLEARF_CLKAbsence_Channel1           ((uint32_t)0x00020000)
+#define DFSDM_CLEARF_CLKAbsence_Channel2           ((uint32_t)0x00040000)
+#define DFSDM_CLEARF_CLKAbsence_Channel3           ((uint32_t)0x00080000)
+#define DFSDM_CLEARF_CLKAbsence_Channel4           ((uint32_t)0x00100000)
+#define DFSDM_CLEARF_CLKAbsence_Channel5           ((uint32_t)0x00200000)
+#define DFSDM_CLEARF_CLKAbsence_Channel6           ((uint32_t)0x00400000)
+#define DFSDM_CLEARF_CLKAbsence_Channel7           ((uint32_t)0x00800000)
+
+#define IS_DFSDM_CLK_ABS_CLEARF(FLAG)           (((FLAG) == DFSDM_CLEARF_CLKAbsence_Channel0) || \
+                                                 ((FLAG) == DFSDM_CLEARF_CLKAbsence_Channel1) || \
+                                                 ((FLAG) == DFSDM_CLEARF_CLKAbsence_Channel2) || \
+                                                 ((FLAG) == DFSDM_CLEARF_CLKAbsence_Channel3) || \
+                                                 ((FLAG) == DFSDM_CLEARF_CLKAbsence_Channel4) || \
+                                                 ((FLAG) == DFSDM_CLEARF_CLKAbsence_Channel5) || \
+                                                 ((FLAG) == DFSDM_CLEARF_CLKAbsence_Channel6) || \
+                                                 ((FLAG) == DFSDM_CLEARF_CLKAbsence_Channel7))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Clear_Short_Circuit_Flag_Definition
+  * @{
+  */
+#define DFSDM_CLEARF_SCD_Channel0           ((uint32_t)0x01000000)
+#define DFSDM_CLEARF_SCD_Channel1           ((uint32_t)0x02000000)
+#define DFSDM_CLEARF_SCD_Channel2           ((uint32_t)0x04000000)
+#define DFSDM_CLEARF_SCD_Channel3           ((uint32_t)0x08000000)
+#define DFSDM_CLEARF_SCD_Channel4           ((uint32_t)0x10000000)
+#define DFSDM_CLEARF_SCD_Channel5           ((uint32_t)0x20000000)
+#define DFSDM_CLEARF_SCD_Channel6           ((uint32_t)0x40000000)
+#define DFSDM_CLEARF_SCD_Channel7           ((uint32_t)0x80000000)
+
+#define IS_DFSDM_SCD_CHANNEL_FLAG(FLAG)         (((FLAG) == DFSDM_CLEARF_SCD_Channel0) || \
+                                                 ((FLAG) == DFSDM_CLEARF_SCD_Channel1) || \
+                                                 ((FLAG) == DFSDM_CLEARF_SCD_Channel2) || \
+                                                 ((FLAG) == DFSDM_CLEARF_SCD_Channel3) || \
+                                                 ((FLAG) == DFSDM_CLEARF_SCD_Channel4) || \
+                                                 ((FLAG) == DFSDM_CLEARF_SCD_Channel5) || \
+                                                 ((FLAG) == DFSDM_CLEARF_SCD_Channel6) || \
+                                                 ((FLAG) == DFSDM_CLEARF_SCD_Channel7))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_Clock_Absence_Interrupt_Definition
+  * @{
+  */
+#define DFSDM_IT_CLKAbsence_Channel0           ((uint32_t)0x00010000)
+#define DFSDM_IT_CLKAbsence_Channel1           ((uint32_t)0x00020000)
+#define DFSDM_IT_CLKAbsence_Channel2           ((uint32_t)0x00040000)
+#define DFSDM_IT_CLKAbsence_Channel3           ((uint32_t)0x00080000)
+#define DFSDM_IT_CLKAbsence_Channel4           ((uint32_t)0x00100000)
+#define DFSDM_IT_CLKAbsence_Channel5           ((uint32_t)0x00200000)
+#define DFSDM_IT_CLKAbsence_Channel6           ((uint32_t)0x00400000)
+#define DFSDM_IT_CLKAbsence_Channel7           ((uint32_t)0x00800000)
+
+#define IS_DFSDM_CLK_ABS_IT(IT)               (((IT) == DFSDM_IT_CLKAbsence_Channel0) || \
+                                               ((IT) == DFSDM_IT_CLKAbsence_Channel1) || \
+                                               ((IT) == DFSDM_IT_CLKAbsence_Channel2) || \
+                                               ((IT) == DFSDM_IT_CLKAbsence_Channel3) || \
+                                               ((IT) == DFSDM_IT_CLKAbsence_Channel4) || \
+                                               ((IT) == DFSDM_IT_CLKAbsence_Channel5) || \
+                                               ((IT) == DFSDM_IT_CLKAbsence_Channel6) || \
+                                               ((IT) == DFSDM_IT_CLKAbsence_Channel7))
+/**
+  * @}
+  */
+
+/** @defgroup DFSDM_SCD_Interrupt_Definition
+  * @{
+  */
+#define DFSDM_IT_SCD_Channel0                  ((uint32_t)0x01000000)
+#define DFSDM_IT_SCD_Channel1                  ((uint32_t)0x02000000)
+#define DFSDM_IT_SCD_Channel2                  ((uint32_t)0x04000000)
+#define DFSDM_IT_SCD_Channel3                  ((uint32_t)0x08000000)
+#define DFSDM_IT_SCD_Channel4                  ((uint32_t)0x10000000)
+#define DFSDM_IT_SCD_Channel5                  ((uint32_t)0x20000000)
+#define DFSDM_IT_SCD_Channel6                  ((uint32_t)0x40000000)
+#define DFSDM_IT_SCD_Channel7                  ((uint32_t)0x80000000)
+
+#define IS_DFSDM_SCD_IT(IT)                   (((IT) == DFSDM_IT_SCD_Channel0) || \
+                                               ((IT) == DFSDM_IT_SCD_Channel1) || \
+                                               ((IT) == DFSDM_IT_SCD_Channel2) || \
+                                               ((IT) == DFSDM_IT_SCD_Channel3) || \
+                                               ((IT) == DFSDM_IT_SCD_Channel4) || \
+                                               ((IT) == DFSDM_IT_SCD_Channel5) || \
+                                               ((IT) == DFSDM_IT_SCD_Channel6) || \
+                                               ((IT) == DFSDM_IT_SCD_Channel7))
+/**
+  * @}
+  */
+
+#define IS_DFSDM_DATA_RIGHT_BIT_SHIFT(SHIFT)  ((SHIFT) < 0x20 )
+
+#define IS_DFSDM_OFFSET(OFFSET)               ((OFFSET) < 0x01000000 )
+
+#if defined(STM32F413_423xx)
+#define IS_DFSDM_ALL_CHANNEL(CHANNEL)   (((CHANNEL) == DFSDM1_Channel0) || \
+                                         ((CHANNEL) == DFSDM1_Channel1) || \
+                                         ((CHANNEL) == DFSDM1_Channel2) || \
+                                         ((CHANNEL) == DFSDM1_Channel3) || \
+                                         ((CHANNEL) == DFSDM2_Channel0) || \
+                                         ((CHANNEL) == DFSDM2_Channel1) || \
+                                         ((CHANNEL) == DFSDM2_Channel2) || \
+                                         ((CHANNEL) == DFSDM2_Channel3) || \
+                                         ((CHANNEL) == DFSDM2_Channel4) || \
+                                         ((CHANNEL) == DFSDM2_Channel5) || \
+                                         ((CHANNEL) == DFSDM2_Channel6) || \
+                                         ((CHANNEL) == DFSDM2_Channel7))
+
+#define IS_DFSDM_ALL_FILTER(FILTER)     (((FILTER) == DFSDM1_0) || \
+                                         ((FILTER) == DFSDM1_1) || \
+                                         ((FILTER) == DFSDM2_0) || \
+                                         ((FILTER) == DFSDM2_1) || \
+                                         ((FILTER) == DFSDM2_2) || \
+                                         ((FILTER) == DFSDM2_3))
+
+#define IS_DFSDM_SYNC_FILTER(FILTER)    (((FILTER) == DFSDM1_0) || \
+                                         ((FILTER) == DFSDM1_1) || \
+                                         ((FILTER) == DFSDM2_0) || \
+                                         ((FILTER) == DFSDM2_1) || \
+                                         ((FILTER) == DFSDM2_2) || \
+                                         ((FILTER) == DFSDM2_3))
+#else
+#define IS_DFSDM_ALL_CHANNEL(CHANNEL)   (((CHANNEL) == DFSDM1_Channel0) || \
+                                         ((CHANNEL) == DFSDM1_Channel1) || \
+                                         ((CHANNEL) == DFSDM1_Channel2) || \
+                                         ((CHANNEL) == DFSDM1_Channel3))
+
+#define IS_DFSDM_ALL_FILTER(FILTER)     (((FILTER) == DFSDM1_0) || \
+                                         ((FILTER) == DFSDM1_1))
+
+#define IS_DFSDM_SYNC_FILTER(FILTER)    (((FILTER) == DFSDM1_0) || \
+                                         ((FILTER) == DFSDM1_1))
+#endif /* STM32F413_423xx */
+
+
+
+
+#define IS_DFSDM_SINC_OVRSMPL_RATIO(RATIO)  (((RATIO) < 0x401) && ((RATIO) >= 0x001))
+
+#define IS_DFSDM_INTG_OVRSMPL_RATIO(RATIO)  (((RATIO) < 0x101 ) && ((RATIO) >= 0x001))
+
+#define IS_DFSDM_CLOCK_OUT_DIVIDER(DIVIDER) ((DIVIDER) < 0x101 )
+
+#define IS_DFSDM_CSD_THRESHOLD_VALUE(VALUE) ((VALUE) < 256)
+
+#define IS_DFSDM_AWD_OVRSMPL_RATIO(RATIO)   ((RATIO) < 33) && ((RATIO) >= 0x001)
+
+#define IS_DFSDM_HIGH_THRESHOLD(VALUE)      ((VALUE) < 0x1000000)
+#define IS_DFSDM_LOW_THRESHOLD(VALUE)       ((VALUE) < 0x1000000)
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions ------------------------------------------------------- */
+
+/* Initialization functions ***************************************************/
+void DFSDM_DeInit(void);
+void DFSDM_TransceiverInit(DFSDM_Channel_TypeDef* DFSDM_Channelx, DFSDM_TransceiverInitTypeDef* DFSDM_TransceiverInitStruct);
+void DFSDM_TransceiverStructInit(DFSDM_TransceiverInitTypeDef* DFSDM_TransceiverInitStruct);
+void DFSDM_FilterInit(DFSDM_Filter_TypeDef* DFSDMx, DFSDM_FilterInitTypeDef* DFSDM_FilterInitStruct);
+void DFSDM_FilterStructInit(DFSDM_FilterInitTypeDef* DFSDM_FilterInitStruct);
+
+/* Configuration functions ****************************************************/
+#if defined(STM32F412xG)
+void DFSDM_Command(FunctionalState NewState);
+#else /* STM32F413_423xx */
+void DFSDM_Cmd(uint32_t Instance, FunctionalState NewState);
+#endif /* STM32F412xG */
+void DFSDM_ChannelCmd(DFSDM_Channel_TypeDef* DFSDM_Channelx, FunctionalState NewState);
+void DFSDM_FilterCmd(DFSDM_Filter_TypeDef* DFSDMx, FunctionalState NewState);
+#if defined(STM32F412xG)
+void DFSDM_ConfigClkOutputDivider(uint32_t DFSDM_ClkOutDivision);
+void DFSDM_ConfigClkOutputSource(uint32_t DFSDM_ClkOutSource);
+#else
+void DFSDM_ConfigClkOutputDivider(uint32_t Instance, uint32_t DFSDM_ClkOutDivision);
+void DFSDM_ConfigClkOutputSource(uint32_t Instance, uint32_t DFSDM_ClkOutSource);
+#endif /* STM32F412xG */
+void DFSDM_SelectInjectedConversionMode(DFSDM_Filter_TypeDef* DFSDMx, uint32_t DFSDM_InjectConvMode);
+void DFSDM_SelectInjectedChannel(DFSDM_Filter_TypeDef* DFSDMx, uint32_t DFSDM_InjectedChannelx);
+void DFSDM_SelectRegularChannel(DFSDM_Filter_TypeDef* DFSDMx, uint32_t DFSDM_RegularChannelx);
+void DFSDM_StartSoftwareInjectedConversion(DFSDM_Filter_TypeDef* DFSDMx);
+void DFSDM_StartSoftwareRegularConversion(DFSDM_Filter_TypeDef* DFSDMx);
+void DFSDM_SynchronousFilter0InjectedStart(DFSDM_Filter_TypeDef* DFSDMx);
+void DFSDM_SynchronousFilter0RegularStart(DFSDM_Filter_TypeDef* DFSDMx);
+void DFSDM_RegularContinuousModeCmd(DFSDM_Filter_TypeDef* DFSDMx, FunctionalState NewState);
+void DFSDM_InjectedContinuousModeCmd(DFSDM_Filter_TypeDef* DFSDMx, FunctionalState NewState);
+void DFSDM_FastModeCmd(DFSDM_Filter_TypeDef* DFSDMx, FunctionalState NewState);
+void DFSDM_ConfigInjectedTrigger(DFSDM_Filter_TypeDef* DFSDMx, uint32_t DFSDM_Trigger, uint32_t DFSDM_TriggerEdge);
+void DFSDM_ConfigBRKShortCircuitDetector(DFSDM_Channel_TypeDef* DFSDM_Channelx, uint32_t DFSDM_SCDBreak_i, FunctionalState NewState);
+void DFSDM_ConfigBRKAnalogWatchDog(DFSDM_Channel_TypeDef* DFSDM_Channelx, uint32_t DFSDM_SCDBreak_i, FunctionalState NewState);
+void DFSDM_ConfigShortCircuitThreshold(DFSDM_Channel_TypeDef* DFSDM_Channelx, uint32_t DFSDM_SCDThreshold);
+void DFSDM_ConfigAnalogWatchdog(DFSDM_Filter_TypeDef* DFSDMx, uint32_t DFSDM_AWDChannelx, uint32_t DFSDM_AWDFastMode);
+void DFSDM_ConfigAWDFilter(DFSDM_Channel_TypeDef* DFSDM_Channelx, uint32_t DFSDM_AWDSincOrder, uint32_t DFSDM_AWDSincOverSampleRatio);
+uint32_t DFSDM_GetAWDConversionValue(DFSDM_Channel_TypeDef* DFSDM_Channelx);
+void DFSDM_SetAWDThreshold(DFSDM_Filter_TypeDef* DFSDMx, uint32_t DFSDM_HighThreshold, uint32_t DFSDM_LowThreshold);
+void DFSDM_SelectExtremesDetectorChannel(DFSDM_Filter_TypeDef* DFSDMx, uint32_t DFSDM_ExtremChannelx);
+int32_t DFSDM_GetRegularConversionData(DFSDM_Filter_TypeDef* DFSDMx);
+int32_t DFSDM_GetInjectedConversionData(DFSDM_Filter_TypeDef* DFSDMx);
+int32_t DFSDM_GetMaxValue(DFSDM_Filter_TypeDef* DFSDMx);
+int32_t DFSDM_GetMinValue(DFSDM_Filter_TypeDef* DFSDMx);
+int32_t DFSDM_GetMaxValueChannel(DFSDM_Filter_TypeDef* DFSDMx);
+int32_t DFSDM_GetMinValueChannel(DFSDM_Filter_TypeDef* DFSDMx);
+uint32_t DFSDM_GetConversionTime(DFSDM_Filter_TypeDef* DFSDMx);
+void DFSDM_DMATransferConfig(DFSDM_Filter_TypeDef* DFSDMx, uint32_t DFSDM_DMAConversionMode, FunctionalState NewState);
+/* Interrupts and flags management functions **********************************/
+void DFSDM_ITConfig(DFSDM_Filter_TypeDef* DFSDMx, uint32_t DFSDM_IT, FunctionalState NewState);
+#if defined(STM32F412xG)
+void DFSDM_ITClockAbsenceCmd(FunctionalState NewState);
+void DFSDM_ITShortCircuitDetectorCmd(FunctionalState NewState);
+#else /* STM32F413_423xx */
+void DFSDM_ITClockAbsenceCmd(uint32_t Instance, FunctionalState NewState);
+void DFSDM_ITShortCircuitDetectorCmd(uint32_t Instance, FunctionalState NewState);
+#endif /* STM32F412xG */
+
+FlagStatus DFSDM_GetFlagStatus(DFSDM_Filter_TypeDef* DFSDMx, uint32_t DFSDM_FLAG);
+#if defined(STM32F412xG)
+FlagStatus DFSDM_GetClockAbsenceFlagStatus(uint32_t DFSDM_FLAG_CLKAbsence);
+FlagStatus DFSDM_GetShortCircuitFlagStatus(uint32_t DFSDM_FLAG_SCD);
+#else /* STM32F413_423xx */
+FlagStatus DFSDM_GetClockAbsenceFlagStatus(uint32_t Instance, uint32_t DFSDM_FLAG_CLKAbsence);
+FlagStatus DFSDM_GetShortCircuitFlagStatus(uint32_t Instance, uint32_t DFSDM_FLAG_SCD);
+#endif /* STM32F412xG */
+FlagStatus DFSDM_GetWatchdogFlagStatus(DFSDM_Filter_TypeDef* DFSDMx, uint32_t DFSDM_AWDChannelx, uint8_t DFSDM_Threshold);
+
+void DFSDM_ClearFlag(DFSDM_Filter_TypeDef* DFSDMx, uint32_t DFSDM_CLEARF);
+#if defined(STM32F412xG)
+void DFSDM_ClearClockAbsenceFlag(uint32_t DFSDM_CLEARF_CLKAbsence);
+void DFSDM_ClearShortCircuitFlag(uint32_t DFSDM_CLEARF_SCD);
+#else /* STM32F413_423xx */
+void DFSDM_ClearClockAbsenceFlag(uint32_t Instance, uint32_t DFSDM_CLEARF_CLKAbsence);
+void DFSDM_ClearShortCircuitFlag(uint32_t Instance, uint32_t DFSDM_CLEARF_SCD);
+#endif /* STM32F412xG */
+void DFSDM_ClearAnalogWatchdogFlag(DFSDM_Filter_TypeDef* DFSDMx, uint32_t DFSDM_AWDChannelx, uint8_t DFSDM_Threshold);
+
+ITStatus DFSDM_GetITStatus(DFSDM_Filter_TypeDef* DFSDMx, uint32_t DFSDM_IT);
+#if defined(STM32F412xG)
+ITStatus DFSDM_GetClockAbsenceITStatus(uint32_t DFSDM_IT_CLKAbsence);
+ITStatus DFSDM_GetShortCircuitITStatus(uint32_t DFSDM_IT_SCR);
+#else /* STM32F413_423xx */
+ITStatus DFSDM_GetClockAbsenceITStatus(uint32_t Instance, uint32_t DFSDM_IT_CLKAbsence);
+ITStatus DFSDM_GetShortCircuitITStatus(uint32_t Instance, uint32_t DFSDM_IT_SCR);
+#endif /* STM32F412xG */
+
+#endif /* STM32F412xG || STM32F413_423xx */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__STM32F4XX_DFSDM_H */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
--- a/云台/云台/Library/stm32f4xx_dma.c
+++ b/云台/云台/Library/stm32f4xx_dma.c
--- a/云台/云台/Library/stm32f4xx_dma.h
+++ b/云台/云台/Library/stm32f4xx_dma.h
@@ -0,0 +1,601 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_dma.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file contains all the functions prototypes for the DMA firmware 
+  *          library.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_DMA_H
+#define __STM32F4xx_DMA_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup DMA
+  * @{
+  */
+
+/* Exported types ------------------------------------------------------------*/
+
+/** 
+  * @brief  DMA Init structure definition
+  */
+
+typedef struct
+{
+  uint32_t DMA_Channel;            /*!< Specifies the channel used for the specified stream. 
+                                        This parameter can be a value of @ref DMA_channel */
+ 
+  uint32_t DMA_PeripheralBaseAddr; /*!< Specifies the peripheral base address for DMAy Streamx. */
+
+  uint32_t DMA_Memory0BaseAddr;    /*!< Specifies the memory 0 base address for DMAy Streamx. 
+                                        This memory is the default memory used when double buffer mode is
+                                        not enabled. */
+
+  uint32_t DMA_DIR;                /*!< Specifies if the data will be transferred from memory to peripheral, 
+                                        from memory to memory or from peripheral to memory.
+                                        This parameter can be a value of @ref DMA_data_transfer_direction */
+
+  uint32_t DMA_BufferSize;         /*!< Specifies the buffer size, in data unit, of the specified Stream. 
+                                        The data unit is equal to the configuration set in DMA_PeripheralDataSize
+                                        or DMA_MemoryDataSize members depending in the transfer direction. */
+
+  uint32_t DMA_PeripheralInc;      /*!< Specifies whether the Peripheral address register should be incremented or not.
+                                        This parameter can be a value of @ref DMA_peripheral_incremented_mode */
+
+  uint32_t DMA_MemoryInc;          /*!< Specifies whether the memory address register should be incremented or not.
+                                        This parameter can be a value of @ref DMA_memory_incremented_mode */
+
+  uint32_t DMA_PeripheralDataSize; /*!< Specifies the Peripheral data width.
+                                        This parameter can be a value of @ref DMA_peripheral_data_size */
+
+  uint32_t DMA_MemoryDataSize;     /*!< Specifies the Memory data width.
+                                        This parameter can be a value of @ref DMA_memory_data_size */
+
+  uint32_t DMA_Mode;               /*!< Specifies the operation mode of the DMAy Streamx.
+                                        This parameter can be a value of @ref DMA_circular_normal_mode
+                                        @note The circular buffer mode cannot be used if the memory-to-memory
+                                              data transfer is configured on the selected Stream */
+
+  uint32_t DMA_Priority;           /*!< Specifies the software priority for the DMAy Streamx.
+                                        This parameter can be a value of @ref DMA_priority_level */
+
+  uint32_t DMA_FIFOMode;          /*!< Specifies if the FIFO mode or Direct mode will be used for the specified Stream.
+                                        This parameter can be a value of @ref DMA_fifo_direct_mode
+                                        @note The Direct mode (FIFO mode disabled) cannot be used if the 
+                                               memory-to-memory data transfer is configured on the selected Stream */
+
+  uint32_t DMA_FIFOThreshold;      /*!< Specifies the FIFO threshold level.
+                                        This parameter can be a value of @ref DMA_fifo_threshold_level */
+
+  uint32_t DMA_MemoryBurst;        /*!< Specifies the Burst transfer configuration for the memory transfers. 
+                                        It specifies the amount of data to be transferred in a single non interruptable 
+                                        transaction. This parameter can be a value of @ref DMA_memory_burst 
+                                        @note The burst mode is possible only if the address Increment mode is enabled. */
+
+  uint32_t DMA_PeripheralBurst;    /*!< Specifies the Burst transfer configuration for the peripheral transfers. 
+                                        It specifies the amount of data to be transferred in a single non interruptable 
+                                        transaction. This parameter can be a value of @ref DMA_peripheral_burst
+                                        @note The burst mode is possible only if the address Increment mode is enabled. */  
+}DMA_InitTypeDef;
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup DMA_Exported_Constants
+  * @{
+  */
+
+#define IS_DMA_ALL_PERIPH(PERIPH) (((PERIPH) == DMA1_Stream0) || \
+                                   ((PERIPH) == DMA1_Stream1) || \
+                                   ((PERIPH) == DMA1_Stream2) || \
+                                   ((PERIPH) == DMA1_Stream3) || \
+                                   ((PERIPH) == DMA1_Stream4) || \
+                                   ((PERIPH) == DMA1_Stream5) || \
+                                   ((PERIPH) == DMA1_Stream6) || \
+                                   ((PERIPH) == DMA1_Stream7) || \
+                                   ((PERIPH) == DMA2_Stream0) || \
+                                   ((PERIPH) == DMA2_Stream1) || \
+                                   ((PERIPH) == DMA2_Stream2) || \
+                                   ((PERIPH) == DMA2_Stream3) || \
+                                   ((PERIPH) == DMA2_Stream4) || \
+                                   ((PERIPH) == DMA2_Stream5) || \
+                                   ((PERIPH) == DMA2_Stream6) || \
+                                   ((PERIPH) == DMA2_Stream7))
+
+#define IS_DMA_ALL_CONTROLLER(CONTROLLER) (((CONTROLLER) == DMA1) || \
+                                           ((CONTROLLER) == DMA2))
+
+/** @defgroup DMA_channel 
+  * @{
+  */ 
+#define DMA_Channel_0                     ((uint32_t)0x00000000)
+#define DMA_Channel_1                     ((uint32_t)0x02000000)
+#define DMA_Channel_2                     ((uint32_t)0x04000000)
+#define DMA_Channel_3                     ((uint32_t)0x06000000)
+#define DMA_Channel_4                     ((uint32_t)0x08000000)
+#define DMA_Channel_5                     ((uint32_t)0x0A000000)
+#define DMA_Channel_6                     ((uint32_t)0x0C000000)
+#define DMA_Channel_7                     ((uint32_t)0x0E000000)
+
+#define IS_DMA_CHANNEL(CHANNEL) (((CHANNEL) == DMA_Channel_0) || \
+                                 ((CHANNEL) == DMA_Channel_1) || \
+                                 ((CHANNEL) == DMA_Channel_2) || \
+                                 ((CHANNEL) == DMA_Channel_3) || \
+                                 ((CHANNEL) == DMA_Channel_4) || \
+                                 ((CHANNEL) == DMA_Channel_5) || \
+                                 ((CHANNEL) == DMA_Channel_6) || \
+                                 ((CHANNEL) == DMA_Channel_7))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DMA_data_transfer_direction 
+  * @{
+  */ 
+#define DMA_DIR_PeripheralToMemory        ((uint32_t)0x00000000)
+#define DMA_DIR_MemoryToPeripheral        ((uint32_t)0x00000040) 
+#define DMA_DIR_MemoryToMemory            ((uint32_t)0x00000080)
+
+#define IS_DMA_DIRECTION(DIRECTION) (((DIRECTION) == DMA_DIR_PeripheralToMemory ) || \
+                                     ((DIRECTION) == DMA_DIR_MemoryToPeripheral)  || \
+                                     ((DIRECTION) == DMA_DIR_MemoryToMemory)) 
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DMA_data_buffer_size 
+  * @{
+  */ 
+#define IS_DMA_BUFFER_SIZE(SIZE) (((SIZE) >= 0x1) && ((SIZE) < 0x10000))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DMA_peripheral_incremented_mode 
+  * @{
+  */ 
+#define DMA_PeripheralInc_Enable          ((uint32_t)0x00000200)
+#define DMA_PeripheralInc_Disable         ((uint32_t)0x00000000)
+
+#define IS_DMA_PERIPHERAL_INC_STATE(STATE) (((STATE) == DMA_PeripheralInc_Enable) || \
+                                            ((STATE) == DMA_PeripheralInc_Disable))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DMA_memory_incremented_mode 
+  * @{
+  */ 
+#define DMA_MemoryInc_Enable              ((uint32_t)0x00000400)
+#define DMA_MemoryInc_Disable             ((uint32_t)0x00000000)
+
+#define IS_DMA_MEMORY_INC_STATE(STATE) (((STATE) == DMA_MemoryInc_Enable) || \
+                                        ((STATE) == DMA_MemoryInc_Disable))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DMA_peripheral_data_size 
+  * @{
+  */ 
+#define DMA_PeripheralDataSize_Byte       ((uint32_t)0x00000000) 
+#define DMA_PeripheralDataSize_HalfWord   ((uint32_t)0x00000800) 
+#define DMA_PeripheralDataSize_Word       ((uint32_t)0x00001000)
+
+#define IS_DMA_PERIPHERAL_DATA_SIZE(SIZE) (((SIZE) == DMA_PeripheralDataSize_Byte)  || \
+                                           ((SIZE) == DMA_PeripheralDataSize_HalfWord) || \
+                                           ((SIZE) == DMA_PeripheralDataSize_Word))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DMA_memory_data_size 
+  * @{
+  */ 
+#define DMA_MemoryDataSize_Byte           ((uint32_t)0x00000000) 
+#define DMA_MemoryDataSize_HalfWord       ((uint32_t)0x00002000) 
+#define DMA_MemoryDataSize_Word           ((uint32_t)0x00004000)
+
+#define IS_DMA_MEMORY_DATA_SIZE(SIZE) (((SIZE) == DMA_MemoryDataSize_Byte)  || \
+                                       ((SIZE) == DMA_MemoryDataSize_HalfWord) || \
+                                       ((SIZE) == DMA_MemoryDataSize_Word ))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DMA_circular_normal_mode 
+  * @{
+  */ 
+#define DMA_Mode_Normal                   ((uint32_t)0x00000000) 
+#define DMA_Mode_Circular                 ((uint32_t)0x00000100)
+
+#define IS_DMA_MODE(MODE) (((MODE) == DMA_Mode_Normal ) || \
+                           ((MODE) == DMA_Mode_Circular)) 
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DMA_priority_level 
+  * @{
+  */ 
+#define DMA_Priority_Low                  ((uint32_t)0x00000000)
+#define DMA_Priority_Medium               ((uint32_t)0x00010000) 
+#define DMA_Priority_High                 ((uint32_t)0x00020000)
+#define DMA_Priority_VeryHigh             ((uint32_t)0x00030000)
+
+#define IS_DMA_PRIORITY(PRIORITY) (((PRIORITY) == DMA_Priority_Low )   || \
+                                   ((PRIORITY) == DMA_Priority_Medium) || \
+                                   ((PRIORITY) == DMA_Priority_High)   || \
+                                   ((PRIORITY) == DMA_Priority_VeryHigh)) 
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DMA_fifo_direct_mode 
+  * @{
+  */ 
+#define DMA_FIFOMode_Disable              ((uint32_t)0x00000000) 
+#define DMA_FIFOMode_Enable               ((uint32_t)0x00000004)
+
+#define IS_DMA_FIFO_MODE_STATE(STATE) (((STATE) == DMA_FIFOMode_Disable ) || \
+                                       ((STATE) == DMA_FIFOMode_Enable)) 
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DMA_fifo_threshold_level 
+  * @{
+  */ 
+#define DMA_FIFOThreshold_1QuarterFull    ((uint32_t)0x00000000)
+#define DMA_FIFOThreshold_HalfFull        ((uint32_t)0x00000001) 
+#define DMA_FIFOThreshold_3QuartersFull   ((uint32_t)0x00000002)
+#define DMA_FIFOThreshold_Full            ((uint32_t)0x00000003)
+
+#define IS_DMA_FIFO_THRESHOLD(THRESHOLD) (((THRESHOLD) == DMA_FIFOThreshold_1QuarterFull ) || \
+                                          ((THRESHOLD) == DMA_FIFOThreshold_HalfFull)      || \
+                                          ((THRESHOLD) == DMA_FIFOThreshold_3QuartersFull) || \
+                                          ((THRESHOLD) == DMA_FIFOThreshold_Full)) 
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DMA_memory_burst 
+  * @{
+  */ 
+#define DMA_MemoryBurst_Single            ((uint32_t)0x00000000)
+#define DMA_MemoryBurst_INC4              ((uint32_t)0x00800000)  
+#define DMA_MemoryBurst_INC8              ((uint32_t)0x01000000)
+#define DMA_MemoryBurst_INC16             ((uint32_t)0x01800000)
+
+#define IS_DMA_MEMORY_BURST(BURST) (((BURST) == DMA_MemoryBurst_Single) || \
+                                    ((BURST) == DMA_MemoryBurst_INC4)  || \
+                                    ((BURST) == DMA_MemoryBurst_INC8)  || \
+                                    ((BURST) == DMA_MemoryBurst_INC16))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DMA_peripheral_burst 
+  * @{
+  */ 
+#define DMA_PeripheralBurst_Single        ((uint32_t)0x00000000)
+#define DMA_PeripheralBurst_INC4          ((uint32_t)0x00200000)  
+#define DMA_PeripheralBurst_INC8          ((uint32_t)0x00400000)
+#define DMA_PeripheralBurst_INC16         ((uint32_t)0x00600000)
+
+#define IS_DMA_PERIPHERAL_BURST(BURST) (((BURST) == DMA_PeripheralBurst_Single) || \
+                                        ((BURST) == DMA_PeripheralBurst_INC4)  || \
+                                        ((BURST) == DMA_PeripheralBurst_INC8)  || \
+                                        ((BURST) == DMA_PeripheralBurst_INC16))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DMA_fifo_status_level 
+  * @{
+  */
+#define DMA_FIFOStatus_Less1QuarterFull   ((uint32_t)0x00000000 << 3)
+#define DMA_FIFOStatus_1QuarterFull       ((uint32_t)0x00000001 << 3)
+#define DMA_FIFOStatus_HalfFull           ((uint32_t)0x00000002 << 3) 
+#define DMA_FIFOStatus_3QuartersFull      ((uint32_t)0x00000003 << 3)
+#define DMA_FIFOStatus_Empty              ((uint32_t)0x00000004 << 3)
+#define DMA_FIFOStatus_Full               ((uint32_t)0x00000005 << 3)
+
+#define IS_DMA_FIFO_STATUS(STATUS) (((STATUS) == DMA_FIFOStatus_Less1QuarterFull ) || \
+                                    ((STATUS) == DMA_FIFOStatus_HalfFull)          || \
+                                    ((STATUS) == DMA_FIFOStatus_1QuarterFull)      || \
+                                    ((STATUS) == DMA_FIFOStatus_3QuartersFull)     || \
+                                    ((STATUS) == DMA_FIFOStatus_Full)              || \
+                                    ((STATUS) == DMA_FIFOStatus_Empty)) 
+/**
+  * @}
+  */ 
+
+/** @defgroup DMA_flags_definition 
+  * @{
+  */
+#define DMA_FLAG_FEIF0                    ((uint32_t)0x10800001)
+#define DMA_FLAG_DMEIF0                   ((uint32_t)0x10800004)
+#define DMA_FLAG_TEIF0                    ((uint32_t)0x10000008)
+#define DMA_FLAG_HTIF0                    ((uint32_t)0x10000010)
+#define DMA_FLAG_TCIF0                    ((uint32_t)0x10000020)
+#define DMA_FLAG_FEIF1                    ((uint32_t)0x10000040)
+#define DMA_FLAG_DMEIF1                   ((uint32_t)0x10000100)
+#define DMA_FLAG_TEIF1                    ((uint32_t)0x10000200)
+#define DMA_FLAG_HTIF1                    ((uint32_t)0x10000400)
+#define DMA_FLAG_TCIF1                    ((uint32_t)0x10000800)
+#define DMA_FLAG_FEIF2                    ((uint32_t)0x10010000)
+#define DMA_FLAG_DMEIF2                   ((uint32_t)0x10040000)
+#define DMA_FLAG_TEIF2                    ((uint32_t)0x10080000)
+#define DMA_FLAG_HTIF2                    ((uint32_t)0x10100000)
+#define DMA_FLAG_TCIF2                    ((uint32_t)0x10200000)
+#define DMA_FLAG_FEIF3                    ((uint32_t)0x10400000)
+#define DMA_FLAG_DMEIF3                   ((uint32_t)0x11000000)
+#define DMA_FLAG_TEIF3                    ((uint32_t)0x12000000)
+#define DMA_FLAG_HTIF3                    ((uint32_t)0x14000000)
+#define DMA_FLAG_TCIF3                    ((uint32_t)0x18000000)
+#define DMA_FLAG_FEIF4                    ((uint32_t)0x20000001)
+#define DMA_FLAG_DMEIF4                   ((uint32_t)0x20000004)
+#define DMA_FLAG_TEIF4                    ((uint32_t)0x20000008)
+#define DMA_FLAG_HTIF4                    ((uint32_t)0x20000010)
+#define DMA_FLAG_TCIF4                    ((uint32_t)0x20000020)
+#define DMA_FLAG_FEIF5                    ((uint32_t)0x20000040)
+#define DMA_FLAG_DMEIF5                   ((uint32_t)0x20000100)
+#define DMA_FLAG_TEIF5                    ((uint32_t)0x20000200)
+#define DMA_FLAG_HTIF5                    ((uint32_t)0x20000400)
+#define DMA_FLAG_TCIF5                    ((uint32_t)0x20000800)
+#define DMA_FLAG_FEIF6                    ((uint32_t)0x20010000)
+#define DMA_FLAG_DMEIF6                   ((uint32_t)0x20040000)
+#define DMA_FLAG_TEIF6                    ((uint32_t)0x20080000)
+#define DMA_FLAG_HTIF6                    ((uint32_t)0x20100000)
+#define DMA_FLAG_TCIF6                    ((uint32_t)0x20200000)
+#define DMA_FLAG_FEIF7                    ((uint32_t)0x20400000)
+#define DMA_FLAG_DMEIF7                   ((uint32_t)0x21000000)
+#define DMA_FLAG_TEIF7                    ((uint32_t)0x22000000)
+#define DMA_FLAG_HTIF7                    ((uint32_t)0x24000000)
+#define DMA_FLAG_TCIF7                    ((uint32_t)0x28000000)
+
+#define IS_DMA_CLEAR_FLAG(FLAG) ((((FLAG) & 0x30000000) != 0x30000000) && (((FLAG) & 0x30000000) != 0) && \
+                                 (((FLAG) & 0xC002F082) == 0x00) && ((FLAG) != 0x00))
+
+#define IS_DMA_GET_FLAG(FLAG) (((FLAG) == DMA_FLAG_TCIF0)  || ((FLAG) == DMA_FLAG_HTIF0)  || \
+                               ((FLAG) == DMA_FLAG_TEIF0)  || ((FLAG) == DMA_FLAG_DMEIF0) || \
+                               ((FLAG) == DMA_FLAG_FEIF0)  || ((FLAG) == DMA_FLAG_TCIF1)  || \
+                               ((FLAG) == DMA_FLAG_HTIF1)  || ((FLAG) == DMA_FLAG_TEIF1)  || \
+                               ((FLAG) == DMA_FLAG_DMEIF1) || ((FLAG) == DMA_FLAG_FEIF1)  || \
+                               ((FLAG) == DMA_FLAG_TCIF2)  || ((FLAG) == DMA_FLAG_HTIF2)  || \
+                               ((FLAG) == DMA_FLAG_TEIF2)  || ((FLAG) == DMA_FLAG_DMEIF2) || \
+                               ((FLAG) == DMA_FLAG_FEIF2)  || ((FLAG) == DMA_FLAG_TCIF3)  || \
+                               ((FLAG) == DMA_FLAG_HTIF3)  || ((FLAG) == DMA_FLAG_TEIF3)  || \
+                               ((FLAG) == DMA_FLAG_DMEIF3) || ((FLAG) == DMA_FLAG_FEIF3)  || \
+                               ((FLAG) == DMA_FLAG_TCIF4)  || ((FLAG) == DMA_FLAG_HTIF4)  || \
+                               ((FLAG) == DMA_FLAG_TEIF4)  || ((FLAG) == DMA_FLAG_DMEIF4) || \
+                               ((FLAG) == DMA_FLAG_FEIF4)  || ((FLAG) == DMA_FLAG_TCIF5)  || \
+                               ((FLAG) == DMA_FLAG_HTIF5)  || ((FLAG) == DMA_FLAG_TEIF5)  || \
+                               ((FLAG) == DMA_FLAG_DMEIF5) || ((FLAG) == DMA_FLAG_FEIF5)  || \
+                               ((FLAG) == DMA_FLAG_TCIF6)  || ((FLAG) == DMA_FLAG_HTIF6)  || \
+                               ((FLAG) == DMA_FLAG_TEIF6)  || ((FLAG) == DMA_FLAG_DMEIF6) || \
+                               ((FLAG) == DMA_FLAG_FEIF6)  || ((FLAG) == DMA_FLAG_TCIF7)  || \
+                               ((FLAG) == DMA_FLAG_HTIF7)  || ((FLAG) == DMA_FLAG_TEIF7)  || \
+                               ((FLAG) == DMA_FLAG_DMEIF7) || ((FLAG) == DMA_FLAG_FEIF7))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DMA_interrupt_enable_definitions 
+  * @{
+  */ 
+#define DMA_IT_TC                         ((uint32_t)0x00000010)
+#define DMA_IT_HT                         ((uint32_t)0x00000008)
+#define DMA_IT_TE                         ((uint32_t)0x00000004)
+#define DMA_IT_DME                        ((uint32_t)0x00000002)
+#define DMA_IT_FE                         ((uint32_t)0x00000080)
+
+#define IS_DMA_CONFIG_IT(IT) ((((IT) & 0xFFFFFF61) == 0x00) && ((IT) != 0x00))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DMA_interrupts_definitions 
+  * @{
+  */ 
+#define DMA_IT_FEIF0                      ((uint32_t)0x90000001)
+#define DMA_IT_DMEIF0                     ((uint32_t)0x10001004)
+#define DMA_IT_TEIF0                      ((uint32_t)0x10002008)
+#define DMA_IT_HTIF0                      ((uint32_t)0x10004010)
+#define DMA_IT_TCIF0                      ((uint32_t)0x10008020)
+#define DMA_IT_FEIF1                      ((uint32_t)0x90000040)
+#define DMA_IT_DMEIF1                     ((uint32_t)0x10001100)
+#define DMA_IT_TEIF1                      ((uint32_t)0x10002200)
+#define DMA_IT_HTIF1                      ((uint32_t)0x10004400)
+#define DMA_IT_TCIF1                      ((uint32_t)0x10008800)
+#define DMA_IT_FEIF2                      ((uint32_t)0x90010000)
+#define DMA_IT_DMEIF2                     ((uint32_t)0x10041000)
+#define DMA_IT_TEIF2                      ((uint32_t)0x10082000)
+#define DMA_IT_HTIF2                      ((uint32_t)0x10104000)
+#define DMA_IT_TCIF2                      ((uint32_t)0x10208000)
+#define DMA_IT_FEIF3                      ((uint32_t)0x90400000)
+#define DMA_IT_DMEIF3                     ((uint32_t)0x11001000)
+#define DMA_IT_TEIF3                      ((uint32_t)0x12002000)
+#define DMA_IT_HTIF3                      ((uint32_t)0x14004000)
+#define DMA_IT_TCIF3                      ((uint32_t)0x18008000)
+#define DMA_IT_FEIF4                      ((uint32_t)0xA0000001)
+#define DMA_IT_DMEIF4                     ((uint32_t)0x20001004)
+#define DMA_IT_TEIF4                      ((uint32_t)0x20002008)
+#define DMA_IT_HTIF4                      ((uint32_t)0x20004010)
+#define DMA_IT_TCIF4                      ((uint32_t)0x20008020)
+#define DMA_IT_FEIF5                      ((uint32_t)0xA0000040)
+#define DMA_IT_DMEIF5                     ((uint32_t)0x20001100)
+#define DMA_IT_TEIF5                      ((uint32_t)0x20002200)
+#define DMA_IT_HTIF5                      ((uint32_t)0x20004400)
+#define DMA_IT_TCIF5                      ((uint32_t)0x20008800)
+#define DMA_IT_FEIF6                      ((uint32_t)0xA0010000)
+#define DMA_IT_DMEIF6                     ((uint32_t)0x20041000)
+#define DMA_IT_TEIF6                      ((uint32_t)0x20082000)
+#define DMA_IT_HTIF6                      ((uint32_t)0x20104000)
+#define DMA_IT_TCIF6                      ((uint32_t)0x20208000)
+#define DMA_IT_FEIF7                      ((uint32_t)0xA0400000)
+#define DMA_IT_DMEIF7                     ((uint32_t)0x21001000)
+#define DMA_IT_TEIF7                      ((uint32_t)0x22002000)
+#define DMA_IT_HTIF7                      ((uint32_t)0x24004000)
+#define DMA_IT_TCIF7                      ((uint32_t)0x28008000)
+
+#define IS_DMA_CLEAR_IT(IT) ((((IT) & 0x30000000) != 0x30000000) && \
+                             (((IT) & 0x30000000) != 0) && ((IT) != 0x00) && \
+                             (((IT) & 0x40820082) == 0x00))
+
+#define IS_DMA_GET_IT(IT) (((IT) == DMA_IT_TCIF0) || ((IT) == DMA_IT_HTIF0)  || \
+                           ((IT) == DMA_IT_TEIF0) || ((IT) == DMA_IT_DMEIF0) || \
+                           ((IT) == DMA_IT_FEIF0) || ((IT) == DMA_IT_TCIF1)  || \
+                           ((IT) == DMA_IT_HTIF1) || ((IT) == DMA_IT_TEIF1)  || \
+                           ((IT) == DMA_IT_DMEIF1)|| ((IT) == DMA_IT_FEIF1)  || \
+                           ((IT) == DMA_IT_TCIF2) || ((IT) == DMA_IT_HTIF2)  || \
+                           ((IT) == DMA_IT_TEIF2) || ((IT) == DMA_IT_DMEIF2) || \
+                           ((IT) == DMA_IT_FEIF2) || ((IT) == DMA_IT_TCIF3)  || \
+                           ((IT) == DMA_IT_HTIF3) || ((IT) == DMA_IT_TEIF3)  || \
+                           ((IT) == DMA_IT_DMEIF3)|| ((IT) == DMA_IT_FEIF3)  || \
+                           ((IT) == DMA_IT_TCIF4) || ((IT) == DMA_IT_HTIF4)  || \
+                           ((IT) == DMA_IT_TEIF4) || ((IT) == DMA_IT_DMEIF4) || \
+                           ((IT) == DMA_IT_FEIF4) || ((IT) == DMA_IT_TCIF5)  || \
+                           ((IT) == DMA_IT_HTIF5) || ((IT) == DMA_IT_TEIF5)  || \
+                           ((IT) == DMA_IT_DMEIF5)|| ((IT) == DMA_IT_FEIF5)  || \
+                           ((IT) == DMA_IT_TCIF6) || ((IT) == DMA_IT_HTIF6)  || \
+                           ((IT) == DMA_IT_TEIF6) || ((IT) == DMA_IT_DMEIF6) || \
+                           ((IT) == DMA_IT_FEIF6) || ((IT) == DMA_IT_TCIF7)  || \
+                           ((IT) == DMA_IT_HTIF7) || ((IT) == DMA_IT_TEIF7)  || \
+                           ((IT) == DMA_IT_DMEIF7)|| ((IT) == DMA_IT_FEIF7))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DMA_peripheral_increment_offset 
+  * @{
+  */ 
+#define DMA_PINCOS_Psize                  ((uint32_t)0x00000000)
+#define DMA_PINCOS_WordAligned            ((uint32_t)0x00008000)
+
+#define IS_DMA_PINCOS_SIZE(SIZE) (((SIZE) == DMA_PINCOS_Psize) || \
+                                  ((SIZE) == DMA_PINCOS_WordAligned))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DMA_flow_controller_definitions 
+  * @{
+  */ 
+#define DMA_FlowCtrl_Memory               ((uint32_t)0x00000000)
+#define DMA_FlowCtrl_Peripheral           ((uint32_t)0x00000020)
+
+#define IS_DMA_FLOW_CTRL(CTRL) (((CTRL) == DMA_FlowCtrl_Memory) || \
+                                ((CTRL) == DMA_FlowCtrl_Peripheral))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup DMA_memory_targets_definitions 
+  * @{
+  */ 
+#define DMA_Memory_0                      ((uint32_t)0x00000000)
+#define DMA_Memory_1                      ((uint32_t)0x00080000)
+
+#define IS_DMA_CURRENT_MEM(MEM) (((MEM) == DMA_Memory_0) || ((MEM) == DMA_Memory_1))
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/ 
+
+/*  Function used to set the DMA configuration to the default reset state *****/ 
+void DMA_DeInit(DMA_Stream_TypeDef* DMAy_Streamx);
+
+/* Initialization and Configuration functions *********************************/
+void DMA_Init(DMA_Stream_TypeDef* DMAy_Streamx, DMA_InitTypeDef* DMA_InitStruct);
+void DMA_StructInit(DMA_InitTypeDef* DMA_InitStruct);
+void DMA_Cmd(DMA_Stream_TypeDef* DMAy_Streamx, FunctionalState NewState);
+
+/* Optional Configuration functions *******************************************/
+void DMA_PeriphIncOffsetSizeConfig(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_Pincos);
+void DMA_FlowControllerConfig(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_FlowCtrl);
+
+/* Data Counter functions *****************************************************/
+void DMA_SetCurrDataCounter(DMA_Stream_TypeDef* DMAy_Streamx, uint16_t Counter);
+uint16_t DMA_GetCurrDataCounter(DMA_Stream_TypeDef* DMAy_Streamx);
+
+/* Double Buffer mode functions ***********************************************/
+void DMA_DoubleBufferModeConfig(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t Memory1BaseAddr,
+                                uint32_t DMA_CurrentMemory);
+void DMA_DoubleBufferModeCmd(DMA_Stream_TypeDef* DMAy_Streamx, FunctionalState NewState);
+void DMA_MemoryTargetConfig(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t MemoryBaseAddr,
+                            uint32_t DMA_MemoryTarget);
+uint32_t DMA_GetCurrentMemoryTarget(DMA_Stream_TypeDef* DMAy_Streamx);
+
+/* Interrupts and flags management functions **********************************/
+FunctionalState DMA_GetCmdStatus(DMA_Stream_TypeDef* DMAy_Streamx);
+uint32_t DMA_GetFIFOStatus(DMA_Stream_TypeDef* DMAy_Streamx);
+FlagStatus DMA_GetFlagStatus(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_FLAG);
+void DMA_ClearFlag(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_FLAG);
+void DMA_ITConfig(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_IT, FunctionalState NewState);
+ITStatus DMA_GetITStatus(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_IT);
+void DMA_ClearITPendingBit(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_IT);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__STM32F4xx_DMA_H */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+
--- a/云台/云台/Library/stm32f4xx_dma2d.c
+++ b/云台/云台/Library/stm32f4xx_dma2d.c
@@ -0,0 +1,776 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_dma2d.c
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file provides firmware functions to manage the following 
+  *          functionalities of the DMA2D controller (DMA2D) peripheral:
+  *           + Initialization and configuration
+  *           + Interrupts and flags management
+  *           
+  @verbatim  
+ ===============================================================================
+                      ##### How to use this driver #####
+ ===============================================================================
+    [..]
+        (#) Enable DMA2D clock using 
+            RCC_APB2PeriphResetCmd(RCC_APB2Periph_DMA2D, ENABLE) function.
+            
+        (#) Configures DMA2D
+          (++) transfer mode 
+          (++) pixel format, line_number, pixel_per_line
+          (++) output memory address
+          (++) alpha value
+          (++) output offset
+          (++) Default color (RGB)
+           
+        (#) Configures Foreground or/and background
+          (++) memory address
+          (++) alpha value
+          (++) offset and default color
+  
+        (#) Call the DMA2D_Start() to enable the DMA2D controller.
+        
+    @endverbatim
+  
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_dma2d.h"
+#include "stm32f4xx_rcc.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @defgroup DMA2D 
+  * @brief DMA2D driver modules
+  * @{
+  */
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+#define CR_MASK                     ((uint32_t)0xFFFCE0FC)  /* DMA2D CR Mask */
+#define PFCCR_MASK                  ((uint32_t)0x00FC00C0)  /* DMA2D FGPFCCR Mask */
+#define DEAD_MASK                   ((uint32_t)0xFFFF00FE)  /* DMA2D DEAD Mask */
+
+/** @defgroup DMA2D_Private_Functions
+  * @{
+  */
+
+/** @defgroup DMA2D_Group1 Initialization and Configuration functions
+ *  @brief   Initialization and Configuration functions 
+ *
+@verbatim
+ ===============================================================================
+            ##### Initialization and Configuration functions #####
+ ===============================================================================
+    [..]  This section provides functions allowing to:
+      (+) Initialize and configure the DMA2D
+      (+) Start/Abort/Suspend Transfer
+      (+) Initialize, configure and set Foreground and background
+      (+) configure and enable DeadTime
+      (+) configure lineWatermark
+    
+    
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Deinitializes the DMA2D peripheral registers to their default reset
+  *         values.
+  * @param  None
+  * @retval None
+  */
+
+void DMA2D_DeInit(void)
+{
+  /* Enable DMA2D reset state */
+  RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_DMA2D, ENABLE);
+  /* Release DMA2D from reset state */
+  RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_DMA2D, DISABLE);
+}
+
+
+/**
+  * @brief  Initializes the DMA2D peripheral according to the specified parameters
+  *         in the DMA2D_InitStruct.
+  * @note   This function can be used only when the DMA2D is disabled.
+  * @param  DMA2D_InitStruct: pointer to a DMA2D_InitTypeDef structure that contains
+  *         the configuration information for the specified DMA2D peripheral.
+  * @retval None
+  */
+void DMA2D_Init(DMA2D_InitTypeDef* DMA2D_InitStruct)
+{
+
+  uint32_t outgreen = 0;
+  uint32_t outred   = 0;
+  uint32_t outalpha = 0;
+  uint32_t pixline  = 0;
+
+  /* Check the parameters */
+  assert_param(IS_DMA2D_MODE(DMA2D_InitStruct->DMA2D_Mode));
+  assert_param(IS_DMA2D_CMODE(DMA2D_InitStruct->DMA2D_CMode));
+  assert_param(IS_DMA2D_OGREEN(DMA2D_InitStruct->DMA2D_OutputGreen));
+  assert_param(IS_DMA2D_ORED(DMA2D_InitStruct->DMA2D_OutputRed));
+  assert_param(IS_DMA2D_OBLUE(DMA2D_InitStruct->DMA2D_OutputBlue));
+  assert_param(IS_DMA2D_OALPHA(DMA2D_InitStruct->DMA2D_OutputAlpha));
+  assert_param(IS_DMA2D_OUTPUT_OFFSET(DMA2D_InitStruct->DMA2D_OutputOffset));
+  assert_param(IS_DMA2D_LINE(DMA2D_InitStruct->DMA2D_NumberOfLine));
+  assert_param(IS_DMA2D_PIXEL(DMA2D_InitStruct->DMA2D_PixelPerLine));
+
+  /* Configures the DMA2D operation mode */
+  DMA2D->CR &= (uint32_t)CR_MASK;
+  DMA2D->CR |= (DMA2D_InitStruct->DMA2D_Mode);
+
+  /* Configures the color mode of the output image */
+  DMA2D->OPFCCR &= ~(uint32_t)DMA2D_OPFCCR_CM;
+  DMA2D->OPFCCR |= (DMA2D_InitStruct->DMA2D_CMode);
+
+  /* Configures the output color */
+
+  if (DMA2D_InitStruct->DMA2D_CMode == DMA2D_ARGB8888)
+  {
+    outgreen = DMA2D_InitStruct->DMA2D_OutputGreen << 8;
+    outred = DMA2D_InitStruct->DMA2D_OutputRed << 16;
+    outalpha = DMA2D_InitStruct->DMA2D_OutputAlpha << 24;
+  }
+  else
+  
+    if (DMA2D_InitStruct->DMA2D_CMode == DMA2D_RGB888)
+    {
+      outgreen = DMA2D_InitStruct->DMA2D_OutputGreen << 8;
+      outred = DMA2D_InitStruct->DMA2D_OutputRed << 16;
+      outalpha = (uint32_t)0x00000000;
+    }
+     
+  else
+
+    if (DMA2D_InitStruct->DMA2D_CMode == DMA2D_RGB565)
+    {
+      outgreen = DMA2D_InitStruct->DMA2D_OutputGreen << 5;
+      outred = DMA2D_InitStruct->DMA2D_OutputRed << 11;
+      outalpha = (uint32_t)0x00000000;
+    }
+
+  else
+
+    if (DMA2D_InitStruct->DMA2D_CMode == DMA2D_ARGB1555)
+    {  
+      outgreen = DMA2D_InitStruct->DMA2D_OutputGreen << 5;
+      outred = DMA2D_InitStruct->DMA2D_OutputRed << 10;
+      outalpha = DMA2D_InitStruct->DMA2D_OutputAlpha << 15;
+    }
+
+  else /* DMA2D_CMode = DMA2D_ARGB4444 */
+  {
+    outgreen = DMA2D_InitStruct->DMA2D_OutputGreen << 4;
+    outred = DMA2D_InitStruct->DMA2D_OutputRed << 8;
+    outalpha = DMA2D_InitStruct->DMA2D_OutputAlpha << 12;
+  }  
+  DMA2D->OCOLR = ((outgreen) | (outred) | (DMA2D_InitStruct->DMA2D_OutputBlue) | (outalpha));
+
+  /* Configures the output memory address */
+  DMA2D->OMAR = (DMA2D_InitStruct->DMA2D_OutputMemoryAdd);
+
+  /* Configure  the line Offset */
+  DMA2D->OOR &= ~(uint32_t)DMA2D_OOR_LO;
+  DMA2D->OOR |= (DMA2D_InitStruct->DMA2D_OutputOffset);
+
+  /* Configure the number of line and pixel per line */
+  pixline = DMA2D_InitStruct->DMA2D_PixelPerLine << 16; 
+  DMA2D->NLR &= ~(DMA2D_NLR_NL | DMA2D_NLR_PL);
+  DMA2D->NLR |= ((DMA2D_InitStruct->DMA2D_NumberOfLine) | (pixline));
+
+/**
+  * @brief  Fills each DMA2D_InitStruct member with its default value.
+  * @param  DMA2D_InitStruct: pointer to a DMA2D_InitTypeDef structure which will
+  *         be initialized.
+  * @retval None
+  */
+}
+void DMA2D_StructInit(DMA2D_InitTypeDef* DMA2D_InitStruct)
+{
+  /* Initialize the transfer mode member */
+  DMA2D_InitStruct->DMA2D_Mode = DMA2D_M2M;
+
+  /* Initialize the output color mode members */
+  DMA2D_InitStruct->DMA2D_CMode = DMA2D_ARGB8888;
+
+  /* Initialize the alpha and RGB values */
+  DMA2D_InitStruct->DMA2D_OutputGreen = 0x00;
+  DMA2D_InitStruct->DMA2D_OutputBlue = 0x00;
+  DMA2D_InitStruct->DMA2D_OutputRed = 0x00;
+  DMA2D_InitStruct->DMA2D_OutputAlpha = 0x00;
+
+  /* Initialize the output memory address */
+  DMA2D_InitStruct->DMA2D_OutputMemoryAdd = 0x00;
+
+  /* Initialize the output offset */
+  DMA2D_InitStruct->DMA2D_OutputOffset = 0x00;
+
+  /* Initialize the number of line and the number of pixel per line */
+  DMA2D_InitStruct->DMA2D_NumberOfLine = 0x00;
+  DMA2D_InitStruct->DMA2D_PixelPerLine = 0x00;
+}
+
+/**
+  * @brief  Start the DMA2D transfer.
+  * @param 
+  * @retval None
+  */
+
+void DMA2D_StartTransfer(void)
+{
+    /* Start DMA2D transfer by setting START bit */
+    DMA2D->CR |= (uint32_t)DMA2D_CR_START;
+}
+
+/**
+  * @brief  Abort the DMA2D transfer.
+  * @param
+  * @retval None
+  */
+
+void DMA2D_AbortTransfer(void)
+{
+    /* Start DMA2D transfer by setting START bit */
+    DMA2D->CR |= (uint32_t)DMA2D_CR_ABORT;
+
+}
+
+/**
+  * @brief  Stop or continue the DMA2D transfer.
+  * @param  NewState: new state of the DMA2D peripheral.
+  *   This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void DMA2D_Suspend(FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    /* Suspend DMA2D transfer by setting STOP bit */
+    DMA2D->CR |= (uint32_t)DMA2D_CR_SUSP;
+  }
+  else
+  {
+    /* Continue DMA2D transfer by clearing STOP bit */
+    DMA2D->CR &= ~(uint32_t)DMA2D_CR_SUSP;
+  }
+}
+
+/**
+  * @brief  Configures the Foreground according to the specified parameters
+  *         in the DMA2D_FGStruct.
+  * @note   This function can be used only when the transfer is disabled.
+  * @param  DMA2D_FGStruct: pointer to a DMA2D_FGTypeDef structure that contains
+  *         the configuration information for the specified Background.
+  * @retval None
+  */
+void DMA2D_FGConfig(DMA2D_FG_InitTypeDef* DMA2D_FG_InitStruct)
+{
+
+  uint32_t fg_clutcolormode = 0;
+  uint32_t fg_clutsize = 0;
+  uint32_t fg_alpha_mode = 0;
+  uint32_t fg_alphavalue = 0;
+  uint32_t fg_colorgreen = 0;
+  uint32_t fg_colorred = 0;
+
+  assert_param(IS_DMA2D_FGO(DMA2D_FG_InitStruct->DMA2D_FGO));
+  assert_param(IS_DMA2D_FGCM(DMA2D_FG_InitStruct->DMA2D_FGCM));
+  assert_param(IS_DMA2D_FG_CLUT_CM(DMA2D_FG_InitStruct->DMA2D_FG_CLUT_CM));
+  assert_param(IS_DMA2D_FG_CLUT_SIZE(DMA2D_FG_InitStruct->DMA2D_FG_CLUT_SIZE));
+  assert_param(IS_DMA2D_FG_ALPHA_MODE(DMA2D_FG_InitStruct->DMA2D_FGPFC_ALPHA_MODE));
+  assert_param(IS_DMA2D_FG_ALPHA_VALUE(DMA2D_FG_InitStruct->DMA2D_FGPFC_ALPHA_VALUE));
+  assert_param(IS_DMA2D_FGC_BLUE(DMA2D_FG_InitStruct->DMA2D_FGC_BLUE));
+  assert_param(IS_DMA2D_FGC_GREEN(DMA2D_FG_InitStruct->DMA2D_FGC_GREEN));
+  assert_param(IS_DMA2D_FGC_RED(DMA2D_FG_InitStruct->DMA2D_FGC_RED));
+
+  /* Configures the FG memory address */
+  DMA2D->FGMAR = (DMA2D_FG_InitStruct->DMA2D_FGMA);
+
+  /* Configures the FG offset */
+  DMA2D->FGOR &= ~(uint32_t)DMA2D_FGOR_LO;
+  DMA2D->FGOR |= (DMA2D_FG_InitStruct->DMA2D_FGO);
+
+  /* Configures foreground Pixel Format Convertor */
+  DMA2D->FGPFCCR &= (uint32_t)PFCCR_MASK;
+  fg_clutcolormode = DMA2D_FG_InitStruct->DMA2D_FG_CLUT_CM << 4;
+  fg_clutsize = DMA2D_FG_InitStruct->DMA2D_FG_CLUT_SIZE << 8;
+  fg_alpha_mode = DMA2D_FG_InitStruct->DMA2D_FGPFC_ALPHA_MODE << 16;
+  fg_alphavalue = DMA2D_FG_InitStruct->DMA2D_FGPFC_ALPHA_VALUE << 24;
+  DMA2D->FGPFCCR |= (DMA2D_FG_InitStruct->DMA2D_FGCM | fg_clutcolormode | fg_clutsize | \
+                    fg_alpha_mode | fg_alphavalue);
+
+  /* Configures foreground color */
+  DMA2D->FGCOLR &= ~(DMA2D_FGCOLR_BLUE | DMA2D_FGCOLR_GREEN | DMA2D_FGCOLR_RED);
+  fg_colorgreen = DMA2D_FG_InitStruct->DMA2D_FGC_GREEN << 8;
+  fg_colorred = DMA2D_FG_InitStruct->DMA2D_FGC_RED << 16;
+  DMA2D->FGCOLR |= (DMA2D_FG_InitStruct->DMA2D_FGC_BLUE | fg_colorgreen | fg_colorred);
+
+  /* Configures foreground CLUT memory address */
+  DMA2D->FGCMAR = DMA2D_FG_InitStruct->DMA2D_FGCMAR;
+}
+
+/**
+  * @brief  Fills each DMA2D_FGStruct member with its default value.
+  * @param  DMA2D_FGStruct: pointer to a DMA2D_FGTypeDef structure which will
+  *         be initialized.
+  * @retval None
+  */
+void DMA2D_FG_StructInit(DMA2D_FG_InitTypeDef* DMA2D_FG_InitStruct)
+{
+  /*!< Initialize the DMA2D foreground memory address */
+  DMA2D_FG_InitStruct->DMA2D_FGMA = 0x00;
+
+  /*!< Initialize the DMA2D foreground offset */
+  DMA2D_FG_InitStruct->DMA2D_FGO = 0x00;
+
+  /*!< Initialize the DMA2D foreground color mode */
+  DMA2D_FG_InitStruct->DMA2D_FGCM = CM_ARGB8888;
+
+  /*!< Initialize the DMA2D foreground CLUT color mode */
+  DMA2D_FG_InitStruct->DMA2D_FG_CLUT_CM = CLUT_CM_ARGB8888;
+
+  /*!< Initialize the DMA2D foreground CLUT size */
+  DMA2D_FG_InitStruct->DMA2D_FG_CLUT_SIZE = 0x00;
+
+  /*!< Initialize the DMA2D foreground alpha mode */
+  DMA2D_FG_InitStruct->DMA2D_FGPFC_ALPHA_MODE = NO_MODIF_ALPHA_VALUE;
+
+  /*!< Initialize the DMA2D foreground alpha value */
+  DMA2D_FG_InitStruct->DMA2D_FGPFC_ALPHA_VALUE = 0x00;
+
+  /*!< Initialize the DMA2D foreground blue value */
+  DMA2D_FG_InitStruct->DMA2D_FGC_BLUE = 0x00;
+
+  /*!< Initialize the DMA2D foreground green value */
+  DMA2D_FG_InitStruct->DMA2D_FGC_GREEN = 0x00;
+
+  /*!< Initialize the DMA2D foreground red value */
+  DMA2D_FG_InitStruct->DMA2D_FGC_RED = 0x00;
+
+  /*!< Initialize the DMA2D foreground CLUT memory address */
+  DMA2D_FG_InitStruct->DMA2D_FGCMAR = 0x00;
+}
+
+
+/**
+  * @brief  Configures the Background according to the specified parameters
+  *         in the DMA2D_BGStruct.
+  * @note   This function can be used only when the transfer is disabled.
+  * @param  DMA2D_BGStruct: pointer to a DMA2D_BGTypeDef structure that contains
+  *         the configuration information for the specified Background.
+  * @retval None
+  */
+void DMA2D_BGConfig(DMA2D_BG_InitTypeDef* DMA2D_BG_InitStruct)
+{
+
+  uint32_t bg_clutcolormode = 0;
+  uint32_t bg_clutsize = 0;
+  uint32_t bg_alpha_mode = 0;
+  uint32_t bg_alphavalue = 0;
+  uint32_t bg_colorgreen = 0;
+  uint32_t bg_colorred = 0;
+
+  assert_param(IS_DMA2D_BGO(DMA2D_BG_InitStruct->DMA2D_BGO));
+  assert_param(IS_DMA2D_BGCM(DMA2D_BG_InitStruct->DMA2D_BGCM));
+  assert_param(IS_DMA2D_BG_CLUT_CM(DMA2D_BG_InitStruct->DMA2D_BG_CLUT_CM));
+  assert_param(IS_DMA2D_BG_CLUT_SIZE(DMA2D_BG_InitStruct->DMA2D_BG_CLUT_SIZE));
+  assert_param(IS_DMA2D_BG_ALPHA_MODE(DMA2D_BG_InitStruct->DMA2D_BGPFC_ALPHA_MODE));
+  assert_param(IS_DMA2D_BG_ALPHA_VALUE(DMA2D_BG_InitStruct->DMA2D_BGPFC_ALPHA_VALUE));
+  assert_param(IS_DMA2D_BGC_BLUE(DMA2D_BG_InitStruct->DMA2D_BGC_BLUE));
+  assert_param(IS_DMA2D_BGC_GREEN(DMA2D_BG_InitStruct->DMA2D_BGC_GREEN));
+  assert_param(IS_DMA2D_BGC_RED(DMA2D_BG_InitStruct->DMA2D_BGC_RED));
+
+  /* Configures the BG memory address */
+  DMA2D->BGMAR = (DMA2D_BG_InitStruct->DMA2D_BGMA);
+
+  /* Configures the BG offset */
+  DMA2D->BGOR &= ~(uint32_t)DMA2D_BGOR_LO;
+  DMA2D->BGOR |= (DMA2D_BG_InitStruct->DMA2D_BGO);
+
+  /* Configures background Pixel Format Convertor */
+  DMA2D->BGPFCCR &= (uint32_t)PFCCR_MASK;
+  bg_clutcolormode = DMA2D_BG_InitStruct->DMA2D_BG_CLUT_CM << 4;
+  bg_clutsize = DMA2D_BG_InitStruct->DMA2D_BG_CLUT_SIZE << 8;
+  bg_alpha_mode = DMA2D_BG_InitStruct->DMA2D_BGPFC_ALPHA_MODE << 16;
+  bg_alphavalue = DMA2D_BG_InitStruct->DMA2D_BGPFC_ALPHA_VALUE << 24;
+  DMA2D->BGPFCCR |= (DMA2D_BG_InitStruct->DMA2D_BGCM | bg_clutcolormode | bg_clutsize | \
+                    bg_alpha_mode | bg_alphavalue);
+
+  /* Configures background color */
+  DMA2D->BGCOLR &= ~(DMA2D_BGCOLR_BLUE | DMA2D_BGCOLR_GREEN | DMA2D_BGCOLR_RED);
+  bg_colorgreen = DMA2D_BG_InitStruct->DMA2D_BGC_GREEN << 8;
+  bg_colorred = DMA2D_BG_InitStruct->DMA2D_BGC_RED << 16;
+  DMA2D->BGCOLR |= (DMA2D_BG_InitStruct->DMA2D_BGC_BLUE | bg_colorgreen | bg_colorred);
+  
+  /* Configures background CLUT memory address */
+  DMA2D->BGCMAR = DMA2D_BG_InitStruct->DMA2D_BGCMAR;
+
+}
+
+/**
+  * @brief  Fills each DMA2D_BGStruct member with its default value.
+  * @param  DMA2D_BGStruct: pointer to a DMA2D_BGTypeDef structure which will
+  *         be initialized.
+  * @retval None
+  */
+void DMA2D_BG_StructInit(DMA2D_BG_InitTypeDef* DMA2D_BG_InitStruct)
+{
+  /*!< Initialize the DMA2D background memory address */
+  DMA2D_BG_InitStruct->DMA2D_BGMA = 0x00;
+
+  /*!< Initialize the DMA2D background offset */
+  DMA2D_BG_InitStruct->DMA2D_BGO = 0x00;
+
+  /*!< Initialize the DMA2D background color mode */
+  DMA2D_BG_InitStruct->DMA2D_BGCM = CM_ARGB8888;
+
+  /*!< Initialize the DMA2D background CLUT color mode */
+  DMA2D_BG_InitStruct->DMA2D_BG_CLUT_CM = CLUT_CM_ARGB8888;
+
+  /*!< Initialize the DMA2D background CLUT size */
+  DMA2D_BG_InitStruct->DMA2D_BG_CLUT_SIZE = 0x00;
+
+  /*!< Initialize the DMA2D background alpha mode */
+  DMA2D_BG_InitStruct->DMA2D_BGPFC_ALPHA_MODE = NO_MODIF_ALPHA_VALUE;
+
+  /*!< Initialize the DMA2D background alpha value */
+  DMA2D_BG_InitStruct->DMA2D_BGPFC_ALPHA_VALUE = 0x00;
+
+  /*!< Initialize the DMA2D background blue value */
+  DMA2D_BG_InitStruct->DMA2D_BGC_BLUE = 0x00;
+
+  /*!< Initialize the DMA2D background green value */
+  DMA2D_BG_InitStruct->DMA2D_BGC_GREEN = 0x00;
+
+  /*!< Initialize the DMA2D background red value */
+  DMA2D_BG_InitStruct->DMA2D_BGC_RED = 0x00;
+
+  /*!< Initialize the DMA2D background CLUT memory address */
+  DMA2D_BG_InitStruct->DMA2D_BGCMAR = 0x00;
+}
+
+/**
+  * @brief  Start the automatic loading of the CLUT or abort the transfer.
+  * @param  NewState: new state of the DMA2D peripheral.
+  *   This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+
+void DMA2D_FGStart(FunctionalState NewState) 
+{
+  /* Check the parameters */
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    /* Start the automatic loading of the CLUT */
+    DMA2D->FGPFCCR |= DMA2D_FGPFCCR_START;
+  }
+  else
+  {
+    /* abort the transfer */
+    DMA2D->FGPFCCR &= (uint32_t)~DMA2D_FGPFCCR_START;
+  }
+}
+
+/**
+  * @brief  Start the automatic loading of the CLUT or abort the transfer.
+  * @param  NewState: new state of the DMA2D peripheral.
+  *   This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+  
+void DMA2D_BGStart(FunctionalState NewState) 
+{
+  /* Check the parameters */
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+  
+  if (NewState != DISABLE)
+  {
+    /* Start the automatic loading of the CLUT */
+    DMA2D->BGPFCCR |= DMA2D_BGPFCCR_START;
+  }
+  else
+  {
+    /* abort the transfer */
+    DMA2D->BGPFCCR &= (uint32_t)~DMA2D_BGPFCCR_START;
+  }
+}
+
+/**
+  * @brief  Configures the DMA2D dead time.
+  * @param  DMA2D_DeadTime: specifies the DMA2D dead time.
+  *   This parameter can be one of the following values:
+  * @retval None
+  */
+void DMA2D_DeadTimeConfig(uint32_t DMA2D_DeadTime, FunctionalState NewState)
+{
+   uint32_t DeadTime;
+
+  /* Check the parameters */
+  assert_param(IS_DMA2D_DEAD_TIME(DMA2D_DeadTime));
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    /* Enable and Configures the dead time */
+    DMA2D->AMTCR &= (uint32_t)DEAD_MASK;
+    DeadTime = DMA2D_DeadTime << 8;
+    DMA2D->AMTCR |= (DeadTime | DMA2D_AMTCR_EN);
+  }
+  else
+  {
+     DMA2D->AMTCR &= ~(uint32_t)DMA2D_AMTCR_EN;
+  }
+}
+
+/**
+  * @brief  Define the configuration of the line watermark .
+  * @param  DMA2D_LWatermarkConfig: Line Watermark configuration.
+  * @retval None
+  */
+
+void DMA2D_LineWatermarkConfig(uint32_t DMA2D_LWatermarkConfig)
+{
+  /* Check the parameters */
+  assert_param(IS_DMA2D_LineWatermark(DMA2D_LWatermarkConfig));
+
+  /* Sets the Line watermark configuration */
+  DMA2D->LWR = (uint32_t)DMA2D_LWatermarkConfig;
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup DMA2D_Group2 Interrupts and flags management functions
+ *  @brief   Interrupts and flags management functions
+ *
+@verbatim
+ ===============================================================================
+            ##### Interrupts and flags management functions #####
+ ===============================================================================
+
+    [..] This section provides functions allowing to configure the DMA2D 
+         Interrupts and to get the status and clear flags and Interrupts 
+         pending bits.
+    [..] The DMA2D provides 6 Interrupts sources and 6 Flags
+    
+    *** Flags ***
+    =============
+    [..]
+      (+) DMA2D_FLAG_CE : Configuration Error Interrupt flag
+      (+) DMA2D_FLAG_CAE: CLUT Access Error Interrupt flag
+      (+) DMA2D_FLAG_TW:  Transfer Watermark Interrupt flag
+      (+) DMA2D_FLAG_TC:  Transfer Complete interrupt flag
+      (+) DMA2D_FLAG_TE:  Transfer Error interrupt flag
+      (+) DMA2D_FLAG_CTC: CLUT Transfer Complete Interrupt flag
+      
+    *** Interrupts ***
+    ==================
+    [..]
+      (+) DMA2D_IT_CE: Configuration Error Interrupt is generated when a wrong 
+                       configuration is detected
+      (+) DMA2D_IT_CAE: CLUT Access Error Interrupt
+      (+) DMA2D_IT_TW: Transfer Watermark Interrupt is generated when 
+                       the programmed watermark is reached 
+      (+) DMA2D_IT_TE: Transfer Error interrupt is generated when the CPU trying 
+                       to access the CLUT while a CLUT loading or a DMA2D1 transfer 
+                       is on going       
+      (+) DMA2D_IT_CTC: CLUT Transfer Complete Interrupt 
+      (+) DMA2D_IT_TC: Transfer Complete interrupt         
+@endverbatim
+  * @{
+  */
+/**
+  * @brief  Enables or disables the specified DMA2D's interrupts.
+  * @param  DMA2D_IT: specifies the DMA2D interrupts sources to be enabled or disabled.
+  *   This parameter can be any combination of the following values:
+  *     @arg DMA2D_IT_CE:   Configuration Error Interrupt Enable.
+  *     @arg DMA2D_IT_CTC:  CLUT Transfer Complete Interrupt Enable.
+  *     @arg DMA2D_IT_CAE:  CLUT Access Error Interrupt Enable.
+  *     @arg DMA2D_IT_TW:   Transfer Watermark Interrupt Enable.
+  *     @arg DMA2D_IT_TC:   Transfer Complete interrupt enable.
+  *     @arg DMA2D_IT_TE:   Transfer Error interrupt enable.
+  * @param NewState: new state of the specified DMA2D interrupts.
+  *   This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+
+void DMA2D_ITConfig(uint32_t DMA2D_IT, FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_DMA2D_IT(DMA2D_IT));
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    /* Enable the selected DMA2D interrupts */
+    DMA2D->CR |= DMA2D_IT;
+  }
+  else
+  {
+    /* Disable the selected DMA2D interrupts */
+    DMA2D->CR &= (uint32_t)~DMA2D_IT;
+  }
+}
+
+/**
+  * @brief  Checks whether the specified DMA2D's flag is set or not.
+  * @param  DMA2D_FLAG: specifies the flag to check.
+  *   This parameter can be one of the following values:
+  *     @arg DMA2D_FLAG_CE:   Configuration Error Interrupt flag.
+  *     @arg DMA2D_FLAG_CTC:  CLUT Transfer Complete Interrupt flag.
+  *     @arg DMA2D_FLAG_CAE:  CLUT Access Error Interrupt flag.
+  *     @arg DMA2D_FLAG_TW:   Transfer Watermark Interrupt flag.
+  *     @arg DMA2D_FLAG_TC:   Transfer Complete interrupt flag.
+  *     @arg DMA2D_FLAG_TE:   Transfer Error interrupt flag.
+  * @retval The new state of DMA2D_FLAG (SET or RESET).
+  */
+
+FlagStatus DMA2D_GetFlagStatus(uint32_t DMA2D_FLAG)
+{
+  FlagStatus bitstatus = RESET;
+  
+  /* Check the parameters */
+  assert_param(IS_DMA2D_GET_FLAG(DMA2D_FLAG));
+  
+  /* Check the status of the specified DMA2D flag */
+  if (((DMA2D->ISR) & DMA2D_FLAG) != (uint32_t)RESET)
+  {
+    /* DMA2D_FLAG is set */
+    bitstatus = SET;
+  }
+  else
+  {
+    /* DMA2D_FLAG is reset */
+    bitstatus = RESET;
+  }
+  /* Return the DMA2D_FLAG status */
+  return bitstatus;
+}
+
+/**
+  * @brief  Clears the DMA2D's pending flags.
+  * @param  DMA2D_FLAG: specifies the flag to clear.
+  *   This parameter can be any combination of the following values:
+  *     @arg DMA2D_FLAG_CE:   Configuration Error Interrupt flag.
+  *     @arg DMA2D_FLAG_CTC:  CLUT Transfer Complete Interrupt flag.
+  *     @arg DMA2D_FLAG_CAE:  CLUT Access Error Interrupt flag.
+  *     @arg DMA2D_FLAG_TW:   Transfer Watermark Interrupt flag.
+  *     @arg DMA2D_FLAG_TC:   Transfer Complete interrupt flag.
+  *     @arg DMA2D_FLAG_TE:   Transfer Error interrupt flag.
+  * @retval None
+  */
+void DMA2D_ClearFlag(uint32_t DMA2D_FLAG)
+{
+  /* Check the parameters */
+  assert_param(IS_DMA2D_GET_FLAG(DMA2D_FLAG));
+    
+  /* Clear the corresponding DMA2D flag */
+  DMA2D->IFCR = (uint32_t)DMA2D_FLAG;
+}
+
+/**
+  * @brief  Checks whether the specified DMA2D's interrupt has occurred or not.
+  * @param  DMA2D_IT: specifies the DMA2D interrupts sources to check.
+  *   This parameter can be one of the following values:
+  *     @arg DMA2D_IT_CE:   Configuration Error Interrupt Enable.
+  *     @arg DMA2D_IT_CTC:  CLUT Transfer Complete Interrupt Enable.
+  *     @arg DMA2D_IT_CAE:  CLUT Access Error Interrupt Enable.
+  *     @arg DMA2D_IT_TW:   Transfer Watermark Interrupt Enable.
+  *     @arg DMA2D_IT_TC:   Transfer Complete interrupt enable.
+  *     @arg DMA2D_IT_TE:   Transfer Error interrupt enable.
+  * @retval The new state of the DMA2D_IT (SET or RESET).
+  */
+ITStatus DMA2D_GetITStatus(uint32_t DMA2D_IT)
+{
+  ITStatus bitstatus = RESET;
+  uint32_t DMA2D_IT_FLAG = DMA2D_IT >> 8;
+  
+  /* Check the parameters */
+  assert_param(IS_DMA2D_IT(DMA2D_IT));
+
+  if ((DMA2D->ISR & DMA2D_IT_FLAG) != (uint32_t)RESET)
+  {
+    bitstatus = SET;
+  }
+  else
+  {
+    bitstatus = RESET;
+  }
+  
+  if (((DMA2D->CR & DMA2D_IT) != (uint32_t)RESET) && (bitstatus != (uint32_t)RESET))
+  {
+    bitstatus = SET;
+  }
+  else
+  {
+    bitstatus = RESET;
+  }
+  return bitstatus;
+}
+
+/**
+  * @brief  Clears the DMA2D's interrupt pending bits.
+  * @param  DMA2D_IT: specifies the interrupt pending bit to clear.
+  *   This parameter can be any combination of the following values:
+  *     @arg DMA2D_IT_CE:   Configuration Error Interrupt.
+  *     @arg DMA2D_IT_CTC:  CLUT Transfer Complete Interrupt.
+  *     @arg DMA2D_IT_CAE:  CLUT Access Error Interrupt.
+  *     @arg DMA2D_IT_TW:   Transfer Watermark Interrupt.
+  *     @arg DMA2D_IT_TC:   Transfer Complete interrupt.
+  *     @arg DMA2D_IT_TE:   Transfer Error interrupt.
+  * @retval None
+  */
+void DMA2D_ClearITPendingBit(uint32_t DMA2D_IT)
+{
+  /* Check the parameters */
+  assert_param(IS_DMA2D_IT(DMA2D_IT));
+  DMA2D_IT = DMA2D_IT >> 8;
+    
+  /* Clear the corresponding DMA2D Interrupt */
+  DMA2D->IFCR = (uint32_t)DMA2D_IT;
+}
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
--- a/云台/云台/Library/stm32f4xx_dma2d.h
+++ b/云台/云台/Library/stm32f4xx_dma2d.h
@@ -0,0 +1,467 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_dma2d.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file contains all the functions prototypes for the DMA2D firmware 
+  *          library.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_DMA2D_H
+#define __STM32F4xx_DMA2D_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup DMA2D
+  * @{
+  */ 
+
+/* Exported types ------------------------------------------------------------*/
+ 
+/** 
+  * @brief  DMA2D Init structure definition  
+  */
+
+typedef struct
+{
+  uint32_t DMA2D_Mode;                           /*!< configures the DMA2D transfer mode.
+                                                 This parameter can be one value of @ref DMA2D_MODE */
+  
+  uint32_t DMA2D_CMode;                          /*!< configures the color format of the output image.
+                                                 This parameter can be one value of @ref DMA2D_CMODE */
+
+  uint32_t DMA2D_OutputBlue;                     /*!< configures the blue value of the output image. 
+                                                 This parameter must range:
+                                                 - from 0x00 to 0xFF if ARGB8888 color mode is slected
+                                                 - from 0x00 to 0xFF if RGB888 color mode is slected
+                                                 - from 0x00 to 0x1F if RGB565 color mode is slected
+                                                 - from 0x00 to 0x1F if ARGB1555 color mode is slected
+                                                 - from 0x00 to 0x0F if ARGB4444 color mode is slected  */
+
+  uint32_t DMA2D_OutputGreen;                    /*!< configures the green value of the output image. 
+                                                 This parameter must range:
+                                                 - from 0x00 to 0xFF if ARGB8888 color mode is selected
+                                                 - from 0x00 to 0xFF if RGB888 color mode is selected
+                                                 - from 0x00 to 0x2F if RGB565 color mode is selected
+                                                 - from 0x00 to 0x1F if ARGB1555 color mode is selected
+                                                 - from 0x00 to 0x0F if ARGB4444 color mode is selected  */
+            
+  uint32_t DMA2D_OutputRed;                      /*!< configures the red value of the output image. 
+                                                 This parameter must range:
+                                                 - from 0x00 to 0xFF if ARGB8888 color mode is slected
+                                                 - from 0x00 to 0xFF if RGB888 color mode is slected
+                                                 - from 0x00 to 0x1F if RGB565 color mode is slected
+                                                 - from 0x00 to 0x1F if ARGB1555 color mode is slected
+                                                 - from 0x00 to 0x0F if ARGB4444 color mode is slected  */
+  
+  uint32_t DMA2D_OutputAlpha;                    /*!< configures the alpha channel of the output color. 
+                                                 This parameter must range:
+                                                 - from 0x00 to 0xFF if ARGB8888 color mode is selected
+                                                 - from 0x00 to 0x01 if ARGB1555 color mode is selected
+                                                 - from 0x00 to 0x0F if ARGB4444 color mode is selected  */
+
+  uint32_t DMA2D_OutputMemoryAdd;                /*!< Specifies the memory address. This parameter 
+                                                 must be range from 0x00000000 to 0xFFFFFFFF. */
+
+  uint32_t DMA2D_OutputOffset;                   /*!< Specifies the Offset value. This parameter must be range from
+                                                 0x0000 to 0x3FFF. */
+
+  uint32_t DMA2D_NumberOfLine;                   /*!< Configures the number of line of the area to be transfered.
+                                                 This parameter must range from 0x0000 to 0xFFFF */
+            
+  uint32_t DMA2D_PixelPerLine;                   /*!< Configures the number pixel per line of the area to be transferred.
+                                                 This parameter must range from 0x0000 to 0x3FFF */
+} DMA2D_InitTypeDef;
+
+
+
+typedef struct
+{
+  uint32_t DMA2D_FGMA;                           /*!< configures the DMA2D foreground memory address.
+                                                 This parameter must be range from 0x00000000 to 0xFFFFFFFF. */
+  
+  uint32_t DMA2D_FGO;                            /*!< configures the DMA2D foreground offset.
+                                                 This parameter must be range from 0x0000 to 0x3FFF. */
+
+  uint32_t DMA2D_FGCM;                           /*!< configures the DMA2D foreground color mode . 
+                                                 This parameter can be one value of @ref DMA2D_FGCM */
+
+  uint32_t DMA2D_FG_CLUT_CM;                     /*!< configures the DMA2D foreground CLUT color mode. 
+                                                 This parameter can be one value of @ref DMA2D_FG_CLUT_CM */
+            
+  uint32_t DMA2D_FG_CLUT_SIZE;                   /*!< configures the DMA2D foreground CLUT size. 
+                                                 This parameter must range from 0x00 to 0xFF. */
+  
+  uint32_t DMA2D_FGPFC_ALPHA_MODE;               /*!< configures the DMA2D foreground alpha mode. 
+                                                 This parameter can be one value of @ref DMA2D_FGPFC_ALPHA_MODE */
+
+  uint32_t DMA2D_FGPFC_ALPHA_VALUE;              /*!< Specifies the DMA2D foreground alpha value 
+                                                 must be range from 0x00 to 0xFF. */
+
+  uint32_t DMA2D_FGC_BLUE;                       /*!< Specifies the DMA2D foreground blue value 
+                                                 must be range from 0x00 to 0xFF. */
+
+  uint32_t DMA2D_FGC_GREEN;                      /*!< Specifies the DMA2D foreground green value 
+                                                 must be range from 0x00 to 0xFF. */
+
+  uint32_t DMA2D_FGC_RED;                        /*!< Specifies the DMA2D foreground red value 
+                                                 must be range from 0x00 to 0xFF. */
+            
+  uint32_t DMA2D_FGCMAR;                         /*!< Configures the DMA2D foreground CLUT memory address.
+                                                 This parameter must range from 0x00000000 to 0xFFFFFFFF. */
+} DMA2D_FG_InitTypeDef;
+
+
+typedef struct
+{
+  uint32_t DMA2D_BGMA;                           /*!< configures the DMA2D background memory address.
+                                                 This parameter must be range from 0x00000000 to 0xFFFFFFFF. */
+  
+  uint32_t DMA2D_BGO;                            /*!< configures the DMA2D background offset.
+                                                 This parameter must be range from 0x0000 to 0x3FFF. */
+
+  uint32_t DMA2D_BGCM;                           /*!< configures the DMA2D background color mode . 
+                                                 This parameter can be one value of @ref DMA2D_FGCM */
+
+  uint32_t DMA2D_BG_CLUT_CM;                     /*!< configures the DMA2D background CLUT color mode. 
+                                                 This parameter can be one value of @ref DMA2D_FG_CLUT_CM */
+            
+  uint32_t DMA2D_BG_CLUT_SIZE;                   /*!< configures the DMA2D background CLUT size. 
+                                                 This parameter must range from 0x00 to 0xFF. */
+  
+  uint32_t DMA2D_BGPFC_ALPHA_MODE;               /*!< configures the DMA2D background alpha mode. 
+                                                 This parameter can be one value of @ref DMA2D_FGPFC_ALPHA_MODE */
+
+  uint32_t DMA2D_BGPFC_ALPHA_VALUE;              /*!< Specifies the DMA2D background alpha value 
+                                                 must be range from 0x00 to 0xFF. */
+
+  uint32_t DMA2D_BGC_BLUE;                       /*!< Specifies the DMA2D background blue value 
+                                                 must be range from 0x00 to 0xFF. */
+
+  uint32_t DMA2D_BGC_GREEN;                      /*!< Specifies the DMA2D background green value 
+                                                 must be range from 0x00 to 0xFF. */
+
+  uint32_t DMA2D_BGC_RED;                        /*!< Specifies the DMA2D background red value 
+                                                 must be range from 0x00 to 0xFF. */
+            
+  uint32_t DMA2D_BGCMAR;                         /*!< Configures the DMA2D background CLUT memory address.
+                                                 This parameter must range from 0x00000000 to 0xFFFFFFFF. */
+} DMA2D_BG_InitTypeDef;
+
+
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup DMA2D_Exported_Constants
+  * @{
+  */  
+
+/** @defgroup DMA2D_MODE 
+  * @{
+  */
+
+
+#define DMA2D_M2M                            ((uint32_t)0x00000000)
+#define DMA2D_M2M_PFC                        ((uint32_t)0x00010000)
+#define DMA2D_M2M_BLEND                      ((uint32_t)0x00020000)
+#define DMA2D_R2M                            ((uint32_t)0x00030000)
+
+#define IS_DMA2D_MODE(MODE) (((MODE) == DMA2D_M2M) || ((MODE) == DMA2D_M2M_PFC) || \
+                             ((MODE) == DMA2D_M2M_BLEND) || ((MODE) == DMA2D_R2M))
+
+
+/**
+  * @}
+  */  
+
+/** @defgroup DMA2D_CMODE 
+  * @{
+  */
+#define DMA2D_ARGB8888                       ((uint32_t)0x00000000)
+#define DMA2D_RGB888                         ((uint32_t)0x00000001)
+#define DMA2D_RGB565                         ((uint32_t)0x00000002)
+#define DMA2D_ARGB1555                       ((uint32_t)0x00000003)
+#define DMA2D_ARGB4444                       ((uint32_t)0x00000004)
+
+#define IS_DMA2D_CMODE(MODE_ARGB) (((MODE_ARGB) == DMA2D_ARGB8888) || ((MODE_ARGB) == DMA2D_RGB888) || \
+                                   ((MODE_ARGB) == DMA2D_RGB565) || ((MODE_ARGB) == DMA2D_ARGB1555) || \
+                                   ((MODE_ARGB) == DMA2D_ARGB4444))
+
+
+/**
+  * @}
+  */  
+
+/** @defgroup DMA2D_OUTPUT_COLOR 
+  * @{
+  */
+#define DMA2D_Output_Color                 ((uint32_t)0x000000FF)
+
+#define IS_DMA2D_OGREEN(OGREEN) ((OGREEN) <= DMA2D_Output_Color)
+#define IS_DMA2D_ORED(ORED)     ((ORED) <= DMA2D_Output_Color)
+#define IS_DMA2D_OBLUE(OBLUE)   ((OBLUE) <= DMA2D_Output_Color)
+#define IS_DMA2D_OALPHA(OALPHA) ((OALPHA) <= DMA2D_Output_Color)
+
+/**
+  * @}
+  */  
+
+/** @defgroup DMA2D_OUTPUT_OFFSET 
+  * @{
+  */
+#define DMA2D_OUTPUT_OFFSET      ((uint32_t)0x00003FFF)
+
+#define IS_DMA2D_OUTPUT_OFFSET(OOFFSET) ((OOFFSET) <= DMA2D_OUTPUT_OFFSET)
+
+
+/**
+  * @}
+  */  
+
+/** @defgroup DMA2D_SIZE 
+  * @{
+  */
+
+#define DMA2D_pixel          ((uint32_t)0x00003FFF)
+#define DMA2D_Line           ((uint32_t)0x0000FFFF)
+
+#define IS_DMA2D_LINE(LINE)  ((LINE) <= DMA2D_Line)
+#define IS_DMA2D_PIXEL(PIXEL) ((PIXEL) <= DMA2D_pixel)
+
+
+/**
+  * @}
+  */  
+
+/** @defgroup DMA2D_OFFSET
+  * @{
+  */
+#define OFFSET               ((uint32_t)0x00003FFF)
+
+#define IS_DMA2D_FGO(FGO)  ((FGO) <= OFFSET)
+
+#define IS_DMA2D_BGO(BGO)  ((BGO) <= OFFSET) 
+
+/**
+  * @}
+  */  
+
+
+/** @defgroup DMA2D_FGCM
+  * @{
+  */
+
+#define CM_ARGB8888        ((uint32_t)0x00000000)
+#define CM_RGB888          ((uint32_t)0x00000001)
+#define CM_RGB565          ((uint32_t)0x00000002)
+#define CM_ARGB1555        ((uint32_t)0x00000003)
+#define CM_ARGB4444        ((uint32_t)0x00000004)
+#define CM_L8              ((uint32_t)0x00000005)
+#define CM_AL44            ((uint32_t)0x00000006)
+#define CM_AL88            ((uint32_t)0x00000007)
+#define CM_L4              ((uint32_t)0x00000008)
+#define CM_A8              ((uint32_t)0x00000009)
+#define CM_A4              ((uint32_t)0x0000000A)
+
+#define IS_DMA2D_FGCM(FGCM) (((FGCM) == CM_ARGB8888) || ((FGCM) == CM_RGB888) || \
+                             ((FGCM) == CM_RGB565) || ((FGCM) == CM_ARGB1555) || \
+                             ((FGCM) == CM_ARGB4444) || ((FGCM) == CM_L8) || \
+                             ((FGCM) == CM_AL44) || ((FGCM) == CM_AL88) || \
+                             ((FGCM) == CM_L4) || ((FGCM) == CM_A8) || \
+                             ((FGCM) == CM_A4))
+
+#define IS_DMA2D_BGCM(BGCM) (((BGCM) == CM_ARGB8888) || ((BGCM) == CM_RGB888) || \
+                             ((BGCM) == CM_RGB565) || ((BGCM) == CM_ARGB1555) || \
+                             ((BGCM) == CM_ARGB4444) || ((BGCM) == CM_L8) || \
+                             ((BGCM) == CM_AL44) || ((BGCM) == CM_AL88) || \
+                             ((BGCM) == CM_L4) || ((BGCM) == CM_A8) || \
+                             ((BGCM) == CM_A4))
+
+/**
+  * @}
+  */
+
+/** @defgroup DMA2D_FG_CLUT_CM
+  * @{
+  */
+
+#define CLUT_CM_ARGB8888        ((uint32_t)0x00000000)
+#define CLUT_CM_RGB888          ((uint32_t)0x00000001)
+
+#define IS_DMA2D_FG_CLUT_CM(FG_CLUT_CM) (((FG_CLUT_CM) == CLUT_CM_ARGB8888) || ((FG_CLUT_CM) == CLUT_CM_RGB888))
+
+#define IS_DMA2D_BG_CLUT_CM(BG_CLUT_CM) (((BG_CLUT_CM) == CLUT_CM_ARGB8888) || ((BG_CLUT_CM) == CLUT_CM_RGB888))
+
+/**
+  * @}
+  */
+
+/** @defgroup DMA2D_FG_COLOR_VALUE
+  * @{
+  */
+
+#define COLOR_VALUE             ((uint32_t)0x000000FF)
+
+#define IS_DMA2D_FG_CLUT_SIZE(FG_CLUT_SIZE) ((FG_CLUT_SIZE) <= COLOR_VALUE)
+
+#define IS_DMA2D_FG_ALPHA_VALUE(FG_ALPHA_VALUE) ((FG_ALPHA_VALUE) <= COLOR_VALUE)
+#define IS_DMA2D_FGC_BLUE(FGC_BLUE) ((FGC_BLUE) <= COLOR_VALUE)
+#define IS_DMA2D_FGC_GREEN(FGC_GREEN) ((FGC_GREEN) <= COLOR_VALUE)
+#define IS_DMA2D_FGC_RED(FGC_RED) ((FGC_RED) <= COLOR_VALUE)
+
+#define IS_DMA2D_BG_CLUT_SIZE(BG_CLUT_SIZE) ((BG_CLUT_SIZE) <= COLOR_VALUE)
+
+#define IS_DMA2D_BG_ALPHA_VALUE(BG_ALPHA_VALUE) ((BG_ALPHA_VALUE) <= COLOR_VALUE)
+#define IS_DMA2D_BGC_BLUE(BGC_BLUE) ((BGC_BLUE) <= COLOR_VALUE)
+#define IS_DMA2D_BGC_GREEN(BGC_GREEN) ((BGC_GREEN) <= COLOR_VALUE)
+#define IS_DMA2D_BGC_RED(BGC_RED) ((BGC_RED) <= COLOR_VALUE)
+
+/**
+  * @}
+  */
+
+/** DMA2D_FGPFC_ALPHA_MODE
+  * @{
+  */
+
+#define NO_MODIF_ALPHA_VALUE       ((uint32_t)0x00000000)
+#define REPLACE_ALPHA_VALUE        ((uint32_t)0x00000001)
+#define COMBINE_ALPHA_VALUE        ((uint32_t)0x00000002)
+
+#define IS_DMA2D_FG_ALPHA_MODE(FG_ALPHA_MODE) (((FG_ALPHA_MODE) ==  NO_MODIF_ALPHA_VALUE) || \
+                                              ((FG_ALPHA_MODE) == REPLACE_ALPHA_VALUE) || \
+                                              ((FG_ALPHA_MODE) == COMBINE_ALPHA_VALUE))
+
+#define IS_DMA2D_BG_ALPHA_MODE(BG_ALPHA_MODE) (((BG_ALPHA_MODE) ==  NO_MODIF_ALPHA_VALUE) || \
+                                              ((BG_ALPHA_MODE) == REPLACE_ALPHA_VALUE) || \
+                                              ((BG_ALPHA_MODE) == COMBINE_ALPHA_VALUE))
+
+/**
+  * @}
+  */
+
+/** @defgroup DMA2D_Interrupts 
+  * @{
+  */
+
+#define DMA2D_IT_CE                      DMA2D_CR_CEIE
+#define DMA2D_IT_CTC                     DMA2D_CR_CTCIE
+#define DMA2D_IT_CAE                     DMA2D_CR_CAEIE
+#define DMA2D_IT_TW                      DMA2D_CR_TWIE
+#define DMA2D_IT_TC                      DMA2D_CR_TCIE
+#define DMA2D_IT_TE                      DMA2D_CR_TEIE
+
+#define IS_DMA2D_IT(IT) (((IT) == DMA2D_IT_CTC) || ((IT) == DMA2D_IT_CAE) || \
+                        ((IT) == DMA2D_IT_TW) || ((IT) == DMA2D_IT_TC) || \
+                        ((IT) == DMA2D_IT_TE) || ((IT) == DMA2D_IT_CE))
+
+/**
+  * @}
+  */
+      
+/** @defgroup DMA2D_Flag 
+  * @{
+  */
+
+#define DMA2D_FLAG_CE                      DMA2D_ISR_CEIF
+#define DMA2D_FLAG_CTC                     DMA2D_ISR_CTCIF
+#define DMA2D_FLAG_CAE                     DMA2D_ISR_CAEIF
+#define DMA2D_FLAG_TW                      DMA2D_ISR_TWIF
+#define DMA2D_FLAG_TC                      DMA2D_ISR_TCIF
+#define DMA2D_FLAG_TE                      DMA2D_ISR_TEIF
+
+
+#define IS_DMA2D_GET_FLAG(FLAG) (((FLAG) == DMA2D_FLAG_CTC) || ((FLAG) == DMA2D_FLAG_CAE) || \
+                                ((FLAG) == DMA2D_FLAG_TW) || ((FLAG) == DMA2D_FLAG_TC) || \
+                                ((FLAG) == DMA2D_FLAG_TE) || ((FLAG) == DMA2D_FLAG_CE)) 
+
+
+/**
+  * @}
+  */
+      
+/** @defgroup DMA2D_DeadTime 
+  * @{
+  */
+
+#define DEADTIME                  ((uint32_t)0x000000FF)
+  
+#define IS_DMA2D_DEAD_TIME(DEAD_TIME) ((DEAD_TIME) <= DEADTIME)
+
+
+#define LINE_WATERMARK            DMA2D_LWR_LW
+
+#define IS_DMA2D_LineWatermark(LineWatermark) ((LineWatermark) <= LINE_WATERMARK)
+
+/**
+  * @}
+  */
+  
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions ------------------------------------------------------- */
+
+/*  Function used to set the DMA2D configuration to the default reset state *****/
+void DMA2D_DeInit(void);
+
+/* Initialization and Configuration functions *********************************/
+void DMA2D_Init(DMA2D_InitTypeDef* DMA2D_InitStruct);
+void DMA2D_StructInit(DMA2D_InitTypeDef* DMA2D_InitStruct);
+void DMA2D_StartTransfer(void);
+void DMA2D_AbortTransfer(void);
+void DMA2D_Suspend(FunctionalState NewState);
+void DMA2D_FGConfig(DMA2D_FG_InitTypeDef* DMA2D_FG_InitStruct);
+void DMA2D_FG_StructInit(DMA2D_FG_InitTypeDef* DMA2D_FG_InitStruct);
+void DMA2D_BGConfig(DMA2D_BG_InitTypeDef* DMA2D_BG_InitStruct);
+void DMA2D_BG_StructInit(DMA2D_BG_InitTypeDef* DMA2D_BG_InitStruct);
+void DMA2D_FGStart(FunctionalState NewState);
+void DMA2D_BGStart(FunctionalState NewState);
+void DMA2D_DeadTimeConfig(uint32_t DMA2D_DeadTime, FunctionalState NewState);
+void DMA2D_LineWatermarkConfig(uint32_t DMA2D_LWatermarkConfig);
+
+/* Interrupts and flags management functions **********************************/
+void DMA2D_ITConfig(uint32_t DMA2D_IT, FunctionalState NewState);
+FlagStatus DMA2D_GetFlagStatus(uint32_t DMA2D_FLAG);
+void DMA2D_ClearFlag(uint32_t DMA2D_FLAG);
+ITStatus DMA2D_GetITStatus(uint32_t DMA2D_IT);
+void DMA2D_ClearITPendingBit(uint32_t DMA2D_IT);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F4xx_DMA2D_H */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
--- a/云台/云台/Library/stm32f4xx_dsi.c
+++ b/云台/云台/Library/stm32f4xx_dsi.c
--- a/云台/云台/Library/stm32f4xx_dsi.h
+++ b/云台/云台/Library/stm32f4xx_dsi.h
--- a/云台/云台/Library/stm32f4xx_exti.c
+++ b/云台/云台/Library/stm32f4xx_exti.c
@@ -0,0 +1,304 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_exti.c
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file provides firmware functions to manage the following 
+  *          functionalities of the EXTI peripheral:
+  *           + Initialization and Configuration
+  *           + Interrupts and flags management
+  *
+@verbatim  
+
+ ===============================================================================
+                              ##### EXTI features #####
+ ===============================================================================
+
+ [..] External interrupt/event lines are mapped as following:
+   (#) All available GPIO pins are connected to the 16 external 
+       interrupt/event lines from EXTI0 to EXTI15.
+   (#) EXTI line 16 is connected to the PVD Output
+   (#) EXTI line 17 is connected to the RTC Alarm event
+   (#) EXTI line 18 is connected to the USB OTG FS Wakeup from suspend event
+   (#) EXTI line 19 is connected to the Ethernet Wakeup event
+   (#) EXTI line 20 is connected to the USB OTG HS (configured in FS) Wakeup event 
+   (#) EXTI line 21 is connected to the RTC Tamper and Time Stamp events
+   (#) EXTI line 22 is connected to the RTC Wakeup event
+   (#) EXTI line 23 is connected to the LPTIM Wakeup event 
+
+                       ##### How to use this driver #####
+ ===============================================================================
+ 
+ [..] In order to use an I/O pin as an external interrupt source, follow steps 
+      below:
+   (#) Configure the I/O in input mode using GPIO_Init()
+   (#) Select the input source pin for the EXTI line using SYSCFG_EXTILineConfig()
+   (#) Select the mode(interrupt, event) and configure the trigger 
+       selection (Rising, falling or both) using EXTI_Init()
+   (#) Configure NVIC IRQ channel mapped to the EXTI line using NVIC_Init()
+
+ [..]     
+   (@) SYSCFG APB clock must be enabled to get write access to SYSCFG_EXTICRx
+       registers using RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
+
+@endverbatim
+  *
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_exti.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @defgroup EXTI 
+  * @brief EXTI driver modules
+  * @{
+  */
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+
+#define EXTI_LINENONE    ((uint32_t)0x00000)  /* No interrupt selected */
+
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/** @defgroup EXTI_Private_Functions
+  * @{
+  */
+
+/** @defgroup EXTI_Group1 Initialization and Configuration functions
+ *  @brief   Initialization and Configuration functions 
+ *
+@verbatim   
+ ===============================================================================
+             ##### Initialization and Configuration functions #####
+ ===============================================================================
+
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Deinitializes the EXTI peripheral registers to their default reset values.
+  * @param  None
+  * @retval None
+  */
+void EXTI_DeInit(void)
+{
+  EXTI->IMR = 0x00000000;
+  EXTI->EMR = 0x00000000;
+  EXTI->RTSR = 0x00000000;
+  EXTI->FTSR = 0x00000000;
+  EXTI->PR = 0x007FFFFF;
+}
+
+/**
+  * @brief  Initializes the EXTI peripheral according to the specified
+  *         parameters in the EXTI_InitStruct.
+  * @param  EXTI_InitStruct: pointer to a EXTI_InitTypeDef structure
+  *         that contains the configuration information for the EXTI peripheral.
+  * @retval None
+  */
+void EXTI_Init(EXTI_InitTypeDef* EXTI_InitStruct)
+{
+  uint32_t tmp = 0;
+
+  /* Check the parameters */
+  assert_param(IS_EXTI_MODE(EXTI_InitStruct->EXTI_Mode));
+  assert_param(IS_EXTI_TRIGGER(EXTI_InitStruct->EXTI_Trigger));
+  assert_param(IS_EXTI_LINE(EXTI_InitStruct->EXTI_Line));  
+  assert_param(IS_FUNCTIONAL_STATE(EXTI_InitStruct->EXTI_LineCmd));
+
+  tmp = (uint32_t)EXTI_BASE;
+     
+  if (EXTI_InitStruct->EXTI_LineCmd != DISABLE)
+  {
+    /* Clear EXTI line configuration */
+    EXTI->IMR &= ~EXTI_InitStruct->EXTI_Line;
+    EXTI->EMR &= ~EXTI_InitStruct->EXTI_Line;
+    
+    tmp += EXTI_InitStruct->EXTI_Mode;
+
+    *(__IO uint32_t *) tmp |= EXTI_InitStruct->EXTI_Line;
+
+    /* Clear Rising Falling edge configuration */
+    EXTI->RTSR &= ~EXTI_InitStruct->EXTI_Line;
+    EXTI->FTSR &= ~EXTI_InitStruct->EXTI_Line;
+    
+    /* Select the trigger for the selected external interrupts */
+    if (EXTI_InitStruct->EXTI_Trigger == EXTI_Trigger_Rising_Falling)
+    {
+      /* Rising Falling edge */
+      EXTI->RTSR |= EXTI_InitStruct->EXTI_Line;
+      EXTI->FTSR |= EXTI_InitStruct->EXTI_Line;
+    }
+    else
+    {
+      tmp = (uint32_t)EXTI_BASE;
+      tmp += EXTI_InitStruct->EXTI_Trigger;
+
+      *(__IO uint32_t *) tmp |= EXTI_InitStruct->EXTI_Line;
+    }
+  }
+  else
+  {
+    tmp += EXTI_InitStruct->EXTI_Mode;
+
+    /* Disable the selected external lines */
+    *(__IO uint32_t *) tmp &= ~EXTI_InitStruct->EXTI_Line;
+  }
+}
+
+/**
+  * @brief  Fills each EXTI_InitStruct member with its reset value.
+  * @param  EXTI_InitStruct: pointer to a EXTI_InitTypeDef structure which will
+  *         be initialized.
+  * @retval None
+  */
+void EXTI_StructInit(EXTI_InitTypeDef* EXTI_InitStruct)
+{
+  EXTI_InitStruct->EXTI_Line = EXTI_LINENONE;
+  EXTI_InitStruct->EXTI_Mode = EXTI_Mode_Interrupt;
+  EXTI_InitStruct->EXTI_Trigger = EXTI_Trigger_Falling;
+  EXTI_InitStruct->EXTI_LineCmd = DISABLE;
+}
+
+/**
+  * @brief  Generates a Software interrupt on selected EXTI line.
+  * @param  EXTI_Line: specifies the EXTI line on which the software interrupt
+  *         will be generated.
+  *         This parameter can be any combination of EXTI_Linex where x can be (0..22)
+  * @retval None
+  */
+void EXTI_GenerateSWInterrupt(uint32_t EXTI_Line)
+{
+  /* Check the parameters */
+  assert_param(IS_EXTI_LINE(EXTI_Line));
+  
+  EXTI->SWIER |= EXTI_Line;
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup EXTI_Group2 Interrupts and flags management functions
+ *  @brief   Interrupts and flags management functions 
+ *
+@verbatim   
+ ===============================================================================
+             ##### Interrupts and flags management functions #####
+ ===============================================================================
+
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Checks whether the specified EXTI line flag is set or not.
+  * @param  EXTI_Line: specifies the EXTI line flag to check.
+  *          This parameter can be EXTI_Linex where x can be(0..22)
+  * @retval The new state of EXTI_Line (SET or RESET).
+  */
+FlagStatus EXTI_GetFlagStatus(uint32_t EXTI_Line)
+{
+  FlagStatus bitstatus = RESET;
+  /* Check the parameters */
+  assert_param(IS_GET_EXTI_LINE(EXTI_Line));
+  
+  if ((EXTI->PR & EXTI_Line) != (uint32_t)RESET)
+  {
+    bitstatus = SET;
+  }
+  else
+  {
+    bitstatus = RESET;
+  }
+  return bitstatus;
+}
+
+/**
+  * @brief  Clears the EXTI's line pending flags.
+  * @param  EXTI_Line: specifies the EXTI lines flags to clear.
+  *          This parameter can be any combination of EXTI_Linex where x can be (0..22)
+  * @retval None
+  */
+void EXTI_ClearFlag(uint32_t EXTI_Line)
+{
+  /* Check the parameters */
+  assert_param(IS_EXTI_LINE(EXTI_Line));
+  
+  EXTI->PR = EXTI_Line;
+}
+
+/**
+  * @brief  Checks whether the specified EXTI line is asserted or not.
+  * @param  EXTI_Line: specifies the EXTI line to check.
+  *          This parameter can be EXTI_Linex where x can be(0..22)
+  * @retval The new state of EXTI_Line (SET or RESET).
+  */
+ITStatus EXTI_GetITStatus(uint32_t EXTI_Line)
+{
+  FlagStatus bitstatus = RESET;
+  /* Check the parameters */
+  assert_param(IS_GET_EXTI_LINE(EXTI_Line));
+  
+  if ((EXTI->PR & EXTI_Line) != (uint32_t)RESET)
+  {
+    bitstatus = SET;
+  }
+  else
+  {
+    bitstatus = RESET;
+  }
+  return bitstatus;
+  
+}
+
+/**
+  * @brief  Clears the EXTI's line pending bits.
+  * @param  EXTI_Line: specifies the EXTI lines to clear.
+  *          This parameter can be any combination of EXTI_Linex where x can be (0..22)
+  * @retval None
+  */
+void EXTI_ClearITPendingBit(uint32_t EXTI_Line)
+{
+  /* Check the parameters */
+  assert_param(IS_EXTI_LINE(EXTI_Line));
+  
+  EXTI->PR = EXTI_Line;
+}
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
--- a/云台/云台/Library/stm32f4xx_exti.h
+++ b/云台/云台/Library/stm32f4xx_exti.h
@@ -0,0 +1,177 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_exti.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file contains all the functions prototypes for the EXTI firmware
+  *          library.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_EXTI_H
+#define __STM32F4xx_EXTI_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup EXTI
+  * @{
+  */
+
+/* Exported types ------------------------------------------------------------*/
+
+/** 
+  * @brief  EXTI mode enumeration  
+  */
+
+typedef enum
+{
+  EXTI_Mode_Interrupt = 0x00,
+  EXTI_Mode_Event = 0x04
+}EXTIMode_TypeDef;
+
+#define IS_EXTI_MODE(MODE) (((MODE) == EXTI_Mode_Interrupt) || ((MODE) == EXTI_Mode_Event))
+
+/** 
+  * @brief  EXTI Trigger enumeration  
+  */
+
+typedef enum
+{
+  EXTI_Trigger_Rising = 0x08,
+  EXTI_Trigger_Falling = 0x0C,  
+  EXTI_Trigger_Rising_Falling = 0x10
+}EXTITrigger_TypeDef;
+
+#define IS_EXTI_TRIGGER(TRIGGER) (((TRIGGER) == EXTI_Trigger_Rising) || \
+                                  ((TRIGGER) == EXTI_Trigger_Falling) || \
+                                  ((TRIGGER) == EXTI_Trigger_Rising_Falling))
+/** 
+  * @brief  EXTI Init Structure definition  
+  */
+
+typedef struct
+{
+  uint32_t EXTI_Line;               /*!< Specifies the EXTI lines to be enabled or disabled.
+                                         This parameter can be any combination value of @ref EXTI_Lines */
+   
+  EXTIMode_TypeDef EXTI_Mode;       /*!< Specifies the mode for the EXTI lines.
+                                         This parameter can be a value of @ref EXTIMode_TypeDef */
+
+  EXTITrigger_TypeDef EXTI_Trigger; /*!< Specifies the trigger signal active edge for the EXTI lines.
+                                         This parameter can be a value of @ref EXTITrigger_TypeDef */
+
+  FunctionalState EXTI_LineCmd;     /*!< Specifies the new state of the selected EXTI lines.
+                                         This parameter can be set either to ENABLE or DISABLE */ 
+}EXTI_InitTypeDef;
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup EXTI_Exported_Constants
+  * @{
+  */
+
+/** @defgroup EXTI_Lines 
+  * @{
+  */
+
+#define EXTI_Line0       ((uint32_t)0x00001)     /*!< External interrupt line 0 */
+#define EXTI_Line1       ((uint32_t)0x00002)     /*!< External interrupt line 1 */
+#define EXTI_Line2       ((uint32_t)0x00004)     /*!< External interrupt line 2 */
+#define EXTI_Line3       ((uint32_t)0x00008)     /*!< External interrupt line 3 */
+#define EXTI_Line4       ((uint32_t)0x00010)     /*!< External interrupt line 4 */
+#define EXTI_Line5       ((uint32_t)0x00020)     /*!< External interrupt line 5 */
+#define EXTI_Line6       ((uint32_t)0x00040)     /*!< External interrupt line 6 */
+#define EXTI_Line7       ((uint32_t)0x00080)     /*!< External interrupt line 7 */
+#define EXTI_Line8       ((uint32_t)0x00100)     /*!< External interrupt line 8 */
+#define EXTI_Line9       ((uint32_t)0x00200)     /*!< External interrupt line 9 */
+#define EXTI_Line10      ((uint32_t)0x00400)     /*!< External interrupt line 10 */
+#define EXTI_Line11      ((uint32_t)0x00800)     /*!< External interrupt line 11 */
+#define EXTI_Line12      ((uint32_t)0x01000)     /*!< External interrupt line 12 */
+#define EXTI_Line13      ((uint32_t)0x02000)     /*!< External interrupt line 13 */
+#define EXTI_Line14      ((uint32_t)0x04000)     /*!< External interrupt line 14 */
+#define EXTI_Line15      ((uint32_t)0x08000)     /*!< External interrupt line 15 */
+#define EXTI_Line16      ((uint32_t)0x10000)     /*!< External interrupt line 16 Connected to the PVD Output */
+#define EXTI_Line17      ((uint32_t)0x20000)     /*!< External interrupt line 17 Connected to the RTC Alarm event */
+#define EXTI_Line18      ((uint32_t)0x40000)     /*!< External interrupt line 18 Connected to the USB OTG FS Wakeup from suspend event */                                    
+#define EXTI_Line19      ((uint32_t)0x80000)     /*!< External interrupt line 19 Connected to the Ethernet Wakeup event */
+#define EXTI_Line20      ((uint32_t)0x00100000)  /*!< External interrupt line 20 Connected to the USB OTG HS (configured in FS) Wakeup event  */
+#define EXTI_Line21      ((uint32_t)0x00200000)  /*!< External interrupt line 21 Connected to the RTC Tamper and Time Stamp events */                                               
+#define EXTI_Line22      ((uint32_t)0x00400000)  /*!< External interrupt line 22 Connected to the RTC Wakeup event */
+#define EXTI_Line23      ((uint32_t)0x00800000)  /*!< External interrupt line 23 Connected to the LPTIM Wakeup event */
+
+                                          
+#define IS_EXTI_LINE(LINE) ((((LINE) & (uint32_t)0xFF800000) == 0x00) && ((LINE) != (uint16_t)0x00))
+
+#define IS_GET_EXTI_LINE(LINE) (((LINE) == EXTI_Line0) || ((LINE) == EXTI_Line1) || \
+                                ((LINE) == EXTI_Line2) || ((LINE) == EXTI_Line3) || \
+                                ((LINE) == EXTI_Line4) || ((LINE) == EXTI_Line5) || \
+                                ((LINE) == EXTI_Line6) || ((LINE) == EXTI_Line7) || \
+                                ((LINE) == EXTI_Line8) || ((LINE) == EXTI_Line9) || \
+                                ((LINE) == EXTI_Line10) || ((LINE) == EXTI_Line11) || \
+                                ((LINE) == EXTI_Line12) || ((LINE) == EXTI_Line13) || \
+                                ((LINE) == EXTI_Line14) || ((LINE) == EXTI_Line15) || \
+                                ((LINE) == EXTI_Line16) || ((LINE) == EXTI_Line17) || \
+                                ((LINE) == EXTI_Line18) || ((LINE) == EXTI_Line19) || \
+                                ((LINE) == EXTI_Line20) || ((LINE) == EXTI_Line21) ||\
+                                ((LINE) == EXTI_Line22) || ((LINE) == EXTI_Line23))
+                    
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/
+
+/*  Function used to set the EXTI configuration to the default reset state *****/
+void EXTI_DeInit(void);
+
+/* Initialization and Configuration functions *********************************/
+void EXTI_Init(EXTI_InitTypeDef* EXTI_InitStruct);
+void EXTI_StructInit(EXTI_InitTypeDef* EXTI_InitStruct);
+void EXTI_GenerateSWInterrupt(uint32_t EXTI_Line);
+
+/* Interrupts and flags management functions **********************************/
+FlagStatus EXTI_GetFlagStatus(uint32_t EXTI_Line);
+void EXTI_ClearFlag(uint32_t EXTI_Line);
+ITStatus EXTI_GetITStatus(uint32_t EXTI_Line);
+void EXTI_ClearITPendingBit(uint32_t EXTI_Line);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F4xx_EXTI_H */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
--- a/云台/云台/Library/stm32f4xx_flash.c
+++ b/云台/云台/Library/stm32f4xx_flash.c
--- a/云台/云台/Library/stm32f4xx_flash.h
+++ b/云台/云台/Library/stm32f4xx_flash.h
@@ -0,0 +1,489 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_flash.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file contains all the functions prototypes for the FLASH 
+  *          firmware library.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_FLASH_H
+#define __STM32F4xx_FLASH_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup FLASH
+  * @{
+  */ 
+
+/* Exported types ------------------------------------------------------------*/
+/** 
+  * @brief FLASH Status  
+  */ 
+typedef enum
+{ 
+  FLASH_BUSY = 1,
+  FLASH_ERROR_RD,
+  FLASH_ERROR_PGS,
+  FLASH_ERROR_PGP,
+  FLASH_ERROR_PGA,
+  FLASH_ERROR_WRP,
+  FLASH_ERROR_PROGRAM,
+  FLASH_ERROR_OPERATION,
+  FLASH_COMPLETE
+}FLASH_Status;
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup FLASH_Exported_Constants
+  * @{
+  */  
+
+/** @defgroup Flash_Latency 
+  * @{
+  */ 
+#define FLASH_Latency_0                ((uint8_t)0x0000)  /*!< FLASH Zero Latency cycle      */
+#define FLASH_Latency_1                ((uint8_t)0x0001)  /*!< FLASH One Latency cycle       */
+#define FLASH_Latency_2                ((uint8_t)0x0002)  /*!< FLASH Two Latency cycles      */
+#define FLASH_Latency_3                ((uint8_t)0x0003)  /*!< FLASH Three Latency cycles    */
+#define FLASH_Latency_4                ((uint8_t)0x0004)  /*!< FLASH Four Latency cycles     */
+#define FLASH_Latency_5                ((uint8_t)0x0005)  /*!< FLASH Five Latency cycles     */
+#define FLASH_Latency_6                ((uint8_t)0x0006)  /*!< FLASH Six Latency cycles      */
+#define FLASH_Latency_7                ((uint8_t)0x0007)  /*!< FLASH Seven Latency cycles    */
+#define FLASH_Latency_8                ((uint8_t)0x0008)  /*!< FLASH Eight Latency cycles    */
+#define FLASH_Latency_9                ((uint8_t)0x0009)  /*!< FLASH Nine Latency cycles     */
+#define FLASH_Latency_10               ((uint8_t)0x000A)  /*!< FLASH Ten Latency cycles      */
+#define FLASH_Latency_11               ((uint8_t)0x000B)  /*!< FLASH Eleven Latency cycles   */
+#define FLASH_Latency_12               ((uint8_t)0x000C)  /*!< FLASH Twelve Latency cycles   */
+#define FLASH_Latency_13               ((uint8_t)0x000D)  /*!< FLASH Thirteen Latency cycles */
+#define FLASH_Latency_14               ((uint8_t)0x000E)  /*!< FLASH Fourteen Latency cycles */
+#define FLASH_Latency_15               ((uint8_t)0x000F)  /*!< FLASH Fifteen Latency cycles  */
+
+
+#define IS_FLASH_LATENCY(LATENCY) (((LATENCY) == FLASH_Latency_0)  || \
+                                   ((LATENCY) == FLASH_Latency_1)  || \
+                                   ((LATENCY) == FLASH_Latency_2)  || \
+                                   ((LATENCY) == FLASH_Latency_3)  || \
+                                   ((LATENCY) == FLASH_Latency_4)  || \
+                                   ((LATENCY) == FLASH_Latency_5)  || \
+                                   ((LATENCY) == FLASH_Latency_6)  || \
+                                   ((LATENCY) == FLASH_Latency_7)  || \
+                                   ((LATENCY) == FLASH_Latency_8)  || \
+                                   ((LATENCY) == FLASH_Latency_9)  || \
+                                   ((LATENCY) == FLASH_Latency_10) || \
+                                   ((LATENCY) == FLASH_Latency_11) || \
+                                   ((LATENCY) == FLASH_Latency_12) || \
+                                   ((LATENCY) == FLASH_Latency_13) || \
+                                   ((LATENCY) == FLASH_Latency_14) || \
+                                   ((LATENCY) == FLASH_Latency_15))
+/**
+  * @}
+  */ 
+
+/** @defgroup FLASH_Voltage_Range 
+  * @{
+  */ 
+#define VoltageRange_1        ((uint8_t)0x00)  /*!< Device operating range: 1.8V to 2.1V */
+#define VoltageRange_2        ((uint8_t)0x01)  /*!<Device operating range: 2.1V to 2.7V */
+#define VoltageRange_3        ((uint8_t)0x02)  /*!<Device operating range: 2.7V to 3.6V */
+#define VoltageRange_4        ((uint8_t)0x03)  /*!<Device operating range: 2.7V to 3.6V + External Vpp */
+
+#define IS_VOLTAGERANGE(RANGE)(((RANGE) == VoltageRange_1) || \
+                               ((RANGE) == VoltageRange_2) || \
+                               ((RANGE) == VoltageRange_3) || \
+                               ((RANGE) == VoltageRange_4))
+/**
+  * @}
+  */ 
+
+/** @defgroup FLASH_Sectors
+  * @{
+  */
+#define FLASH_Sector_0     ((uint16_t)0x0000) /*!< Sector Number 0   */
+#define FLASH_Sector_1     ((uint16_t)0x0008) /*!< Sector Number 1   */
+#define FLASH_Sector_2     ((uint16_t)0x0010) /*!< Sector Number 2   */
+#define FLASH_Sector_3     ((uint16_t)0x0018) /*!< Sector Number 3   */
+#define FLASH_Sector_4     ((uint16_t)0x0020) /*!< Sector Number 4   */
+#define FLASH_Sector_5     ((uint16_t)0x0028) /*!< Sector Number 5   */
+#define FLASH_Sector_6     ((uint16_t)0x0030) /*!< Sector Number 6   */
+#define FLASH_Sector_7     ((uint16_t)0x0038) /*!< Sector Number 7   */
+#define FLASH_Sector_8     ((uint16_t)0x0040) /*!< Sector Number 8   */
+#define FLASH_Sector_9     ((uint16_t)0x0048) /*!< Sector Number 9   */
+#define FLASH_Sector_10    ((uint16_t)0x0050) /*!< Sector Number 10  */
+#define FLASH_Sector_11    ((uint16_t)0x0058) /*!< Sector Number 11  */
+#define FLASH_Sector_12    ((uint16_t)0x0080) /*!< Sector Number 12  */
+#define FLASH_Sector_13    ((uint16_t)0x0088) /*!< Sector Number 13  */
+#define FLASH_Sector_14    ((uint16_t)0x0090) /*!< Sector Number 14  */
+#define FLASH_Sector_15    ((uint16_t)0x0098) /*!< Sector Number 15  */
+#define FLASH_Sector_16    ((uint16_t)0x00A0) /*!< Sector Number 16  */
+#define FLASH_Sector_17    ((uint16_t)0x00A8) /*!< Sector Number 17  */
+#define FLASH_Sector_18    ((uint16_t)0x00B0) /*!< Sector Number 18  */
+#define FLASH_Sector_19    ((uint16_t)0x00B8) /*!< Sector Number 19  */
+#define FLASH_Sector_20    ((uint16_t)0x00C0) /*!< Sector Number 20  */
+#define FLASH_Sector_21    ((uint16_t)0x00C8) /*!< Sector Number 21  */
+#define FLASH_Sector_22    ((uint16_t)0x00D0) /*!< Sector Number 22  */
+#define FLASH_Sector_23    ((uint16_t)0x00D8) /*!< Sector Number 23  */
+
+#define IS_FLASH_SECTOR(SECTOR) (((SECTOR) == FLASH_Sector_0)   || ((SECTOR) == FLASH_Sector_1)   ||\
+                                 ((SECTOR) == FLASH_Sector_2)   || ((SECTOR) == FLASH_Sector_3)   ||\
+                                 ((SECTOR) == FLASH_Sector_4)   || ((SECTOR) == FLASH_Sector_5)   ||\
+                                 ((SECTOR) == FLASH_Sector_6)   || ((SECTOR) == FLASH_Sector_7)   ||\
+                                 ((SECTOR) == FLASH_Sector_8)   || ((SECTOR) == FLASH_Sector_9)   ||\
+                                 ((SECTOR) == FLASH_Sector_10)  || ((SECTOR) == FLASH_Sector_11)  ||\
+                                 ((SECTOR) == FLASH_Sector_12)  || ((SECTOR) == FLASH_Sector_13)  ||\
+                                 ((SECTOR) == FLASH_Sector_14)  || ((SECTOR) == FLASH_Sector_15)  ||\
+                                 ((SECTOR) == FLASH_Sector_16)  || ((SECTOR) == FLASH_Sector_17)  ||\
+                                 ((SECTOR) == FLASH_Sector_18)  || ((SECTOR) == FLASH_Sector_19)  ||\
+                                 ((SECTOR) == FLASH_Sector_20)  || ((SECTOR) == FLASH_Sector_21)  ||\
+                                 ((SECTOR) == FLASH_Sector_22)  || ((SECTOR) == FLASH_Sector_23))
+
+#if defined (STM32F427_437xx) || defined (STM32F429_439xx) || defined (STM32F469_479xx)
+#define IS_FLASH_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) <= 0x081FFFFF)) ||\
+                                   (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) <= 0x1FFF7A0F)))  
+#endif /* STM32F427_437xx || STM32F429_439xx || STM32F469_479xx */
+
+#if defined (STM32F40_41xxx) || defined(STM32F412xG)
+#define IS_FLASH_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) <= 0x080FFFFF)) ||\
+                                   (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) <= 0x1FFF7A0F))) 
+#endif /* STM32F40_41xxx || STM32F412xG */
+
+#if defined (STM32F401xx)
+#define IS_FLASH_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) <= 0x0803FFFF)) ||\
+                                   (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) <= 0x1FFF7A0F)))
+#endif /* STM32F401xx */
+
+#if defined (STM32F411xE) || defined (STM32F446xx)
+#define IS_FLASH_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) <= 0x0807FFFF)) ||\
+                                   (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) <= 0x1FFF7A0F)))
+#endif /* STM32F411xE || STM32F446xx */
+
+#if defined (STM32F410xx)
+#define IS_FLASH_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) <= 0x0801FFFF)) ||\
+                                   (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) <= 0x1FFF7A0F)))
+#endif /* STM32F410xx */
+
+#if defined(STM32F413_423xx)
+#define IS_FLASH_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) <= 0x0817FFFF)) ||\
+                                   (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) <= 0x1FFF7BDF)))
+#endif /* STM32F413_423xx */
+/**
+  * @}
+  */ 
+
+/** @defgroup Option_Bytes_Write_Protection 
+  * @{
+  */ 
+#define OB_WRP_Sector_0       ((uint32_t)0x00000001) /*!< Write protection of Sector0     */
+#define OB_WRP_Sector_1       ((uint32_t)0x00000002) /*!< Write protection of Sector1     */
+#define OB_WRP_Sector_2       ((uint32_t)0x00000004) /*!< Write protection of Sector2     */
+#define OB_WRP_Sector_3       ((uint32_t)0x00000008) /*!< Write protection of Sector3     */
+#define OB_WRP_Sector_4       ((uint32_t)0x00000010) /*!< Write protection of Sector4     */
+#define OB_WRP_Sector_5       ((uint32_t)0x00000020) /*!< Write protection of Sector5     */
+#define OB_WRP_Sector_6       ((uint32_t)0x00000040) /*!< Write protection of Sector6     */
+#define OB_WRP_Sector_7       ((uint32_t)0x00000080) /*!< Write protection of Sector7     */
+#define OB_WRP_Sector_8       ((uint32_t)0x00000100) /*!< Write protection of Sector8     */
+#define OB_WRP_Sector_9       ((uint32_t)0x00000200) /*!< Write protection of Sector9     */
+#define OB_WRP_Sector_10      ((uint32_t)0x00000400) /*!< Write protection of Sector10    */
+#define OB_WRP_Sector_11      ((uint32_t)0x00000800) /*!< Write protection of Sector11    */
+#define OB_WRP_Sector_12      ((uint32_t)0x00000001) /*!< Write protection of Sector12    */
+#define OB_WRP_Sector_13      ((uint32_t)0x00000002) /*!< Write protection of Sector13    */
+#define OB_WRP_Sector_14      ((uint32_t)0x00000004) /*!< Write protection of Sector14    */
+#define OB_WRP_Sector_15      ((uint32_t)0x00000008) /*!< Write protection of Sector15    */
+#define OB_WRP_Sector_16      ((uint32_t)0x00000010) /*!< Write protection of Sector16    */
+#define OB_WRP_Sector_17      ((uint32_t)0x00000020) /*!< Write protection of Sector17    */
+#define OB_WRP_Sector_18      ((uint32_t)0x00000040) /*!< Write protection of Sector18    */
+#define OB_WRP_Sector_19      ((uint32_t)0x00000080) /*!< Write protection of Sector19    */
+#define OB_WRP_Sector_20      ((uint32_t)0x00000100) /*!< Write protection of Sector20    */
+#define OB_WRP_Sector_21      ((uint32_t)0x00000200) /*!< Write protection of Sector21    */
+#define OB_WRP_Sector_22      ((uint32_t)0x00000400) /*!< Write protection of Sector22    */
+#define OB_WRP_Sector_23      ((uint32_t)0x00000800) /*!< Write protection of Sector23    */
+#define OB_WRP_Sector_All     ((uint32_t)0x00000FFF) /*!< Write protection of all Sectors */
+
+#define IS_OB_WRP(SECTOR)((((SECTOR) & (uint32_t)0xFFFFF000) == 0x00000000) && ((SECTOR) != 0x00000000))
+/**
+  * @}
+  */
+
+/** @defgroup  Selection_Protection_Mode
+  * @{
+  */
+#define OB_PcROP_Disable   ((uint8_t)0x00) /*!< Disabled PcROP, nWPRi bits used for Write Protection on sector i */
+#define OB_PcROP_Enable    ((uint8_t)0x80) /*!< Enable PcROP, nWPRi bits used for PCRoP Protection on sector i   */
+#define IS_OB_PCROP_SELECT(PCROP) (((PCROP) == OB_PcROP_Disable) || ((PCROP) == OB_PcROP_Enable))
+/**
+  * @}
+  */
+
+/** @defgroup Option_Bytes_PC_ReadWrite_Protection 
+  * @{
+  */ 
+#define OB_PCROP_Sector_0        ((uint32_t)0x00000001) /*!< PC Read/Write protection of Sector0      */
+#define OB_PCROP_Sector_1        ((uint32_t)0x00000002) /*!< PC Read/Write protection of Sector1      */
+#define OB_PCROP_Sector_2        ((uint32_t)0x00000004) /*!< PC Read/Write protection of Sector2      */
+#define OB_PCROP_Sector_3        ((uint32_t)0x00000008) /*!< PC Read/Write protection of Sector3      */
+#define OB_PCROP_Sector_4        ((uint32_t)0x00000010) /*!< PC Read/Write protection of Sector4      */
+#define OB_PCROP_Sector_5        ((uint32_t)0x00000020) /*!< PC Read/Write protection of Sector5      */
+#define OB_PCROP_Sector_6        ((uint32_t)0x00000040) /*!< PC Read/Write protection of Sector6      */
+#define OB_PCROP_Sector_7        ((uint32_t)0x00000080) /*!< PC Read/Write protection of Sector7      */
+#define OB_PCROP_Sector_8        ((uint32_t)0x00000100) /*!< PC Read/Write protection of Sector8      */
+#define OB_PCROP_Sector_9        ((uint32_t)0x00000200) /*!< PC Read/Write protection of Sector9      */
+#define OB_PCROP_Sector_10       ((uint32_t)0x00000400) /*!< PC Read/Write protection of Sector10     */
+#define OB_PCROP_Sector_11       ((uint32_t)0x00000800) /*!< PC Read/Write protection of Sector11     */
+#define OB_PCROP_Sector_12       ((uint32_t)0x00000001) /*!< PC Read/Write protection of Sector12     */
+#define OB_PCROP_Sector_13       ((uint32_t)0x00000002) /*!< PC Read/Write protection of Sector13     */
+#define OB_PCROP_Sector_14       ((uint32_t)0x00000004) /*!< PC Read/Write protection of Sector14     */
+#define OB_PCROP_Sector_15       ((uint32_t)0x00000008) /*!< PC Read/Write protection of Sector15     */
+#define OB_PCROP_Sector_16       ((uint32_t)0x00000010) /*!< PC Read/Write protection of Sector16     */
+#define OB_PCROP_Sector_17       ((uint32_t)0x00000020) /*!< PC Read/Write protection of Sector17     */
+#define OB_PCROP_Sector_18       ((uint32_t)0x00000040) /*!< PC Read/Write protection of Sector18     */
+#define OB_PCROP_Sector_19       ((uint32_t)0x00000080) /*!< PC Read/Write protection of Sector19     */
+#define OB_PCROP_Sector_20       ((uint32_t)0x00000100) /*!< PC Read/Write protection of Sector20     */
+#define OB_PCROP_Sector_21       ((uint32_t)0x00000200) /*!< PC Read/Write protection of Sector21     */
+#define OB_PCROP_Sector_22       ((uint32_t)0x00000400) /*!< PC Read/Write protection of Sector22     */
+#define OB_PCROP_Sector_23       ((uint32_t)0x00000800) /*!< PC Read/Write protection of Sector23     */
+#define OB_PCROP_Sector_All      ((uint32_t)0x00000FFF) /*!< PC Read/Write protection of all Sectors  */
+
+#define IS_OB_PCROP(SECTOR)((((SECTOR) & (uint32_t)0xFFFFF000) == 0x00000000) && ((SECTOR) != 0x00000000))
+/**
+  * @}
+  */
+
+/** @defgroup FLASH_Option_Bytes_Read_Protection 
+  * @{
+  */
+#define OB_RDP_Level_0   ((uint8_t)0xAA)
+#define OB_RDP_Level_1   ((uint8_t)0x55)
+/*#define OB_RDP_Level_2   ((uint8_t)0xCC)*/ /*!< Warning: When enabling read protection level 2 
+                                                  it's no more possible to go back to level 1 or 0 */
+#define IS_OB_RDP(LEVEL) (((LEVEL) == OB_RDP_Level_0)||\
+                          ((LEVEL) == OB_RDP_Level_1))/*||\
+                          ((LEVEL) == OB_RDP_Level_2))*/
+/**
+  * @}
+  */ 
+
+/** @defgroup FLASH_Option_Bytes_IWatchdog 
+  * @{
+  */ 
+#define OB_IWDG_SW                     ((uint8_t)0x20)  /*!< Software IWDG selected */
+#define OB_IWDG_HW                     ((uint8_t)0x00)  /*!< Hardware IWDG selected */
+#define IS_OB_IWDG_SOURCE(SOURCE) (((SOURCE) == OB_IWDG_SW) || ((SOURCE) == OB_IWDG_HW))
+/**
+  * @}
+  */ 
+
+/** @defgroup FLASH_Option_Bytes_nRST_STOP 
+  * @{
+  */ 
+#define OB_STOP_NoRST                  ((uint8_t)0x40) /*!< No reset generated when entering in STOP */
+#define OB_STOP_RST                    ((uint8_t)0x00) /*!< Reset generated when entering in STOP */
+#define IS_OB_STOP_SOURCE(SOURCE) (((SOURCE) == OB_STOP_NoRST) || ((SOURCE) == OB_STOP_RST))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup FLASH_Option_Bytes_nRST_STDBY 
+  * @{
+  */ 
+#define OB_STDBY_NoRST                 ((uint8_t)0x80) /*!< No reset generated when entering in STANDBY */
+#define OB_STDBY_RST                   ((uint8_t)0x00) /*!< Reset generated when entering in STANDBY */
+#define IS_OB_STDBY_SOURCE(SOURCE) (((SOURCE) == OB_STDBY_NoRST) || ((SOURCE) == OB_STDBY_RST))
+/**
+  * @}
+  */
+  
+/** @defgroup FLASH_BOR_Reset_Level 
+  * @{
+  */  
+#define OB_BOR_LEVEL3          ((uint8_t)0x00)  /*!< Supply voltage ranges from 2.70 to 3.60 V */
+#define OB_BOR_LEVEL2          ((uint8_t)0x04)  /*!< Supply voltage ranges from 2.40 to 2.70 V */
+#define OB_BOR_LEVEL1          ((uint8_t)0x08)  /*!< Supply voltage ranges from 2.10 to 2.40 V */
+#define OB_BOR_OFF             ((uint8_t)0x0C)  /*!< Supply voltage ranges from 1.62 to 2.10 V */
+#define IS_OB_BOR(LEVEL) (((LEVEL) == OB_BOR_LEVEL1) || ((LEVEL) == OB_BOR_LEVEL2) ||\
+                          ((LEVEL) == OB_BOR_LEVEL3) || ((LEVEL) == OB_BOR_OFF))
+/**
+  * @}
+  */
+  
+/** @defgroup FLASH_Dual_Boot
+  * @{
+  */
+#define OB_Dual_BootEnabled   ((uint8_t)0x10) /*!< Dual Bank Boot Enable                             */
+#define OB_Dual_BootDisabled  ((uint8_t)0x00) /*!< Dual Bank Boot Disable, always boot on User Flash */
+#define IS_OB_BOOT(BOOT) (((BOOT) == OB_Dual_BootEnabled) || ((BOOT) == OB_Dual_BootDisabled))
+/**
+  * @}
+  */
+
+/** @defgroup FLASH_Interrupts 
+  * @{
+  */ 
+#define FLASH_IT_EOP                   ((uint32_t)0x01000000)  /*!< End of FLASH Operation Interrupt source */
+#define FLASH_IT_ERR                   ((uint32_t)0x02000000)  /*!< Error Interrupt source */
+#define IS_FLASH_IT(IT) ((((IT) & (uint32_t)0xFCFFFFFF) == 0x00000000) && ((IT) != 0x00000000))
+/**
+  * @}
+  */ 
+
+/** @defgroup FLASH_Flags 
+  * @{
+  */ 
+#define FLASH_FLAG_EOP                 ((uint32_t)0x00000001)  /*!< FLASH End of Operation flag               */
+#define FLASH_FLAG_OPERR               ((uint32_t)0x00000002)  /*!< FLASH operation Error flag                */
+#define FLASH_FLAG_WRPERR              ((uint32_t)0x00000010)  /*!< FLASH Write protected error flag          */
+#define FLASH_FLAG_PGAERR              ((uint32_t)0x00000020)  /*!< FLASH Programming Alignment error flag    */
+#define FLASH_FLAG_PGPERR              ((uint32_t)0x00000040)  /*!< FLASH Programming Parallelism error flag  */
+#define FLASH_FLAG_PGSERR              ((uint32_t)0x00000080)  /*!< FLASH Programming Sequence error flag     */
+#define FLASH_FLAG_RDERR               ((uint32_t)0x00000100)  /*!< Read Protection error flag (PCROP)        */
+#define FLASH_FLAG_BSY                 ((uint32_t)0x00010000)  /*!< FLASH Busy flag                           */ 
+#define IS_FLASH_CLEAR_FLAG(FLAG) ((((FLAG) & (uint32_t)0xFFFFFE0C) == 0x00000000) && ((FLAG) != 0x00000000))
+#define IS_FLASH_GET_FLAG(FLAG)  (((FLAG) == FLASH_FLAG_EOP)    || ((FLAG) == FLASH_FLAG_OPERR)  || \
+                                  ((FLAG) == FLASH_FLAG_WRPERR) || ((FLAG) == FLASH_FLAG_PGAERR) || \
+                                  ((FLAG) == FLASH_FLAG_PGPERR) || ((FLAG) == FLASH_FLAG_PGSERR) || \
+                                  ((FLAG) == FLASH_FLAG_BSY)    || ((FLAG) == FLASH_FLAG_RDERR))
+/**
+  * @}
+  */
+
+/** @defgroup FLASH_Program_Parallelism   
+  * @{
+  */
+#define FLASH_PSIZE_BYTE           ((uint32_t)0x00000000)
+#define FLASH_PSIZE_HALF_WORD      ((uint32_t)0x00000100)
+#define FLASH_PSIZE_WORD           ((uint32_t)0x00000200)
+#define FLASH_PSIZE_DOUBLE_WORD    ((uint32_t)0x00000300)
+#define CR_PSIZE_MASK              ((uint32_t)0xFFFFFCFF)
+/**
+  * @}
+  */ 
+
+/** @defgroup FLASH_Keys 
+  * @{
+  */ 
+#define RDP_KEY                  ((uint16_t)0x00A5)
+#define FLASH_KEY1               ((uint32_t)0x45670123)
+#define FLASH_KEY2               ((uint32_t)0xCDEF89AB)
+#define FLASH_OPT_KEY1           ((uint32_t)0x08192A3B)
+#define FLASH_OPT_KEY2           ((uint32_t)0x4C5D6E7F)
+/**
+  * @}
+  */ 
+
+/** 
+  * @brief   ACR register byte 0 (Bits[7:0]) base address  
+  */ 
+#define ACR_BYTE0_ADDRESS           ((uint32_t)0x40023C00) 
+/** 
+  * @brief   OPTCR register byte 0 (Bits[7:0]) base address  
+  */ 
+#define OPTCR_BYTE0_ADDRESS         ((uint32_t)0x40023C14)
+/** 
+  * @brief   OPTCR register byte 1 (Bits[15:8]) base address  
+  */ 
+#define OPTCR_BYTE1_ADDRESS         ((uint32_t)0x40023C15)
+/** 
+  * @brief   OPTCR register byte 2 (Bits[23:16]) base address  
+  */ 
+#define OPTCR_BYTE2_ADDRESS         ((uint32_t)0x40023C16)
+/** 
+  * @brief   OPTCR register byte 3 (Bits[31:24]) base address  
+  */ 
+#define OPTCR_BYTE3_ADDRESS         ((uint32_t)0x40023C17)
+
+/** 
+  * @brief   OPTCR1 register byte 0 (Bits[7:0]) base address  
+  */ 
+#define OPTCR1_BYTE2_ADDRESS         ((uint32_t)0x40023C1A)
+
+/**
+  * @}
+  */ 
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/ 
+ 
+/* FLASH Interface configuration functions ************************************/
+void FLASH_SetLatency(uint32_t FLASH_Latency);
+void FLASH_PrefetchBufferCmd(FunctionalState NewState);
+void FLASH_InstructionCacheCmd(FunctionalState NewState);
+void FLASH_DataCacheCmd(FunctionalState NewState);
+void FLASH_InstructionCacheReset(void);
+void FLASH_DataCacheReset(void);
+
+/* FLASH Memory Programming functions *****************************************/   
+void         FLASH_Unlock(void);
+void         FLASH_Lock(void);
+FLASH_Status FLASH_EraseSector(uint32_t FLASH_Sector, uint8_t VoltageRange);
+FLASH_Status FLASH_EraseAllSectors(uint8_t VoltageRange);
+FLASH_Status FLASH_EraseAllBank1Sectors(uint8_t VoltageRange);
+FLASH_Status FLASH_EraseAllBank2Sectors(uint8_t VoltageRange);
+FLASH_Status FLASH_ProgramDoubleWord(uint32_t Address, uint64_t Data);
+FLASH_Status FLASH_ProgramWord(uint32_t Address, uint32_t Data);
+FLASH_Status FLASH_ProgramHalfWord(uint32_t Address, uint16_t Data);
+FLASH_Status FLASH_ProgramByte(uint32_t Address, uint8_t Data);
+
+/* Option Bytes Programming functions *****************************************/ 
+void         FLASH_OB_Unlock(void);
+void         FLASH_OB_Lock(void);
+void         FLASH_OB_WRPConfig(uint32_t OB_WRP, FunctionalState NewState);
+void         FLASH_OB_WRP1Config(uint32_t OB_WRP, FunctionalState NewState);
+void         FLASH_OB_PCROPSelectionConfig(uint8_t OB_PcROP);
+void         FLASH_OB_PCROPConfig(uint32_t OB_PCROP, FunctionalState NewState);
+void         FLASH_OB_PCROP1Config(uint32_t OB_PCROP, FunctionalState NewState);
+void         FLASH_OB_RDPConfig(uint8_t OB_RDP);
+void         FLASH_OB_UserConfig(uint8_t OB_IWDG, uint8_t OB_STOP, uint8_t OB_STDBY);
+void         FLASH_OB_BORConfig(uint8_t OB_BOR);
+void         FLASH_OB_BootConfig(uint8_t OB_BOOT);
+FLASH_Status FLASH_OB_Launch(void);
+uint8_t      FLASH_OB_GetUser(void);
+uint16_t     FLASH_OB_GetWRP(void);
+uint16_t     FLASH_OB_GetWRP1(void);
+uint16_t     FLASH_OB_GetPCROP(void);
+uint16_t     FLASH_OB_GetPCROP1(void);
+FlagStatus   FLASH_OB_GetRDP(void);
+uint8_t      FLASH_OB_GetBOR(void);
+
+/* Interrupts and flags management functions **********************************/
+void         FLASH_ITConfig(uint32_t FLASH_IT, FunctionalState NewState);
+FlagStatus   FLASH_GetFlagStatus(uint32_t FLASH_FLAG);
+void         FLASH_ClearFlag(uint32_t FLASH_FLAG);
+FLASH_Status FLASH_GetStatus(void);
+FLASH_Status FLASH_WaitForLastOperation(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F4xx_FLASH_H */
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
--- a/云台/云台/Library/stm32f4xx_flash_ramfunc.c
+++ b/云台/云台/Library/stm32f4xx_flash_ramfunc.c
@@ -0,0 +1,150 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_flash_ramfunc.c
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   FLASH RAMFUNC module driver.
+  *          This file provides a FLASH firmware functions which should be 
+  *          executed from internal SRAM
+  *            + Stop/Start the flash interface while System Run
+  *            + Enable/Disable the flash sleep while System Run
+  *  
+ @verbatim    
+ ==============================================================================
+                    ##### APIs executed from Internal RAM #####
+  ==============================================================================
+  [..]
+    *** ARM Compiler ***
+    --------------------
+    [..] RAM functions are defined using the toolchain options. 
+         Functions that are be executed in RAM should reside in a separate
+         source module. Using the 'Options for File' dialog you can simply change
+         the 'Code / Const' area of a module to a memory space in physical RAM.
+         Available memory areas are declared in the 'Target' tab of the 
+         Options for Target' dialog.
+
+    *** ICCARM Compiler ***
+    -----------------------
+    [..] RAM functions are defined using a specific toolchain keyword "__ramfunc".
+
+    *** GNU Compiler ***
+    --------------------
+    [..] RAM functions are defined using a specific toolchain attribute
+         "__attribute__((section(".RamFunc")))".
+  
+  @endverbatim
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_flash_ramfunc.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @defgroup FLASH RAMFUNC 
+  * @brief FLASH RAMFUNC driver modules
+  * @{
+  */ 
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/** @defgroup FLASH_RAMFUNC_Private_Functions
+  * @{
+  */
+
+/** @defgroup FLASH_RAMFUNC_Group1 Peripheral features functions executed from internal RAM 
+  *  @brief Peripheral Extended features functions 
+  *
+@verbatim   
+
+ ===============================================================================
+                      ##### ramfunc functions #####
+ ===============================================================================
+    [..]
+    This subsection provides a set of functions that should be executed from RAM 
+    transfers.
+    
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief Start/Stop the flash interface while System Run
+  * @note  This mode is only available for STM32F411xx devices. 
+  * @note  This mode could n't be set while executing with the flash itself. 
+  *        It should be done with specific routine executed from RAM.     
+  * @param  NewState: new state of the Smart Card mode.
+  *          This parameter can be: ENABLE or DISABLE.  
+  * @retval None
+  */
+__RAM_FUNC FLASH_FlashInterfaceCmd(FunctionalState NewState)
+{
+  if (NewState != DISABLE)
+  {
+    /* Start the flash interface while System Run */
+    CLEAR_BIT(PWR->CR, PWR_CR_FISSR);
+  }
+  else
+  {
+    /* Stop the flash interface while System Run */  
+    SET_BIT(PWR->CR, PWR_CR_FISSR);
+  }
+}
+
+/**
+  * @brief Enable/Disable the flash sleep while System Run
+  * @note  This mode is only available for STM32F411xx devices. 
+  * @note  This mode could n't be set while executing with the flash itself. 
+  *        It should be done with specific routine executed from RAM.     
+  * @param  NewState: new state of the Smart Card mode.
+  *          This parameter can be: ENABLE or DISABLE.  
+  * @retval None
+  */
+__RAM_FUNC FLASH_FlashSleepModeCmd(FunctionalState NewState)
+{
+  if (NewState != DISABLE)
+  {
+    /* Enable the flash sleep while System Run */
+    SET_BIT(PWR->CR, PWR_CR_FMSSR);
+  }
+  else
+  {
+    /* Disable the flash sleep while System Run */
+    CLEAR_BIT(PWR->CR, PWR_CR_FMSSR);
+  }
+}
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
--- a/云台/云台/Library/stm32f4xx_flash_ramfunc.h
+++ b/云台/云台/Library/stm32f4xx_flash_ramfunc.h
@@ -0,0 +1,95 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_flash_ramfunc.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   Header file of FLASH RAMFUNC driver.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_FLASH_RAMFUNC_H
+#define __STM32F4xx_FLASH_RAMFUNC_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup FLASH RAMFUNC
+  * @{
+  */ 
+
+/* Exported types ------------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/** 
+  * @brief  __RAM_FUNC definition
+  */ 
+#if defined ( __CC_ARM   )
+/* ARM Compiler
+   ------------
+   RAM functions are defined using the toolchain options. 
+   Functions that are executed in RAM should reside in a separate source module.
+   Using the 'Options for File' dialog you can simply change the 'Code / Const' 
+   area of a module to a memory space in physical RAM.
+   Available memory areas are declared in the 'Target' tab of the 'Options for Target'
+   dialog. 
+*/
+#define __RAM_FUNC void 
+
+#elif defined ( __ICCARM__ )
+/* ICCARM Compiler
+   ---------------
+   RAM functions are defined using a specific toolchain keyword "__ramfunc". 
+*/
+#define __RAM_FUNC __ramfunc void
+
+#elif defined   (  __GNUC__  )
+/* GNU Compiler
+   ------------
+  RAM functions are defined using a specific toolchain attribute 
+   "__attribute__((section(".RamFunc")))".
+*/
+#define __RAM_FUNC void  __attribute__((section(".RamFunc")))
+
+#endif
+/* Exported constants --------------------------------------------------------*/
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/
+__RAM_FUNC FLASH_FlashInterfaceCmd(FunctionalState NewState);
+__RAM_FUNC FLASH_FlashSleepModeCmd(FunctionalState NewState);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F4xx_FLASH_RAMFUNC_H */
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+
--- a/云台/云台/Library/stm32f4xx_fmpi2c.c
+++ b/云台/云台/Library/stm32f4xx_fmpi2c.c
--- a/云台/云台/Library/stm32f4xx_fmpi2c.h
+++ b/云台/云台/Library/stm32f4xx_fmpi2c.h
@@ -0,0 +1,466 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_fmpi2c.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file contains all the functions prototypes for the I2C Fast Mode
+  *          Plus firmware library.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_FMPI2C_H
+#define __STM32F4xx_FMPI2C_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup FMPI2C
+  * @{
+  */
+#if defined(STM32F410xx) || defined(STM32F412xG) || defined(STM32F413_423xx) || defined(STM32F446xx)
+/* Exported types ------------------------------------------------------------*/
+
+/**
+  * @brief  FMPI2C Init structure definition
+  */
+
+typedef struct
+{
+  uint32_t FMPI2C_Timing;              /*!< Specifies the FMPI2C_TIMINGR_register value.
+                                         This parameter calculated by referring to FMPI2C initialization 
+                                         section in Reference manual*/
+
+  uint32_t FMPI2C_AnalogFilter;        /*!< Enables or disables analog noise filter.
+                                         This parameter can be a value of @ref FMPI2C_Analog_Filter */
+
+  uint32_t FMPI2C_DigitalFilter;       /*!< Configures the digital noise filter.
+                                         This parameter can be a number between 0x00 and 0x0F */
+
+  uint32_t FMPI2C_Mode;                /*!< Specifies the FMPI2C mode.
+                                         This parameter can be a value of @ref FMPI2C_mode */
+
+  uint32_t FMPI2C_OwnAddress1;         /*!< Specifies the device own address 1.
+                                         This parameter can be a 7-bit or 10-bit address */
+
+  uint32_t FMPI2C_Ack;                 /*!< Enables or disables the acknowledgement.
+                                         This parameter can be a value of @ref FMPI2C_acknowledgement */
+
+  uint32_t FMPI2C_AcknowledgedAddress; /*!< Specifies if 7-bit or 10-bit address is acknowledged.
+                                         This parameter can be a value of @ref FMPI2C_acknowledged_address */
+}FMPI2C_InitTypeDef;
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/** @defgroup FMPI2C_Exported_Constants
+  * @{
+  */
+
+#define IS_FMPI2C_ALL_PERIPH(PERIPH)       ((PERIPH) == FMPI2C1) 
+
+/** @defgroup FMPI2C_Analog_Filter 
+  * @{
+  */
+
+#define FMPI2C_AnalogFilter_Enable         ((uint32_t)0x00000000)
+#define FMPI2C_AnalogFilter_Disable        FMPI2C_CR1_ANFOFF
+
+#define IS_FMPI2C_ANALOG_FILTER(FILTER)    (((FILTER) == FMPI2C_AnalogFilter_Enable) || \
+                                         ((FILTER) == FMPI2C_AnalogFilter_Disable))
+/**
+  * @}
+  */
+     
+/** @defgroup FMPI2C_Digital_Filter
+  * @{
+  */
+
+#define IS_FMPI2C_DIGITAL_FILTER(FILTER)   ((FILTER) <= 0x0000000F)
+/**
+  * @}
+  */
+
+/** @defgroup FMPI2C_mode 
+  * @{
+  */
+
+#define FMPI2C_Mode_FMPI2C                ((uint32_t)0x00000000)
+#define FMPI2C_Mode_SMBusDevice            FMPI2C_CR1_SMBDEN
+#define FMPI2C_Mode_SMBusHost              FMPI2C_CR1_SMBHEN
+
+#define IS_FMPI2C_MODE(MODE)               (((MODE) == FMPI2C_Mode_FMPI2C) || \
+                                         ((MODE) == FMPI2C_Mode_SMBusDevice) || \
+                                         ((MODE) == FMPI2C_Mode_SMBusHost))
+/**
+  * @}
+  */
+
+/** @defgroup FMPI2C_acknowledgement
+  * @{
+  */
+
+#define FMPI2C_Ack_Enable                  ((uint32_t)0x00000000)
+#define FMPI2C_Ack_Disable                 FMPI2C_CR2_NACK
+
+#define IS_FMPI2C_ACK(ACK)                 (((ACK) == FMPI2C_Ack_Enable) || \
+                                         ((ACK) == FMPI2C_Ack_Disable))
+/**
+  * @}
+  */
+
+/** @defgroup FMPI2C_acknowledged_address
+  * @{
+  */
+
+#define FMPI2C_AcknowledgedAddress_7bit    ((uint32_t)0x00000000)
+#define FMPI2C_AcknowledgedAddress_10bit   FMPI2C_OAR1_OA1MODE
+
+#define IS_FMPI2C_ACKNOWLEDGE_ADDRESS(ADDRESS) (((ADDRESS) == FMPI2C_AcknowledgedAddress_7bit) || \
+                                             ((ADDRESS) == FMPI2C_AcknowledgedAddress_10bit))
+/**
+  * @}
+  */ 
+
+/** @defgroup FMPI2C_own_address1
+  * @{
+  */
+
+#define IS_FMPI2C_OWN_ADDRESS1(ADDRESS1)   ((ADDRESS1) <= (uint32_t)0x000003FF)
+/**
+  * @}
+  */
+
+/** @defgroup FMPI2C_transfer_direction 
+  * @{
+  */
+
+#define FMPI2C_Direction_Transmitter       ((uint16_t)0x0000)
+#define FMPI2C_Direction_Receiver          ((uint16_t)0x0400)
+
+#define IS_FMPI2C_DIRECTION(DIRECTION)     (((DIRECTION) == FMPI2C_Direction_Transmitter) || \
+                                         ((DIRECTION) == FMPI2C_Direction_Receiver))
+/**
+  * @}
+  */
+
+/** @defgroup FMPI2C_DMA_transfer_requests 
+  * @{
+  */
+
+#define FMPI2C_DMAReq_Tx                   FMPI2C_CR1_TXDMAEN
+#define FMPI2C_DMAReq_Rx                   FMPI2C_CR1_RXDMAEN
+
+#define IS_FMPI2C_DMA_REQ(REQ)             ((((REQ) & (uint32_t)0xFFFF3FFF) == 0x00) && ((REQ) != 0x00))
+/**
+  * @}
+  */
+
+/** @defgroup FMPI2C_slave_address
+  * @{
+  */
+
+#define IS_FMPI2C_SLAVE_ADDRESS(ADDRESS)   ((ADDRESS) <= (uint16_t)0x03FF)
+/**
+  * @}
+  */
+
+
+/** @defgroup FMPI2C_own_address2
+  * @{
+  */
+
+#define IS_FMPI2C_OWN_ADDRESS2(ADDRESS2)   ((ADDRESS2) <= (uint16_t)0x00FF)
+
+/**
+  * @}
+  */
+
+/** @defgroup FMPI2C_own_address2_mask
+  * @{
+  */
+
+#define FMPI2C_OA2_NoMask                  ((uint8_t)0x00)
+#define FMPI2C_OA2_Mask01                  ((uint8_t)0x01)
+#define FMPI2C_OA2_Mask02                  ((uint8_t)0x02)
+#define FMPI2C_OA2_Mask03                  ((uint8_t)0x03)
+#define FMPI2C_OA2_Mask04                  ((uint8_t)0x04)
+#define FMPI2C_OA2_Mask05                  ((uint8_t)0x05)
+#define FMPI2C_OA2_Mask06                  ((uint8_t)0x06)
+#define FMPI2C_OA2_Mask07                  ((uint8_t)0x07)
+
+#define IS_FMPI2C_OWN_ADDRESS2_MASK(MASK)  (((MASK) == FMPI2C_OA2_NoMask) || \
+                                         ((MASK) == FMPI2C_OA2_Mask01) || \
+                                         ((MASK) == FMPI2C_OA2_Mask02) || \
+                                         ((MASK) == FMPI2C_OA2_Mask03) || \
+                                         ((MASK) == FMPI2C_OA2_Mask04) || \
+                                         ((MASK) == FMPI2C_OA2_Mask05) || \
+                                         ((MASK) == FMPI2C_OA2_Mask06) || \
+                                         ((MASK) == FMPI2C_OA2_Mask07))  
+
+/**
+  * @}
+  */
+
+/** @defgroup FMPI2C_timeout
+  * @{
+  */
+
+#define IS_FMPI2C_TIMEOUT(TIMEOUT)   ((TIMEOUT) <= (uint16_t)0x0FFF)
+
+/**
+  * @}
+  */
+
+/** @defgroup FMPI2C_registers 
+  * @{
+  */
+
+#define FMPI2C_Register_CR1                ((uint8_t)0x00)
+#define FMPI2C_Register_CR2                ((uint8_t)0x04)
+#define FMPI2C_Register_OAR1               ((uint8_t)0x08)
+#define FMPI2C_Register_OAR2               ((uint8_t)0x0C)
+#define FMPI2C_Register_TIMINGR            ((uint8_t)0x10)
+#define FMPI2C_Register_TIMEOUTR           ((uint8_t)0x14)
+#define FMPI2C_Register_ISR                ((uint8_t)0x18)
+#define FMPI2C_Register_ICR                ((uint8_t)0x1C)
+#define FMPI2C_Register_PECR               ((uint8_t)0x20)
+#define FMPI2C_Register_RXDR               ((uint8_t)0x24)
+#define FMPI2C_Register_TXDR               ((uint8_t)0x28)
+
+#define IS_FMPI2C_REGISTER(REGISTER)       (((REGISTER) == FMPI2C_Register_CR1) || \
+                                         ((REGISTER) == FMPI2C_Register_CR2) || \
+                                         ((REGISTER) == FMPI2C_Register_OAR1) || \
+                                         ((REGISTER) == FMPI2C_Register_OAR2) || \
+                                         ((REGISTER) == FMPI2C_Register_TIMINGR) || \
+                                         ((REGISTER) == FMPI2C_Register_TIMEOUTR) || \
+                                         ((REGISTER) == FMPI2C_Register_ISR) || \
+                                         ((REGISTER) == FMPI2C_Register_ICR) || \
+                                         ((REGISTER) == FMPI2C_Register_PECR) || \
+                                         ((REGISTER) == FMPI2C_Register_RXDR) || \
+                                         ((REGISTER) == FMPI2C_Register_TXDR))
+/**
+  * @}
+  */
+
+/** @defgroup FMPI2C_interrupts_definition 
+  * @{
+  */
+
+#define FMPI2C_IT_ERRI                     FMPI2C_CR1_ERRIE
+#define FMPI2C_IT_TCI                      FMPI2C_CR1_TCIE
+#define FMPI2C_IT_STOPI                    FMPI2C_CR1_STOPIE
+#define FMPI2C_IT_NACKI                    FMPI2C_CR1_NACKIE
+#define FMPI2C_IT_ADDRI                    FMPI2C_CR1_ADDRIE
+#define FMPI2C_IT_RXI                      FMPI2C_CR1_RXIE
+#define FMPI2C_IT_TXI                      FMPI2C_CR1_TXIE
+
+#define IS_FMPI2C_CONFIG_IT(IT)            ((((IT) & (uint32_t)0xFFFFFF01) == 0x00) && ((IT) != 0x00))
+
+/**
+  * @}
+  */
+
+/** @defgroup FMPI2C_flags_definition 
+  * @{
+  */
+
+#define  FMPI2C_FLAG_TXE                   FMPI2C_ISR_TXE
+#define  FMPI2C_FLAG_TXIS                  FMPI2C_ISR_TXIS
+#define  FMPI2C_FLAG_RXNE                  FMPI2C_ISR_RXNE
+#define  FMPI2C_FLAG_ADDR                  FMPI2C_ISR_ADDR
+#define  FMPI2C_FLAG_NACKF                 FMPI2C_ISR_NACKF
+#define  FMPI2C_FLAG_STOPF                 FMPI2C_ISR_STOPF
+#define  FMPI2C_FLAG_TC                    FMPI2C_ISR_TC
+#define  FMPI2C_FLAG_TCR                   FMPI2C_ISR_TCR
+#define  FMPI2C_FLAG_BERR                  FMPI2C_ISR_BERR
+#define  FMPI2C_FLAG_ARLO                  FMPI2C_ISR_ARLO
+#define  FMPI2C_FLAG_OVR                   FMPI2C_ISR_OVR
+#define  FMPI2C_FLAG_PECERR                FMPI2C_ISR_PECERR
+#define  FMPI2C_FLAG_TIMEOUT               FMPI2C_ISR_TIMEOUT
+#define  FMPI2C_FLAG_ALERT                 FMPI2C_ISR_ALERT
+#define  FMPI2C_FLAG_BUSY                  FMPI2C_ISR_BUSY
+
+#define IS_FMPI2C_CLEAR_FLAG(FLAG)         ((((FLAG) & (uint32_t)0xFFFF4000) == 0x00) && ((FLAG) != 0x00))
+
+#define IS_FMPI2C_GET_FLAG(FLAG)           (((FLAG) == FMPI2C_FLAG_TXE) || ((FLAG) == FMPI2C_FLAG_TXIS) || \
+                                         ((FLAG) == FMPI2C_FLAG_RXNE) || ((FLAG) == FMPI2C_FLAG_ADDR) || \
+                                         ((FLAG) == FMPI2C_FLAG_NACKF) || ((FLAG) == FMPI2C_FLAG_STOPF) || \
+                                         ((FLAG) == FMPI2C_FLAG_TC) || ((FLAG) == FMPI2C_FLAG_TCR) || \
+                                         ((FLAG) == FMPI2C_FLAG_BERR) || ((FLAG) == FMPI2C_FLAG_ARLO) || \
+                                         ((FLAG) == FMPI2C_FLAG_OVR) || ((FLAG) == FMPI2C_FLAG_PECERR) || \
+                                         ((FLAG) == FMPI2C_FLAG_TIMEOUT) || ((FLAG) == FMPI2C_FLAG_ALERT) || \
+                                         ((FLAG) == FMPI2C_FLAG_BUSY))
+
+/**
+  * @}
+  */
+
+
+/** @defgroup FMPI2C_interrupts_definition 
+  * @{
+  */
+
+#define  FMPI2C_IT_TXIS                    FMPI2C_ISR_TXIS
+#define  FMPI2C_IT_RXNE                    FMPI2C_ISR_RXNE
+#define  FMPI2C_IT_ADDR                    FMPI2C_ISR_ADDR
+#define  FMPI2C_IT_NACKF                   FMPI2C_ISR_NACKF
+#define  FMPI2C_IT_STOPF                   FMPI2C_ISR_STOPF
+#define  FMPI2C_IT_TC                      FMPI2C_ISR_TC
+#define  FMPI2C_IT_TCR                     FMPI2C_ISR_TCR
+#define  FMPI2C_IT_BERR                    FMPI2C_ISR_BERR
+#define  FMPI2C_IT_ARLO                    FMPI2C_ISR_ARLO
+#define  FMPI2C_IT_OVR                     FMPI2C_ISR_OVR
+#define  FMPI2C_IT_PECERR                  FMPI2C_ISR_PECERR
+#define  FMPI2C_IT_TIMEOUT                 FMPI2C_ISR_TIMEOUT
+#define  FMPI2C_IT_ALERT                   FMPI2C_ISR_ALERT
+
+#define IS_FMPI2C_CLEAR_IT(IT)             ((((IT) & (uint32_t)0xFFFFC001) == 0x00) && ((IT) != 0x00))
+                               
+#define IS_FMPI2C_GET_IT(IT)               (((IT) == FMPI2C_IT_TXIS) || ((IT) == FMPI2C_IT_RXNE) || \
+                                         ((IT) == FMPI2C_IT_ADDR) || ((IT) == FMPI2C_IT_NACKF) || \
+                                         ((IT) == FMPI2C_IT_STOPF) || ((IT) == FMPI2C_IT_TC) || \
+                                         ((IT) == FMPI2C_IT_TCR) || ((IT) == FMPI2C_IT_BERR) || \
+                                         ((IT) == FMPI2C_IT_ARLO) || ((IT) == FMPI2C_IT_OVR) || \
+                                         ((IT) == FMPI2C_IT_PECERR) || ((IT) == FMPI2C_IT_TIMEOUT) || \
+                                         ((IT) == FMPI2C_IT_ALERT))
+
+/**
+  * @}
+  */
+
+/** @defgroup FMPI2C_ReloadEndMode_definition 
+  * @{
+  */
+
+#define  FMPI2C_Reload_Mode                FMPI2C_CR2_RELOAD
+#define  FMPI2C_AutoEnd_Mode               FMPI2C_CR2_AUTOEND
+#define  FMPI2C_SoftEnd_Mode               ((uint32_t)0x00000000)
+
+                              
+#define IS_RELOAD_END_MODE(MODE)        (((MODE) == FMPI2C_Reload_Mode) || \
+                                         ((MODE) == FMPI2C_AutoEnd_Mode) || \
+                                         ((MODE) == FMPI2C_SoftEnd_Mode))
+                               
+
+/**
+  * @}
+  */
+
+/** @defgroup FMPI2C_StartStopMode_definition 
+  * @{
+  */
+
+#define  FMPI2C_No_StartStop                 ((uint32_t)0x00000000)
+#define  FMPI2C_Generate_Stop                FMPI2C_CR2_STOP
+#define  FMPI2C_Generate_Start_Read          (uint32_t)(FMPI2C_CR2_START | FMPI2C_CR2_RD_WRN)
+#define  FMPI2C_Generate_Start_Write         FMPI2C_CR2_START
+
+                              
+#define IS_START_STOP_MODE(MODE)        (((MODE) == FMPI2C_Generate_Stop) || \
+                                         ((MODE) == FMPI2C_Generate_Start_Read) || \
+                                         ((MODE) == FMPI2C_Generate_Start_Write) || \
+                                         ((MODE) == FMPI2C_No_StartStop))
+                               
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions ------------------------------------------------------- */
+
+
+/* Initialization and Configuration functions *********************************/
+void FMPI2C_DeInit(FMPI2C_TypeDef* FMPI2Cx);
+void FMPI2C_Init(FMPI2C_TypeDef* FMPI2Cx, FMPI2C_InitTypeDef* FMPI2C_InitStruct);
+void FMPI2C_StructInit(FMPI2C_InitTypeDef* FMPI2C_InitStruct);
+void FMPI2C_Cmd(FMPI2C_TypeDef* FMPI2Cx, FunctionalState NewState);
+void FMPI2C_SoftwareResetCmd(FMPI2C_TypeDef* FMPI2Cx);
+void FMPI2C_ITConfig(FMPI2C_TypeDef* FMPI2Cx, uint32_t FMPI2C_IT, FunctionalState NewState);
+void FMPI2C_StretchClockCmd(FMPI2C_TypeDef* FMPI2Cx, FunctionalState NewState);
+void FMPI2C_DualAddressCmd(FMPI2C_TypeDef* FMPI2Cx, FunctionalState NewState);
+void FMPI2C_OwnAddress2Config(FMPI2C_TypeDef* FMPI2Cx, uint16_t Address, uint8_t Mask);
+void FMPI2C_GeneralCallCmd(FMPI2C_TypeDef* FMPI2Cx, FunctionalState NewState);
+void FMPI2C_SlaveByteControlCmd(FMPI2C_TypeDef* FMPI2Cx, FunctionalState NewState);
+void FMPI2C_SlaveAddressConfig(FMPI2C_TypeDef* FMPI2Cx, uint16_t Address);
+void FMPI2C_10BitAddressingModeCmd(FMPI2C_TypeDef* FMPI2Cx, FunctionalState NewState);
+
+/* Communications handling functions ******************************************/
+void FMPI2C_AutoEndCmd(FMPI2C_TypeDef* FMPI2Cx, FunctionalState NewState);
+void FMPI2C_ReloadCmd(FMPI2C_TypeDef* FMPI2Cx, FunctionalState NewState);
+void FMPI2C_NumberOfBytesConfig(FMPI2C_TypeDef* FMPI2Cx, uint8_t Number_Bytes);
+void FMPI2C_MasterRequestConfig(FMPI2C_TypeDef* FMPI2Cx, uint16_t FMPI2C_Direction);
+void FMPI2C_GenerateSTART(FMPI2C_TypeDef* FMPI2Cx, FunctionalState NewState);
+void FMPI2C_GenerateSTOP(FMPI2C_TypeDef* FMPI2Cx, FunctionalState NewState);
+void FMPI2C_10BitAddressHeaderCmd(FMPI2C_TypeDef* FMPI2Cx, FunctionalState NewState);
+void FMPI2C_AcknowledgeConfig(FMPI2C_TypeDef* FMPI2Cx, FunctionalState NewState);
+uint8_t FMPI2C_GetAddressMatched(FMPI2C_TypeDef* FMPI2Cx);
+uint16_t FMPI2C_GetTransferDirection(FMPI2C_TypeDef* FMPI2Cx);
+void FMPI2C_TransferHandling(FMPI2C_TypeDef* FMPI2Cx, uint16_t Address, uint8_t Number_Bytes, uint32_t ReloadEndMode, uint32_t StartStopMode);
+
+/*  SMBUS management functions ************************************************/
+void FMPI2C_SMBusAlertCmd(FMPI2C_TypeDef* FMPI2Cx, FunctionalState NewState);
+void FMPI2C_ClockTimeoutCmd(FMPI2C_TypeDef* FMPI2Cx, FunctionalState NewState);
+void FMPI2C_ExtendedClockTimeoutCmd(FMPI2C_TypeDef* FMPI2Cx, FunctionalState NewState);
+void FMPI2C_IdleClockTimeoutCmd(FMPI2C_TypeDef* FMPI2Cx, FunctionalState NewState);
+void FMPI2C_TimeoutAConfig(FMPI2C_TypeDef* FMPI2Cx, uint16_t Timeout);
+void FMPI2C_TimeoutBConfig(FMPI2C_TypeDef* FMPI2Cx, uint16_t Timeout);
+void FMPI2C_CalculatePEC(FMPI2C_TypeDef* FMPI2Cx, FunctionalState NewState);
+void FMPI2C_PECRequestCmd(FMPI2C_TypeDef* FMPI2Cx, FunctionalState NewState);
+uint8_t FMPI2C_GetPEC(FMPI2C_TypeDef* FMPI2Cx);
+
+/* FMPI2C registers management functions *****************************************/
+uint32_t FMPI2C_ReadRegister(FMPI2C_TypeDef* FMPI2Cx, uint8_t FMPI2C_Register);
+
+/* Data transfers management functions ****************************************/
+void FMPI2C_SendData(FMPI2C_TypeDef* FMPI2Cx, uint8_t Data);
+uint8_t FMPI2C_ReceiveData(FMPI2C_TypeDef* FMPI2Cx);
+
+/* DMA transfers management functions *****************************************/
+void FMPI2C_DMACmd(FMPI2C_TypeDef* FMPI2Cx, uint32_t FMPI2C_DMAReq, FunctionalState NewState);
+
+/* Interrupts and flags management functions **********************************/
+FlagStatus FMPI2C_GetFlagStatus(FMPI2C_TypeDef* FMPI2Cx, uint32_t FMPI2C_FLAG);
+void FMPI2C_ClearFlag(FMPI2C_TypeDef* FMPI2Cx, uint32_t FMPI2C_FLAG);
+ITStatus FMPI2C_GetITStatus(FMPI2C_TypeDef* FMPI2Cx, uint32_t FMPI2C_IT);
+void FMPI2C_ClearITPendingBit(FMPI2C_TypeDef* FMPI2Cx, uint32_t FMPI2C_IT);
+
+#endif /* STM32F410xx || STM32F412xG || STM32F413_423xx || STM32F446xx */
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__STM32F4xx_FMPI2C_H */
+
--- a/云台/云台/Library/stm32f4xx_fsmc.c
+++ b/云台/云台/Library/stm32f4xx_fsmc.c
--- a/云台/云台/Library/stm32f4xx_fsmc.h
+++ b/云台/云台/Library/stm32f4xx_fsmc.h
@@ -0,0 +1,667 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_fsmc.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file contains all the functions prototypes for the FSMC firmware 
+  *          library.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_FSMC_H
+#define __STM32F4xx_FSMC_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup FSMC
+  * @{
+  */
+
+/* Exported types ------------------------------------------------------------*/
+
+/** 
+  * @brief  Timing parameters For NOR/SRAM Banks  
+  */
+typedef struct
+{
+  uint32_t FSMC_AddressSetupTime;       /*!< Defines the number of HCLK cycles to configure
+                                             the duration of the address setup time. 
+                                             This parameter can be a value between 0 and 0xF.
+                                             @note This parameter is not used with synchronous NOR Flash memories. */
+
+  uint32_t FSMC_AddressHoldTime;        /*!< Defines the number of HCLK cycles to configure
+                                             the duration of the address hold time.
+                                             This parameter can be a value between 0 and 0xF. 
+                                             @note This parameter is not used with synchronous NOR Flash memories.*/
+
+  uint32_t FSMC_DataSetupTime;          /*!< Defines the number of HCLK cycles to configure
+                                             the duration of the data setup time.
+                                             This parameter can be a value between 0 and 0xFF.
+                                             @note This parameter is used for SRAMs, ROMs and asynchronous multiplexed NOR Flash memories. */
+
+  uint32_t FSMC_BusTurnAroundDuration;  /*!< Defines the number of HCLK cycles to configure
+                                             the duration of the bus turnaround.
+                                             This parameter can be a value between 0 and 0xF.
+                                             @note This parameter is only used for multiplexed NOR Flash memories. */
+
+  uint32_t FSMC_CLKDivision;            /*!< Defines the period of CLK clock output signal, expressed in number of HCLK cycles.
+                                             This parameter can be a value between 1 and 0xF.
+                                             @note This parameter is not used for asynchronous NOR Flash, SRAM or ROM accesses. */
+
+  uint32_t FSMC_DataLatency;            /*!< Defines the number of memory clock cycles to issue
+                                             to the memory before getting the first data.
+                                             The parameter value depends on the memory type as shown below:
+                                              - It must be set to 0 in case of a CRAM
+                                              - It is don't care in asynchronous NOR, SRAM or ROM accesses
+                                              - It may assume a value between 0 and 0xF in NOR Flash memories
+                                                with synchronous burst mode enable */
+
+  uint32_t FSMC_AccessMode;             /*!< Specifies the asynchronous access mode. 
+                                             This parameter can be a value of @ref FSMC_Access_Mode */
+}FSMC_NORSRAMTimingInitTypeDef;
+
+/** 
+  * @brief  FSMC NOR/SRAM Init structure definition
+  */
+typedef struct
+{
+  uint32_t FSMC_Bank;                /*!< Specifies the NOR/SRAM memory bank that will be used.
+                                          This parameter can be a value of @ref FSMC_NORSRAM_Bank */
+
+  uint32_t FSMC_DataAddressMux;      /*!< Specifies whether the address and data values are
+                                          multiplexed on the data bus or not. 
+                                          This parameter can be a value of @ref FSMC_Data_Address_Bus_Multiplexing */
+
+  uint32_t FSMC_MemoryType;          /*!< Specifies the type of external memory attached to
+                                          the corresponding memory bank.
+                                          This parameter can be a value of @ref FSMC_Memory_Type */
+
+  uint32_t FSMC_MemoryDataWidth;     /*!< Specifies the external memory device width.
+                                          This parameter can be a value of @ref FSMC_Data_Width */
+
+  uint32_t FSMC_BurstAccessMode;     /*!< Enables or disables the burst access mode for Flash memory,
+                                          valid only with synchronous burst Flash memories.
+                                          This parameter can be a value of @ref FSMC_Burst_Access_Mode */
+
+  uint32_t FSMC_AsynchronousWait;     /*!< Enables or disables wait signal during asynchronous transfers,
+                                          valid only with asynchronous Flash memories.
+                                          This parameter can be a value of @ref FSMC_AsynchronousWait */                                          
+
+  uint32_t FSMC_WaitSignalPolarity;  /*!< Specifies the wait signal polarity, valid only when accessing
+                                          the Flash memory in burst mode.
+                                          This parameter can be a value of @ref FSMC_Wait_Signal_Polarity */
+
+  uint32_t FSMC_WrapMode;            /*!< Enables or disables the Wrapped burst access mode for Flash
+                                          memory, valid only when accessing Flash memories in burst mode.
+                                          This parameter can be a value of @ref FSMC_Wrap_Mode */
+
+  uint32_t FSMC_WaitSignalActive;    /*!< Specifies if the wait signal is asserted by the memory one
+                                          clock cycle before the wait state or during the wait state,
+                                          valid only when accessing memories in burst mode. 
+                                          This parameter can be a value of @ref FSMC_Wait_Timing */
+
+  uint32_t FSMC_WriteOperation;      /*!< Enables or disables the write operation in the selected bank by the FSMC. 
+                                          This parameter can be a value of @ref FSMC_Write_Operation */
+
+  uint32_t FSMC_WaitSignal;          /*!< Enables or disables the wait state insertion via wait
+                                          signal, valid for Flash memory access in burst mode. 
+                                          This parameter can be a value of @ref FSMC_Wait_Signal */
+
+  uint32_t FSMC_ExtendedMode;        /*!< Enables or disables the extended mode.
+                                          This parameter can be a value of @ref FSMC_Extended_Mode */
+
+  uint32_t FSMC_WriteBurst;          /*!< Enables or disables the write burst operation.
+                                          This parameter can be a value of @ref FSMC_Write_Burst */ 
+
+  FSMC_NORSRAMTimingInitTypeDef* FSMC_ReadWriteTimingStruct; /*!< Timing Parameters for write and read access if the  Extended Mode is not used*/  
+
+  FSMC_NORSRAMTimingInitTypeDef* FSMC_WriteTimingStruct;     /*!< Timing Parameters for write access if the  Extended Mode is used*/      
+}FSMC_NORSRAMInitTypeDef;
+
+/** 
+  * @brief  Timing parameters For FSMC NAND and PCCARD Banks
+  */
+typedef struct
+{
+  uint32_t FSMC_SetupTime;      /*!< Defines the number of HCLK cycles to setup address before
+                                     the command assertion for NAND Flash read or write access
+                                     to common/Attribute or I/O memory space (depending on
+                                     the memory space timing to be configured).
+                                     This parameter can be a value between 0 and 0xFF.*/
+
+  uint32_t FSMC_WaitSetupTime;  /*!< Defines the minimum number of HCLK cycles to assert the
+                                     command for NAND Flash read or write access to
+                                     common/Attribute or I/O memory space (depending on the
+                                     memory space timing to be configured). 
+                                     This parameter can be a number between 0x00 and 0xFF */
+
+  uint32_t FSMC_HoldSetupTime;  /*!< Defines the number of HCLK clock cycles to hold address
+                                     (and data for write access) after the command de-assertion
+                                     for NAND Flash read or write access to common/Attribute
+                                     or I/O memory space (depending on the memory space timing
+                                     to be configured).
+                                     This parameter can be a number between 0x00 and 0xFF */
+
+  uint32_t FSMC_HiZSetupTime;   /*!< Defines the number of HCLK clock cycles during which the
+                                     data bus is kept in HiZ after the start of a NAND Flash
+                                     write access to common/Attribute or I/O memory space (depending
+                                     on the memory space timing to be configured).
+                                     This parameter can be a number between 0x00 and 0xFF */
+}FSMC_NAND_PCCARDTimingInitTypeDef;
+
+/** 
+  * @brief  FSMC NAND Init structure definition
+  */
+typedef struct
+{
+  uint32_t FSMC_Bank;              /*!< Specifies the NAND memory bank that will be used.
+                                      This parameter can be a value of @ref FSMC_NAND_Bank */
+
+  uint32_t FSMC_Waitfeature;      /*!< Enables or disables the Wait feature for the NAND Memory Bank.
+                                       This parameter can be any value of @ref FSMC_Wait_feature */
+
+  uint32_t FSMC_MemoryDataWidth;  /*!< Specifies the external memory device width.
+                                       This parameter can be any value of @ref FSMC_Data_Width */
+
+  uint32_t FSMC_ECC;              /*!< Enables or disables the ECC computation.
+                                       This parameter can be any value of @ref FSMC_ECC */
+
+  uint32_t FSMC_ECCPageSize;      /*!< Defines the page size for the extended ECC.
+                                       This parameter can be any value of @ref FSMC_ECC_Page_Size */
+
+  uint32_t FSMC_TCLRSetupTime;    /*!< Defines the number of HCLK cycles to configure the
+                                       delay between CLE low and RE low.
+                                       This parameter can be a value between 0 and 0xFF. */
+
+  uint32_t FSMC_TARSetupTime;     /*!< Defines the number of HCLK cycles to configure the
+                                       delay between ALE low and RE low.
+                                       This parameter can be a number between 0x0 and 0xFF */ 
+
+  FSMC_NAND_PCCARDTimingInitTypeDef*  FSMC_CommonSpaceTimingStruct;   /*!< FSMC Common Space Timing */ 
+
+  FSMC_NAND_PCCARDTimingInitTypeDef*  FSMC_AttributeSpaceTimingStruct; /*!< FSMC Attribute Space Timing */
+}FSMC_NANDInitTypeDef;
+
+/** 
+  * @brief  FSMC PCCARD Init structure definition
+  */
+
+typedef struct
+{
+  uint32_t FSMC_Waitfeature;    /*!< Enables or disables the Wait feature for the Memory Bank.
+                                    This parameter can be any value of @ref FSMC_Wait_feature */
+
+  uint32_t FSMC_TCLRSetupTime;  /*!< Defines the number of HCLK cycles to configure the
+                                     delay between CLE low and RE low.
+                                     This parameter can be a value between 0 and 0xFF. */
+
+  uint32_t FSMC_TARSetupTime;   /*!< Defines the number of HCLK cycles to configure the
+                                     delay between ALE low and RE low.
+                                     This parameter can be a number between 0x0 and 0xFF */ 
+
+  
+  FSMC_NAND_PCCARDTimingInitTypeDef*  FSMC_CommonSpaceTimingStruct; /*!< FSMC Common Space Timing */
+
+  FSMC_NAND_PCCARDTimingInitTypeDef*  FSMC_AttributeSpaceTimingStruct;  /*!< FSMC Attribute Space Timing */ 
+  
+  FSMC_NAND_PCCARDTimingInitTypeDef*  FSMC_IOSpaceTimingStruct; /*!< FSMC IO Space Timing */  
+}FSMC_PCCARDInitTypeDef;
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup FSMC_Exported_Constants
+  * @{
+  */
+
+/** @defgroup FSMC_NORSRAM_Bank 
+  * @{
+  */
+#define FSMC_Bank1_NORSRAM1                      ((uint32_t)0x00000000)
+#define FSMC_Bank1_NORSRAM2                      ((uint32_t)0x00000002)
+#define FSMC_Bank1_NORSRAM3                      ((uint32_t)0x00000004)
+#define FSMC_Bank1_NORSRAM4                      ((uint32_t)0x00000006)
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_NAND_Bank 
+  * @{
+  */  
+#define FSMC_Bank2_NAND                          ((uint32_t)0x00000010)
+#define FSMC_Bank3_NAND                          ((uint32_t)0x00000100)
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_PCCARD_Bank 
+  * @{
+  */    
+#define FSMC_Bank4_PCCARD                        ((uint32_t)0x00001000)
+/**
+  * @}
+  */
+
+#define IS_FSMC_NORSRAM_BANK(BANK) (((BANK) == FSMC_Bank1_NORSRAM1) || \
+                                    ((BANK) == FSMC_Bank1_NORSRAM2) || \
+                                    ((BANK) == FSMC_Bank1_NORSRAM3) || \
+                                    ((BANK) == FSMC_Bank1_NORSRAM4))
+
+#define IS_FSMC_NAND_BANK(BANK) (((BANK) == FSMC_Bank2_NAND) || \
+                                 ((BANK) == FSMC_Bank3_NAND))
+
+#define IS_FSMC_GETFLAG_BANK(BANK) (((BANK) == FSMC_Bank2_NAND) || \
+                                    ((BANK) == FSMC_Bank3_NAND) || \
+                                    ((BANK) == FSMC_Bank4_PCCARD))
+
+#define IS_FSMC_IT_BANK(BANK) (((BANK) == FSMC_Bank2_NAND) || \
+                               ((BANK) == FSMC_Bank3_NAND) || \
+                               ((BANK) == FSMC_Bank4_PCCARD))
+
+/** @defgroup FSMC_NOR_SRAM_Controller 
+  * @{
+  */
+
+/** @defgroup FSMC_Data_Address_Bus_Multiplexing 
+  * @{
+  */
+
+#define FSMC_DataAddressMux_Disable                ((uint32_t)0x00000000)
+#define FSMC_DataAddressMux_Enable                 ((uint32_t)0x00000002)
+#define IS_FSMC_MUX(MUX) (((MUX) == FSMC_DataAddressMux_Disable) || \
+                          ((MUX) == FSMC_DataAddressMux_Enable))
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Memory_Type 
+  * @{
+  */
+
+#define FSMC_MemoryType_SRAM                     ((uint32_t)0x00000000)
+#define FSMC_MemoryType_PSRAM                    ((uint32_t)0x00000004)
+#define FSMC_MemoryType_NOR                      ((uint32_t)0x00000008)
+#define IS_FSMC_MEMORY(MEMORY) (((MEMORY) == FSMC_MemoryType_SRAM) || \
+                                ((MEMORY) == FSMC_MemoryType_PSRAM)|| \
+                                ((MEMORY) == FSMC_MemoryType_NOR))
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Data_Width 
+  * @{
+  */
+
+#define FSMC_MemoryDataWidth_8b                  ((uint32_t)0x00000000)
+#define FSMC_MemoryDataWidth_16b                 ((uint32_t)0x00000010)
+#define IS_FSMC_MEMORY_WIDTH(WIDTH) (((WIDTH) == FSMC_MemoryDataWidth_8b) || \
+                                     ((WIDTH) == FSMC_MemoryDataWidth_16b))
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Burst_Access_Mode 
+  * @{
+  */
+
+#define FSMC_BurstAccessMode_Disable             ((uint32_t)0x00000000) 
+#define FSMC_BurstAccessMode_Enable              ((uint32_t)0x00000100)
+#define IS_FSMC_BURSTMODE(STATE) (((STATE) == FSMC_BurstAccessMode_Disable) || \
+                                  ((STATE) == FSMC_BurstAccessMode_Enable))
+/**
+  * @}
+  */
+    
+/** @defgroup FSMC_AsynchronousWait 
+  * @{
+  */
+#define FSMC_AsynchronousWait_Disable            ((uint32_t)0x00000000)
+#define FSMC_AsynchronousWait_Enable             ((uint32_t)0x00008000)
+#define IS_FSMC_ASYNWAIT(STATE) (((STATE) == FSMC_AsynchronousWait_Disable) || \
+                                 ((STATE) == FSMC_AsynchronousWait_Enable))
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Wait_Signal_Polarity 
+  * @{
+  */
+#define FSMC_WaitSignalPolarity_Low              ((uint32_t)0x00000000)
+#define FSMC_WaitSignalPolarity_High             ((uint32_t)0x00000200)
+#define IS_FSMC_WAIT_POLARITY(POLARITY) (((POLARITY) == FSMC_WaitSignalPolarity_Low) || \
+                                         ((POLARITY) == FSMC_WaitSignalPolarity_High))
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Wrap_Mode 
+  * @{
+  */
+#define FSMC_WrapMode_Disable                    ((uint32_t)0x00000000)
+#define FSMC_WrapMode_Enable                     ((uint32_t)0x00000400) 
+#define IS_FSMC_WRAP_MODE(MODE) (((MODE) == FSMC_WrapMode_Disable) || \
+                                 ((MODE) == FSMC_WrapMode_Enable))
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Wait_Timing 
+  * @{
+  */
+#define FSMC_WaitSignalActive_BeforeWaitState    ((uint32_t)0x00000000)
+#define FSMC_WaitSignalActive_DuringWaitState    ((uint32_t)0x00000800) 
+#define IS_FSMC_WAIT_SIGNAL_ACTIVE(ACTIVE) (((ACTIVE) == FSMC_WaitSignalActive_BeforeWaitState) || \
+                                            ((ACTIVE) == FSMC_WaitSignalActive_DuringWaitState))
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Write_Operation 
+  * @{
+  */
+#define FSMC_WriteOperation_Disable                     ((uint32_t)0x00000000)
+#define FSMC_WriteOperation_Enable                      ((uint32_t)0x00001000)
+#define IS_FSMC_WRITE_OPERATION(OPERATION) (((OPERATION) == FSMC_WriteOperation_Disable) || \
+                                            ((OPERATION) == FSMC_WriteOperation_Enable))                         
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Wait_Signal 
+  * @{
+  */
+#define FSMC_WaitSignal_Disable                  ((uint32_t)0x00000000)
+#define FSMC_WaitSignal_Enable                   ((uint32_t)0x00002000) 
+#define IS_FSMC_WAITE_SIGNAL(SIGNAL) (((SIGNAL) == FSMC_WaitSignal_Disable) || \
+                                      ((SIGNAL) == FSMC_WaitSignal_Enable))
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Extended_Mode 
+  * @{
+  */
+#define FSMC_ExtendedMode_Disable                ((uint32_t)0x00000000)
+#define FSMC_ExtendedMode_Enable                 ((uint32_t)0x00004000)
+
+#define IS_FSMC_EXTENDED_MODE(MODE) (((MODE) == FSMC_ExtendedMode_Disable) || \
+                                     ((MODE) == FSMC_ExtendedMode_Enable)) 
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Write_Burst 
+  * @{
+  */
+
+#define FSMC_WriteBurst_Disable                  ((uint32_t)0x00000000)
+#define FSMC_WriteBurst_Enable                   ((uint32_t)0x00080000) 
+#define IS_FSMC_WRITE_BURST(BURST) (((BURST) == FSMC_WriteBurst_Disable) || \
+                                    ((BURST) == FSMC_WriteBurst_Enable))
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Address_Setup_Time 
+  * @{
+  */
+#define IS_FSMC_ADDRESS_SETUP_TIME(TIME) ((TIME) <= 0xF)
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Address_Hold_Time 
+  * @{
+  */
+#define IS_FSMC_ADDRESS_HOLD_TIME(TIME) ((TIME) <= 0xF)
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Data_Setup_Time 
+  * @{
+  */
+#define IS_FSMC_DATASETUP_TIME(TIME) (((TIME) > 0) && ((TIME) <= 0xFF))
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Bus_Turn_around_Duration 
+  * @{
+  */
+#define IS_FSMC_TURNAROUND_TIME(TIME) ((TIME) <= 0xF)
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_CLK_Division 
+  * @{
+  */
+#define IS_FSMC_CLK_DIV(DIV) ((DIV) <= 0xF)
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Data_Latency 
+  * @{
+  */
+#define IS_FSMC_DATA_LATENCY(LATENCY) ((LATENCY) <= 0xF)
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Access_Mode 
+  * @{
+  */
+#define FSMC_AccessMode_A                        ((uint32_t)0x00000000)
+#define FSMC_AccessMode_B                        ((uint32_t)0x10000000) 
+#define FSMC_AccessMode_C                        ((uint32_t)0x20000000)
+#define FSMC_AccessMode_D                        ((uint32_t)0x30000000)
+#define IS_FSMC_ACCESS_MODE(MODE) (((MODE) == FSMC_AccessMode_A) || \
+                                   ((MODE) == FSMC_AccessMode_B) || \
+                                   ((MODE) == FSMC_AccessMode_C) || \
+                                   ((MODE) == FSMC_AccessMode_D))
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+  
+/** @defgroup FSMC_NAND_PCCARD_Controller 
+  * @{
+  */
+
+/** @defgroup FSMC_Wait_feature 
+  * @{
+  */
+#define FSMC_Waitfeature_Disable                 ((uint32_t)0x00000000)
+#define FSMC_Waitfeature_Enable                  ((uint32_t)0x00000002)
+#define IS_FSMC_WAIT_FEATURE(FEATURE) (((FEATURE) == FSMC_Waitfeature_Disable) || \
+                                       ((FEATURE) == FSMC_Waitfeature_Enable))
+/**
+  * @}
+  */
+
+
+/** @defgroup FSMC_ECC 
+  * @{
+  */
+#define FSMC_ECC_Disable                         ((uint32_t)0x00000000)
+#define FSMC_ECC_Enable                          ((uint32_t)0x00000040)
+#define IS_FSMC_ECC_STATE(STATE) (((STATE) == FSMC_ECC_Disable) || \
+                                  ((STATE) == FSMC_ECC_Enable))
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_ECC_Page_Size 
+  * @{
+  */
+#define FSMC_ECCPageSize_256Bytes                ((uint32_t)0x00000000)
+#define FSMC_ECCPageSize_512Bytes                ((uint32_t)0x00020000)
+#define FSMC_ECCPageSize_1024Bytes               ((uint32_t)0x00040000)
+#define FSMC_ECCPageSize_2048Bytes               ((uint32_t)0x00060000)
+#define FSMC_ECCPageSize_4096Bytes               ((uint32_t)0x00080000)
+#define FSMC_ECCPageSize_8192Bytes               ((uint32_t)0x000A0000)
+#define IS_FSMC_ECCPAGE_SIZE(SIZE) (((SIZE) == FSMC_ECCPageSize_256Bytes) || \
+                                    ((SIZE) == FSMC_ECCPageSize_512Bytes) || \
+                                    ((SIZE) == FSMC_ECCPageSize_1024Bytes) || \
+                                    ((SIZE) == FSMC_ECCPageSize_2048Bytes) || \
+                                    ((SIZE) == FSMC_ECCPageSize_4096Bytes) || \
+                                    ((SIZE) == FSMC_ECCPageSize_8192Bytes))
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_TCLR_Setup_Time 
+  * @{
+  */
+#define IS_FSMC_TCLR_TIME(TIME) ((TIME) <= 0xFF)
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_TAR_Setup_Time 
+  * @{
+  */
+#define IS_FSMC_TAR_TIME(TIME) ((TIME) <= 0xFF)
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Setup_Time 
+  * @{
+  */
+#define IS_FSMC_SETUP_TIME(TIME) ((TIME) <= 0xFF)
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Wait_Setup_Time 
+  * @{
+  */
+#define IS_FSMC_WAIT_TIME(TIME) ((TIME) <= 0xFF)
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Hold_Setup_Time 
+  * @{
+  */
+#define IS_FSMC_HOLD_TIME(TIME) ((TIME) <= 0xFF)
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_HiZ_Setup_Time 
+  * @{
+  */
+#define IS_FSMC_HIZ_TIME(TIME) ((TIME) <= 0xFF)
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Interrupt_sources 
+  * @{
+  */
+#define FSMC_IT_RisingEdge                       ((uint32_t)0x00000008)
+#define FSMC_IT_Level                            ((uint32_t)0x00000010)
+#define FSMC_IT_FallingEdge                      ((uint32_t)0x00000020)
+#define IS_FSMC_IT(IT) ((((IT) & (uint32_t)0xFFFFFFC7) == 0x00000000) && ((IT) != 0x00000000))
+#define IS_FSMC_GET_IT(IT) (((IT) == FSMC_IT_RisingEdge) || \
+                            ((IT) == FSMC_IT_Level) || \
+                            ((IT) == FSMC_IT_FallingEdge)) 
+/**
+  * @}
+  */
+
+/** @defgroup FSMC_Flags 
+  * @{
+  */
+#define FSMC_FLAG_RisingEdge                     ((uint32_t)0x00000001)
+#define FSMC_FLAG_Level                          ((uint32_t)0x00000002)
+#define FSMC_FLAG_FallingEdge                    ((uint32_t)0x00000004)
+#define FSMC_FLAG_FEMPT                          ((uint32_t)0x00000040)
+#define IS_FSMC_GET_FLAG(FLAG) (((FLAG) == FSMC_FLAG_RisingEdge) || \
+                                ((FLAG) == FSMC_FLAG_Level) || \
+                                ((FLAG) == FSMC_FLAG_FallingEdge) || \
+                                ((FLAG) == FSMC_FLAG_FEMPT))
+
+#define IS_FSMC_CLEAR_FLAG(FLAG) ((((FLAG) & (uint32_t)0xFFFFFFF8) == 0x00000000) && ((FLAG) != 0x00000000))
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/ 
+
+/* NOR/SRAM Controller functions **********************************************/
+void FSMC_NORSRAMDeInit(uint32_t FSMC_Bank);
+void FSMC_NORSRAMInit(FSMC_NORSRAMInitTypeDef* FSMC_NORSRAMInitStruct);
+void FSMC_NORSRAMStructInit(FSMC_NORSRAMInitTypeDef* FSMC_NORSRAMInitStruct);
+void FSMC_NORSRAMCmd(uint32_t FSMC_Bank, FunctionalState NewState);
+
+/* NAND Controller functions **************************************************/
+void FSMC_NANDDeInit(uint32_t FSMC_Bank);
+void FSMC_NANDInit(FSMC_NANDInitTypeDef* FSMC_NANDInitStruct);
+void FSMC_NANDStructInit(FSMC_NANDInitTypeDef* FSMC_NANDInitStruct);
+void FSMC_NANDCmd(uint32_t FSMC_Bank, FunctionalState NewState);
+void FSMC_NANDECCCmd(uint32_t FSMC_Bank, FunctionalState NewState);
+uint32_t FSMC_GetECC(uint32_t FSMC_Bank);
+
+/* PCCARD Controller functions ************************************************/
+void FSMC_PCCARDDeInit(void);
+void FSMC_PCCARDInit(FSMC_PCCARDInitTypeDef* FSMC_PCCARDInitStruct);
+void FSMC_PCCARDStructInit(FSMC_PCCARDInitTypeDef* FSMC_PCCARDInitStruct);
+void FSMC_PCCARDCmd(FunctionalState NewState);
+
+/* Interrupts and flags management functions **********************************/
+void FSMC_ITConfig(uint32_t FSMC_Bank, uint32_t FSMC_IT, FunctionalState NewState);
+FlagStatus FSMC_GetFlagStatus(uint32_t FSMC_Bank, uint32_t FSMC_FLAG);
+void FSMC_ClearFlag(uint32_t FSMC_Bank, uint32_t FSMC_FLAG);
+ITStatus FSMC_GetITStatus(uint32_t FSMC_Bank, uint32_t FSMC_IT);
+void FSMC_ClearITPendingBit(uint32_t FSMC_Bank, uint32_t FSMC_IT);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__STM32F4xx_FSMC_H */
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */ 
+
--- a/云台/云台/Library/stm32f4xx_gpio.c
+++ b/云台/云台/Library/stm32f4xx_gpio.c
@@ -0,0 +1,603 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_gpio.c
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file provides firmware functions to manage the following 
+  *          functionalities of the GPIO peripheral:           
+  *           + Initialization and Configuration
+  *           + GPIO Read and Write
+  *           + GPIO Alternate functions configuration
+  * 
+@verbatim  
+ ===============================================================================
+                      ##### How to use this driver #####
+ ===============================================================================       
+ [..]             
+   (#) Enable the GPIO AHB clock using the following function
+       RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOx, ENABLE);
+               
+   (#) Configure the GPIO pin(s) using GPIO_Init()
+       Four possible configuration are available for each pin:
+       (++) Input: Floating, Pull-up, Pull-down.
+       (++) Output: Push-Pull (Pull-up, Pull-down or no Pull)
+            Open Drain (Pull-up, Pull-down or no Pull). In output mode, the speed 
+            is configurable: 2 MHz, 25 MHz, 50 MHz or 100 MHz.
+       (++) Alternate Function: Push-Pull (Pull-up, Pull-down or no Pull) Open 
+            Drain (Pull-up, Pull-down or no Pull).
+       (++) Analog: required mode when a pin is to be used as ADC channel or DAC 
+            output.
+   
+   (#) Peripherals alternate function:
+       (++) For ADC and DAC, configure the desired pin in analog mode using 
+            GPIO_InitStruct->GPIO_Mode = GPIO_Mode_AN;
+            (+++) For other peripherals (TIM, USART...):
+            (+++) Connect the pin to the desired peripherals' Alternate 
+                     Function (AF) using GPIO_PinAFConfig() function
+            (+++) Configure the desired pin in alternate function mode using
+                     GPIO_InitStruct->GPIO_Mode = GPIO_Mode_AF
+            (+++) Select the type, pull-up/pull-down and output speed via 
+                     GPIO_PuPd, GPIO_OType and GPIO_Speed members
+            (+++) Call GPIO_Init() function
+          
+   (#) To get the level of a pin configured in input mode use GPIO_ReadInputDataBit()
+            
+   (#) To set/reset the level of a pin configured in output mode use 
+       GPIO_SetBits()/GPIO_ResetBits()
+                 
+   (#) During and just after reset, the alternate functions are not 
+       active and the GPIO pins are configured in input floating mode (except JTAG
+       pins).
+  
+   (#) The LSE oscillator pins OSC32_IN and OSC32_OUT can be used as general purpose 
+       (PC14 and PC15, respectively) when the LSE oscillator is off. The LSE has 
+       priority over the GPIO function.
+  
+   (#) The HSE oscillator pins OSC_IN/OSC_OUT can be used as 
+       general purpose PH0 and PH1, respectively, when the HSE oscillator is off. 
+       The HSE has priority over the GPIO function.
+               
+@endverbatim        
+  *
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_gpio.h"
+#include "stm32f4xx_rcc.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @defgroup GPIO 
+  * @brief GPIO driver modules
+  * @{
+  */ 
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/** @defgroup GPIO_Private_Functions
+  * @{
+  */ 
+
+/** @defgroup GPIO_Group1 Initialization and Configuration
+ *  @brief   Initialization and Configuration
+ *
+@verbatim   
+ ===============================================================================
+                 ##### Initialization and Configuration #####
+ ===============================================================================  
+
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  De-initializes the GPIOx peripheral registers to their default reset values.
+  * @note   By default, The GPIO pins are configured in input floating mode (except JTAG pins).
+  * @param  GPIOx: where x can be (A..K) to select the GPIO peripheral for STM32F405xx/407xx and STM32F415xx/417xx devices
+  *                      x can be (A..I) to select the GPIO peripheral for STM32F42xxx/43xxx devices.
+  *                      x can be (A, B, C, D and H) to select the GPIO peripheral for STM32F401xx devices.  
+  * @retval None
+  */
+void GPIO_DeInit(GPIO_TypeDef* GPIOx)
+{
+  /* Check the parameters */
+  assert_param(IS_GPIO_ALL_PERIPH(GPIOx));
+
+  if (GPIOx == GPIOA)
+  {
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOA, ENABLE);
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOA, DISABLE);
+  }
+  else if (GPIOx == GPIOB)
+  {
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOB, ENABLE);
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOB, DISABLE);
+  }
+  else if (GPIOx == GPIOC)
+  {
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOC, ENABLE);
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOC, DISABLE);
+  }
+  else if (GPIOx == GPIOD)
+  {
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOD, ENABLE);
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOD, DISABLE);
+  }
+  else if (GPIOx == GPIOE)
+  {
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOE, ENABLE);
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOE, DISABLE);
+  }
+  else if (GPIOx == GPIOF)
+  {
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOF, ENABLE);
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOF, DISABLE);
+  }
+  else if (GPIOx == GPIOG)
+  {
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOG, ENABLE);
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOG, DISABLE);
+  }
+  else if (GPIOx == GPIOH)
+  {
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOH, ENABLE);
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOH, DISABLE);
+  }
+
+  else if (GPIOx == GPIOI)
+  {
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOI, ENABLE);
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOI, DISABLE);
+  }
+  else if (GPIOx == GPIOJ)
+  {
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOJ, ENABLE);
+    RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOJ, DISABLE);
+  }
+  else
+  {
+    if (GPIOx == GPIOK)
+    {
+      RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOK, ENABLE);
+      RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOK, DISABLE);
+    }
+  }
+}
+
+/**
+  * @brief  Initializes the GPIOx peripheral according to the specified parameters in the GPIO_InitStruct.
+  * @param  GPIOx: where x can be (A..K) to select the GPIO peripheral for STM32F405xx/407xx and STM32F415xx/417xx devices
+  *                      x can be (A..I) to select the GPIO peripheral for STM32F42xxx/43xxx devices.
+  *                      x can be (A, B, C, D and H) to select the GPIO peripheral for STM32F401xx devices.   
+  * @param  GPIO_InitStruct: pointer to a GPIO_InitTypeDef structure that contains
+  *         the configuration information for the specified GPIO peripheral.
+  * @retval None
+  */
+void GPIO_Init(GPIO_TypeDef* GPIOx, GPIO_InitTypeDef* GPIO_InitStruct)
+{
+  uint32_t pinpos = 0x00, pos = 0x00 , currentpin = 0x00;
+
+  /* Check the parameters */
+  assert_param(IS_GPIO_ALL_PERIPH(GPIOx));
+  assert_param(IS_GPIO_PIN(GPIO_InitStruct->GPIO_Pin));
+  assert_param(IS_GPIO_MODE(GPIO_InitStruct->GPIO_Mode));
+  assert_param(IS_GPIO_PUPD(GPIO_InitStruct->GPIO_PuPd));
+
+  /* ------------------------- Configure the port pins ---------------- */
+  /*-- GPIO Mode Configuration --*/
+  for (pinpos = 0x00; pinpos < 0x10; pinpos++)
+  {
+    pos = ((uint32_t)0x01) << pinpos;
+    /* Get the port pins position */
+    currentpin = (GPIO_InitStruct->GPIO_Pin) & pos;
+
+    if (currentpin == pos)
+    {
+      GPIOx->MODER  &= ~(GPIO_MODER_MODER0 << (pinpos * 2));
+      GPIOx->MODER |= (((uint32_t)GPIO_InitStruct->GPIO_Mode) << (pinpos * 2));
+
+      if ((GPIO_InitStruct->GPIO_Mode == GPIO_Mode_OUT) || (GPIO_InitStruct->GPIO_Mode == GPIO_Mode_AF))
+      {
+        /* Check Speed mode parameters */
+        assert_param(IS_GPIO_SPEED(GPIO_InitStruct->GPIO_Speed));
+
+        /* Speed mode configuration */
+        GPIOx->OSPEEDR &= ~(GPIO_OSPEEDER_OSPEEDR0 << (pinpos * 2));
+        GPIOx->OSPEEDR |= ((uint32_t)(GPIO_InitStruct->GPIO_Speed) << (pinpos * 2));
+
+        /* Check Output mode parameters */
+        assert_param(IS_GPIO_OTYPE(GPIO_InitStruct->GPIO_OType));
+
+        /* Output mode configuration*/
+        GPIOx->OTYPER  &= ~((GPIO_OTYPER_OT_0) << ((uint16_t)pinpos)) ;
+        GPIOx->OTYPER |= (uint16_t)(((uint16_t)GPIO_InitStruct->GPIO_OType) << ((uint16_t)pinpos));
+      }
+
+      /* Pull-up Pull down resistor configuration*/
+      GPIOx->PUPDR &= ~(GPIO_PUPDR_PUPDR0 << ((uint16_t)pinpos * 2));
+      GPIOx->PUPDR |= (((uint32_t)GPIO_InitStruct->GPIO_PuPd) << (pinpos * 2));
+    }
+  }
+}
+
+/**
+  * @brief  Fills each GPIO_InitStruct member with its default value.
+  * @param  GPIO_InitStruct : pointer to a GPIO_InitTypeDef structure which will be initialized.
+  * @retval None
+  */
+void GPIO_StructInit(GPIO_InitTypeDef* GPIO_InitStruct)
+{
+  /* Reset GPIO init structure parameters values */
+  GPIO_InitStruct->GPIO_Pin  = GPIO_Pin_All;
+  GPIO_InitStruct->GPIO_Mode = GPIO_Mode_IN;
+  GPIO_InitStruct->GPIO_Speed = GPIO_Speed_2MHz;
+  GPIO_InitStruct->GPIO_OType = GPIO_OType_PP;
+  GPIO_InitStruct->GPIO_PuPd = GPIO_PuPd_NOPULL;
+}
+
+/**
+  * @brief  Locks GPIO Pins configuration registers.
+  * @note   The locked registers are GPIOx_MODER, GPIOx_OTYPER, GPIOx_OSPEEDR,
+  *         GPIOx_PUPDR, GPIOx_AFRL and GPIOx_AFRH.
+  * @note   The configuration of the locked GPIO pins can no longer be modified
+  *         until the next reset.
+  * @param  GPIOx: where x can be (A..K) to select the GPIO peripheral for STM32F405xx/407xx and STM32F415xx/417xx devices
+  *                      x can be (A..I) to select the GPIO peripheral for STM32F42xxx/43xxx devices.
+  *                      x can be (A, B, C, D and H) to select the GPIO peripheral for STM32F401xx devices. 
+  * @param  GPIO_Pin: specifies the port bit to be locked.
+  *          This parameter can be any combination of GPIO_Pin_x where x can be (0..15).
+  * @retval None
+  */
+void GPIO_PinLockConfig(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin)
+{
+  __IO uint32_t tmp = 0x00010000;
+
+  /* Check the parameters */
+  assert_param(IS_GPIO_ALL_PERIPH(GPIOx));
+  assert_param(IS_GPIO_PIN(GPIO_Pin));
+
+  tmp |= GPIO_Pin;
+  /* Set LCKK bit */
+  GPIOx->LCKR = tmp;
+  /* Reset LCKK bit */
+  GPIOx->LCKR =  GPIO_Pin;
+  /* Set LCKK bit */
+  GPIOx->LCKR = tmp;
+  /* Read LCKK bit*/
+  tmp = GPIOx->LCKR;
+  /* Read LCKK bit*/
+  tmp = GPIOx->LCKR;
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup GPIO_Group2 GPIO Read and Write
+ *  @brief   GPIO Read and Write
+ *
+@verbatim   
+ ===============================================================================
+                         ##### GPIO Read and Write #####
+ ===============================================================================  
+
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Reads the specified input port pin.
+  * @param  GPIOx: where x can be (A..K) to select the GPIO peripheral for STM32F405xx/407xx and STM32F415xx/417xx devices
+  *                      x can be (A..I) to select the GPIO peripheral for STM32F42xxx/43xxx devices.
+  *                      x can be (A, B, C, D and H) to select the GPIO peripheral for STM32F401xx devices. 
+  * @param  GPIO_Pin: specifies the port bit to read.
+  *         This parameter can be GPIO_Pin_x where x can be (0..15).
+  * @retval The input port pin value.
+  */
+uint8_t GPIO_ReadInputDataBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin)
+{
+  uint8_t bitstatus = 0x00;
+
+  /* Check the parameters */
+  assert_param(IS_GPIO_ALL_PERIPH(GPIOx));
+  assert_param(IS_GET_GPIO_PIN(GPIO_Pin));
+
+  if ((GPIOx->IDR & GPIO_Pin) != (uint32_t)Bit_RESET)
+  {
+    bitstatus = (uint8_t)Bit_SET;
+  }
+  else
+  {
+    bitstatus = (uint8_t)Bit_RESET;
+  }
+  return bitstatus;
+}
+
+/**
+  * @brief  Reads the specified GPIO input data port.
+  * @param  GPIOx: where x can be (A..K) to select the GPIO peripheral for STM32F405xx/407xx and STM32F415xx/417xx devices
+  *                      x can be (A..I) to select the GPIO peripheral for STM32F42xxx/43xxx devices.
+  *                      x can be (A, B, C, D and H) to select the GPIO peripheral for STM32F401xx devices. 
+  * @retval GPIO input data port value.
+  */
+uint16_t GPIO_ReadInputData(GPIO_TypeDef* GPIOx)
+{
+  /* Check the parameters */
+  assert_param(IS_GPIO_ALL_PERIPH(GPIOx));
+
+  return ((uint16_t)GPIOx->IDR);
+}
+
+/**
+  * @brief  Reads the specified output data port bit.
+  * @param  GPIOx: where x can be (A..K) to select the GPIO peripheral for STM32F405xx/407xx and STM32F415xx/417xx devices
+  *                      x can be (A..I) to select the GPIO peripheral for STM32F42xxx/43xxx devices.
+  *                      x can be (A, B, C, D and H) to select the GPIO peripheral for STM32F401xx devices. 
+  * @param  GPIO_Pin: specifies the port bit to read.
+  *          This parameter can be GPIO_Pin_x where x can be (0..15).
+  * @retval The output port pin value.
+  */
+uint8_t GPIO_ReadOutputDataBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin)
+{
+  uint8_t bitstatus = 0x00;
+
+  /* Check the parameters */
+  assert_param(IS_GPIO_ALL_PERIPH(GPIOx));
+  assert_param(IS_GET_GPIO_PIN(GPIO_Pin));
+
+  if (((GPIOx->ODR) & GPIO_Pin) != (uint32_t)Bit_RESET)
+  {
+    bitstatus = (uint8_t)Bit_SET;
+  }
+  else
+  {
+    bitstatus = (uint8_t)Bit_RESET;
+  }
+  return bitstatus;
+}
+
+/**
+  * @brief  Reads the specified GPIO output data port.
+  * @param  GPIOx: where x can be (A..K) to select the GPIO peripheral for STM32F405xx/407xx and STM32F415xx/417xx devices
+  *                      x can be (A..I) to select the GPIO peripheral for STM32F42xxx/43xxx devices.
+  *                      x can be (A, B, C, D and H) to select the GPIO peripheral for STM32F401xx devices. 
+  * @retval GPIO output data port value.
+  */
+uint16_t GPIO_ReadOutputData(GPIO_TypeDef* GPIOx)
+{
+  /* Check the parameters */
+  assert_param(IS_GPIO_ALL_PERIPH(GPIOx));
+
+  return ((uint16_t)GPIOx->ODR);
+}
+
+/**
+  * @brief  Sets the selected data port bits.
+  * @note   This functions uses GPIOx_BSRR register to allow atomic read/modify 
+  *         accesses. In this way, there is no risk of an IRQ occurring between
+  *         the read and the modify access.
+  * @param  GPIOx: where x can be (A..K) to select the GPIO peripheral for STM32F405xx/407xx and STM32F415xx/417xx devices
+  *                      x can be (A..I) to select the GPIO peripheral for STM32F42xxx/43xxx devices.
+  *                      x can be (A, B, C, D and H) to select the GPIO peripheral for STM32F401xx devices. 
+  * @param  GPIO_Pin: specifies the port bits to be written.
+  *          This parameter can be any combination of GPIO_Pin_x where x can be (0..15).
+  * @retval None
+  */
+void GPIO_SetBits(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin)
+{
+  /* Check the parameters */
+  assert_param(IS_GPIO_ALL_PERIPH(GPIOx));
+  assert_param(IS_GPIO_PIN(GPIO_Pin));
+
+  GPIOx->BSRR = GPIO_Pin;
+}
+
+/**
+  * @brief  Clears the selected data port bits.
+  * @note   This functions uses GPIOx_BSRR register to allow atomic read/modify 
+  *         accesses. In this way, there is no risk of an IRQ occurring between
+  *         the read and the modify access.
+  * @param  GPIOx: where x can be (A..K) to select the GPIO peripheral for STM32F405xx/407xx and STM32F415xx/417xx devices
+  *                      x can be (A..I) to select the GPIO peripheral for STM32F42xxx/43xxx devices.
+  *                      x can be (A, B, C, D and H) to select the GPIO peripheral for STM32F401xx devices. 
+  * @param  GPIO_Pin: specifies the port bits to be written.
+  *          This parameter can be any combination of GPIO_Pin_x where x can be (0..15).
+  * @retval None
+  */
+void GPIO_ResetBits(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin)
+{
+  /* Check the parameters */
+  assert_param(IS_GPIO_ALL_PERIPH(GPIOx));
+  assert_param(IS_GPIO_PIN(GPIO_Pin));
+
+  GPIOx->BSRR = (uint32_t)GPIO_Pin << 16;
+}
+
+/**
+  * @brief  Sets or clears the selected data port bit.
+  * @param  GPIOx: where x can be (A..K) to select the GPIO peripheral for STM32F405xx/407xx and STM32F415xx/417xx devices
+  *                      x can be (A..I) to select the GPIO peripheral for STM32F42xxx/43xxx devices.
+  *                      x can be (A, B, C, D and H) to select the GPIO peripheral for STM32F401xx devices. 
+  * @param  GPIO_Pin: specifies the port bit to be written.
+  *          This parameter can be one of GPIO_Pin_x where x can be (0..15).
+  * @param  BitVal: specifies the value to be written to the selected bit.
+  *          This parameter can be one of the BitAction enum values:
+  *            @arg Bit_RESET: to clear the port pin
+  *            @arg Bit_SET: to set the port pin
+  * @retval None
+  */
+void GPIO_WriteBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin, BitAction BitVal)
+{
+  /* Check the parameters */
+  assert_param(IS_GPIO_ALL_PERIPH(GPIOx));
+  assert_param(IS_GET_GPIO_PIN(GPIO_Pin));
+  assert_param(IS_GPIO_BIT_ACTION(BitVal));
+
+  if (BitVal != Bit_RESET)
+  {
+    GPIOx->BSRR = GPIO_Pin;
+  }
+  else
+  {
+    GPIOx->BSRR = (uint32_t)GPIO_Pin << 16;
+  }
+}
+
+/**
+  * @brief  Writes data to the specified GPIO data port.
+  * @param  GPIOx: where x can be (A..K) to select the GPIO peripheral for STM32F405xx/407xx and STM32F415xx/417xx devices
+  *                      x can be (A..I) to select the GPIO peripheral for STM32F42xxx/43xxx devices.
+  *                      x can be (A, B, C, D and H) to select the GPIO peripheral for STM32F401xx devices. 
+  * @param  PortVal: specifies the value to be written to the port output data register.
+  * @retval None
+  */
+void GPIO_Write(GPIO_TypeDef* GPIOx, uint16_t PortVal)
+{
+  /* Check the parameters */
+  assert_param(IS_GPIO_ALL_PERIPH(GPIOx));
+
+  GPIOx->ODR = PortVal;
+}
+
+/**
+  * @brief  Toggles the specified GPIO pins..
+  * @param  GPIOx: where x can be (A..K) to select the GPIO peripheral for STM32F405xx/407xx and STM32F415xx/417xx devices
+  *                      x can be (A..I) to select the GPIO peripheral for STM32F42xxx/43xxx devices.
+  *                      x can be (A, B, C, D and H) to select the GPIO peripheral for STM32F401xx devices. 
+  * @param  GPIO_Pin: Specifies the pins to be toggled.
+  * @retval None
+  */
+void GPIO_ToggleBits(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin)
+{
+  /* Check the parameters */
+  assert_param(IS_GPIO_ALL_PERIPH(GPIOx));
+
+  GPIOx->ODR ^= GPIO_Pin;
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup GPIO_Group3 GPIO Alternate functions configuration function
+ *  @brief   GPIO Alternate functions configuration function
+ *
+@verbatim   
+ ===============================================================================
+           ##### GPIO Alternate functions configuration function #####
+ ===============================================================================  
+
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Changes the mapping of the specified pin.
+  * @param  GPIOx: where x can be (A..K) to select the GPIO peripheral for STM32F405xx/407xx and STM32F415xx/417xx devices
+  *                      x can be (A..I) to select the GPIO peripheral for STM32F42xxx/43xxx devices.
+  *                      x can be (A, B, C, D and H) to select the GPIO peripheral for STM32F401xx devices. 
+  * @param  GPIO_PinSource: specifies the pin for the Alternate function.
+  *         This parameter can be GPIO_PinSourcex where x can be (0..15).
+  * @param  GPIO_AFSelection: selects the pin to used as Alternate function.
+  *          This parameter can be one of the following values:
+  *            @arg GPIO_AF_RTC_50Hz: Connect RTC_50Hz pin to AF0 (default after reset) 
+  *            @arg GPIO_AF_MCO: Connect MCO pin (MCO1 and MCO2) to AF0 (default after reset) 
+  *            @arg GPIO_AF_TAMPER: Connect TAMPER pins (TAMPER_1 and TAMPER_2) to AF0 (default after reset) 
+  *            @arg GPIO_AF_SWJ: Connect SWJ pins (SWD and JTAG)to AF0 (default after reset) 
+  *            @arg GPIO_AF_TRACE: Connect TRACE pins to AF0 (default after reset)
+  *            @arg GPIO_AF_TIM1: Connect TIM1 pins to AF1
+  *            @arg GPIO_AF_TIM2: Connect TIM2 pins to AF1
+  *            @arg GPIO_AF_TIM3: Connect TIM3 pins to AF2
+  *            @arg GPIO_AF_TIM4: Connect TIM4 pins to AF2
+  *            @arg GPIO_AF_TIM5: Connect TIM5 pins to AF2
+  *            @arg GPIO_AF_TIM8: Connect TIM8 pins to AF3
+  *            @arg GPIO_AF_TIM9: Connect TIM9 pins to AF3
+  *            @arg GPIO_AF_TIM10: Connect TIM10 pins to AF3
+  *            @arg GPIO_AF_TIM11: Connect TIM11 pins to AF3
+  *            @arg GPIO_AF_I2C1: Connect I2C1 pins to AF4
+  *            @arg GPIO_AF_I2C2: Connect I2C2 pins to AF4
+  *            @arg GPIO_AF_I2C3: Connect I2C3 pins to AF4
+  *            @arg GPIO_AF_SPI1: Connect SPI1 pins to AF5
+  *            @arg GPIO_AF_SPI2: Connect SPI2/I2S2 pins to AF5
+  *            @arg GPIO_AF_SPI4: Connect SPI4 pins to AF5 
+  *            @arg GPIO_AF_SPI5: Connect SPI5 pins to AF5 
+  *            @arg GPIO_AF_SPI6: Connect SPI6 pins to AF5
+  *            @arg GPIO_AF_SAI1: Connect SAI1 pins to AF6 for STM32F42xxx/43xxx devices.       
+  *            @arg GPIO_AF_SPI3: Connect SPI3/I2S3 pins to AF6
+  *            @arg GPIO_AF_I2S3ext: Connect I2S3ext pins to AF7
+  *            @arg GPIO_AF_USART1: Connect USART1 pins to AF7
+  *            @arg GPIO_AF_USART2: Connect USART2 pins to AF7
+  *            @arg GPIO_AF_USART3: Connect USART3 pins to AF7
+  *            @arg GPIO_AF_UART4: Connect UART4 pins to AF8
+  *            @arg GPIO_AF_UART5: Connect UART5 pins to AF8
+  *            @arg GPIO_AF_USART6: Connect USART6 pins to AF8
+  *            @arg GPIO_AF_UART7: Connect UART7 pins to AF8
+  *            @arg GPIO_AF_UART8: Connect UART8 pins to AF8
+  *            @arg GPIO_AF_CAN1: Connect CAN1 pins to AF9
+  *            @arg GPIO_AF_CAN2: Connect CAN2 pins to AF9
+  *            @arg GPIO_AF_TIM12: Connect TIM12 pins to AF9
+  *            @arg GPIO_AF_TIM13: Connect TIM13 pins to AF9
+  *            @arg GPIO_AF_TIM14: Connect TIM14 pins to AF9
+  *            @arg GPIO_AF_OTG_FS: Connect OTG_FS pins to AF10
+  *            @arg GPIO_AF_OTG_HS: Connect OTG_HS pins to AF10
+  *            @arg GPIO_AF_ETH: Connect ETHERNET pins to AF11
+  *            @arg GPIO_AF_FSMC: Connect FSMC pins to AF12 
+  *            @arg GPIO_AF_FMC: Connect FMC pins to AF12 for STM32F42xxx/43xxx devices.   
+  *            @arg GPIO_AF_OTG_HS_FS: Connect OTG HS (configured in FS) pins to AF12
+  *            @arg GPIO_AF_SDIO: Connect SDIO pins to AF12
+  *            @arg GPIO_AF_DCMI: Connect DCMI pins to AF13
+  *            @arg GPIO_AF_LTDC: Connect LTDC pins to AF14 for STM32F429xx/439xx devices. 
+  *            @arg GPIO_AF_EVENTOUT: Connect EVENTOUT pins to AF15
+  * @retval None
+  */
+void GPIO_PinAFConfig(GPIO_TypeDef* GPIOx, uint16_t GPIO_PinSource, uint8_t GPIO_AF)
+{
+  uint32_t temp = 0x00;
+  uint32_t temp_2 = 0x00;
+  
+  /* Check the parameters */
+  assert_param(IS_GPIO_ALL_PERIPH(GPIOx));
+  assert_param(IS_GPIO_PIN_SOURCE(GPIO_PinSource));
+  assert_param(IS_GPIO_AF(GPIO_AF));
+  
+  temp = ((uint32_t)(GPIO_AF) << ((uint32_t)((uint32_t)GPIO_PinSource & (uint32_t)0x07) * 4)) ;
+  GPIOx->AFR[GPIO_PinSource >> 0x03] &= ~((uint32_t)0xF << ((uint32_t)((uint32_t)GPIO_PinSource & (uint32_t)0x07) * 4)) ;
+  temp_2 = GPIOx->AFR[GPIO_PinSource >> 0x03] | temp;
+  GPIOx->AFR[GPIO_PinSource >> 0x03] = temp_2;
+}
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
--- a/云台/云台/Library/stm32f4xx_gpio.h
+++ b/云台/云台/Library/stm32f4xx_gpio.h
@@ -0,0 +1,584 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_gpio.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file contains all the functions prototypes for the GPIO firmware
+  *          library.  
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_GPIO_H
+#define __STM32F4xx_GPIO_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup GPIO
+  * @{
+  */ 
+
+/* Exported types ------------------------------------------------------------*/
+
+#define IS_GPIO_ALL_PERIPH(PERIPH) (((PERIPH) == GPIOA) || \
+                                    ((PERIPH) == GPIOB) || \
+                                    ((PERIPH) == GPIOC) || \
+                                    ((PERIPH) == GPIOD) || \
+                                    ((PERIPH) == GPIOE) || \
+                                    ((PERIPH) == GPIOF) || \
+                                    ((PERIPH) == GPIOG) || \
+                                    ((PERIPH) == GPIOH) || \
+                                    ((PERIPH) == GPIOI) || \
+                                    ((PERIPH) == GPIOJ) || \
+                                    ((PERIPH) == GPIOK))
+
+/** 
+  * @brief  GPIO Configuration Mode enumeration 
+  */   
+typedef enum
+{ 
+  GPIO_Mode_IN   = 0x00, /*!< GPIO Input Mode */
+  GPIO_Mode_OUT  = 0x01, /*!< GPIO Output Mode */
+  GPIO_Mode_AF   = 0x02, /*!< GPIO Alternate function Mode */
+  GPIO_Mode_AN   = 0x03  /*!< GPIO Analog Mode */
+}GPIOMode_TypeDef;
+#define IS_GPIO_MODE(MODE) (((MODE) == GPIO_Mode_IN)  || ((MODE) == GPIO_Mode_OUT) || \
+                            ((MODE) == GPIO_Mode_AF)|| ((MODE) == GPIO_Mode_AN))
+
+/** 
+  * @brief  GPIO Output type enumeration 
+  */  
+typedef enum
+{ 
+  GPIO_OType_PP = 0x00,
+  GPIO_OType_OD = 0x01
+}GPIOOType_TypeDef;
+#define IS_GPIO_OTYPE(OTYPE) (((OTYPE) == GPIO_OType_PP) || ((OTYPE) == GPIO_OType_OD))
+
+
+/** 
+  * @brief  GPIO Output Maximum frequency enumeration 
+  */  
+typedef enum
+{ 
+  GPIO_Low_Speed     = 0x00, /*!< Low speed    */
+  GPIO_Medium_Speed  = 0x01, /*!< Medium speed */
+  GPIO_Fast_Speed    = 0x02, /*!< Fast speed   */
+  GPIO_High_Speed    = 0x03  /*!< High speed   */
+}GPIOSpeed_TypeDef;
+
+/* Add legacy definition */
+#define  GPIO_Speed_2MHz    GPIO_Low_Speed    
+#define  GPIO_Speed_25MHz   GPIO_Medium_Speed 
+#define  GPIO_Speed_50MHz   GPIO_Fast_Speed 
+#define  GPIO_Speed_100MHz  GPIO_High_Speed  
+  
+#define IS_GPIO_SPEED(SPEED) (((SPEED) == GPIO_Low_Speed) || ((SPEED) == GPIO_Medium_Speed) || \
+                              ((SPEED) == GPIO_Fast_Speed)||  ((SPEED) == GPIO_High_Speed)) 
+
+/** 
+  * @brief  GPIO Configuration PullUp PullDown enumeration 
+  */ 
+typedef enum
+{ 
+  GPIO_PuPd_NOPULL = 0x00,
+  GPIO_PuPd_UP     = 0x01,
+  GPIO_PuPd_DOWN   = 0x02
+}GPIOPuPd_TypeDef;
+#define IS_GPIO_PUPD(PUPD) (((PUPD) == GPIO_PuPd_NOPULL) || ((PUPD) == GPIO_PuPd_UP) || \
+                            ((PUPD) == GPIO_PuPd_DOWN))
+
+/** 
+  * @brief  GPIO Bit SET and Bit RESET enumeration 
+  */ 
+typedef enum
+{ 
+  Bit_RESET = 0,
+  Bit_SET
+}BitAction;
+#define IS_GPIO_BIT_ACTION(ACTION) (((ACTION) == Bit_RESET) || ((ACTION) == Bit_SET))
+
+
+/** 
+  * @brief   GPIO Init structure definition  
+  */ 
+typedef struct
+{
+  uint32_t GPIO_Pin;              /*!< Specifies the GPIO pins to be configured.
+                                       This parameter can be any value of @ref GPIO_pins_define */
+
+  GPIOMode_TypeDef GPIO_Mode;     /*!< Specifies the operating mode for the selected pins.
+                                       This parameter can be a value of @ref GPIOMode_TypeDef */
+
+  GPIOSpeed_TypeDef GPIO_Speed;   /*!< Specifies the speed for the selected pins.
+                                       This parameter can be a value of @ref GPIOSpeed_TypeDef */
+
+  GPIOOType_TypeDef GPIO_OType;   /*!< Specifies the operating output type for the selected pins.
+                                       This parameter can be a value of @ref GPIOOType_TypeDef */
+
+  GPIOPuPd_TypeDef GPIO_PuPd;     /*!< Specifies the operating Pull-up/Pull down for the selected pins.
+                                       This parameter can be a value of @ref GPIOPuPd_TypeDef */
+}GPIO_InitTypeDef;
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup GPIO_Exported_Constants
+  * @{
+  */ 
+
+/** @defgroup GPIO_pins_define 
+  * @{
+  */ 
+#define GPIO_Pin_0                 ((uint16_t)0x0001)  /* Pin 0 selected */
+#define GPIO_Pin_1                 ((uint16_t)0x0002)  /* Pin 1 selected */
+#define GPIO_Pin_2                 ((uint16_t)0x0004)  /* Pin 2 selected */
+#define GPIO_Pin_3                 ((uint16_t)0x0008)  /* Pin 3 selected */
+#define GPIO_Pin_4                 ((uint16_t)0x0010)  /* Pin 4 selected */
+#define GPIO_Pin_5                 ((uint16_t)0x0020)  /* Pin 5 selected */
+#define GPIO_Pin_6                 ((uint16_t)0x0040)  /* Pin 6 selected */
+#define GPIO_Pin_7                 ((uint16_t)0x0080)  /* Pin 7 selected */
+#define GPIO_Pin_8                 ((uint16_t)0x0100)  /* Pin 8 selected */
+#define GPIO_Pin_9                 ((uint16_t)0x0200)  /* Pin 9 selected */
+#define GPIO_Pin_10                ((uint16_t)0x0400)  /* Pin 10 selected */
+#define GPIO_Pin_11                ((uint16_t)0x0800)  /* Pin 11 selected */
+#define GPIO_Pin_12                ((uint16_t)0x1000)  /* Pin 12 selected */
+#define GPIO_Pin_13                ((uint16_t)0x2000)  /* Pin 13 selected */
+#define GPIO_Pin_14                ((uint16_t)0x4000)  /* Pin 14 selected */
+#define GPIO_Pin_15                ((uint16_t)0x8000)  /* Pin 15 selected */
+#define GPIO_Pin_All               ((uint16_t)0xFFFF)  /* All pins selected */
+
+#define GPIO_PIN_MASK              ((uint32_t)0x0000FFFF) /* PIN mask for assert test */
+#define IS_GPIO_PIN(PIN)           (((PIN) & GPIO_PIN_MASK ) != (uint32_t)0x00)
+#define IS_GET_GPIO_PIN(PIN) (((PIN) == GPIO_Pin_0) || \
+                              ((PIN) == GPIO_Pin_1) || \
+                              ((PIN) == GPIO_Pin_2) || \
+                              ((PIN) == GPIO_Pin_3) || \
+                              ((PIN) == GPIO_Pin_4) || \
+                              ((PIN) == GPIO_Pin_5) || \
+                              ((PIN) == GPIO_Pin_6) || \
+                              ((PIN) == GPIO_Pin_7) || \
+                              ((PIN) == GPIO_Pin_8) || \
+                              ((PIN) == GPIO_Pin_9) || \
+                              ((PIN) == GPIO_Pin_10) || \
+                              ((PIN) == GPIO_Pin_11) || \
+                              ((PIN) == GPIO_Pin_12) || \
+                              ((PIN) == GPIO_Pin_13) || \
+                              ((PIN) == GPIO_Pin_14) || \
+                              ((PIN) == GPIO_Pin_15))
+/**
+  * @}
+  */ 
+
+
+/** @defgroup GPIO_Pin_sources 
+  * @{
+  */ 
+#define GPIO_PinSource0            ((uint8_t)0x00)
+#define GPIO_PinSource1            ((uint8_t)0x01)
+#define GPIO_PinSource2            ((uint8_t)0x02)
+#define GPIO_PinSource3            ((uint8_t)0x03)
+#define GPIO_PinSource4            ((uint8_t)0x04)
+#define GPIO_PinSource5            ((uint8_t)0x05)
+#define GPIO_PinSource6            ((uint8_t)0x06)
+#define GPIO_PinSource7            ((uint8_t)0x07)
+#define GPIO_PinSource8            ((uint8_t)0x08)
+#define GPIO_PinSource9            ((uint8_t)0x09)
+#define GPIO_PinSource10           ((uint8_t)0x0A)
+#define GPIO_PinSource11           ((uint8_t)0x0B)
+#define GPIO_PinSource12           ((uint8_t)0x0C)
+#define GPIO_PinSource13           ((uint8_t)0x0D)
+#define GPIO_PinSource14           ((uint8_t)0x0E)
+#define GPIO_PinSource15           ((uint8_t)0x0F)
+
+#define IS_GPIO_PIN_SOURCE(PINSOURCE) (((PINSOURCE) == GPIO_PinSource0) || \
+                                       ((PINSOURCE) == GPIO_PinSource1) || \
+                                       ((PINSOURCE) == GPIO_PinSource2) || \
+                                       ((PINSOURCE) == GPIO_PinSource3) || \
+                                       ((PINSOURCE) == GPIO_PinSource4) || \
+                                       ((PINSOURCE) == GPIO_PinSource5) || \
+                                       ((PINSOURCE) == GPIO_PinSource6) || \
+                                       ((PINSOURCE) == GPIO_PinSource7) || \
+                                       ((PINSOURCE) == GPIO_PinSource8) || \
+                                       ((PINSOURCE) == GPIO_PinSource9) || \
+                                       ((PINSOURCE) == GPIO_PinSource10) || \
+                                       ((PINSOURCE) == GPIO_PinSource11) || \
+                                       ((PINSOURCE) == GPIO_PinSource12) || \
+                                       ((PINSOURCE) == GPIO_PinSource13) || \
+                                       ((PINSOURCE) == GPIO_PinSource14) || \
+                                       ((PINSOURCE) == GPIO_PinSource15))
+/**
+  * @}
+  */ 
+
+/** @defgroup GPIO_Alternat_function_selection_define 
+  * @{
+  */ 
+/** 
+  * @brief   AF 0 selection  
+  */ 
+#define GPIO_AF_RTC_50Hz      ((uint8_t)0x00)  /* RTC_50Hz Alternate Function mapping */
+#define GPIO_AF_MCO           ((uint8_t)0x00)  /* MCO (MCO1 and MCO2) Alternate Function mapping */
+#define GPIO_AF_TAMPER        ((uint8_t)0x00)  /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */
+#define GPIO_AF_SWJ           ((uint8_t)0x00)  /* SWJ (SWD and JTAG) Alternate Function mapping */
+#define GPIO_AF_TRACE         ((uint8_t)0x00)  /* TRACE Alternate Function mapping */
+#if defined(STM32F446xx)
+#define GPIO_AF0_TIM2         ((uint8_t)0x00)  /* TIM2 Alternate Function mapping */
+#endif /* STM32F446xx */
+
+/** 
+  * @brief   AF 1 selection  
+  */ 
+#define GPIO_AF_TIM1          ((uint8_t)0x01)  /* TIM1 Alternate Function mapping */
+#define GPIO_AF_TIM2          ((uint8_t)0x01)  /* TIM2 Alternate Function mapping */
+#if defined(STM32F410xx) || defined(STM32F413_423xx)
+#define GPIO_AF_LPTIM         ((uint8_t)0x01)  /* LPTIM Alternate Function mapping */
+#endif /* STM32F410xx || STM32F413_423xx */
+/** 
+  * @brief   AF 2 selection  
+  */ 
+#define GPIO_AF_TIM3          ((uint8_t)0x02)  /* TIM3 Alternate Function mapping */
+#define GPIO_AF_TIM4          ((uint8_t)0x02)  /* TIM4 Alternate Function mapping */
+#define GPIO_AF_TIM5          ((uint8_t)0x02)  /* TIM5 Alternate Function mapping */
+
+/** 
+  * @brief   AF 3 selection  
+  */ 
+#define GPIO_AF_TIM8          ((uint8_t)0x03)  /* TIM8 Alternate Function mapping */
+#define GPIO_AF_TIM9          ((uint8_t)0x03)  /* TIM9 Alternate Function mapping */
+#define GPIO_AF_TIM10         ((uint8_t)0x03)  /* TIM10 Alternate Function mapping */
+#define GPIO_AF_TIM11         ((uint8_t)0x03)  /* TIM11 Alternate Function mapping */
+#if defined(STM32F446xx)
+#define GPIO_AF3_CEC          ((uint8_t)0x03)  /* CEC Alternate Function mapping */
+#endif /* STM32F446xx */
+#if defined(STM32F413_423xx)
+#define GPIO_AF3_DFSDM2       ((uint8_t)0x03)  /* DFSDM2 Alternate Function mapping */
+#endif /* STM32F413_423xx */
+/** 
+  * @brief   AF 4 selection  
+  */ 
+#define GPIO_AF_I2C1          ((uint8_t)0x04)  /* I2C1 Alternate Function mapping */
+#define GPIO_AF_I2C2          ((uint8_t)0x04)  /* I2C2 Alternate Function mapping */
+#define GPIO_AF_I2C3          ((uint8_t)0x04)  /* I2C3 Alternate Function mapping */
+#if defined(STM32F446xx)
+#define GPIO_AF4_CEC          ((uint8_t)0x04)  /* CEC Alternate Function mapping */
+#endif /* STM32F446xx */
+#if defined(STM32F410xx) || defined(STM32F412xG) || defined(STM32F413_423xx) || defined(STM32F446xx)
+#define GPIO_AF_FMPI2C        ((uint8_t)0x04)  /* FMPI2C Alternate Function mapping */
+#endif /* STM32F410xx || STM32F446xx */
+
+/** 
+  * @brief   AF 5 selection  
+  */ 
+#define GPIO_AF_SPI1          ((uint8_t)0x05)  /* SPI1/I2S1 Alternate Function mapping */
+#define GPIO_AF_SPI2          ((uint8_t)0x05)  /* SPI2/I2S2 Alternate Function mapping */
+#define GPIO_AF5_SPI3         ((uint8_t)0x05)  /* SPI3/I2S3 Alternate Function mapping (Only for STM32F411xE and STM32F413_423xx Devices) */
+#define GPIO_AF_SPI4          ((uint8_t)0x05)  /* SPI4/I2S4 Alternate Function mapping */
+#define GPIO_AF_SPI5          ((uint8_t)0x05)  /* SPI5 Alternate Function mapping      */
+#define GPIO_AF_SPI6          ((uint8_t)0x05)  /* SPI6 Alternate Function mapping      */
+
+/** 
+  * @brief   AF 6 selection  
+  */ 
+#define GPIO_AF_SPI3          ((uint8_t)0x06)  /* SPI3/I2S3 Alternate Function mapping */
+#define GPIO_AF6_SPI1         ((uint8_t)0x06)  /* SPI1 Alternate Function mapping (Only for STM32F410xx Devices) */
+#define GPIO_AF6_SPI2         ((uint8_t)0x06)  /* SPI2 Alternate Function mapping (Only for STM32F410xx/STM32F411xE Devices) */
+#define GPIO_AF6_SPI4         ((uint8_t)0x06)  /* SPI4 Alternate Function mapping (Only for STM32F411xE Devices) */
+#define GPIO_AF6_SPI5         ((uint8_t)0x06)  /* SPI5 Alternate Function mapping (Only for STM32F410xx/STM32F411xE Devices) */
+#define GPIO_AF_SAI1          ((uint8_t)0x06)  /* SAI1 Alternate Function mapping      */
+#define GPIO_AF_I2S2ext       ((uint8_t)0x06)  /* I2S2ext_SD Alternate Function mapping (only for STM32F412xG and STM32F413_423xx Devices) */
+#if defined(STM32F412xG) || defined(STM32F413_423xx)
+#define GPIO_AF6_DFSDM1       ((uint8_t)0x06)  /* DFSDM1 Alternate Function mapping */
+#endif /* STM32F412xG || STM32F413_423xx */
+#if defined(STM32F413_423xx)
+#define GPIO_AF6_DFSDM2       ((uint8_t)0x06)  /* DFSDM2 Alternate Function mapping */
+#endif /* STM32F413_423xx */
+
+/** 
+  * @brief   AF 7 selection  
+  */ 
+#define GPIO_AF_USART1         ((uint8_t)0x07)  /* USART1 Alternate Function mapping  */
+#define GPIO_AF_USART2         ((uint8_t)0x07)  /* USART2 Alternate Function mapping  */
+#define GPIO_AF_USART3         ((uint8_t)0x07)  /* USART3 Alternate Function mapping  */
+#define GPIO_AF7_SPI3          ((uint8_t)0x07)  /* SPI3/I2S3ext Alternate Function mapping */
+#if defined(STM32F413_423xx)
+#define GPIO_AF7_DFSDM2        ((uint8_t)0x07)  /* DFSDM2 Alternate Function mapping     */
+#define GPIO_AF7_SAI1          ((uint8_t)0x07)  /* SAI1 Alternate Function mapping       */
+#endif /* STM32F413_423xx */
+
+/** 
+  * @brief   AF 7 selection Legacy 
+  */ 
+#define GPIO_AF_I2S3ext   GPIO_AF7_SPI3
+
+/** 
+  * @brief   AF 8 selection  
+  */ 
+#define GPIO_AF_UART4         ((uint8_t)0x08)  /* UART4 Alternate Function mapping  */
+#define GPIO_AF_UART5         ((uint8_t)0x08)  /* UART5 Alternate Function mapping  */
+#define GPIO_AF_USART6        ((uint8_t)0x08)  /* USART6 Alternate Function mapping */
+#define GPIO_AF_UART7         ((uint8_t)0x08)  /* UART7 Alternate Function mapping  */
+#define GPIO_AF_UART8         ((uint8_t)0x08)  /* UART8 Alternate Function mapping  */
+#if defined(STM32F412xG) || defined(STM32F413_423xx)
+#define GPIO_AF8_USART3        ((uint8_t)0x08)  /* USART3 Alternate Function mapping */
+#define GPIO_AF8_DFSDM1        ((uint8_t)0x08)  /* DFSDM Alternate Function mapping  */
+#define GPIO_AF8_CAN1          ((uint8_t)0x08)  /* CAN1 Alternate Function mapping   */
+#endif /* STM32F412xG || STM32F413_423xx */
+#if defined(STM32F446xx)
+#define GPIO_AF8_SAI2          ((uint8_t)0x08)  /* SAI2 Alternate Function mapping */
+#define GPIO_AF_SPDIF         ((uint8_t)0x08)   /* SPDIF Alternate Function mapping */
+#endif /* STM32F446xx */
+
+/** 
+  * @brief   AF 9 selection 
+  */ 
+#define GPIO_AF_CAN1          ((uint8_t)0x09)  /* CAN1 Alternate Function mapping  */
+#define GPIO_AF_CAN2          ((uint8_t)0x09)  /* CAN2 Alternate Function mapping  */
+#define GPIO_AF_TIM12         ((uint8_t)0x09)  /* TIM12 Alternate Function mapping */
+#define GPIO_AF_TIM13         ((uint8_t)0x09)  /* TIM13 Alternate Function mapping */
+#define GPIO_AF_TIM14         ((uint8_t)0x09)  /* TIM14 Alternate Function mapping */
+#define GPIO_AF9_I2C2         ((uint8_t)0x09)  /* I2C2 Alternate Function mapping (Only for STM32F401xx/STM32F410xx/STM32F411xE/STM32F412xG/STM32F413_423xx Devices) */
+#define GPIO_AF9_I2C3         ((uint8_t)0x09)  /* I2C3 Alternate Function mapping (Only for STM32F401xx/STM32F411xE/STM32F412xG and STM32F413_423xx Devices) */
+#if defined(STM32F446xx)
+#define GPIO_AF9_SAI2         ((uint8_t)0x09)  /* SAI2 Alternate Function mapping */
+#endif /* STM32F446xx */
+#define GPIO_AF9_LTDC         ((uint8_t)0x09)  /* LTDC Alternate Function mapping */
+#if defined(STM32F412xG) || defined(STM32F413_423xx) || defined(STM32F446xx) || defined(STM32F469_479xx)
+#define GPIO_AF9_QUADSPI      ((uint8_t)0x09)  /* QuadSPI Alternate Function mapping */
+#endif /* STM32F412xG || STM32F413_423xx || STM32F446xx || STM32F469_479xx */
+#if defined(STM32F410xx) || defined(STM32F412xG) || defined(STM32F413_423xx)
+#define GPIO_AF9_FMPI2C       ((uint8_t)0x09)  /* FMPI2C Alternate Function mapping (Only for STM32F410xx Devices) */
+#endif /* STM32F410xx || STM32F412xG || STM32F413_423xx */
+
+/** 
+  * @brief   AF 10 selection  
+  */ 
+#define GPIO_AF_OTG_FS         ((uint8_t)0xA)  /* OTG_FS Alternate Function mapping */
+#define GPIO_AF_OTG_HS         ((uint8_t)0xA)  /* OTG_HS Alternate Function mapping */
+#if defined(STM32F446xx)
+#define GPIO_AF10_SAI2         ((uint8_t)0x0A)  /* SAI2 Alternate Function mapping */
+#endif /* STM32F446xx */
+#if defined(STM32F412xG) || defined(STM32F413_423xx) || defined(STM32F446xx) || defined(STM32F469_479xx)
+#define GPIO_AF10_QUADSPI      ((uint8_t)0x0A)  /* QuadSPI Alternate Function mapping */
+#endif /* STM32F412xG || STM32F413_423xx || STM32F446xx || STM32F469_479xx */
+#if defined(STM32F412xG) || defined(STM32F413_423xx)
+#define GPIO_AF10_FMC           ((uint8_t)0xA)  /* FMC Alternate Function mapping    */
+#define GPIO_AF10_DFSDM1         ((uint8_t)0xA) /* DFSDM Alternate Function mapping  */
+#endif /* STM32F412xG || STM32F413_423xx */
+#if defined(STM32F413_423xx)
+#define GPIO_AF10_DFSDM2        ((uint8_t)0x0A)  /* DFSDM2 Alternate Function mapping */
+#define GPIO_AF10_SAI1          ((uint8_t)0x0A)  /* SAI1 Alternate Function mapping   */
+#endif /* STM32F413_423xx */
+/** 
+  * @brief   AF 11 selection  
+  */ 
+#define GPIO_AF_ETH             ((uint8_t)0x0B)  /* ETHERNET Alternate Function mapping */
+#if defined(STM32F413_423xx)
+#define GPIO_AF11_UART4         ((uint8_t)0x0B)  /* UART4 Alternate Function mapping  */
+#define GPIO_AF11_UART5         ((uint8_t)0x0B)  /* UART5 Alternate Function mapping  */
+#define GPIO_AF11_UART9         ((uint8_t)0x0B)  /* UART9 Alternate Function mapping  */
+#define GPIO_AF11_UART10        ((uint8_t)0x0B)  /* UART10 Alternate Function mapping */
+#define GPIO_AF11_CAN3          ((uint8_t)0x0B)  /* CAN3 Alternate Function mapping   */
+#endif /* STM32F413_423xx */
+
+/** 
+  * @brief   AF 12 selection  
+  */ 
+#if defined(STM32F40_41xxx) || defined(STM32F412xG) || defined(STM32F413_423xx)
+#define GPIO_AF_FSMC             ((uint8_t)0xC)  /* FSMC Alternate Function mapping                     */
+#endif /* STM32F40_41xxx || STM32F412xG || STM32F413_423xx */
+
+#if defined(STM32F427_437xx) || defined(STM32F429_439xx) || defined(STM32F446xx) || defined(STM32F469_479xx)
+#define GPIO_AF_FMC              ((uint8_t)0xC)  /* FMC Alternate Function mapping                      */
+#endif /* STM32F427_437xx || STM32F429_439xx || STM32F446xx || STM32F469_479xx */
+
+#define GPIO_AF_OTG_HS_FS        ((uint8_t)0xC)  /* OTG HS configured in FS, Alternate Function mapping */
+#define GPIO_AF_SDIO             ((uint8_t)0xC)  /* SDIO Alternate Function mapping                     */
+
+/** 
+  * @brief   AF 13 selection  
+  */ 
+#define GPIO_AF_DCMI          ((uint8_t)0x0D)  /* DCMI Alternate Function mapping */
+#if defined(STM32F469_479xx)
+#define GPIO_AF_DSI           ((uint8_t)0x0D)  /* DSI Alternate Function mapping */
+#endif /* STM32F469_479xx */
+/** 
+  * @brief   AF 14 selection  
+  */
+#define GPIO_AF_LTDC          ((uint8_t)0x0E)  /* LCD-TFT Alternate Function mapping */
+#if defined(STM32F413_423xx)
+#define GPIO_AF14_RNG         ((uint8_t)0x0E)  /* RNG Alternate Function mapping  */
+#endif /* STM32F413_423xx */
+
+/** 
+  * @brief   AF 15 selection  
+  */ 
+#define GPIO_AF_EVENTOUT      ((uint8_t)0x0F)  /* EVENTOUT Alternate Function mapping */
+
+#if defined(STM32F40_41xxx)
+#define IS_GPIO_AF(AF)   (((AF) == GPIO_AF_RTC_50Hz)  || ((AF) == GPIO_AF_TIM14)     || \
+                          ((AF) == GPIO_AF_MCO)       || ((AF) == GPIO_AF_TAMPER)    || \
+                          ((AF) == GPIO_AF_SWJ)       || ((AF) == GPIO_AF_TRACE)     || \
+                          ((AF) == GPIO_AF_TIM1)      || ((AF) == GPIO_AF_TIM2)      || \
+                          ((AF) == GPIO_AF_TIM3)      || ((AF) == GPIO_AF_TIM4)      || \
+                          ((AF) == GPIO_AF_TIM5)      || ((AF) == GPIO_AF_TIM8)      || \
+                          ((AF) == GPIO_AF_I2C1)      || ((AF) == GPIO_AF_I2C2)      || \
+                          ((AF) == GPIO_AF_I2C3)      || ((AF) == GPIO_AF_SPI1)      || \
+                          ((AF) == GPIO_AF_SPI2)      || ((AF) == GPIO_AF_TIM13)     || \
+                          ((AF) == GPIO_AF_SPI3)      || ((AF) == GPIO_AF_TIM14)     || \
+                          ((AF) == GPIO_AF_USART1)    || ((AF) == GPIO_AF_USART2)    || \
+                          ((AF) == GPIO_AF_USART3)    || ((AF) == GPIO_AF_UART4)     || \
+                          ((AF) == GPIO_AF_UART5)     || ((AF) == GPIO_AF_USART6)    || \
+                          ((AF) == GPIO_AF_CAN1)      || ((AF) == GPIO_AF_CAN2)      || \
+                          ((AF) == GPIO_AF_OTG_FS)    || ((AF) == GPIO_AF_OTG_HS)    || \
+                          ((AF) == GPIO_AF_ETH)       || ((AF) == GPIO_AF_OTG_HS_FS) || \
+                          ((AF) == GPIO_AF_SDIO)      || ((AF) == GPIO_AF_DCMI)      || \
+                          ((AF) == GPIO_AF_EVENTOUT)  || ((AF) == GPIO_AF_FSMC))
+#endif /* STM32F40_41xxx */
+
+#if defined(STM32F401xx)
+#define IS_GPIO_AF(AF)   (((AF) == GPIO_AF_RTC_50Hz)  || ((AF) == GPIO_AF_TIM14)     || \
+                          ((AF) == GPIO_AF_MCO)       || ((AF) == GPIO_AF_TAMPER)    || \
+                          ((AF) == GPIO_AF_SWJ)       || ((AF) == GPIO_AF_TRACE)     || \
+                          ((AF) == GPIO_AF_TIM1)      || ((AF) == GPIO_AF_TIM2)      || \
+                          ((AF) == GPIO_AF_TIM3)      || ((AF) == GPIO_AF_TIM4)      || \
+                          ((AF) == GPIO_AF_TIM5)      || ((AF) == GPIO_AF_TIM8)      || \
+                          ((AF) == GPIO_AF_I2C1)      || ((AF) == GPIO_AF_I2C2)      || \
+                          ((AF) == GPIO_AF_I2C3)      || ((AF) == GPIO_AF_SPI1)      || \
+                          ((AF) == GPIO_AF_SPI2)      || ((AF) == GPIO_AF_TIM13)     || \
+                          ((AF) == GPIO_AF_SPI3)      || ((AF) == GPIO_AF_TIM14)     || \
+                          ((AF) == GPIO_AF_USART1)    || ((AF) == GPIO_AF_USART2)    || \
+                          ((AF) == GPIO_AF_SDIO)      || ((AF) == GPIO_AF_USART6)    || \
+                          ((AF) == GPIO_AF_OTG_FS)    || ((AF) == GPIO_AF_OTG_HS)    || \
+                          ((AF) == GPIO_AF_EVENTOUT)  || ((AF) == GPIO_AF_SPI4))
+#endif /* STM32F401xx */
+
+#if defined(STM32F411xE)
+#define IS_GPIO_AF(AF)   (((AF) < 16) && ((AF) != 11) && ((AF) != 13) && ((AF) != 14))
+#endif /* STM32F411xE */
+
+#if defined(STM32F410xx)
+#define IS_GPIO_AF(AF)   (((AF) < 10) || ((AF) == 15))
+#endif /* STM32F410xx */
+
+#if defined(STM32F427_437xx) || defined(STM32F429_439xx)
+#define IS_GPIO_AF(AF)   (((AF) == GPIO_AF_RTC_50Hz)  || ((AF) == GPIO_AF_TIM14)     || \
+                          ((AF) == GPIO_AF_MCO)       || ((AF) == GPIO_AF_TAMPER)    || \
+                          ((AF) == GPIO_AF_SWJ)       || ((AF) == GPIO_AF_TRACE)     || \
+                          ((AF) == GPIO_AF_TIM1)      || ((AF) == GPIO_AF_TIM2)      || \
+                          ((AF) == GPIO_AF_TIM3)      || ((AF) == GPIO_AF_TIM4)      || \
+                          ((AF) == GPIO_AF_TIM5)      || ((AF) == GPIO_AF_TIM8)      || \
+                          ((AF) == GPIO_AF_I2C1)      || ((AF) == GPIO_AF_I2C2)      || \
+                          ((AF) == GPIO_AF_I2C3)      || ((AF) == GPIO_AF_SPI1)      || \
+                          ((AF) == GPIO_AF_SPI2)      || ((AF) == GPIO_AF_TIM13)     || \
+                          ((AF) == GPIO_AF_SPI3)      || ((AF) == GPIO_AF_TIM14)     || \
+                          ((AF) == GPIO_AF_USART1)    || ((AF) == GPIO_AF_USART2)    || \
+                          ((AF) == GPIO_AF_USART3)    || ((AF) == GPIO_AF_UART4)     || \
+                          ((AF) == GPIO_AF_UART5)     || ((AF) == GPIO_AF_USART6)    || \
+                          ((AF) == GPIO_AF_CAN1)      || ((AF) == GPIO_AF_CAN2)      || \
+                          ((AF) == GPIO_AF_OTG_FS)    || ((AF) == GPIO_AF_OTG_HS)    || \
+                          ((AF) == GPIO_AF_ETH)       || ((AF) == GPIO_AF_OTG_HS_FS) || \
+                          ((AF) == GPIO_AF_SDIO)      || ((AF) == GPIO_AF_DCMI)      || \
+                          ((AF) == GPIO_AF_EVENTOUT)  || ((AF) == GPIO_AF_SPI4)      || \
+                          ((AF) == GPIO_AF_SPI5)      || ((AF) == GPIO_AF_SPI6)      || \
+                          ((AF) == GPIO_AF_UART7)     || ((AF) == GPIO_AF_UART8)     || \
+                          ((AF) == GPIO_AF_FMC)       ||  ((AF) == GPIO_AF_SAI1)     || \
+                          ((AF) == GPIO_AF_LTDC))
+#endif /* STM32F427_437xx ||  STM32F429_439xx */
+
+#if defined(STM32F412xG)
+#define IS_GPIO_AF(AF)   (((AF) < 16) && ((AF) != 11) && ((AF) != 14))
+#endif /* STM32F412xG */
+
+#if defined(STM32F413_423xx)
+#define IS_GPIO_AF(AF)   (((AF) < 16) && ((AF) != 13))
+#endif /* STM32F413_423xx */
+
+#if defined(STM32F446xx)
+#define IS_GPIO_AF(AF)   (((AF) < 16) && ((AF) != 11) && ((AF) != 14))
+#endif /* STM32F446xx */
+
+#if defined(STM32F469_479xx)
+#define IS_GPIO_AF(AF)   ((AF) < 16)
+#endif /* STM32F469_479xx */
+
+/**
+  * @}
+  */ 
+
+/** @defgroup GPIO_Legacy 
+  * @{
+  */
+    
+#define GPIO_Mode_AIN           GPIO_Mode_AN
+
+#define GPIO_AF_OTG1_FS         GPIO_AF_OTG_FS
+#define GPIO_AF_OTG2_HS         GPIO_AF_OTG_HS
+#define GPIO_AF_OTG2_FS         GPIO_AF_OTG_HS_FS
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/
+
+/*  Function used to set the GPIO configuration to the default reset state ****/
+void GPIO_DeInit(GPIO_TypeDef* GPIOx);
+
+/* Initialization and Configuration functions *********************************/
+void GPIO_Init(GPIO_TypeDef* GPIOx, GPIO_InitTypeDef* GPIO_InitStruct);
+void GPIO_StructInit(GPIO_InitTypeDef* GPIO_InitStruct);
+void GPIO_PinLockConfig(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin);
+
+/* GPIO Read and Write functions **********************************************/
+uint8_t GPIO_ReadInputDataBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin);
+uint16_t GPIO_ReadInputData(GPIO_TypeDef* GPIOx);
+uint8_t GPIO_ReadOutputDataBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin);
+uint16_t GPIO_ReadOutputData(GPIO_TypeDef* GPIOx);
+void GPIO_SetBits(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin);
+void GPIO_ResetBits(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin);
+void GPIO_WriteBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin, BitAction BitVal);
+void GPIO_Write(GPIO_TypeDef* GPIOx, uint16_t PortVal);
+void GPIO_ToggleBits(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin);
+
+/* GPIO Alternate functions configuration function ****************************/
+void GPIO_PinAFConfig(GPIO_TypeDef* GPIOx, uint16_t GPIO_PinSource, uint8_t GPIO_AF);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__STM32F4xx_GPIO_H */
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
--- a/云台/云台/Library/stm32f4xx_hash.c
+++ b/云台/云台/Library/stm32f4xx_hash.c
@@ -0,0 +1,718 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hash.c
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file provides firmware functions to manage the following 
+  *          functionalities of the HASH / HMAC Processor (HASH) peripheral:           
+  *           - Initialization and Configuration functions
+  *           - Message Digest generation functions
+  *           - context swapping functions   
+  *           - DMA interface function       
+  *           - Interrupts and flags management       
+  *         
+@verbatim
+ ===================================================================      
+                 ##### How to use this driver #####
+ ===================================================================
+            
+ *** HASH operation : *** 
+ ========================                 
+ [..]
+   (#) Enable the HASH controller clock using 
+       RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_HASH, ENABLE) function.
+             
+   (#) Initialize the HASH using HASH_Init() function. 
+                 
+   (#) Reset the HASH processor core, so that the HASH will be ready 
+       to compute he message digest of a new message by using HASH_Reset() function.
+  
+   (#) Enable the HASH controller using the HASH_Cmd() function. 
+                  
+   (#) if using DMA for Data input transfer, Activate the DMA Request 
+       using HASH_DMACmd() function 
+                      
+   (#) if DMA is not used for data transfer, use HASH_DataIn() function 
+       to enter data to IN FIFO.
+               
+            
+   (#) Configure the Number of valid bits in last word of the message 
+       using HASH_SetLastWordValidBitsNbr() function.
+               
+   (#) if the message length is not an exact multiple of 512 bits, 
+       then the function HASH_StartDigest() must be called to launch the computation
+       of the final digest.     
+               
+   (#) Once computed, the digest can be read using HASH_GetDigest() function.         
+                     
+   (#) To control HASH events you can use one of the following wo methods:
+       (++) Check on HASH flags using the HASH_GetFlagStatus() function.  
+       (++) Use HASH interrupts through the function HASH_ITConfig() at 
+            initialization phase and HASH_GetITStatus() function into 
+            interrupt routines in hashing phase.
+            After checking on a flag you should clear it using HASH_ClearFlag()
+            function. And after checking on an interrupt event you should 
+            clear it using HASH_ClearITPendingBit() function.     
+                       
+   (#) Save and restore hash processor context using 
+       HASH_SaveContext() and HASH_RestoreContext() functions.     
+                
+  
+              
+ *** HMAC operation : *** 
+ ========================
+ [..] The HMAC algorithm is used for message authentication, by 
+      irreversibly binding the message being processed to a key chosen 
+      by the user. 
+      For HMAC specifications, refer to "HMAC: keyed-hashing for message 
+      authentication, H. Krawczyk, M. Bellare, R. Canetti, February 1997"
+            
+ [..] Basically, the HMAC algorithm consists of two nested hash operations:
+      HMAC(message) = Hash[((key | pad) XOR 0x5C) | Hash(((key | pad) XOR 0x36) | message)]
+      where:
+      (+) "pad" is a sequence of zeroes needed to extend the key to the 
+          length of the underlying hash function data block (that is 
+          512 bits for both the SHA-1 and MD5 hash algorithms)
+      (+) "|"   represents the concatenation operator 
+            
+           
+ [..]To compute the HMAC, four different phases are required:                  
+   (#) Initialize the HASH using HASH_Init() function to do HMAC 
+       operation. 
+                  
+   (#) The key (to be used for the inner hash function) is then given to the core. 
+       This operation follows the same mechanism as the one used to send the 
+       message in the hash operation (that is, by HASH_DataIn() function and, 
+       finally, HASH_StartDigest() function.
+            
+   (#) Once the last word has been entered and computation has started, 
+       the hash processor elaborates the key. It is then ready to accept the message
+       text using the same mechanism as the one used to send the message in the
+       hash operation.
+         
+   (#) After the first hash round, the hash processor returns "ready" to indicate 
+       that it is ready to receive the key to be used for the outer hash function 
+       (normally, this key is the same as the one used for the inner hash function). 
+       When the last word of the key is entered and computation starts, the HMAC 
+       result is made available using HASH_GetDigest() function.
+
+@endverbatim
+  *         
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hash.h"
+#include "stm32f4xx_rcc.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @defgroup HASH 
+  * @brief HASH driver modules
+  * @{
+  */ 
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/ 
+
+/** @defgroup HASH_Private_Functions
+  * @{
+  */ 
+
+/** @defgroup HASH_Group1 Initialization and Configuration functions
+ *  @brief    Initialization and Configuration functions 
+ *
+@verbatim    
+ ===============================================================================
+              ##### Initialization and Configuration functions #####
+ ===============================================================================  
+ [..] This section provides functions allowing to 
+   (+) Initialize the HASH peripheral
+   (+) Configure the HASH Processor 
+   (+) MD5/SHA1, 
+   (+) HASH/HMAC, 
+   (+) datatype 
+   (+) HMAC Key (if mode = HMAC)
+   (+) Reset the HASH Processor 
+   
+@endverbatim
+  * @{
+  */
+  
+/**
+  * @brief  De-initializes the HASH peripheral registers to their default reset values
+  * @param  None
+  * @retval None
+  */
+void HASH_DeInit(void)
+{
+  /* Enable HASH reset state */
+  RCC_AHB2PeriphResetCmd(RCC_AHB2Periph_HASH, ENABLE);
+  /* Release HASH from reset state */
+  RCC_AHB2PeriphResetCmd(RCC_AHB2Periph_HASH, DISABLE);
+}
+
+/**
+  * @brief  Initializes the HASH peripheral according to the specified parameters
+  *         in the HASH_InitStruct structure.
+  * @note   the hash processor is reset when calling this function so that the
+  *         HASH will be ready to compute the message digest of a new message.
+  *         There is no need to call HASH_Reset() function.           
+  * @param  HASH_InitStruct: pointer to a HASH_InitTypeDef structure that contains
+  *         the configuration information for the HASH peripheral.
+  * @note   The field HASH_HMACKeyType in HASH_InitTypeDef must be filled only 
+  *          if the algorithm mode is HMAC.       
+  * @retval None
+  */
+void HASH_Init(HASH_InitTypeDef* HASH_InitStruct)
+{
+  /* Check the parameters */
+  assert_param(IS_HASH_ALGOSELECTION(HASH_InitStruct->HASH_AlgoSelection));
+  assert_param(IS_HASH_DATATYPE(HASH_InitStruct->HASH_DataType));
+  assert_param(IS_HASH_ALGOMODE(HASH_InitStruct->HASH_AlgoMode));
+  
+  /* Configure the Algorithm used, algorithm mode and the datatype */
+  HASH->CR &= ~ (HASH_CR_ALGO | HASH_CR_DATATYPE | HASH_CR_MODE);
+  HASH->CR |= (HASH_InitStruct->HASH_AlgoSelection | \
+               HASH_InitStruct->HASH_DataType | \
+               HASH_InitStruct->HASH_AlgoMode);
+  
+  /* if algorithm mode is HMAC, set the Key */  
+  if(HASH_InitStruct->HASH_AlgoMode == HASH_AlgoMode_HMAC) 
+  {
+    assert_param(IS_HASH_HMAC_KEYTYPE(HASH_InitStruct->HASH_HMACKeyType));
+    HASH->CR &= ~HASH_CR_LKEY;
+    HASH->CR |= HASH_InitStruct->HASH_HMACKeyType;
+  }
+
+  /* Reset the HASH processor core, so that the HASH will be ready to compute 
+     the message digest of a new message */
+  HASH->CR |= HASH_CR_INIT;  
+}
+
+/**
+  * @brief  Fills each HASH_InitStruct member with its default value.
+  * @param  HASH_InitStruct : pointer to a HASH_InitTypeDef structure which will
+  *          be initialized.  
+  *  @note  The default values set are : Processor mode is HASH, Algorithm selected is SHA1,
+  *          Data type selected is 32b and HMAC Key Type is short key.  
+  * @retval None
+  */
+void HASH_StructInit(HASH_InitTypeDef* HASH_InitStruct)
+{
+  /* Initialize the HASH_AlgoSelection member */
+  HASH_InitStruct->HASH_AlgoSelection = HASH_AlgoSelection_SHA1;
+
+  /* Initialize the HASH_AlgoMode member */
+  HASH_InitStruct->HASH_AlgoMode = HASH_AlgoMode_HASH;
+
+  /* Initialize the HASH_DataType member */
+  HASH_InitStruct->HASH_DataType = HASH_DataType_32b;
+
+  /* Initialize the HASH_HMACKeyType member */
+  HASH_InitStruct->HASH_HMACKeyType = HASH_HMACKeyType_ShortKey;
+}
+
+/**
+  * @brief  Resets the HASH processor core, so that the HASH will be ready
+  *         to compute the message digest of a new message.
+  * @note   Calling this function will clear the HASH_SR_DCIS (Digest calculation 
+  *         completion interrupt status) bit corresponding to HASH_IT_DCI 
+  *         interrupt and HASH_FLAG_DCIS flag. 
+  * @param  None
+  * @retval None
+  */
+void HASH_Reset(void)
+{
+  /* Reset the HASH processor core */
+  HASH->CR |= HASH_CR_INIT;
+}
+/**
+  * @}
+  */
+ 
+/** @defgroup HASH_Group2 Message Digest generation functions
+ *  @brief    Message Digest generation functions
+ *
+@verbatim    
+ ===============================================================================
+                  ##### Message Digest generation functions #####
+ ===============================================================================  
+ [..] This section provides functions allowing the generation of message digest: 
+   (+) Push data in the IN FIFO : using HASH_DataIn()
+   (+) Get the number of words set in IN FIFO, use HASH_GetInFIFOWordsNbr()  
+   (+) set the last word valid bits number using HASH_SetLastWordValidBitsNbr() 
+   (+) start digest calculation : using HASH_StartDigest()
+   (+) Get the Digest message : using HASH_GetDigest()
+ 
+@endverbatim
+  * @{
+  */
+
+
+/**
+  * @brief  Configure the Number of valid bits in last word of the message
+  * @param  ValidNumber: Number of valid bits in last word of the message.
+  *           This parameter must be a number between 0 and 0x1F.
+  *             - 0x00: All 32 bits of the last data written are valid
+  *             - 0x01: Only bit [0] of the last data written is valid
+  *             - 0x02: Only bits[1:0] of the last data written are valid
+  *             - 0x03: Only bits[2:0] of the last data written are valid
+  *             - ...
+  *             - 0x1F: Only bits[30:0] of the last data written are valid    
+  * @note   The Number of valid bits must be set before to start the message 
+  *         digest competition (in Hash and HMAC) and key treatment(in HMAC).    
+  * @retval None
+  */
+void HASH_SetLastWordValidBitsNbr(uint16_t ValidNumber)
+{
+  /* Check the parameters */
+  assert_param(IS_HASH_VALIDBITSNUMBER(ValidNumber));
+  
+  /* Configure the Number of valid bits in last word of the message */
+  HASH->STR &= ~(HASH_STR_NBW);
+  HASH->STR |= ValidNumber;
+}
+
+/**
+  * @brief  Writes data in the Data Input FIFO
+  * @param  Data: new data of the message to be processed.
+  * @retval None
+  */
+void HASH_DataIn(uint32_t Data)
+{
+  /* Write in the DIN register a new data */
+  HASH->DIN = Data;
+}
+
+/**
+  * @brief  Returns the number of words already pushed into the IN FIFO.
+  * @param  None
+  * @retval The value of words already pushed into the IN FIFO.
+  */
+uint8_t HASH_GetInFIFOWordsNbr(void)
+{
+  /* Return the value of NBW bits */
+  return ((HASH->CR & HASH_CR_NBW) >> 8);
+}
+
+/**
+  * @brief  Provides the message digest result.
+  * @note   In MD5 mode, Data[7] to Data[4] filed of HASH_MsgDigest structure is not used
+  *         and is read as zero.
+  *         In SHA-1 mode, Data[7] to Data[5] filed of HASH_MsgDigest structure is not used
+  *         and is read as zero.    
+  *         In SHA-224 mode, Data[7] filed of HASH_MsgDigest structure is not used
+  *         and is read as zero.  
+  * @param  HASH_MessageDigest: pointer to a HASH_MsgDigest structure which will 
+  *         hold the message digest result 
+  * @retval None
+  */
+void HASH_GetDigest(HASH_MsgDigest* HASH_MessageDigest)
+{
+  /* Get the data field */
+  HASH_MessageDigest->Data[0] = HASH->HR[0];
+  HASH_MessageDigest->Data[1] = HASH->HR[1];
+  HASH_MessageDigest->Data[2] = HASH->HR[2];
+  HASH_MessageDigest->Data[3] = HASH->HR[3];
+  HASH_MessageDigest->Data[4] = HASH->HR[4];
+  HASH_MessageDigest->Data[5] = HASH_DIGEST->HR[5];
+  HASH_MessageDigest->Data[6] = HASH_DIGEST->HR[6];
+  HASH_MessageDigest->Data[7] = HASH_DIGEST->HR[7];
+}
+
+/**
+  * @brief  Starts the message padding and calculation of the final message     
+  * @param  None
+  * @retval None
+  */
+void HASH_StartDigest(void)
+{
+  /* Start the Digest calculation */
+  HASH->STR |= HASH_STR_DCAL;
+}
+/**
+  * @}
+  */
+
+/** @defgroup HASH_Group3 Context swapping functions
+ *  @brief   Context swapping functions
+ *
+@verbatim   
+ ===============================================================================
+                      ##### Context swapping functions #####
+ ===============================================================================  
+ 
+ [..] This section provides functions allowing to save and store HASH Context
+  
+ [..] It is possible to interrupt a HASH/HMAC process to perform another processing 
+      with a higher priority, and to complete the interrupted process later on, when 
+      the higher priority task is complete. To do so, the context of the interrupted 
+      task must be saved from the HASH registers to memory, and then be restored 
+      from memory to the HASH registers.
+  
+   (#) To save the current context, use HASH_SaveContext() function
+   (#) To restore the saved context, use HASH_RestoreContext() function 
+  
+
+@endverbatim
+  * @{
+  */
+  
+/**
+  * @brief  Save the Hash peripheral Context. 
+  * @note   The context can be saved only when no block is currently being 
+  *         processed. So user must wait for DINIS = 1 (the last block has been 
+  *         processed and the input FIFO is empty) or NBW != 0 (the FIFO is not 
+  *         full and no processing is ongoing).   
+  * @param  HASH_ContextSave: pointer to a HASH_Context structure that contains
+  *         the repository for current context.
+  * @retval None
+  */
+void HASH_SaveContext(HASH_Context* HASH_ContextSave)
+{
+  uint8_t i = 0;
+  
+  /* save context registers */
+  HASH_ContextSave->HASH_IMR = HASH->IMR;  
+  HASH_ContextSave->HASH_STR = HASH->STR;      
+  HASH_ContextSave->HASH_CR  = HASH->CR;     
+  for(i=0; i<=53;i++)
+  {
+     HASH_ContextSave->HASH_CSR[i] = HASH->CSR[i];
+  }   
+}
+
+/**
+  * @brief  Restore the Hash peripheral Context.  
+  * @note   After calling this function, user can restart the processing from the
+  *         point where it has been interrupted.  
+  * @param  HASH_ContextRestore: pointer to a HASH_Context structure that contains
+  *         the repository for saved context.
+  * @retval None
+  */
+void HASH_RestoreContext(HASH_Context* HASH_ContextRestore)  
+{
+  uint8_t i = 0;
+  
+  /* restore context registers */
+  HASH->IMR = HASH_ContextRestore->HASH_IMR;   
+  HASH->STR = HASH_ContextRestore->HASH_STR;     
+  HASH->CR = HASH_ContextRestore->HASH_CR;
+  
+  /* Initialize the hash processor */
+  HASH->CR |= HASH_CR_INIT; 
+  
+   /* continue restoring context registers */     
+  for(i=0; i<=53;i++)
+  {
+     HASH->CSR[i] = HASH_ContextRestore->HASH_CSR[i];
+  }   
+}
+/**
+  * @}
+  */
+
+/** @defgroup HASH_Group4 HASH's DMA interface Configuration function
+ *  @brief   HASH's DMA interface Configuration function 
+ *
+@verbatim   
+ ===============================================================================
+               ##### HASH's DMA interface Configuration function #####
+ ===============================================================================  
+
+ [..] This section provides functions allowing to configure the DMA interface for 
+      HASH/ HMAC data input transfer.
+   
+ [..] When the DMA mode is enabled (using the HASH_DMACmd() function), data can be 
+      sent to the IN FIFO using the DMA peripheral.
+
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Enables or disables auto-start message padding and
+  *         calculation of the final message digest at the end of DMA transfer.
+  * @param  NewState: new state of the selected HASH DMA transfer request.
+  *          This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void HASH_AutoStartDigest(FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    /* Enable the auto start of the final message digest at the end of DMA transfer */
+    HASH->CR &= ~HASH_CR_MDMAT;
+  }
+  else
+  {
+    /* Disable the auto start of the final message digest at the end of DMA transfer */
+    HASH->CR |= HASH_CR_MDMAT;
+  }
+}
+  
+/**
+  * @brief  Enables or disables the HASH DMA interface.
+  * @note   The DMA is disabled by hardware after the end of transfer.
+  * @param  NewState: new state of the selected HASH DMA transfer request.
+  *          This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void HASH_DMACmd(FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    /* Enable the HASH DMA request */
+    HASH->CR |= HASH_CR_DMAE;
+  }
+  else
+  {
+    /* Disable the HASH DMA request */
+    HASH->CR &= ~HASH_CR_DMAE;
+  }
+}
+/**
+  * @}
+  */
+
+/** @defgroup HASH_Group5 Interrupts and flags management functions
+ *  @brief   Interrupts and flags management functions
+ *
+@verbatim   
+ ===============================================================================
+               ##### Interrupts and flags management functions #####
+ ===============================================================================  
+
+ [..] This section provides functions allowing to configure the HASH Interrupts and 
+      to get the status and clear flags and Interrupts pending bits.
+  
+ [..] The HASH provides 2 Interrupts sources and 5 Flags:
+  
+ *** Flags : ***
+ =============== 
+ [..]
+   (#) HASH_FLAG_DINIS : set when 16 locations are free in the Data IN FIFO 
+      which means that a  new block (512 bit) can be entered into the input buffer.
+                          
+   (#) HASH_FLAG_DCIS :  set when Digest calculation is complete
+      
+   (#) HASH_FLAG_DMAS :  set when HASH's DMA interface is enabled (DMAE=1) or 
+       a transfer is ongoing. This Flag is cleared only by hardware.
+                           
+   (#) HASH_FLAG_BUSY :  set when The hash core is processing a block of data
+       This Flag is cleared only by hardware. 
+                           
+   (#) HASH_FLAG_DINNE : set when Data IN FIFO is not empty which means that 
+       the Data IN FIFO contains at least one word of data. This Flag is cleared 
+       only by hardware.
+     
+ *** Interrupts : ***
+ ====================
+ [..]   
+   (#) HASH_IT_DINI  : if enabled, this interrupt source is pending when 16 
+       locations are free in the Data IN FIFO  which means that a new block (512 bit)
+       can be entered into the input buffer. This interrupt source is cleared using 
+       HASH_ClearITPendingBit(HASH_IT_DINI) function.
+   
+   (#) HASH_IT_DCI   : if enabled, this interrupt source is pending when Digest 
+       calculation is complete. This interrupt source is cleared using 
+       HASH_ClearITPendingBit(HASH_IT_DCI) function.
+
+ *** Managing the HASH controller events : ***
+ =============================================
+ [..] The user should identify which mode will be used in his application to manage 
+      the HASH controller events: Polling mode or Interrupt mode.
+  
+   (#) In the Polling Mode it is advised to use the following functions:
+       (++) HASH_GetFlagStatus() : to check if flags events occur. 
+       (++) HASH_ClearFlag()     : to clear the flags events.
+    
+   (#)  In the Interrupt Mode it is advised to use the following functions:
+       (++) HASH_ITConfig()       : to enable or disable the interrupt source.
+       (++) HASH_GetITStatus()    : to check if Interrupt occurs.
+       (++) HASH_ClearITPendingBit() : to clear the Interrupt pending Bit 
+            (corresponding Flag). 
+
+@endverbatim
+  * @{
+  */ 
+  
+/**
+  * @brief  Enables or disables the specified HASH interrupts.
+  * @param  HASH_IT: specifies the HASH interrupt source to be enabled or disabled.
+  *          This parameter can be any combination of the following values:
+  *            @arg HASH_IT_DINI: Data Input interrupt
+  *            @arg HASH_IT_DCI: Digest Calculation Completion Interrupt
+  * @param  NewState: new state of the specified HASH interrupt.
+  *           This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void HASH_ITConfig(uint32_t HASH_IT, FunctionalState NewState)
+{
+  /* Check the parameters */
+  assert_param(IS_HASH_IT(HASH_IT));
+  assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+  if (NewState != DISABLE)
+  {
+    /* Enable the selected HASH interrupt */
+    HASH->IMR |= HASH_IT;
+  }
+  else
+  {
+    /* Disable the selected HASH interrupt */
+    HASH->IMR &= (uint32_t)(~HASH_IT);
+  }
+}
+
+/**
+  * @brief  Checks whether the specified HASH flag is set or not.
+  * @param  HASH_FLAG: specifies the HASH flag to check.
+  *          This parameter can be one of the following values:
+  *            @arg HASH_FLAG_DINIS: Data input interrupt status flag
+  *            @arg HASH_FLAG_DCIS: Digest calculation completion interrupt status flag
+  *            @arg HASH_FLAG_BUSY: Busy flag
+  *            @arg HASH_FLAG_DMAS: DMAS Status flag
+  *            @arg HASH_FLAG_DINNE: Data Input register (DIN) not empty status flag
+  * @retval The new state of HASH_FLAG (SET or RESET)
+  */
+FlagStatus HASH_GetFlagStatus(uint32_t HASH_FLAG)
+{
+  FlagStatus bitstatus = RESET;
+  uint32_t tempreg = 0;
+
+  /* Check the parameters */
+  assert_param(IS_HASH_GET_FLAG(HASH_FLAG));
+
+  /* check if the FLAG is in CR register */
+  if ((HASH_FLAG & HASH_FLAG_DINNE) != (uint32_t)RESET ) 
+  {
+    tempreg = HASH->CR;
+  }
+  else /* The FLAG is in SR register */
+  {
+    tempreg = HASH->SR;
+  }
+
+  /* Check the status of the specified HASH flag */
+  if ((tempreg & HASH_FLAG) != (uint32_t)RESET)
+  {
+    /* HASH is set */
+    bitstatus = SET;
+  }
+  else
+  {
+    /* HASH_FLAG is reset */
+    bitstatus = RESET;
+  }
+
+  /* Return the HASH_FLAG status */
+  return  bitstatus;
+}
+/**
+  * @brief  Clears the HASH flags.
+  * @param  HASH_FLAG: specifies the flag to clear. 
+  *          This parameter can be any combination of the following values:
+  *            @arg HASH_FLAG_DINIS: Data Input Flag
+  *            @arg HASH_FLAG_DCIS: Digest Calculation Completion Flag                       
+  * @retval None
+  */
+void HASH_ClearFlag(uint32_t HASH_FLAG)
+{
+  /* Check the parameters */
+  assert_param(IS_HASH_CLEAR_FLAG(HASH_FLAG));
+  
+  /* Clear the selected HASH flags */
+  HASH->SR = ~(uint32_t)HASH_FLAG;
+}
+/**
+  * @brief  Checks whether the specified HASH interrupt has occurred or not.
+  * @param  HASH_IT: specifies the HASH interrupt source to check.
+  *          This parameter can be one of the following values:
+  *            @arg HASH_IT_DINI: Data Input interrupt
+  *            @arg HASH_IT_DCI: Digest Calculation Completion Interrupt
+  * @retval The new state of HASH_IT (SET or RESET).
+  */
+ITStatus HASH_GetITStatus(uint32_t HASH_IT)
+{
+  ITStatus bitstatus = RESET;
+  uint32_t tmpreg = 0;
+
+  /* Check the parameters */
+  assert_param(IS_HASH_GET_IT(HASH_IT));  
+
+
+  /* Check the status of the specified HASH interrupt */
+  tmpreg =  HASH->SR;
+
+  if (((HASH->IMR & tmpreg) & HASH_IT) != RESET)
+  {
+    /* HASH_IT is set */
+    bitstatus = SET;
+  }
+  else
+  {
+    /* HASH_IT is reset */
+    bitstatus = RESET;
+  }
+  /* Return the HASH_IT status */
+  return bitstatus;
+}
+
+/**
+  * @brief  Clears the HASH interrupt pending bit(s).
+  * @param  HASH_IT: specifies the HASH interrupt pending bit(s) to clear.
+  *          This parameter can be any combination of the following values:
+  *            @arg HASH_IT_DINI: Data Input interrupt
+  *            @arg HASH_IT_DCI: Digest Calculation Completion Interrupt
+  * @retval None
+  */
+void HASH_ClearITPendingBit(uint32_t HASH_IT)
+{
+  /* Check the parameters */
+  assert_param(IS_HASH_IT(HASH_IT));
+
+  /* Clear the selected HASH interrupt pending bit */
+  HASH->SR = (uint32_t)(~HASH_IT);
+}
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
--- a/云台/云台/Library/stm32f4xx_hash.h
+++ b/云台/云台/Library/stm32f4xx_hash.h
@@ -0,0 +1,249 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hash.h
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file contains all the functions prototypes for the HASH 
+  *          firmware library.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_HASH_H
+#define __STM32F4xx_HASH_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @addtogroup HASH
+  * @{
+  */ 
+
+/* Exported types ------------------------------------------------------------*/
+
+/** 
+  * @brief   HASH Init structure definition
+  */ 
+typedef struct
+{
+  uint32_t HASH_AlgoSelection; /*!< SHA-1, SHA-224, SHA-256 or MD5. This parameter
+                                    can be a value of @ref HASH_Algo_Selection */
+  uint32_t HASH_AlgoMode;      /*!< HASH or HMAC. This parameter can be a value 
+                                    of @ref HASH_processor_Algorithm_Mode */
+  uint32_t HASH_DataType;      /*!< 32-bit data, 16-bit data, 8-bit data or 
+                                    bit string. This parameter can be a value of
+                                    @ref HASH_Data_Type */
+  uint32_t HASH_HMACKeyType;   /*!< HMAC Short key or HMAC Long Key. This parameter
+                                    can be a value of @ref HASH_HMAC_Long_key_only_for_HMAC_mode */
+}HASH_InitTypeDef;
+
+/** 
+  * @brief  HASH message digest result structure definition  
+  */ 
+typedef struct
+{
+  uint32_t Data[8];      /*!< Message digest result : 8x 32bit wors for SHA-256,
+                                                      7x 32bit wors for SHA-224,
+                                                      5x 32bit words for SHA-1 or
+                                                      4x 32bit words for MD5  */
+} HASH_MsgDigest; 
+
+/** 
+  * @brief  HASH context swapping structure definition  
+  */ 
+typedef struct
+{
+  uint32_t HASH_IMR; 
+  uint32_t HASH_STR;      
+  uint32_t HASH_CR;     
+  uint32_t HASH_CSR[54];       
+}HASH_Context;
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup HASH_Exported_Constants
+  * @{
+  */ 
+
+/** @defgroup HASH_Algo_Selection 
+  * @{
+  */ 
+#define HASH_AlgoSelection_SHA1      ((uint32_t)0x0000) /*!< HASH function is SHA1   */
+#define HASH_AlgoSelection_SHA224    HASH_CR_ALGO_1     /*!< HASH function is SHA224 */
+#define HASH_AlgoSelection_SHA256    HASH_CR_ALGO       /*!< HASH function is SHA256 */
+#define HASH_AlgoSelection_MD5       HASH_CR_ALGO_0     /*!< HASH function is MD5    */
+
+#define IS_HASH_ALGOSELECTION(ALGOSELECTION) (((ALGOSELECTION) == HASH_AlgoSelection_SHA1) || \
+                                              ((ALGOSELECTION) == HASH_AlgoSelection_SHA224) || \
+                                              ((ALGOSELECTION) == HASH_AlgoSelection_SHA256) || \
+                                              ((ALGOSELECTION) == HASH_AlgoSelection_MD5))
+/**
+  * @}
+  */
+
+/** @defgroup HASH_processor_Algorithm_Mode 
+  * @{
+  */ 
+#define HASH_AlgoMode_HASH         ((uint32_t)0x00000000) /*!< Algorithm is HASH */ 
+#define HASH_AlgoMode_HMAC         HASH_CR_MODE           /*!< Algorithm is HMAC */
+
+#define IS_HASH_ALGOMODE(ALGOMODE) (((ALGOMODE) == HASH_AlgoMode_HASH) || \
+                                    ((ALGOMODE) == HASH_AlgoMode_HMAC))
+/**
+  * @}
+  */
+
+/** @defgroup HASH_Data_Type  
+  * @{
+  */  
+#define HASH_DataType_32b          ((uint32_t)0x0000) /*!< 32-bit data. No swapping                     */
+#define HASH_DataType_16b          HASH_CR_DATATYPE_0 /*!< 16-bit data. Each half word is swapped       */
+#define HASH_DataType_8b           HASH_CR_DATATYPE_1 /*!< 8-bit data. All bytes are swapped            */
+#define HASH_DataType_1b           HASH_CR_DATATYPE   /*!< 1-bit data. In the word all bits are swapped */
+
+#define IS_HASH_DATATYPE(DATATYPE) (((DATATYPE) == HASH_DataType_32b)|| \
+                                    ((DATATYPE) == HASH_DataType_16b)|| \
+                                    ((DATATYPE) == HASH_DataType_8b) || \
+                                    ((DATATYPE) == HASH_DataType_1b))
+/**
+  * @}
+  */
+
+/** @defgroup HASH_HMAC_Long_key_only_for_HMAC_mode  
+  * @{
+  */ 
+#define HASH_HMACKeyType_ShortKey      ((uint32_t)0x00000000) /*!< HMAC Key is <= 64 bytes */
+#define HASH_HMACKeyType_LongKey       HASH_CR_LKEY           /*!< HMAC Key is > 64 bytes  */
+
+#define IS_HASH_HMAC_KEYTYPE(KEYTYPE) (((KEYTYPE) == HASH_HMACKeyType_ShortKey) || \
+                                       ((KEYTYPE) == HASH_HMACKeyType_LongKey))
+/**
+  * @}
+  */
+
+/** @defgroup Number_of_valid_bits_in_last_word_of_the_message   
+  * @{
+  */  
+#define IS_HASH_VALIDBITSNUMBER(VALIDBITS) ((VALIDBITS) <= 0x1F)
+
+/**
+  * @}
+  */
+
+/** @defgroup HASH_interrupts_definition   
+  * @{
+  */  
+#define HASH_IT_DINI               HASH_IMR_DINIM  /*!< A new block can be entered into the input buffer (DIN) */
+#define HASH_IT_DCI                HASH_IMR_DCIM   /*!< Digest calculation complete                            */
+
+#define IS_HASH_IT(IT) ((((IT) & (uint32_t)0xFFFFFFFC) == 0x00000000) && ((IT) != 0x00000000))
+#define IS_HASH_GET_IT(IT) (((IT) == HASH_IT_DINI) || ((IT) == HASH_IT_DCI))
+				   
+/**
+  * @}
+  */
+
+/** @defgroup HASH_flags_definition   
+  * @{
+  */  
+#define HASH_FLAG_DINIS            HASH_SR_DINIS  /*!< 16 locations are free in the DIN : A new block can be entered into the input buffer */
+#define HASH_FLAG_DCIS             HASH_SR_DCIS   /*!< Digest calculation complete                                                         */
+#define HASH_FLAG_DMAS             HASH_SR_DMAS   /*!< DMA interface is enabled (DMAE=1) or a transfer is ongoing                          */
+#define HASH_FLAG_BUSY             HASH_SR_BUSY   /*!< The hash core is Busy : processing a block of data                                  */
+#define HASH_FLAG_DINNE            HASH_CR_DINNE  /*!< DIN not empty : The input buffer contains at least one word of data                 */
+
+#define IS_HASH_GET_FLAG(FLAG) (((FLAG) == HASH_FLAG_DINIS) || \
+                                ((FLAG) == HASH_FLAG_DCIS)  || \
+                                ((FLAG) == HASH_FLAG_DMAS)  || \
+                                ((FLAG) == HASH_FLAG_BUSY)  || \
+                                ((FLAG) == HASH_FLAG_DINNE)) 
+
+#define IS_HASH_CLEAR_FLAG(FLAG)(((FLAG) == HASH_FLAG_DINIS) || \
+                                 ((FLAG) == HASH_FLAG_DCIS))                                 
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/ 
+  
+/*  Function used to set the HASH configuration to the default reset state ****/
+void HASH_DeInit(void);
+
+/* HASH Configuration function ************************************************/
+void HASH_Init(HASH_InitTypeDef* HASH_InitStruct);
+void HASH_StructInit(HASH_InitTypeDef* HASH_InitStruct);
+void HASH_Reset(void);
+
+/* HASH Message Digest generation functions ***********************************/
+void HASH_DataIn(uint32_t Data);
+uint8_t HASH_GetInFIFOWordsNbr(void);
+void HASH_SetLastWordValidBitsNbr(uint16_t ValidNumber);
+void HASH_StartDigest(void);
+void HASH_AutoStartDigest(FunctionalState NewState);
+void HASH_GetDigest(HASH_MsgDigest* HASH_MessageDigest);
+
+/* HASH Context swapping functions ********************************************/
+void HASH_SaveContext(HASH_Context* HASH_ContextSave);
+void HASH_RestoreContext(HASH_Context* HASH_ContextRestore);
+
+/* HASH DMA interface function ************************************************/
+void HASH_DMACmd(FunctionalState NewState);
+
+/* HASH Interrupts and flags management functions *****************************/
+void HASH_ITConfig(uint32_t HASH_IT, FunctionalState NewState);
+FlagStatus HASH_GetFlagStatus(uint32_t HASH_FLAG);
+void HASH_ClearFlag(uint32_t HASH_FLAG);
+ITStatus HASH_GetITStatus(uint32_t HASH_IT);
+void HASH_ClearITPendingBit(uint32_t HASH_IT);
+
+/* High Level SHA1 functions **************************************************/
+ErrorStatus HASH_SHA1(uint8_t *Input, uint32_t Ilen, uint8_t Output[20]);
+ErrorStatus HMAC_SHA1(uint8_t *Key, uint32_t Keylen,
+                      uint8_t *Input, uint32_t Ilen,
+                      uint8_t Output[20]);
+
+/* High Level MD5 functions ***************************************************/
+ErrorStatus HASH_MD5(uint8_t *Input, uint32_t Ilen, uint8_t Output[16]);
+ErrorStatus HMAC_MD5(uint8_t *Key, uint32_t Keylen,
+                     uint8_t *Input, uint32_t Ilen,
+                     uint8_t Output[16]);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__STM32F4xx_HASH_H */
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
--- a/云台/云台/Library/stm32f4xx_hash_md5.c
+++ b/云台/云台/Library/stm32f4xx_hash_md5.c
@@ -0,0 +1,312 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hash_md5.c
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file provides high level functions to compute the HASH MD5 and
+  *          HMAC MD5 Digest of an input message.
+  *          It uses the stm32f4xx_hash.c/.h drivers to access the STM32F4xx HASH
+  *          peripheral.
+  *
+@verbatim
+ ===================================================================
+                  ##### How to use this driver #####
+ ===================================================================
+ [..]
+   (#) Enable The HASH controller clock using 
+       RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_HASH, ENABLE); function.
+  
+   (#) Calculate the HASH MD5 Digest using HASH_MD5() function.
+  
+   (#) Calculate the HMAC MD5 Digest using HMAC_MD5() function.
+  
+@endverbatim
+  *
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hash.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @defgroup HASH 
+  * @brief HASH driver modules
+  * @{
+  */
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+#define MD5BUSY_TIMEOUT    ((uint32_t) 0x00010000)
+
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/** @defgroup HASH_Private_Functions
+  * @{
+  */ 
+
+/** @defgroup HASH_Group7 High Level MD5 functions
+ *  @brief   High Level MD5 Hash and HMAC functions 
+ *
+@verbatim   
+ ===============================================================================
+              ##### High Level MD5 Hash and HMAC functions #####
+ ===============================================================================
+
+
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Compute the HASH MD5 digest.
+  * @param  Input: pointer to the Input buffer to be treated.
+  * @param  Ilen: length of the Input buffer.
+  * @param  Output: the returned digest
+  * @retval An ErrorStatus enumeration value:
+  *          - SUCCESS: digest computation done
+  *          - ERROR: digest computation failed
+  */
+ErrorStatus HASH_MD5(uint8_t *Input, uint32_t Ilen, uint8_t Output[16])
+{
+  HASH_InitTypeDef MD5_HASH_InitStructure;
+  HASH_MsgDigest MD5_MessageDigest;
+  __IO uint16_t nbvalidbitsdata = 0;
+  uint32_t i = 0;
+  __IO uint32_t counter = 0;
+  uint32_t busystatus = 0;
+  ErrorStatus status = SUCCESS;
+  uint32_t inputaddr  = (uint32_t)Input;
+  uint32_t outputaddr = (uint32_t)Output;
+
+
+  /* Number of valid bits in last word of the Input data */
+  nbvalidbitsdata = 8 * (Ilen % 4);
+
+  /* HASH peripheral initialization */
+  HASH_DeInit();
+
+  /* HASH Configuration */
+  MD5_HASH_InitStructure.HASH_AlgoSelection = HASH_AlgoSelection_MD5;
+  MD5_HASH_InitStructure.HASH_AlgoMode = HASH_AlgoMode_HASH;
+  MD5_HASH_InitStructure.HASH_DataType = HASH_DataType_8b;
+  HASH_Init(&MD5_HASH_InitStructure);
+
+  /* Configure the number of valid bits in last word of the data */
+  HASH_SetLastWordValidBitsNbr(nbvalidbitsdata);
+
+  /* Write the Input block in the IN FIFO */
+  for(i=0; i<Ilen; i+=4)
+  {
+    HASH_DataIn(*(uint32_t*)inputaddr);
+    inputaddr+=4;
+  }
+
+  /* Start the HASH processor */
+  HASH_StartDigest();
+
+  /* wait until the Busy flag is RESET */
+  do
+  {
+    busystatus = HASH_GetFlagStatus(HASH_FLAG_BUSY);
+    counter++;
+  }while ((counter != MD5BUSY_TIMEOUT) && (busystatus != RESET));
+
+  if (busystatus != RESET)
+  {
+     status = ERROR;
+  }
+  else
+  {
+    /* Read the message digest */
+    HASH_GetDigest(&MD5_MessageDigest);
+    *(uint32_t*)(outputaddr)  = __REV(MD5_MessageDigest.Data[0]);
+    outputaddr+=4;
+    *(uint32_t*)(outputaddr)  = __REV(MD5_MessageDigest.Data[1]);
+    outputaddr+=4;
+    *(uint32_t*)(outputaddr)  = __REV(MD5_MessageDigest.Data[2]);
+    outputaddr+=4;
+    *(uint32_t*)(outputaddr)  = __REV(MD5_MessageDigest.Data[3]);
+  }
+  return status; 
+}
+
+/**
+  * @brief  Compute the HMAC MD5 digest.
+  * @param  Key: pointer to the Key used for HMAC.
+  * @param  Keylen: length of the Key used for HMAC.
+  * @param  Input: pointer to the Input buffer to be treated.
+  * @param  Ilen: length of the Input buffer.
+  * @param  Output: the returned digest  
+  * @retval An ErrorStatus enumeration value:
+  *          - SUCCESS: digest computation done
+  *          - ERROR: digest computation failed
+  */
+ErrorStatus HMAC_MD5(uint8_t *Key, uint32_t Keylen, uint8_t *Input, 
+                     uint32_t Ilen, uint8_t Output[16])
+{
+  HASH_InitTypeDef MD5_HASH_InitStructure;
+  HASH_MsgDigest MD5_MessageDigest;
+  __IO uint16_t nbvalidbitsdata = 0;
+  __IO uint16_t nbvalidbitskey = 0;
+  uint32_t i = 0;
+  __IO uint32_t counter = 0;
+  uint32_t busystatus = 0;
+  ErrorStatus status = SUCCESS;
+  uint32_t keyaddr    = (uint32_t)Key;
+  uint32_t inputaddr  = (uint32_t)Input;
+  uint32_t outputaddr = (uint32_t)Output;
+
+  /* Number of valid bits in last word of the Input data */
+  nbvalidbitsdata = 8 * (Ilen % 4);
+
+  /* Number of valid bits in last word of the Key */
+  nbvalidbitskey = 8 * (Keylen % 4);
+   
+  /* HASH peripheral initialization */
+  HASH_DeInit();
+
+  /* HASH Configuration */
+  MD5_HASH_InitStructure.HASH_AlgoSelection = HASH_AlgoSelection_MD5;
+  MD5_HASH_InitStructure.HASH_AlgoMode = HASH_AlgoMode_HMAC;
+  MD5_HASH_InitStructure.HASH_DataType = HASH_DataType_8b;
+  if(Keylen > 64)
+  {
+    /* HMAC long Key */
+    MD5_HASH_InitStructure.HASH_HMACKeyType = HASH_HMACKeyType_LongKey;
+  }
+  else
+  {
+    /* HMAC short Key */
+    MD5_HASH_InitStructure.HASH_HMACKeyType = HASH_HMACKeyType_ShortKey;
+  }
+  HASH_Init(&MD5_HASH_InitStructure);
+
+  /* Configure the number of valid bits in last word of the Key */
+  HASH_SetLastWordValidBitsNbr(nbvalidbitskey);
+
+  /* Write the Key */
+  for(i=0; i<Keylen; i+=4)
+  {
+    HASH_DataIn(*(uint32_t*)keyaddr);
+    keyaddr+=4;
+  }
+  
+  /* Start the HASH processor */
+  HASH_StartDigest();
+
+  /* wait until the Busy flag is RESET */
+  do
+  {
+    busystatus = HASH_GetFlagStatus(HASH_FLAG_BUSY);
+    counter++;
+  }while ((counter != MD5BUSY_TIMEOUT) && (busystatus != RESET));
+
+  if (busystatus != RESET)
+  {
+     status = ERROR;
+  }
+  else
+  {
+    /* Configure the number of valid bits in last word of the Input data */
+    HASH_SetLastWordValidBitsNbr(nbvalidbitsdata);
+
+    /* Write the Input block in the IN FIFO */
+    for(i=0; i<Ilen; i+=4)
+    {
+      HASH_DataIn(*(uint32_t*)inputaddr);
+      inputaddr+=4;
+    }
+
+    /* Start the HASH processor */
+    HASH_StartDigest();
+
+    /* wait until the Busy flag is RESET */
+    counter =0;
+    do
+    {
+       busystatus = HASH_GetFlagStatus(HASH_FLAG_BUSY);
+       counter++;
+    }while ((counter != MD5BUSY_TIMEOUT) && (busystatus != RESET));
+
+    if (busystatus != RESET)
+    {
+      status = ERROR;
+    }
+    else
+    {  
+      /* Configure the number of valid bits in last word of the Key */
+      HASH_SetLastWordValidBitsNbr(nbvalidbitskey);
+
+      /* Write the Key */
+      keyaddr = (uint32_t)Key;
+      for(i=0; i<Keylen; i+=4)
+      {
+        HASH_DataIn(*(uint32_t*)keyaddr);
+        keyaddr+=4;
+      }
+  
+       /* Start the HASH processor */
+       HASH_StartDigest();
+
+       /* wait until the Busy flag is RESET */
+       counter =0;
+       do
+       {
+          busystatus = HASH_GetFlagStatus(HASH_FLAG_BUSY);
+          counter++;
+      }while ((counter != MD5BUSY_TIMEOUT) && (busystatus != RESET));
+
+      if (busystatus != RESET)
+      {
+         status = ERROR;
+      }
+      else
+      {
+         /* Read the message digest */
+         HASH_GetDigest(&MD5_MessageDigest);
+         *(uint32_t*)(outputaddr)  = __REV(MD5_MessageDigest.Data[0]);
+         outputaddr+=4;
+         *(uint32_t*)(outputaddr)  = __REV(MD5_MessageDigest.Data[1]);
+         outputaddr+=4;
+         *(uint32_t*)(outputaddr)  = __REV(MD5_MessageDigest.Data[2]);
+         outputaddr+=4;
+         *(uint32_t*)(outputaddr)  = __REV(MD5_MessageDigest.Data[3]);
+      }
+    }
+  }
+  return status;  
+}
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+
--- a/云台/云台/Library/stm32f4xx_hash_sha1.c
+++ b/云台/云台/Library/stm32f4xx_hash_sha1.c
@@ -0,0 +1,315 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hash_sha1.c
+  * @author  MCD Application Team
+  * @version V1.8.1
+  * @date    27-January-2022
+  * @brief   This file provides high level functions to compute the HASH SHA1 and
+  *          HMAC SHA1 Digest of an input message.
+  *          It uses the stm32f4xx_hash.c/.h drivers to access the STM32F4xx HASH
+  *          peripheral.
+  *
+@verbatim
+ ===================================================================
+                 ##### How to use this driver #####
+ ===================================================================
+ [..]
+   (#) Enable The HASH controller clock using 
+       RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_HASH, ENABLE); function.
+  
+   (#) Calculate the HASH SHA1 Digest using HASH_SHA1() function.
+  
+   (#) Calculate the HMAC SHA1 Digest using HMAC_SHA1() function.
+  
+@endverbatim
+  *
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hash.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+  * @{
+  */
+
+/** @defgroup HASH 
+  * @brief HASH driver modules
+  * @{
+  */
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+#define SHA1BUSY_TIMEOUT    ((uint32_t) 0x00010000)
+
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/** @defgroup HASH_Private_Functions
+  * @{
+  */ 
+
+/** @defgroup HASH_Group6 High Level SHA1 functions
+ *  @brief   High Level SHA1 Hash and HMAC functions 
+ *
+@verbatim   
+ ===============================================================================
+               ##### High Level SHA1 Hash and HMAC functions #####
+ ===============================================================================
+
+
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Compute the HASH SHA1 digest.
+  * @param  Input: pointer to the Input buffer to be treated.
+  * @param  Ilen: length of the Input buffer.
+  * @param  Output: the returned digest
+  * @retval An ErrorStatus enumeration value:
+  *          - SUCCESS: digest computation done
+  *          - ERROR: digest computation failed
+  */
+ErrorStatus HASH_SHA1(uint8_t *Input, uint32_t Ilen, uint8_t Output[20])
+{
+  HASH_InitTypeDef SHA1_HASH_InitStructure;
+  HASH_MsgDigest SHA1_MessageDigest;
+  __IO uint16_t nbvalidbitsdata = 0;
+  uint32_t i = 0;
+  __IO uint32_t counter = 0;
+  uint32_t busystatus = 0;
+  ErrorStatus status = SUCCESS;
+  uint32_t inputaddr  = (uint32_t)Input;
+  uint32_t outputaddr = (uint32_t)Output;
+
+  /* Number of valid bits in last word of the Input data */
+  nbvalidbitsdata = 8 * (Ilen % 4);
+
+  /* HASH peripheral initialization */
+  HASH_DeInit();
+
+  /* HASH Configuration */
+  SHA1_HASH_InitStructure.HASH_AlgoSelection = HASH_AlgoSelection_SHA1;
+  SHA1_HASH_InitStructure.HASH_AlgoMode = HASH_AlgoMode_HASH;
+  SHA1_HASH_InitStructure.HASH_DataType = HASH_DataType_8b;
+  HASH_Init(&SHA1_HASH_InitStructure);
+
+  /* Configure the number of valid bits in last word of the data */
+  HASH_SetLastWordValidBitsNbr(nbvalidbitsdata);
+
+  /* Write the Input block in the IN FIFO */
+  for(i=0; i<Ilen; i+=4)
+  {
+    HASH_DataIn(*(uint32_t*)inputaddr);
+    inputaddr+=4;
+  }
+
+  /* Start the HASH processor */
+  HASH_StartDigest();
+
+  /* wait until the Busy flag is RESET */
+  do
+  {
+    busystatus = HASH_GetFlagStatus(HASH_FLAG_BUSY);
+    counter++;
+  }while ((counter != SHA1BUSY_TIMEOUT) && (busystatus != RESET));
+
+  if (busystatus != RESET)
+  {
+     status = ERROR;
+  }
+  else
+  {
+    /* Read the message digest */
+    HASH_GetDigest(&SHA1_MessageDigest);
+    *(uint32_t*)(outputaddr)  = __REV(SHA1_MessageDigest.Data[0]);
+    outputaddr+=4;
+    *(uint32_t*)(outputaddr)  = __REV(SHA1_MessageDigest.Data[1]);
+    outputaddr+=4;
+    *(uint32_t*)(outputaddr)  = __REV(SHA1_MessageDigest.Data[2]);
+    outputaddr+=4;
+    *(uint32_t*)(outputaddr)  = __REV(SHA1_MessageDigest.Data[3]);
+    outputaddr+=4;
+    *(uint32_t*)(outputaddr)  = __REV(SHA1_MessageDigest.Data[4]);
+  }
+  return status;
+}
+
+/**
+  * @brief  Compute the HMAC SHA1 digest.
+  * @param  Key: pointer to the Key used for HMAC.
+  * @param  Keylen: length of the Key used for HMAC.  
+  * @param  Input: pointer to the Input buffer to be treated.
+  * @param  Ilen: length of the Input buffer.
+  * @param  Output: the returned digest
+  * @retval An ErrorStatus enumeration value:
+  *          - SUCCESS: digest computation done
+  *          - ERROR: digest computation failed
+  */
+ErrorStatus HMAC_SHA1(uint8_t *Key, uint32_t Keylen, uint8_t *Input,
+                      uint32_t Ilen, uint8_t Output[20])
+{
+  HASH_InitTypeDef SHA1_HASH_InitStructure;
+  HASH_MsgDigest SHA1_MessageDigest;
+  __IO uint16_t nbvalidbitsdata = 0;
+  __IO uint16_t nbvalidbitskey = 0;
+  uint32_t i = 0;
+  __IO uint32_t counter = 0;
+  uint32_t busystatus = 0;
+  ErrorStatus status = SUCCESS;
+  uint32_t keyaddr    = (uint32_t)Key;
+  uint32_t inputaddr  = (uint32_t)Input;
+  uint32_t outputaddr = (uint32_t)Output;
+
+  /* Number of valid bits in last word of the Input data */
+  nbvalidbitsdata = 8 * (Ilen % 4);
+
+  /* Number of valid bits in last word of the Key */
+  nbvalidbitskey = 8 * (Keylen % 4);
+
+  /* HASH peripheral initialization */
+  HASH_DeInit();
+
+  /* HASH Configuration */
+  SHA1_HASH_InitStructure.HASH_AlgoSelection = HASH_AlgoSelection_SHA1;
+  SHA1_HASH_InitStructure.HASH_AlgoMode = HASH_AlgoMode_HMAC;
+  SHA1_HASH_InitStructure.HASH_DataType = HASH_DataType_8b;
+  if(Keylen > 64)
+  {
+    /* HMAC long Key */
+    SHA1_HASH_InitStructure.HASH_HMACKeyType = HASH_HMACKeyType_LongKey;
+  }
+  else
+  {
+    /* HMAC short Key */
+    SHA1_HASH_InitStructure.HASH_HMACKeyType = HASH_HMACKeyType_ShortKey;
+  }
+  HASH_Init(&SHA1_HASH_InitStructure);
+
+  /* Configure the number of valid bits in last word of the Key */
+  HASH_SetLastWordValidBitsNbr(nbvalidbitskey);
+
+  /* Write the Key */
+  for(i=0; i<Keylen; i+=4)
+  {
+    HASH_DataIn(*(uint32_t*)keyaddr);
+    keyaddr+=4;
+  }
+
+  /* Start the HASH processor */
+  HASH_StartDigest();
+
+  /* wait until the Busy flag is RESET */
+  do
+  {
+    busystatus = HASH_GetFlagStatus(HASH_FLAG_BUSY);
+    counter++;
+  }while ((counter != SHA1BUSY_TIMEOUT) && (busystatus != RESET));
+
+  if (busystatus != RESET)
+  {
+     status = ERROR;
+  }
+  else
+  {
+    /* Configure the number of valid bits in last word of the Input data */
+    HASH_SetLastWordValidBitsNbr(nbvalidbitsdata);
+
+    /* Write the Input block in the IN FIFO */
+    for(i=0; i<Ilen; i+=4)
+    {
+      HASH_DataIn(*(uint32_t*)inputaddr);
+      inputaddr+=4;
+    }
+
+    /* Start the HASH processor */
+    HASH_StartDigest();
+
+
+    /* wait until the Busy flag is RESET */
+    counter =0;
+    do
+    {
+      busystatus = HASH_GetFlagStatus(HASH_FLAG_BUSY);
+      counter++;
+    }while ((counter != SHA1BUSY_TIMEOUT) && (busystatus != RESET));
+
+    if (busystatus != RESET)
+    {
+      status = ERROR;
+    }
+    else
+    {  
+      /* Configure the number of valid bits in last word of the Key */
+      HASH_SetLastWordValidBitsNbr(nbvalidbitskey);
+
+      /* Write the Key */
+      keyaddr = (uint32_t)Key;
+      for(i=0; i<Keylen; i+=4)
+      {
+        HASH_DataIn(*(uint32_t*)keyaddr);
+        keyaddr+=4;
+      }
+
+      /* Start the HASH processor */
+      HASH_StartDigest();
+
+      /* wait until the Busy flag is RESET */
+      counter =0;
+      do
+      {
+        busystatus = HASH_GetFlagStatus(HASH_FLAG_BUSY);
+        counter++;
+      }while ((counter != SHA1BUSY_TIMEOUT) && (busystatus != RESET));
+
+      if (busystatus != RESET)
+      {
+        status = ERROR;
+      }
+      else
+      {
+        /* Read the message digest */
+        HASH_GetDigest(&SHA1_MessageDigest);
+        *(uint32_t*)(outputaddr)  = __REV(SHA1_MessageDigest.Data[0]);
+        outputaddr+=4;
+        *(uint32_t*)(outputaddr)  = __REV(SHA1_MessageDigest.Data[1]);
+        outputaddr+=4;
+        *(uint32_t*)(outputaddr)  = __REV(SHA1_MessageDigest.Data[2]);
+        outputaddr+=4;
+        *(uint32_t*)(outputaddr)  = __REV(SHA1_MessageDigest.Data[3]);
+        outputaddr+=4;
+        *(uint32_t*)(outputaddr)  = __REV(SHA1_MessageDigest.Data[4]);
+      }
+    }  
+  }
+  return status;  
+}
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
--- a/Show More
+++ b/Show More