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2019年的电赛准备程序，包括PID，滤波，菜单，直流编码电机控速控距，步进电机控速控距

/**
  ******************************************************************************
  * @file    misc.c
  * @author  MCD Application Team
  * @version V1.4.0
  * @date    04-August-2014
  * @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
  *    -----------------------------------------------

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件     109142  2016-04-15 21:57  MPU6050AndFilter\CORE\core_cm4.h

     文件      22735  2016-04-15 21:57  MPU6050AndFilter\CORE\core_cm4_simd.h

     文件      17146  2016-04-15 21:57  MPU6050AndFilter\CORE\core_cmFunc.h

     文件      20513  2016-04-15 21:57  MPU6050AndFilter\CORE\core_cmInstr.h

     文件      29605  2016-04-15 21:57  MPU6050AndFilter\CORE\startup_stm32f40_41xxx.s

     文件       6924  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\misc.h

     文件      32880  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_adc.h

     文件      27318  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_can.h

     文件       2416  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_crc.h

     文件      14481  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_cryp.h

     文件      14946  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_dac.h

     文件       4296  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_dbgmcu.h

     文件      12977  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_dcmi.h

     文件      28882  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_dma.h

     文件      19692  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_dma2d.h

     文件       8012  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_exti.h

     文件      24467  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_flash.h

     文件       3275  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_flash_ramfunc.h

     文件      44924  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_fmc.h

     文件      27181  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_fsmc.h

     文件      23548  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_gpio.h

     文件      10084  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_hash.h

     文件      31939  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_i2c.h

     文件       4323  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_iwdg.h

     文件      21191  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_ltdc.h

     文件       7728  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_pwr.h

     文件      30063  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_rcc.h

     文件       3958  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_rng.h

     文件      40546  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_rtc.h

     文件      25470  2016-04-15 21:57  MPU6050AndFilter\FWLIB\inc\stm32f4xx_sai.h

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