HRI board firmware v2.1 Microcontroller firmware of the board used during the HRI labs.

### - a -

- ADC_ANIN1_CHANNEL : adc.h
- ADC_ANIN1_PIN : adc.h
- ADC_ANIN1_PORT : adc.h
- ADC_ANIN2_CHANNEL : adc.h
- ADC_ANIN2_PIN : adc.h
- ADC_ANIN2_PORT : adc.h
- ADC_ANIN3_CHANNEL : adc.h
- ADC_ANIN3_PIN : adc.h
- ADC_ANIN3_PORT : adc.h
- ADC_ANIN4_CHANNEL : adc.h
- ADC_ANIN4_PIN : adc.h
- ADC_ANIN4_PORT : adc.h
- ADC_BUFFER_SIZE : adc.h
- ADC_CALIB_N_SAMPLES : adc.h
- ADC_CURRENT_SCALE : adc.h
- ADC_CURRENT_SENSE_CHANNEL : adc.h
- ADC_CURRENT_SENSE_PIN : adc.h
- ADC_CURRENT_SENSE_PORT : adc.h
- ADC_HALL_CHANNEL : adc.h
- ADC_HALL_PIN : adc.h
- ADC_HALL_PORT : adc.h
- ADC_MAX : adc.h
- ADC_MAX_CONVERSION_TIME : adc.h
- ADC_REF_VOLTAGE : main.h
- APB1_PRESCALER : main.h
- APB2_PRESCALER : main.h

### - b -

- BOARD_BUTTON_PIN : button.c
- BOARD_BUTTON_PORT : button.c

### - c -

- CODER_A_Pin : incr_encoder.h
- CODER_A_PinSource : incr_encoder.h
- CODER_A_Port : incr_encoder.h
- CODER_B_Pin : incr_encoder.h
- CODER_B_PinSource : incr_encoder.h
- CODER_B_Port : incr_encoder.h
- CODER_I_Pin : incr_encoder.h
- CODER_I_Port : incr_encoder.h
- CODER_INDEX_IRQ_PRIORITY : main.h
- CODER_RESOLUTION : incr_encoder.h
- COMM_BUFFER_SIZE : communication.c
- comm_SendDebugMessageDecimated : communication.h
- CONTROL_LOOP_IRQ_PRIORITY : main.h
- CPU_TRAPS_ENABLED : utils.h
- CURRENT_INTEGRATOR_SAT_DEFAULT_VAL : torque_regulator.c
- CURRENT_LOOP_IRQ_PRIORITY : main.h
- CURRENT_LOOP_PERIOD : torque_regulator.c
- CURRENT_LOOP_PWM_MAX_DUTY_CYCLE : torque_regulator.c
- CURRENT_SCALE_RESOL : h_bridge.h
- CURRENT_SHUNT_AMPLIFIER_GAIN : main.h
- CURRENT_SHUNT_RESISTANCE : main.h

### - d -

- DAC1_Pin : dac.h
- DAC2_Pin : dac.h
- DAC_FINAL_RANGE : dac.h
- DAC_MAX : dac.h
- DAC_Port : dac.h
- DATA_LOOP_IRQ_PRIORITY : main.h
- DEBUG_MESSAGE_BUFFER_SIZE : communication.c
- DEFAULT_HAPTIC_CONTROLLER_PERIOD : haptic_controller.c
- DIO_PORT : debug_gpio.c

### - e -

- ENB1_Pin : h_bridge.h
- ENB1_Port : h_bridge.h
- ENB2_Pin : h_bridge.h
- ENB2_Port : h_bridge.h
- EXUART_PERIPH : ext_uart.c
- EXUART_RX_Pin : ext_uart.c
- EXUART_RX_PinSource : ext_uart.c
- EXUART_RX_Port : ext_uart.c
- EXUART_TX_Pin : ext_uart.c
- EXUART_TX_PinSource : ext_uart.c
- EXUART_TX_Port : ext_uart.c

### - f -

- FF_CURRENT_DEFAULT_VAL : torque_regulator.c

### - g -

- GRAVITY_INTENSITY : mpu_6050.c

### - h -

- H_BRIDGE_SUPPLY_VOLTAGE : main.h
- HALL_AMPLI_GAIN : hall.c
- HALL_VOLT_DIVIDER : hall.c

### - i -

- I2C_GPIO_AF : i2c.h
- I2C_PERIPH : i2c.h
- I2C_SCL_Pin : i2c.h
- I2C_SCL_PinSource : i2c.h
- I2C_SCL_Port : i2c.h
- I2C_SDA_Pin : i2c.h
- I2C_SDA_PinSource : i2c.h
- I2C_SDA_Port : i2c.h

### - k -

- KD_CURRENT_DEFAULT_VAL : torque_regulator.c
- KI_CURRENT_DEFAULT_VAL : torque_regulator.c
- KP_CURRENT_DEFAULT_VAL : torque_regulator.c

### - l -

- LED_MAX_DUTY : led.c
- LED_PORT : led.c
- LED_PWM_FREQ : led.c
- LED_TIMER : led.c

### - m -

- MICROSECOND_TO_SECOND : utils.h
- MOTOR_NOMINAL_TORQUE : main.h
- MOTOR_RESISTANCE : main.h
- MOTOR_SPEED_CONST : main.h
- MOTOR_TORQUE_CONST : main.h

### - n -

- N_GPIOS : debug_gpio.c
- N_LEDS : led.c
- N_SYNCVARS_MAX : definitions.h
- nFAULT_Pin : h_bridge.h
- nFAULT_Port : h_bridge.h
- nSLEEP_Pin : h_bridge.h
- nSLEEP_Port : h_bridge.h

### - p -

- PWM1_Pin : h_bridge.h
- PWM1_Port : h_bridge.h
- PWM2_Pin : h_bridge.h
- PWM2_Port : h_bridge.h
- PWM_FREQUENCY : h_bridge.h
- PWM_RESOL_SHIFT_DWN : h_bridge.h
- PWM_TIM_PERIODE : h_bridge.h
- PWM_TIM_PRESCALER : h_bridge.h

### - r -

- REDUCTION_RATIO : main.h
- REG_ACCEL_CONFIG : mpu_6050.c
- REG_ACCEL_VALUES : mpu_6050.c
- REG_CONFIG : mpu_6050.c
- REG_GYRO_CONFIG : mpu_6050.c
- REG_GYRO_VALUES : mpu_6050.c
- REG_POWER_MGMT_1 : mpu_6050.c
- REG_SIG_PATH_RST : mpu_6050.c
- REG_SMPLRT_DIV : mpu_6050.c
- REG_TEMP_VALUES : mpu_6050.c
- REG_USER_CTRL : mpu_6050.c
- REG_WHO_AM_I : mpu_6050.c
- RX_BUFFER_SIZE : ext_uart.c
- RX_DMA : ext_uart.c
- RX_DMA_CHANNEL : ext_uart.c

### - s -

- SECOND_TO_MICROSECOND : utils.h
- SINT16_MAX_F : mpu_6050.c
- SLAVE_ADDRESS : mpu_6050.c
- SOFTER_PID_DURATION : torque_regulator.c
- STM_SUPPLY_VOLTAGE : main.h
- STM_SYSCLOCK_FREQ : main.h
- STREAMING_PERIOD : communication.c
- SYNCVAR_NAME_SIZE : definitions.h

### - t -

- TE_CONTROL_LOOP_DEFAULT_VAL : callback_timers.c
- TE_CURRENT_LOOP_DEFAULT_VAL : callback_timers.c
- TE_DATA_LOOP_DEFAULT_VAL : callback_timers.c
- TE_LOOP_MAX_VALUE : callback_timers.c
- TE_LOOP_MIN_VALUE : callback_timers.c
- TIM10_PRESCALER : callback_timers.h
- TIM6_PRESCALER : callback_timers.h
- TIM7_PRESCALER : callback_timers.h
- TIM_MULTIPLIER : main.h
- TX_BUFFER_SIZE : ext_uart.c
- TX_DMA : ext_uart.c
- TX_DMA_CHANNEL : ext_uart.c

### - u -

- UART_BAUDRATE : definitions.h
- UART_DMA_TX_IS_BUSY : ext_uart.c , uart.c
- UART_RX_BUFFER_SIZE : uart.c
- UART_RX_DMA : uart.c
- UART_RX_DMA_CHANNEL : uart.c
- UART_RX_IRQ_PRIORIY : main.h
- UART_TX_BUFFER_SIZE : uart.c
- UART_TX_DMA : uart.c
- UART_TX_DMA_CHANNEL : uart.c
- UART_USER_RX_QUEUE_SIZE : uart.c
- USART_PC_COMM : uart.h
- USART_RX_Pin : uart.h
- USART_RX_PinSource : uart.h
- USART_RX_Port : uart.h
- USART_TX_Pin : uart.h
- USART_TX_PinSource : uart.h
- USART_TX_Port : uart.h
- USER_BUTTON_IRQ_CHANNEL : button.c
- USER_BUTTON_IRQ_LINE : button.c
- USER_BUTTON_IRQ_PINSOURCE : button.c
- USER_BUTTON_IRQ_PRIORITY : main.h
- USER_BUTTON_IRQ_SOURCE : button.c
- USER_RX_QUEUE_SIZE : ext_uart.c

### - w -

- WAIT_WITH_TIMEOUT : i2c.c
- WHO_AM_I_VAL : mpu_6050.c