Based on the keil4 development platform, the chip for the STM32F4, the code contains the II2C read the barometer, standard serial port to read optical flow sensor and GPS, SPI read IMU6050. and data read after the send.

AuFL\Libraries\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h
....\.........\.....\......\..\.........\.......\system_stm32f4xx.h
....\.........\.....\......\..\.........\Release_Notes.html
....\.........\.....\......\..\.........\Source\Templates\arm\startup_stm32f4xx.s
....\.........\.....\......\..\.........\......\.........\gcc_ride7\startup_stm32f4xx.s
....\.........\.....\......\..\.........\......\.........\iar\startup_stm32f4xx.s
....\.........\.....\......\..\.........\......\.........\system_stm32f4xx.c
....\.........\.....\......\..\.........\......\.........\TASKING\cstart_thumb2.asm
....\.........\.....\......\..\.........\......\.........\.rueSTUDIO\startup_stm32f4xx.s
....\.........\.....\.SP_Lib\ARM\arm_cortexM0x_math.uvopt
....\.........\.....\.......\...\arm_cortexM0x_math.uvproj
....\.........\.....\.......\...\arm_cortexM3x_math.uvopt
....\.........\.....\.......\...\arm_cortexM3x_math.uvproj
....\.........\.....\.......\...\arm_cortexM4x_math.uvopt
....\.........\.....\.......\...\arm_cortexM4x_math.uvproj
....\.........\.....\.......\...\arm_cortexMx_math_Build.bat
....\.........\.....\.......\BasicMathFunctions\arm_abs_f32.c
....\.........\.....\.......\..................\arm_abs_q15.c
....\.........\.....\.......\..................\arm_abs_q31.c
....\.........\.....\.......\..................\arm_abs_q7.c
....\.........\.....\.......\..................\arm_add_f32.c
....\.........\.....\.......\..................\arm_add_q15.c
....\.........\.....\.......\..................\arm_add_q31.c
....\.........\.....\.......\..................\arm_add_q7.c
....\.........\.....\.......\..................\arm_dot_prod_f32.c
....\.........\.....\.......\..................\arm_dot_prod_q15.c
....\.........\.....\.......\..................\arm_dot_prod_q31.c
....\.........\.....\.......\..................\arm_dot_prod_q7.c
....\.........\.....\.......\..................\arm_mult_f32.c
....\.........\.....\.......\..................\arm_mult_q15.c
....\.........\.....\.......\..................\arm_mult_q31.c
....\.........\.....\.......\..................\arm_mult_q7.c
....\.........\.....\.......\..................\arm_negate_f32.c
....\.........\.....\.......\..................\arm_negate_q15.c
....\.........\.....\.......\..................\arm_negate_q31.c
....\.........\.....\.......\..................\arm_negate_q7.c
....\.........\.....\.......\..................\arm_offset_f32.c
....\.........\.....\.......\..................\arm_offset_q15.c
....\.........\.....\.......\..................\arm_offset_q31.c
....\.........\.....\.......\..................\arm_offset_q7.c
....\.........\.....\.......\..................\arm_scale_f32.c
....\.........\.....\.......\..................\arm_scale_q15.c
....\.........\.....\.......\..................\arm_scale_q31.c
....\.........\.....\.......\..................\arm_scale_q7.c
....\.........\.....\.......\..................\arm_shift_q15.c
....\.........\.....\.......\..................\arm_shift_q31.c
....\.........\.....\.......\..................\arm_shift_q7.c
....\.........\.....\.......\..................\arm_sub_f32.c
....\.........\.....\.......\..................\arm_sub_q15.c
....\.........\.....\.......\..................\arm_sub_q31.c
....\.........\.....\.......\..................\arm_sub_q7.c
....\.........\.....\.......\CommonTables\arm_common_tables.c
....\.........\.....\.......\...plexMathFunctions\arm_cmplx_conj_f32.c
....\.........\.....\.......\....................\arm_cmplx_conj_q15.c
....\.........\.....\.......\....................\arm_cmplx_conj_q31.c
....\.........\.....\.......\....................\arm_cmplx_dot_prod_f32.c
....\.........\.....\.......\....................\arm_cmplx_dot_prod_q15.c
....\.........\.....\.......\....................\arm_cmplx_dot_prod_q31.c
....\.........\.....\.......\....................\arm_cmplx_mag_f32.c
....\.........\.....\.......\....................\arm_cmplx_mag_q15.c
....\.........\.....\.......\....................\arm_cmplx_mag_q31.c
....\.........\.....\.......\....................\arm_cm

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