6020连动bug竟是因为我的6020pid初始化共用的同一套

2025-06-25 02:40:49 +08:00 · 2025-06-25 02:40:49 +08:00 · 38fe8f4e3d
commit 38fe8f4e3d
parent 6ef0a08553
43 changed files with 2095 additions and 2077 deletions
--- a/MDK-ARM/AUTO_CHASSIS.uvguix.Yodel
+++ b/MDK-ARM/AUTO_CHASSIS.uvguix.Yodel
--- a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
+++ b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
--- a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm
+++ b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm
@ -29,6 +29,25 @@ Project File Date:  06/04/2025
 Build target 'AUTO_CHASSIS'
 Note: source file '..\User\bsp\gpio.c' - object file renamed from 'ELE_CHASSIS\gpio.o' to 'ELE_CHASSIS\gpio_1.o'.
 Note: source file '..\User\bsp\spi.c' - object file renamed from 'ELE_CHASSIS\spi.o' to 'ELE_CHASSIS\spi_1.o'.
 compiling Calc_task.c...
 compiling user_task.c...
 compiling error_detect_task.c...
 compiling nuc_task.c...
 compiling freertos.c...
 compiling init.c...
 compiling action_task.c...
 compiling Chassis.c...
 compiling cmd_task.c...
 compiling chassis_task.c...
 compiling atti_esti.c...
 compiling navi_task.c...
 compiling can_task.c...
 compiling config.c...
 compiling remote_control_task.c...
 compiling bmi088.c...
 compiling nuc.c...
 linking...
 Program Size: Code=88476 RO-data=1640 RW-data=1128 ZI-data=34496  
 "ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
 <h2>Software Packages used:</h2>
@ -53,7 +72,7 @@ Package Vendor: Keil
   * Component: ARM::CMSIS:CORE:5.4.0
      Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:00
+Build Time Elapsed:  00:00:09
 </pre>
 </body>
 </html>
--- a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm
+++ b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm
@ -3,7 +3,7 @@
 <title>Static Call Graph - [ELE_CHASSIS\AUTO_CHASSIS.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image ELE_CHASSIS\AUTO_CHASSIS.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Wed Jun 25 02:08:55 2025
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Wed Jun 25 02:37:06 2025
 <BR><P>
 <H3>Maximum Stack Usage =        376 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
@ -545,8 +545,8 @@ Global Symbols
 <P><STRONG><a name="[1ab]"></a>__aeabi_uldivmod</STRONG> (Thumb, 0 bytes, Stack size 48 bytes, lludivv7m.o(.text))
 <BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = __aeabi_uldivmod
 </UL>
-<BR>[Called By]<UL><LI><a href="#[1de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
+<BR>[Called By]<UL><LI><a href="#[1a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetSysClockFreq
-<LI><a href="#[1a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetSysClockFreq
+<LI><a href="#[1de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
 </UL>
 <P><STRONG><a name="[304]"></a>_ll_udiv</STRONG> (Thumb, 238 bytes, Stack size 48 bytes, lludivv7m.o(.text), UNUSED)
@ -731,8 +731,8 @@ Global Symbols
 <P><STRONG><a name="[c0]"></a>ACTION_StartReceiving</STRONG> (Thumb, 30 bytes, Stack size 8 bytes, action.o(i.ACTION_StartReceiving))
 <BR><BR>[Stack]<UL><LI>Max Depth = 108<LI>Call Chain = ACTION_StartReceiving &rArr; HAL_UARTEx_ReceiveToIdle_DMA &rArr; UART_Start_Receive_DMA &rArr; HAL_DMA_Start_IT &rArr; DMA_SetConfig
 </UL>
-<BR>[Calls]<UL><LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_ReceiveToIdle_DMA
+<BR>[Calls]<UL><LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_UART_GetHandle
-<LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_UART_GetHandle
+<LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_ReceiveToIdle_DMA
 </UL>
 <BR>[Called By]<UL><LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_action
 </UL>
@ -1140,7 +1140,7 @@ Global Symbols
 <BR>[Called By]<UL><LI><a href="#[8c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_cmd
 </UL>
-<P><STRONG><a name="[118]"></a>Chassis_Control</STRONG> (Thumb, 922 bytes, Stack size 40 bytes, chassis.o(i.Chassis_Control))
+<P><STRONG><a name="[118]"></a>Chassis_Control</STRONG> (Thumb, 940 bytes, Stack size 40 bytes, chassis.o(i.Chassis_Control))
 <BR><BR>[Stack]<UL><LI>Max Depth = 352<LI>Call Chain = Chassis_Control &rArr; Chassis_speed_calculate &rArr; __hardfp_sin &rArr; __ieee754_rem_pio2 &rArr; __aeabi_dmul
 </UL>
 <BR>[Calls]<UL><LI><a href="#[11e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_calc
@ -1164,7 +1164,7 @@ Global Symbols
 <BR>[Called By]<UL><LI><a href="#[89]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Chassis
 </UL>
-<P><STRONG><a name="[123]"></a>Chassis_init</STRONG> (Thumb, 394 bytes, Stack size 40 bytes, chassis.o(i.Chassis_init))
+<P><STRONG><a name="[123]"></a>Chassis_init</STRONG> (Thumb, 420 bytes, Stack size 40 bytes, chassis.o(i.Chassis_init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 108<LI>Call Chain = Chassis_init &rArr; LowPassFilter2p_Init &rArr; __hardfp_tanf &rArr; __mathlib_rredf2
 </UL>
 <BR>[Calls]<UL><LI><a href="#[125]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_init
@ -1514,9 +1514,9 @@ Global Symbols
 </UL>
 <BR>[Calls]<UL><LI><a href="#[153]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DMA_SetConfig
 </UL>
-<BR>[Called By]<UL><LI><a href="#[1d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_Start_Receive_DMA
+<BR>[Called By]<UL><LI><a href="#[1b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TransmitReceive_DMA
 <LI><a href="#[1b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TransmitReceive_DMA
 <LI><a href="#[e5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Receive_DMA
 <LI><a href="#[1d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_Start_Receive_DMA
 </UL>
 <P><STRONG><a name="[ea]"></a>HAL_Delay</STRONG> (Thumb, 36 bytes, Stack size 16 bytes, stm32f4xx_hal.o(i.HAL_Delay))
@ -1613,8 +1613,6 @@ Global Symbols
 <LI><a href="#[147]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_Init
 <LI><a href="#[1ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_OscConfig
 <LI><a href="#[1a7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_ClockConfig
 <LI><a href="#[1e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Transmit
 <LI><a href="#[1e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_WaitOnFlagUntilTimeout
 <LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Delay
 <LI><a href="#[14e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Abort
 <LI><a href="#[ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FLASH_WaitForLastOperation
@ -1626,6 +1624,8 @@ Global Symbols
 <LI><a href="#[e4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Transmit
 <LI><a href="#[e6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Receive
 <LI><a href="#[fa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Buzzer_Control
 <LI><a href="#[1e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Transmit
 <LI><a href="#[1e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_WaitOnFlagUntilTimeout
 <LI><a href="#[228]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;sick_calculate_d
 </UL>
@ -2157,13 +2157,13 @@ Global Symbols
 <P><STRONG><a name="[1c1]"></a>HAL_TIM_IRQHandler</STRONG> (Thumb, 406 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_IRQHandler))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = HAL_TIM_IRQHandler
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1c7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_TriggerCallback
+<BR>[Calls]<UL><LI><a href="#[1c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IC_CaptureCallback
 <LI><a href="#[1c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_CommutCallback
 <LI><a href="#[1c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_BreakCallback
 <LI><a href="#[1c7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_TriggerCallback
 <LI><a href="#[1c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PeriodElapsedCallback
 <LI><a href="#[1c4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_PulseFinishedCallback
 <LI><a href="#[1c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_OC_DelayElapsedCallback
 <LI><a href="#[1c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IC_CaptureCallback
 <LI><a href="#[1c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_CommutCallback
 <LI><a href="#[1c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_BreakCallback
 </UL>
 <BR>[Called By]<UL><LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM7_IRQHandler
 <LI><a href="#[3c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM1_UP_TIM10_IRQHandler
@ -2198,8 +2198,8 @@ Global Symbols
 <P><STRONG><a name="[1cf]"></a>HAL_TIM_PWM_Init</STRONG> (Thumb, 102 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = HAL_TIM_PWM_Init &rArr; TIM_Base_SetConfig
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_MspInit
+<BR>[Calls]<UL><LI><a href="#[1bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_Base_SetConfig
-<LI><a href="#[1bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_Base_SetConfig
+<LI><a href="#[1d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_MspInit
 </UL>
 <BR>[Called By]<UL><LI><a href="#[1f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM4_Init
 <LI><a href="#[1ef]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM10_Init
@ -2252,10 +2252,10 @@ Global Symbols
 </UL>
 <BR>[Calls]<UL><LI><a href="#[1d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_Get
 </UL>
-<BR>[Called By]<UL><LI><a href="#[1d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_Receive_IT
+<BR>[Called By]<UL><LI><a href="#[1d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_IRQHandler
 <LI><a href="#[1d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_Receive_IT
 <LI><a href="#[93]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_DMARxHalfCplt
 <LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_DMAReceiveCplt
 <LI><a href="#[1d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_IRQHandler
 </UL>
 <P><STRONG><a name="[1d5]"></a>HAL_UART_ErrorCallback</STRONG> (Thumb, 46 bytes, Stack size 16 bytes, bsp_usart.o(i.HAL_UART_ErrorCallback))
@ -2263,22 +2263,22 @@ Global Symbols
 </UL>
 <BR>[Calls]<UL><LI><a href="#[1d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_Get
 </UL>
-<BR>[Called By]<UL><LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_DMAError
+<BR>[Called By]<UL><LI><a href="#[1d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_IRQHandler
 <LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_DMAError
 <LI><a href="#[83]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_DMAAbortOnError
 <LI><a href="#[1d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_IRQHandler
 </UL>
 <P><STRONG><a name="[1d6]"></a>HAL_UART_IRQHandler</STRONG> (Thumb, 732 bytes, Stack size 40 bytes, stm32f4xx_hal_uart.o(i.HAL_UART_IRQHandler))
 <BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = HAL_UART_IRQHandler &rArr; UART_Receive_IT &rArr; HAL_UART_RxCpltCallback
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_Transmit_IT
+<BR>[Calls]<UL><LI><a href="#[1d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Abort_IT
 <LI><a href="#[1d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_Receive_IT
 <LI><a href="#[1db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_EndTransmit_IT
 <LI><a href="#[1d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_EndRxTransfer
 <LI><a href="#[1d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Abort_IT
 <LI><a href="#[14e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Abort
 <LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_ErrorCallback
 <LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_RxEventCallback
 <LI><a href="#[1da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_Transmit_IT
 <LI><a href="#[1d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_Receive_IT
 <LI><a href="#[1db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_EndTransmit_IT
 <LI><a href="#[1d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_EndRxTransfer
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART6_IRQHandler
 <LI><a href="#[48]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART1_IRQHandler
@ -2287,8 +2287,8 @@ Global Symbols
 <P><STRONG><a name="[1dc]"></a>HAL_UART_Init</STRONG> (Thumb, 114 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(i.HAL_UART_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = HAL_UART_Init &rArr; UART_SetConfig &rArr; __aeabi_uldivmod
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
+<BR>[Calls]<UL><LI><a href="#[1dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
-<LI><a href="#[1dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
+<LI><a href="#[1de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
 </UL>
 <BR>[Called By]<UL><LI><a href="#[1f5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART6_UART_Init
 <LI><a href="#[1f4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART3_UART_Init
@ -2328,8 +2328,8 @@ Global Symbols
 <P><STRONG><a name="[1e1]"></a>HAL_UART_Transmit</STRONG> (Thumb, 210 bytes, Stack size 40 bytes, stm32f4xx_hal_uart.o(i.HAL_UART_Transmit))
 <BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = HAL_UART_Transmit &rArr; UART_WaitOnFlagUntilTimeout
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_WaitOnFlagUntilTimeout
+<BR>[Calls]<UL><LI><a href="#[fb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
-<LI><a href="#[fb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
+<LI><a href="#[1e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_WaitOnFlagUntilTimeout
 </UL>
 <BR>[Called By]<UL><LI><a href="#[1fd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NUC_Send
 </UL>
@ -2559,8 +2559,8 @@ Global Symbols
 <P><STRONG><a name="[1fd]"></a>NUC_Send</STRONG> (Thumb, 110 bytes, Stack size 24 bytes, nuc.o(i.NUC_Send))
 <BR><BR>[Stack]<UL><LI>Max Depth = 88<LI>Call Chain = NUC_Send &rArr; HAL_UART_Transmit &rArr; UART_WaitOnFlagUntilTimeout
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Transmit
+<BR>[Calls]<UL><LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_UART_GetHandle
-<LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_UART_GetHandle
+<LI><a href="#[1e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Transmit
 </UL>
 <BR>[Called By]<UL><LI><a href="#[1fe]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NUC_Send_control
 </UL>
@ -2576,8 +2576,8 @@ Global Symbols
 <P><STRONG><a name="[1ff]"></a>NUC_StartReceiving</STRONG> (Thumb, 30 bytes, Stack size 8 bytes, nuc.o(i.NUC_StartReceiving))
 <BR><BR>[Stack]<UL><LI>Max Depth = 108<LI>Call Chain = NUC_StartReceiving &rArr; HAL_UARTEx_ReceiveToIdle_DMA &rArr; UART_Start_Receive_DMA &rArr; HAL_DMA_Start_IT &rArr; DMA_SetConfig
 </UL>
-<BR>[Calls]<UL><LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_ReceiveToIdle_DMA
+<BR>[Calls]<UL><LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_UART_GetHandle
-<LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_UART_GetHandle
+<LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_ReceiveToIdle_DMA
 </UL>
 <BR>[Called By]<UL><LI><a href="#[8d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_nuc
 </UL>
@ -2660,8 +2660,8 @@ Global Symbols
 <P><STRONG><a name="[20b]"></a>REMOTE_StartDmaRecv</STRONG> (Thumb, 30 bytes, Stack size 8 bytes, remote_control.o(i.REMOTE_StartDmaRecv))
 <BR><BR>[Stack]<UL><LI>Max Depth = 108<LI>Call Chain = REMOTE_StartDmaRecv &rArr; HAL_UARTEx_ReceiveToIdle_DMA &rArr; UART_Start_Receive_DMA &rArr; HAL_DMA_Start_IT &rArr; DMA_SetConfig
 </UL>
-<BR>[Calls]<UL><LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_ReceiveToIdle_DMA
+<BR>[Calls]<UL><LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_UART_GetHandle
-<LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_UART_GetHandle
+<LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_ReceiveToIdle_DMA
 </UL>
 <BR>[Called By]<UL><LI><a href="#[8a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_remote
 </UL>
@ -2776,7 +2776,7 @@ Global Symbols
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> init.o(i.Task_Init)
 </UL>
-<P><STRONG><a name="[89]"></a>Task_Chassis</STRONG> (Thumb, 350 bytes, Stack size 0 bytes, chassis_task.o(i.Task_Chassis))
+<P><STRONG><a name="[89]"></a>Task_Chassis</STRONG> (Thumb, 348 bytes, Stack size 0 bytes, chassis_task.o(i.Task_Chassis))
 <BR><BR>[Stack]<UL><LI>Max Depth = 352<LI>Call Chain = Task_Chassis &rArr; Chassis_Control &rArr; Chassis_speed_calculate &rArr; __hardfp_sin &rArr; __ieee754_rem_pio2 &rArr; __aeabi_dmul
 </UL>
 <BR>[Calls]<UL><LI><a href="#[214]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadGetStackSpace
@ -4145,9 +4145,9 @@ Global Symbols
 <P><STRONG><a name="[e0]"></a>osKernelLock</STRONG> (Thumb, 56 bytes, Stack size 8 bytes, cmsis_os2.o(i.osKernelLock))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = osKernelLock
 </UL>
-<BR>[Calls]<UL><LI><a href="#[284]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
+<BR>[Calls]<UL><LI><a href="#[20f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetSchedulerState
 <LI><a href="#[20f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetSchedulerState
 <LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
 <LI><a href="#[284]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
 </UL>
 <BR>[Called By]<UL><LI><a href="#[84]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Init
 <LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Config_Set
@ -4170,9 +4170,9 @@ Global Symbols
 <P><STRONG><a name="[e2]"></a>osKernelUnlock</STRONG> (Thumb, 68 bytes, Stack size 8 bytes, cmsis_os2.o(i.osKernelUnlock))
 <BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = osKernelUnlock &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<BR>[Calls]<UL><LI><a href="#[20f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetSchedulerState
 <LI><a href="#[20f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetSchedulerState
 <LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
 <LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 </UL>
 <BR>[Called By]<UL><LI><a href="#[84]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Init
 <LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Config_Set
@ -4363,11 +4363,11 @@ Global Symbols
 <P><STRONG><a name="[b9]"></a>osTimerNew</STRONG> (Thumb, 182 bytes, Stack size 48 bytes, cmsis_os2.o(i.osTimerNew))
 <BR><BR>[Stack]<UL><LI>Max Depth = 216<LI>Call Chain = osTimerNew &rArr; xTimerCreateStatic &rArr; prvInitialiseNewTimer &rArr; prvCheckForValidListAndQueue &rArr; xQueueGenericCreateStatic &rArr; prvInitialiseNewQueue &rArr; xQueueGenericReset &rArr; xTaskRemoveFromEventList
 </UL>
-<BR>[Calls]<UL><LI><a href="#[29a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
+<BR>[Calls]<UL><LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
 <LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
 <LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
 <LI><a href="#[298]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerCreateStatic
 <LI><a href="#[299]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerCreate
 <LI><a href="#[29a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
 <LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
 </UL>
 <BR>[Called By]<UL><LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ACTIONRECV_Init
 </UL>
@ -4388,10 +4388,10 @@ Global Symbols
 <P><STRONG><a name="[297]"></a>pvPortMalloc</STRONG> (Thumb, 306 bytes, Stack size 24 bytes, heap_4.o(i.pvPortMalloc))
 <BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<BR>[Calls]<UL><LI><a href="#[2bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInsertBlockIntoFreeList
 <LI><a href="#[284]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
 <LI><a href="#[2bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInsertBlockIntoFreeList
 <LI><a href="#[2bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvHeapInit
 <LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 <LI><a href="#[284]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
 </UL>
 <BR>[Called By]<UL><LI><a href="#[295]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreate
 <LI><a href="#[28a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericCreate
@ -4445,8 +4445,7 @@ Global Symbols
 </UL>
 <P><STRONG><a name="[29d]"></a>uxListRemove</STRONG> (Thumb, 40 bytes, Stack size 0 bytes, list.o(i.uxListRemove))
-<BR><BR>[Called By]<UL><LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<BR><BR>[Called By]<UL><LI><a href="#[296]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
 <LI><a href="#[296]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
 <LI><a href="#[2a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
 <LI><a href="#[29c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
 <LI><a href="#[291]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericNotifyFromISR
@ -4457,6 +4456,7 @@ Global Symbols
 <LI><a href="#[2b2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessReceivedCommands
 <LI><a href="#[2b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessExpiredTimer
 <LI><a href="#[2ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
 <LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 </UL>
 <P><STRONG><a name="[293]"></a>uxTaskGetStackHighWaterMark</STRONG> (Thumb, 34 bytes, Stack size 24 bytes, tasks.o(i.uxTaskGetStackHighWaterMark))
@ -4500,8 +4500,7 @@ Global Symbols
 </UL>
 <P><STRONG><a name="[29e]"></a>vListInsertEnd</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, list.o(i.vListInsertEnd))
-<BR><BR>[Called By]<UL><LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<BR><BR>[Called By]<UL><LI><a href="#[296]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
 <LI><a href="#[296]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
 <LI><a href="#[2a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddNewTaskToReadyList
 <LI><a href="#[29c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
 <LI><a href="#[291]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericNotifyFromISR
@ -4510,11 +4509,11 @@ Global Symbols
 <LI><a href="#[2a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskPriorityDisinherit
 <LI><a href="#[2c0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventListRestricted
 <LI><a href="#[2ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
 <LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 </UL>
 <P><STRONG><a name="[278]"></a>vPortEnterCritical</STRONG> (Thumb, 76 bytes, Stack size 0 bytes, port.o(i.vPortEnterCritical))
-<BR><BR>[Called By]<UL><LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<BR><BR>[Called By]<UL><LI><a href="#[296]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
 <LI><a href="#[296]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
 <LI><a href="#[277]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;eTaskGetState
 <LI><a href="#[2a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
 <LI><a href="#[2a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddNewTaskToReadyList
@ -4530,11 +4529,11 @@ Global Symbols
 <LI><a href="#[2af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueEmpty
 <LI><a href="#[22b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvTimerGetTimerID
 <LI><a href="#[2a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckForValidListAndQueue
 <LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 </UL>
 <P><STRONG><a name="[279]"></a>vPortExitCritical</STRONG> (Thumb, 56 bytes, Stack size 0 bytes, port.o(i.vPortExitCritical))
-<BR><BR>[Called By]<UL><LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<BR><BR>[Called By]<UL><LI><a href="#[296]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
 <LI><a href="#[296]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
 <LI><a href="#[277]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;eTaskGetState
 <LI><a href="#[2a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
 <LI><a href="#[2a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddNewTaskToReadyList
@ -4550,14 +4549,15 @@ Global Symbols
 <LI><a href="#[2af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueEmpty
 <LI><a href="#[22b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvTimerGetTimerID
 <LI><a href="#[2a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckForValidListAndQueue
 <LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 </UL>
 <P><STRONG><a name="[29a]"></a>vPortFree</STRONG> (Thumb, 150 bytes, Stack size 16 bytes, heap_4.o(i.vPortFree))
 <BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = vPortFree &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<BR>[Calls]<UL><LI><a href="#[2bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInsertBlockIntoFreeList
 <LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 <LI><a href="#[284]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
 <LI><a href="#[2bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInsertBlockIntoFreeList
 </UL>
 <BR>[Called By]<UL><LI><a href="#[295]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreate
 <LI><a href="#[2a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvDeleteTCB
@ -4588,10 +4588,10 @@ Global Symbols
 <P><STRONG><a name="[2b5]"></a>vQueueWaitForMessageRestricted</STRONG> (Thumb, 74 bytes, Stack size 24 bytes, queue.o(i.vQueueWaitForMessageRestricted))
 <BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = vQueueWaitForMessageRestricted &rArr; vTaskPlaceOnEventListRestricted &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<BR>[Calls]<UL><LI><a href="#[2c0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventListRestricted
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 <LI><a href="#[2c0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventListRestricted
 <LI><a href="#[2b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
 <LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 </UL>
 <BR>[Called By]<UL><LI><a href="#[2b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessTimerOrBlockTask
 </UL>
@ -4599,9 +4599,9 @@ Global Symbols
 <P><STRONG><a name="[226]"></a>vTaskDelay</STRONG> (Thumb, 82 bytes, Stack size 16 bytes, tasks.o(i.vTaskDelay))
 <BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = vTaskDelay &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<BR>[Calls]<UL><LI><a href="#[29c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
 <LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 <LI><a href="#[284]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
 <LI><a href="#[29c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
 </UL>
 <BR>[Called By]<UL><LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osDelay
 <LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_error_detect
@ -4610,9 +4610,9 @@ Global Symbols
 <P><STRONG><a name="[282]"></a>vTaskDelayUntil</STRONG> (Thumb, 200 bytes, Stack size 32 bytes, tasks.o(i.vTaskDelayUntil))
 <BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = vTaskDelayUntil &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<BR>[Calls]<UL><LI><a href="#[29c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
 <LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 <LI><a href="#[284]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
 <LI><a href="#[29c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
 </UL>
 <BR>[Called By]<UL><LI><a href="#[21a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osDelayUntil
 </UL>
@ -4620,12 +4620,12 @@ Global Symbols
 <P><STRONG><a name="[296]"></a>vTaskDelete</STRONG> (Thumb, 168 bytes, Stack size 16 bytes, tasks.o(i.vTaskDelete))
 <BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = vTaskDelete &rArr; prvDeleteTCB &rArr; vPortFree &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<BR>[Calls]<UL><LI><a href="#[2c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvResetNextTaskUnblockTime
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 <LI><a href="#[2c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvResetNextTaskUnblockTime
 <LI><a href="#[2a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvDeleteTCB
 <LI><a href="#[29e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
 <LI><a href="#[29d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
 <LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 </UL>
 <BR>[Called By]<UL><LI><a href="#[21b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadTerminate
 </UL>
@ -4672,14 +4672,14 @@ Global Symbols
 </UL>
 <P><STRONG><a name="[284]"></a>vTaskSuspendAll</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, tasks.o(i.vTaskSuspendAll))
-<BR><BR>[Called By]<UL><LI><a href="#[29a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
+<BR><BR>[Called By]<UL><LI><a href="#[282]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
 <LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
 <LI><a href="#[282]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
 <LI><a href="#[226]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
 <LI><a href="#[288]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
 <LI><a href="#[28d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
 <LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelLock
 <LI><a href="#[2b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessTimerOrBlockTask
 <LI><a href="#[29a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
 <LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
 </UL>
 <P><STRONG><a name="[aa]"></a>vTaskSwitchContext</STRONG> (Thumb, 152 bytes, Stack size 8 bytes, tasks.o(i.vTaskSwitchContext))
@ -4722,8 +4722,8 @@ Global Symbols
 <P><STRONG><a name="[28a]"></a>xQueueGenericCreate</STRONG> (Thumb, 90 bytes, Stack size 32 bytes, queue.o(i.xQueueGenericCreate))
 <BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = xQueueGenericCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
+<BR>[Calls]<UL><LI><a href="#[2a9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewQueue
-<LI><a href="#[2a9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewQueue
+<LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
 </UL>
 <BR>[Called By]<UL><LI><a href="#[104]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueueNew
 </UL>
@ -4740,10 +4740,10 @@ Global Symbols
 <P><STRONG><a name="[28e]"></a>xQueueGenericReset</STRONG> (Thumb, 146 bytes, Stack size 16 bytes, queue.o(i.xQueueGenericReset))
 <BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = xQueueGenericReset &rArr; xTaskRemoveFromEventList
 </UL>
-<BR>[Calls]<UL><LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<BR>[Calls]<UL><LI><a href="#[2b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
 <LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 <LI><a href="#[2a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInitialise
 <LI><a href="#[2b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
 </UL>
 <BR>[Called By]<UL><LI><a href="#[2a9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewQueue
 <LI><a href="#[216]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueueReset
@ -4752,11 +4752,7 @@ Global Symbols
 <P><STRONG><a name="[28d]"></a>xQueueGenericSend</STRONG> (Thumb, 420 bytes, Stack size 56 bytes, queue.o(i.xQueueGenericSend))
 <BR><BR>[Stack]<UL><LI>Max Depth = 104<LI>Call Chain = xQueueGenericSend &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<BR>[Calls]<UL><LI><a href="#[20f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetSchedulerState
 <LI><a href="#[284]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
 <LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 <LI><a href="#[20f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetSchedulerState
 <LI><a href="#[2b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
 <LI><a href="#[2cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCheckForTimeOut
 <LI><a href="#[2c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventList
@ -4764,6 +4760,10 @@ Global Symbols
 <LI><a href="#[2b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
 <LI><a href="#[2b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueFull
 <LI><a href="#[2a7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataToQueue
 <LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 <LI><a href="#[284]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
 <LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 </UL>
 <BR>[Called By]<UL><LI><a href="#[100]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueuePut
 <LI><a href="#[29b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerGenericCommand
@ -4783,11 +4783,7 @@ Global Symbols
 <P><STRONG><a name="[288]"></a>xQueueReceive</STRONG> (Thumb, 356 bytes, Stack size 48 bytes, queue.o(i.xQueueReceive))
 <BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = xQueueReceive &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<BR>[Calls]<UL><LI><a href="#[20f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetSchedulerState
 <LI><a href="#[284]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
 <LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 <LI><a href="#[20f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetSchedulerState
 <LI><a href="#[2b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
 <LI><a href="#[2cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCheckForTimeOut
 <LI><a href="#[2c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventList
@ -4795,6 +4791,10 @@ Global Symbols
 <LI><a href="#[2b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
 <LI><a href="#[2af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueEmpty
 <LI><a href="#[2a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataFromQueue
 <LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 <LI><a href="#[284]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
 <LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 </UL>
 <BR>[Called By]<UL><LI><a href="#[218]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueueGet
 <LI><a href="#[2b2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessReceivedCommands
@ -4813,9 +4813,9 @@ Global Symbols
 <P><STRONG><a name="[2cc]"></a>xTaskCheckForTimeOut</STRONG> (Thumb, 156 bytes, Stack size 16 bytes, tasks.o(i.xTaskCheckForTimeOut))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = xTaskCheckForTimeOut
 </UL>
-<BR>[Calls]<UL><LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<BR>[Calls]<UL><LI><a href="#[2cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskInternalSetTimeOutState
 <LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 <LI><a href="#[2cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskInternalSetTimeOutState
 </UL>
 <BR>[Called By]<UL><LI><a href="#[288]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
 <LI><a href="#[28d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
@ -4825,10 +4825,10 @@ Global Symbols
 <BR><BR>[Stack]<UL><LI>Max Depth = 136 + Unknown Stack Size
 <LI>Call Chain = xTaskCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[29a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
+<BR>[Calls]<UL><LI><a href="#[2aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewTask
 <LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
 <LI><a href="#[2aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewTask
 <LI><a href="#[2a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddNewTaskToReadyList
 <LI><a href="#[29a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
 <LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
 </UL>
 <BR>[Called By]<UL><LI><a href="#[1ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadNew
 </UL>
@ -4848,10 +4848,10 @@ Global Symbols
 <P><STRONG><a name="[290]"></a>xTaskGenericNotify</STRONG> (Thumb, 278 bytes, Stack size 32 bytes, tasks.o(i.xTaskGenericNotify))
 <BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = xTaskGenericNotify
 </UL>
-<BR>[Calls]<UL><LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<BR>[Calls]<UL><LI><a href="#[29e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 <LI><a href="#[29e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
 <LI><a href="#[29d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
 <LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 </UL>
 <BR>[Called By]<UL><LI><a href="#[bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadFlagsSet
 <LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadFlagsGet
@ -4908,16 +4908,16 @@ Global Symbols
 <LI><a href="#[29e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
 <LI><a href="#[29d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
 </UL>
-<BR>[Called By]<UL><LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<BR>[Called By]<UL><LI><a href="#[210]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xPortSysTickHandler
-<LI><a href="#[210]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xPortSysTickHandler
+<LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 </UL>
 <P><STRONG><a name="[292]"></a>xTaskNotifyWait</STRONG> (Thumb, 150 bytes, Stack size 24 bytes, tasks.o(i.xTaskNotifyWait))
 <BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = xTaskNotifyWait &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<BR>[Calls]<UL><LI><a href="#[29c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
 <LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 <LI><a href="#[29c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
 </UL>
 <BR>[Called By]<UL><LI><a href="#[c4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadFlagsWait
 </UL>
@ -4948,28 +4948,28 @@ Global Symbols
 <P><STRONG><a name="[286]"></a>xTaskResumeAll</STRONG> (Thumb, 222 bytes, Stack size 16 bytes, tasks.o(i.xTaskResumeAll))
 <BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<BR>[Calls]<UL><LI><a href="#[2c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvResetNextTaskUnblockTime
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 <LI><a href="#[2c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvResetNextTaskUnblockTime
 <LI><a href="#[29e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
 <LI><a href="#[29d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
 <LI><a href="#[2ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
 <LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 </UL>
-<BR>[Called By]<UL><LI><a href="#[29a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
+<BR>[Called By]<UL><LI><a href="#[282]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
 <LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
 <LI><a href="#[282]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
 <LI><a href="#[226]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
 <LI><a href="#[288]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
 <LI><a href="#[28d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
 <LI><a href="#[e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelUnlock
 <LI><a href="#[2b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessTimerOrBlockTask
 <LI><a href="#[29a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
 <LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
 </UL>
 <P><STRONG><a name="[299]"></a>xTimerCreate</STRONG> (Thumb, 54 bytes, Stack size 40 bytes, timers.o(i.xTimerCreate))
 <BR><BR>[Stack]<UL><LI>Max Depth = 168<LI>Call Chain = xTimerCreate &rArr; prvInitialiseNewTimer &rArr; prvCheckForValidListAndQueue &rArr; xQueueGenericCreateStatic &rArr; prvInitialiseNewQueue &rArr; xQueueGenericReset &rArr; xTaskRemoveFromEventList
 </UL>
-<BR>[Calls]<UL><LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
+<BR>[Calls]<UL><LI><a href="#[2ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewTimer
-<LI><a href="#[2ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewTimer
+<LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
 </UL>
 <BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osTimerNew
 </UL>
@ -5442,9 +5442,9 @@ Local Symbols
 <P><STRONG><a name="[94]"></a>UART_DMAError</STRONG> (Thumb, 80 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(i.UART_DMAError))
 <BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = UART_DMAError &rArr; HAL_UART_ErrorCallback
 </UL>
-<BR>[Calls]<UL><LI><a href="#[22c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_EndTxTransfer
+<BR>[Calls]<UL><LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_ErrorCallback
 <LI><a href="#[22c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_EndTxTransfer
 <LI><a href="#[1d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_EndRxTransfer
 <LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_ErrorCallback
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> stm32f4xx_hal_uart.o(i.UART_Start_Receive_DMA)
 </UL>
@ -5465,8 +5465,8 @@ Local Symbols
 <BR>[Address Reference Count : 1]<UL><LI> stm32f4xx_hal_uart.o(i.UART_Start_Receive_DMA)
 </UL>
 <P><STRONG><a name="[1d8]"></a>UART_EndRxTransfer</STRONG> (Thumb, 108 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(i.UART_EndRxTransfer))
-<BR><BR>[Called By]<UL><LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_DMAError
+<BR><BR>[Called By]<UL><LI><a href="#[1d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_IRQHandler
-<LI><a href="#[1d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_IRQHandler
+<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_DMAError
 </UL>
 <P><STRONG><a name="[1db]"></a>UART_EndTransmit_IT</STRONG> (Thumb, 32 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(i.UART_EndTransmit_IT))
@ -5561,10 +5561,10 @@ Local Symbols
 <P><STRONG><a name="[2b8]"></a>prvUnlockQueue</STRONG> (Thumb, 126 bytes, Stack size 16 bytes, queue.o(i.prvUnlockQueue))
 <BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = prvUnlockQueue &rArr; xTaskRemoveFromEventList
 </UL>
-<BR>[Calls]<UL><LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<BR>[Calls]<UL><LI><a href="#[2b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 <LI><a href="#[2b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
 <LI><a href="#[2ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskMissedYield
 <LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 </UL>
 <BR>[Called By]<UL><LI><a href="#[288]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
 <LI><a href="#[28d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
@ -5588,10 +5588,10 @@ Local Symbols
 <P><STRONG><a name="[2a0]"></a>prvAddNewTaskToReadyList</STRONG> (Thumb, 154 bytes, Stack size 8 bytes, tasks.o(i.prvAddNewTaskToReadyList))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = prvAddNewTaskToReadyList &rArr; prvInitialiseTaskLists
 </UL>
-<BR>[Calls]<UL><LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<BR>[Calls]<UL><LI><a href="#[2a1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseTaskLists
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 <LI><a href="#[2a1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseTaskLists
 <LI><a href="#[29e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
 <LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 </UL>
 <BR>[Called By]<UL><LI><a href="#[294]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreateStatic
 <LI><a href="#[295]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreate
@ -5600,10 +5600,10 @@ Local Symbols
 <P><STRONG><a name="[2a4]"></a>prvCheckTasksWaitingTermination</STRONG> (Thumb, 60 bytes, Stack size 8 bytes, tasks.o(i.prvCheckTasksWaitingTermination))
 <BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = prvCheckTasksWaitingTermination &rArr; prvDeleteTCB &rArr; vPortFree &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<BR>[Calls]<UL><LI><a href="#[2a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvDeleteTCB
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 <LI><a href="#[2a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvDeleteTCB
 <LI><a href="#[29d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
 <LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 </UL>
 <BR>[Called By]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIdleTask
 </UL>
@ -5645,9 +5645,9 @@ Local Symbols
 </UL>
 <P><STRONG><a name="[2c1]"></a>prvResetNextTaskUnblockTime</STRONG> (Thumb, 42 bytes, Stack size 0 bytes, tasks.o(i.prvResetNextTaskUnblockTime))
-<BR><BR>[Called By]<UL><LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<BR><BR>[Called By]<UL><LI><a href="#[296]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
 <LI><a href="#[296]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
 <LI><a href="#[2ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
 <LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 </UL>
 <P><STRONG><a name="[2bd]"></a>prvTaskCheckFreeStackSpace</STRONG> (Thumb, 22 bytes, Stack size 0 bytes, tasks.o(i.prvTaskCheckFreeStackSpace))
@ -5657,11 +5657,11 @@ Local Symbols
 <P><STRONG><a name="[2a2]"></a>prvCheckForValidListAndQueue</STRONG> (Thumb, 78 bytes, Stack size 8 bytes, timers.o(i.prvCheckForValidListAndQueue))
 <BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = prvCheckForValidListAndQueue &rArr; xQueueGenericCreateStatic &rArr; prvInitialiseNewQueue &rArr; xQueueGenericReset &rArr; xTaskRemoveFromEventList
 </UL>
-<BR>[Calls]<UL><LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<BR>[Calls]<UL><LI><a href="#[289]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericCreateStatic
 <LI><a href="#[28b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vQueueAddToRegistry
 <LI><a href="#[279]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[278]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 <LI><a href="#[2a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInitialise
 <LI><a href="#[289]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericCreateStatic
 <LI><a href="#[28b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vQueueAddToRegistry
 </UL>
 <BR>[Called By]<UL><LI><a href="#[2ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewTimer
 <LI><a href="#[2c4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerCreateTimerTask
@ -5703,12 +5703,12 @@ Local Symbols
 <P><STRONG><a name="[2b2]"></a>prvProcessReceivedCommands</STRONG> (Thumb, 350 bytes, Stack size 48 bytes, timers.o(i.prvProcessReceivedCommands))
 <BR><BR>[Stack]<UL><LI>Max Depth = 248<LI>Call Chain = prvProcessReceivedCommands &rArr; prvSampleTimeNow &rArr; prvSwitchTimerLists &rArr; xTimerGenericCommand &rArr; xQueueGenericSend &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[29a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
+<BR>[Calls]<UL><LI><a href="#[288]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
 <LI><a href="#[288]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
 <LI><a href="#[29d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
 <LI><a href="#[29b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerGenericCommand
 <LI><a href="#[2b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSampleTimeNow
 <LI><a href="#[2ae]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInsertTimerInActiveList
 <LI><a href="#[29a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
 </UL>
 <BR>[Called By]<UL><LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvTimerTask
 </UL>
@ -5716,11 +5716,11 @@ Local Symbols
 <P><STRONG><a name="[2b4]"></a>prvProcessTimerOrBlockTask</STRONG> (Thumb, 102 bytes, Stack size 24 bytes, timers.o(i.prvProcessTimerOrBlockTask))
 <BR><BR>[Stack]<UL><LI>Max Depth = 224<LI>Call Chain = prvProcessTimerOrBlockTask &rArr; prvSampleTimeNow &rArr; prvSwitchTimerLists &rArr; xTimerGenericCommand &rArr; xQueueGenericSend &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<BR>[Calls]<UL><LI><a href="#[2b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vQueueWaitForMessageRestricted
 <LI><a href="#[284]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
 <LI><a href="#[2b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vQueueWaitForMessageRestricted
 <LI><a href="#[2b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSampleTimeNow
 <LI><a href="#[2b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessExpiredTimer
 <LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 <LI><a href="#[284]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
 </UL>
 <BR>[Called By]<UL><LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvTimerTask
 </UL>
--- a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.map
+++ b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.map
--- a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep
+++ b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep
@ -165,7 +165,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Module/Chassis.h)(0x685AF048)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
@ -1541,8 +1541,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
-F (..\User\Module\Chassis.c)(0x685AE9B5)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\chassis.o --omf_browse ele_chassis\chassis.crf --depend ele_chassis\chassis.d)
+F (..\User\Module\Chassis.c)(0x685AF048)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\chassis.o --omf_browse ele_chassis\chassis.crf --depend ele_chassis\chassis.d)
-I (..\User\Module\Chassis.h)(0x685AE909)
+I (..\User\Module\Chassis.h)(0x685AF048)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
@ -1603,7 +1603,7 @@ I (../User/bsp\pwm.h)(0x685AE3BC)
 I (..\User\Module\define.h)(0x685A1A77)
 F (..\User\Module\config.c)(0x685AE566)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\config.o --omf_browse ele_chassis\config.crf --depend ele_chassis\config.d)
 I (..\User\Module\config.h)(0x683FAE78)
-I (..\User\Module\Chassis.h)(0x685AE909)
+I (..\User\Module\Chassis.h)(0x685AF048)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
@ -2141,7 +2141,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Module/Chassis.h)(0x685AF048)
 I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/can_use.h)(0x6811C5CD)
 I (../User/bsp/bsp_can.h)(0x663B6621)
@ -2175,7 +2175,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Module/Chassis.h)(0x685AF048)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
@ -2234,7 +2234,7 @@ I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (..\User\task\chassis_task.c)(0x68598B85)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\chassis_task.o --omf_browse ele_chassis\chassis_task.crf --depend ele_chassis\chassis_task.d)
-I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Module/Chassis.h)(0x685AF048)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
@ -2329,7 +2329,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Module/Chassis.h)(0x685AF048)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
@ -2449,7 +2449,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Module/Chassis.h)(0x685AF048)
 I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2485,7 +2485,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Module/Chassis.h)(0x685AF048)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
@ -2561,7 +2561,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Module/Chassis.h)(0x685AF048)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
@ -2641,7 +2641,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Module/Chassis.h)(0x685AF048)
 I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2761,7 +2761,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Module/Chassis.h)(0x685AF048)
 I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2795,7 +2795,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Module/Chassis.h)(0x685AF048)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
@ -2871,7 +2871,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Module/Chassis.h)(0x685AF048)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
@ -2995,7 +2995,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Module/Chassis.h)(0x685AF048)
 I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
@ -3290,7 +3290,7 @@ I (../Core/Inc/spi.h)(0x664876DC)
 I (../User/bsp\pwm.h)(0x685AE3BC)
 I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Module/Chassis.h)(0x685AF048)
 I (../User/device/can_use.h)(0x6811C5CD)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
@ -3449,7 +3449,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (..\User\device\cmd.h)(0x685ACF87)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\Action.h)(0x67CAEC48)
-I (../User/Module/chassis.h)(0x685AE909)
+I (../User/Module/chassis.h)(0x685AF048)
 I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
--- a/MDK-ARM/ELE_CHASSIS/action_task.crf
+++ b/MDK-ARM/ELE_CHASSIS/action_task.crf
--- a/MDK-ARM/ELE_CHASSIS/action_task.o
+++ b/MDK-ARM/ELE_CHASSIS/action_task.o
--- a/MDK-ARM/ELE_CHASSIS/atti_esti.crf
+++ b/MDK-ARM/ELE_CHASSIS/atti_esti.crf
--- a/MDK-ARM/ELE_CHASSIS/atti_esti.o
+++ b/MDK-ARM/ELE_CHASSIS/atti_esti.o
--- a/MDK-ARM/ELE_CHASSIS/bmi088.crf
+++ b/MDK-ARM/ELE_CHASSIS/bmi088.crf
--- a/MDK-ARM/ELE_CHASSIS/bmi088.o
+++ b/MDK-ARM/ELE_CHASSIS/bmi088.o
--- a/MDK-ARM/ELE_CHASSIS/calc_task.crf
+++ b/MDK-ARM/ELE_CHASSIS/calc_task.crf
--- a/MDK-ARM/ELE_CHASSIS/calc_task.o
+++ b/MDK-ARM/ELE_CHASSIS/calc_task.o
--- a/MDK-ARM/ELE_CHASSIS/can_task.crf
+++ b/MDK-ARM/ELE_CHASSIS/can_task.crf
--- a/MDK-ARM/ELE_CHASSIS/can_task.o
+++ b/MDK-ARM/ELE_CHASSIS/can_task.o
--- a/MDK-ARM/ELE_CHASSIS/chassis.crf
+++ b/MDK-ARM/ELE_CHASSIS/chassis.crf
--- a/MDK-ARM/ELE_CHASSIS/chassis.o
+++ b/MDK-ARM/ELE_CHASSIS/chassis.o
--- a/MDK-ARM/ELE_CHASSIS/chassis_task.crf
+++ b/MDK-ARM/ELE_CHASSIS/chassis_task.crf
--- a/MDK-ARM/ELE_CHASSIS/chassis_task.o
+++ b/MDK-ARM/ELE_CHASSIS/chassis_task.o
--- a/MDK-ARM/ELE_CHASSIS/cmd_task.crf
+++ b/MDK-ARM/ELE_CHASSIS/cmd_task.crf
--- a/MDK-ARM/ELE_CHASSIS/cmd_task.o
+++ b/MDK-ARM/ELE_CHASSIS/cmd_task.o
--- a/MDK-ARM/ELE_CHASSIS/config.crf
+++ b/MDK-ARM/ELE_CHASSIS/config.crf
--- a/MDK-ARM/ELE_CHASSIS/config.o
+++ b/MDK-ARM/ELE_CHASSIS/config.o
--- a/MDK-ARM/ELE_CHASSIS/error_detect_task.crf
+++ b/MDK-ARM/ELE_CHASSIS/error_detect_task.crf
--- a/MDK-ARM/ELE_CHASSIS/error_detect_task.o
+++ b/MDK-ARM/ELE_CHASSIS/error_detect_task.o
--- a/MDK-ARM/ELE_CHASSIS/freertos.crf
+++ b/MDK-ARM/ELE_CHASSIS/freertos.crf
--- a/MDK-ARM/ELE_CHASSIS/freertos.o
+++ b/MDK-ARM/ELE_CHASSIS/freertos.o
--- a/MDK-ARM/ELE_CHASSIS/init.crf
+++ b/MDK-ARM/ELE_CHASSIS/init.crf
--- a/MDK-ARM/ELE_CHASSIS/init.o
+++ b/MDK-ARM/ELE_CHASSIS/init.o
--- a/MDK-ARM/ELE_CHASSIS/navi_task.crf
+++ b/MDK-ARM/ELE_CHASSIS/navi_task.crf
--- a/MDK-ARM/ELE_CHASSIS/navi_task.o
+++ b/MDK-ARM/ELE_CHASSIS/navi_task.o
--- a/MDK-ARM/ELE_CHASSIS/nuc.crf
+++ b/MDK-ARM/ELE_CHASSIS/nuc.crf
--- a/MDK-ARM/ELE_CHASSIS/nuc.o
+++ b/MDK-ARM/ELE_CHASSIS/nuc.o
--- a/MDK-ARM/ELE_CHASSIS/nuc_task.crf
+++ b/MDK-ARM/ELE_CHASSIS/nuc_task.crf
--- a/MDK-ARM/ELE_CHASSIS/nuc_task.o
+++ b/MDK-ARM/ELE_CHASSIS/nuc_task.o
--- a/MDK-ARM/ELE_CHASSIS/remote_control_task.crf
+++ b/MDK-ARM/ELE_CHASSIS/remote_control_task.crf
--- a/MDK-ARM/ELE_CHASSIS/remote_control_task.o
+++ b/MDK-ARM/ELE_CHASSIS/remote_control_task.o
--- a/MDK-ARM/ELE_CHASSIS/user_task.crf
+++ b/MDK-ARM/ELE_CHASSIS/user_task.crf
--- a/MDK-ARM/ELE_CHASSIS/user_task.o
+++ b/MDK-ARM/ELE_CHASSIS/user_task.o
--- a/User/Module/Chassis.c
+++ b/User/Module/Chassis.c
@ -25,8 +25,11 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
 	 Buzzer_Init(&c->buzzer_radar_angle,200,1000,0.5);
 	 Buzzer_Init(&c->buzzer_sick_calibration,200,1000,0.5);	 
-	 PID_init(&(c->pid.chassis_6020OmegaPid), PID_POSITION,&(c->param->C6020Omega_param));
+	 for(int i=0;i<4;i++){
-	 PID_init(&(c->pid.chassis_6020anglePid), PID_POSITION,&(c->param->C6020Angle_param)); 		
+	   PID_init(&(c->pid.chassis_6020OmegaPid[i]), PID_POSITION,&(c->param->C6020Omega_param));
 	   PID_init(&(c->pid.chassis_6020anglePid[i]), PID_POSITION,&(c->param->C6020Angle_param)); 		 
 	 }
 	 PID_init(&(c->pid.chassis_RadaranglePID),PID_POSITION,&(c->param->RadarAngle_param));
 	 PID_init(&(c->pid.chassis_RadarspeedPID),PID_POSITION,&(c->param->RadarSpeed_param));
@ -396,9 +399,9 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
  for (uint8_t i = 0 ; i <4 ; i++){
 	  c->hopemotorout.motor6020_target[i]=c->hopemotorout.rotor6020_jiesuan_2[i];
-	  chassis6020_detangle[i] = PID_calc(&(c->pid.chassis_6020anglePid),c->motorfeedback.rotor_angle6020[i],
+	  chassis6020_detangle[i] = PID_calc(&(c->pid.chassis_6020anglePid[i]),c->motorfeedback.rotor_angle6020[i],
 		                                                                 c->hopemotorout.motor6020_target[i]);
-	  c->final_out.final_6020out[i] = PID_calc(&(c->pid.chassis_6020OmegaPid),c->motorfeedback.rotor_rpm6020[i],
+	  c->final_out.final_6020out[i] = PID_calc(&(c->pid.chassis_6020OmegaPid[i]),c->motorfeedback.rotor_rpm6020[i],
 		                                                                                 chassis6020_detangle[i]);
 	  out->chassis6020.as_array[i] = c->final_out.final_6020out[i];
--- a/User/Module/Chassis.h
+++ b/User/Module/Chassis.h
@ -151,8 +151,8 @@ typedef struct{
 		/*pid*/
 	struct{
-  	pid_type_def chassis_6020anglePid;                       
+  	pid_type_def chassis_6020anglePid[4];                       
-	  pid_type_def chassis_6020OmegaPid;                     
+	  pid_type_def chassis_6020OmegaPid[4];                     
 	  pid_type_def chassis_RadaranglePID; 
    pid_type_def chassis_RadarspeedPID;  			
 	  pid_type_def chassis_SickVx;
--- a/readme.md
+++ b/readme.md
@ -50,21 +50,17 @@
 目前存在的问题：
-1,雷达纠正角度那块pid得调
+1,加上两车通信
-2，sick辅助雷达校准点位pid得调
+2，试一下雷达发自身角度，用世界坐标系实现边跑边锁框
-3，试一下雷达发自身角度，用世界坐标系
+3，sick辅助雷达校准点位pid得调
-4,整车跑的时候底盘容易断连（好像只有在进入debug后才会出现，得多按几遍reset）
+4,雷达纠正角度那块pid得调
-5，加上两车通信
+5，整车跑的时候底盘容易断连（好像只有在进入debug后才会出现，得多按几遍reset）
-
+6，舵轮前后校准和左右校准不一样，会导致前后校准后前后走的还可以，但是左右会歪，就像是转不够90度
 6，6020双环pid发送out给can的那块有问题，会导致手动转1号轮2号轮会跟着转，手动转2号轮3号轮会跟着转以此类推，手动转6020会导致两个电机的反馈变化，目前还没有解决
 7，舵轮前后校准和左右校准不一样，会导致前后校准后前后走的还可以，但是左右会歪，就像是转不够90度