From fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac Mon Sep 17 00:00:00 2001 From: zxy Date: Sun, 19 Oct 2025 16:43:01 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E9=99=90=E4=BD=8D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/.vscode/keil-assistant.log | 2 + MDK-ARM/.vscode/uv4.log | 2 +- MDK-ARM/.vscode/uv4.log.lock | 2 +- MDK-ARM/zzzzh.uvguix.Ryan | 166 +- MDK-ARM/zzzzh.uvoptx | 29 +- MDK-ARM/zzzzh.uvprojx | 2 +- MDK-ARM/zzzzh/chassis.o | Bin 21112 -> 22180 bytes MDK-ARM/zzzzh/config.o | Bin 5636 -> 5876 bytes MDK-ARM/zzzzh/test.o | Bin 13776 -> 14244 bytes MDK-ARM/zzzzh/yaokongqi.o | Bin 7888 -> 7888 bytes MDK-ARM/zzzzh/zzzzh.axf | Bin 524460 -> 525688 bytes MDK-ARM/zzzzh/zzzzh.build_log.htm | 4 +- MDK-ARM/zzzzh/zzzzh.hex | 4250 ++++++++++++++-------------- MDK-ARM/zzzzh/zzzzh.htm | 1779 ++++++------ MDK-ARM/zzzzh/zzzzh.map | 2211 +++++++-------- MDK-ARM/zzzzh/zzzzh_zzzzh.dep | 16 +- User/module/chassis.c | 95 +- User/module/chassis.h | 17 +- 18 files changed, 4328 insertions(+), 4247 deletions(-) diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index 5f459f9..46d553b 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -6,3 +6,5 @@ [info] Log at : 2025/10/17|20:08:11|GMT+0800 +[info] Log at : 2025/10/19|16:41:15|GMT+0800 + diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log index 35680a5..94077ae 100644 --- a/MDK-ARM/.vscode/uv4.log +++ b/MDK-ARM/.vscode/uv4.log @@ -1,4 +1,4 @@ *** Using Compiler 'V6.7', folder: 'D:\keil\ARM\ARMCLANG\Bin' Build target 'zzzzh' "zzzzh\zzzzh.axf" - 0 Error(s), 0 Warning(s). -Build Time Elapsed: 00:00:02 +Build Time Elapsed: 00:00:05 diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock index a12f37d..c4923cc 100644 --- a/MDK-ARM/.vscode/uv4.log.lock +++ b/MDK-ARM/.vscode/uv4.log.lock @@ -1 +1 @@ -2025/10/17 20:08:32 \ No newline at end of file +2025/10/19 16:41:29 \ No newline at end of file diff --git a/MDK-ARM/zzzzh.uvguix.Ryan b/MDK-ARM/zzzzh.uvguix.Ryan index 50a1757..f16ecc2 100644 --- a/MDK-ARM/zzzzh.uvguix.Ryan +++ b/MDK-ARM/zzzzh.uvguix.Ryan @@ -11,17 +11,17 @@ 38003 Registers - 115 115 + 115 100 346 Code Coverage - 770 160 + 770 539 204 Performance Analyzer - 930 + 930 139 139 101 @@ -42,7 +42,7 @@ 1937 Watch 2 - 64 64 64 + 170 64 64 1935 @@ -81,7 +81,7 @@ 44 2 - 2 + 3 -32000 -32000 @@ -91,17 +91,17 @@ -1 - 19 - -7 - 1093 - 901 + 523 + 192 + 1292 + 1405 0 - 632 - 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898 @@ -3513,30 +3513,30 @@ 0 100 - 1 + 10 ..\User\task\test.c - 1 - 41 - 64 + 25 + 30 + 22 1 0 ..\User\module\chassis.c - 56 - 225 - 235 + 37 + 115 + 142 1 0 ..\User\module\config.c - 23 - 5 - 6 + 2 + 1 + 89 1 0 @@ -3553,7 +3553,7 @@ ..\User\task\init.c 0 - 11 + 1 41 1 @@ -3561,9 +3561,63 @@ ..\User\module\chassis.h - 28 + 18 + 21 + 45 + 1 + + 0 + + + ..\User\device\motor_rm.c + 16 + 263 + 291 + 1 + + 0 + + + ..\User\component\user_math.h + 0 + 30 + 61 + 1 + + 0 + + + ..\User\component\user_math.c + 0 + 16 + 36 + 1 + + 0 + + + startup_stm32f407xx.s + 0 + 166 + 174 + 1 + + 0 + + + ../Core/Src/main.c + 0 + 63 + 72 + 1 + + 0 + + + ..\User\task\yaokongqi.c + 80 1 - 15 + 23 1 0 diff --git a/MDK-ARM/zzzzh.uvoptx b/MDK-ARM/zzzzh.uvoptx index 262c30a..8668423 100644 --- a/MDK-ARM/zzzzh.uvoptx +++ b/MDK-ARM/zzzzh.uvoptx @@ -143,7 +143,7 @@ 0 DLGUARM - (105=-1,-1,-1,-1,0) + 0 @@ -161,20 +161,15 @@ 0 1 - dr16,0x0A + bmi088,0x0A 1 1 - bmi088,0x0A - - - 2 - 1 imu_eulr,0x0A - 3 + 2 1 imu_temp_pid_param @@ -183,27 +178,17 @@ 0 2 - dr16,0x0A + chassis_fb,0x0A 1 2 - chassis_fb + chassis_cmd,0x0A 2 2 - cmd_to_chassis - - - 3 - 2 - chassis - - - 4 - 2 - \\zzzzh\../User/task/test.c\chassis.limit + dr16,0x0A @@ -212,7 +197,7 @@ 0 1 - 1 + 0 0 0 0 diff --git a/MDK-ARM/zzzzh.uvprojx b/MDK-ARM/zzzzh.uvprojx index 446b3d8..2621b00 100644 --- a/MDK-ARM/zzzzh.uvprojx +++ b/MDK-ARM/zzzzh.uvprojx @@ -81,7 +81,7 @@ 0 - 1 + 0 0 diff --git a/MDK-ARM/zzzzh/chassis.o b/MDK-ARM/zzzzh/chassis.o index 9338b3681461373d376ee2ffc3e1c2c548cbc8b1..5c9dce989a0762767f4a6ece520ce5762ff95746 100644 GIT binary patch literal 22180 zcmbV!33yf2x%RiuKKmp&88{FS2mues5D*R_0wN#=k^o7V44`PyLxvL)&D7+CsTL6# z1RSWvR;Ws~YHjTRXm737Vy*S6x3$>*T7|ZzlhsQTL8Vf)`oHhmYoB51?SG$tJ?#Ci z_gmlk*0;vJ&fbe$U$JPuWm)0{ONu1PM4nlyQk9wndr_BaM>oPu~CdlY_m> zgLm{wL2=*Q;Pze#?(Z!Oel%`dZ!~zguQa%=cMT-Nfwh{~fsX*M*SsOP|LmGjV7$EZ zg)K`@S(*Ou>u*}8{Qa{0S?hAdAHHdRM$gCNT6!|)-!$LXv-FgcX@!@blI*P0;h>C@ 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 c:\Users\张修艺\Desktop\chassis\MDK-ARM\zzzzh.uvprojx -Project File Date: 10/14/2025 +Project File Date: 10/19/2025

Output:

*** Using Compiler 'V6.7', folder: 'D:\keil\ARM\ARMCLANG\Bin' @@ -50,7 +50,7 @@ Package Vendor: Keil

Collection of Component Files used:

* Component: ARM::CMSIS:CORE:5.0.1 -Build Time Elapsed: 00:00:02 +Build Time Elapsed: 00:00:05 diff --git a/MDK-ARM/zzzzh/zzzzh.hex b/MDK-ARM/zzzzh/zzzzh.hex index bf22b51..365bfe8 100644 --- a/MDK-ARM/zzzzh/zzzzh.hex +++ b/MDK-ARM/zzzzh/zzzzh.hex @@ -1,32 +1,32 @@ :020000040800F2 -:10000000586000209D010008454C0008AD3D0008E7 -:10001000BD4A00080D0A00085556000800000000FF -:10002000000000000000000000000000E14E000899 -:100030006D12000800000000714E0008154F000806 +:10000000806000209D010008294D0008913E0008F5 +:10001000A14B00080D0A0008455700080000000029 +:10002000000000000000000000000000D14F0008A8 +:100030005113000800000000614F0008055000083F :10004000B7010008B7010008B7010008B7010008B0 -:10005000B7010008B701000871120008B7010008D5 -:10006000B7010008B701000879120008B7010008BD -:10007000E50F0008B7010008B7010008B701000844 +:10005000B7010008B701000855130008B7010008F0 +:10006000B7010008B70100085D130008B7010008D8 +:10007000C9100008B7010008B7010008B70100085F :10008000B7010008B7010008B7010008B701000870 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+:108A600034BF012600261319334416B1934202D9AC +:108A700003E0934201D2012200E00022624402F1AD +:108A8000200C9206DC0C42EA443200EE102A5B0312 +:108A9000DFED210AF8EEC01A00EE103A4FEA9C1CF6 +:108AA00011F0004FB8EE400AC0F800C020EE201AC6 +:108AB00000EE105ADFED190AB8EE400A20EE200A47 +:108AC00071EE810A70EE800A10EE902A02F50062C3 +:108AD0006FF30B0200EE902A70EEE11A31EEC11A2C +:108AE000DFED101A30EE411A9FED0D0A20EE800ADC +:108AF00001EE210A9FED0C1A00EE810A04BFBDE8C9 +:108B0000F0017047CCF180510160BDE8F001B1EE99 +:108B1000400A704748010000000000360000802C29 +:108B200022AAFD29DB0FC92F0000C92F02E008C8C7 +:108B3000121F08C1002AFAD170477047002001E0D7 +:108B400001C1121F002AFBD17047000001490860D3 +:108B50007047000004000020000000006E83F9A2AE +:108B60002915444ED15727FCC0DD34F5999562DBB9 +:108B70004190433CAB6351FE00401C4600008046E0 +:108B80000060EA460000000000000000010203044B +:108B90000607080900000000010203044F8C0008CA +:108BA00000000000000000000000000000000000C5 +:108BB0000004000030000000000000000000000081 +:108BC000598C0008000000000000000000000000B8 +:108BD0000000000000040000180000000000000079 +:108BE00000000000458C00080000000000000000AC +:108BF0000000000000000000000400001800000059 +:108C0000000000000000000000061016000610160C +:108C1000348C00080000000000000000000000008C +:108C2000000000000002000018000000000000002A +:108C30000000000064656661756C745461736B00BC +:108C4000546D72510079616F6B6F6E67716900547A +:108C500061736B5F496E6974007465737400000022 +:108C6000808C000800000020A00000002C8B000871 +:108C7000208D0008A0000020E05F00003C8B000871 +:108C800000000000000000000100000010000000D3 +:108C9000000000000024F4000000010201000000B8 +:108CA00000000202010000000000030201000000B9 +:108CB00000000402010000006F12833A000000412E +:108CC000CDCCCC3D0000003F0000FA4400007A46C5 +:108CD0000000C842000080BF0000003F0000C0400C +:108CE00000000000CDCC4C3E0000803F0000004062 +:108CF0000000F041DB0FC9400000000000004842C6 +:108D000000004842010000000000000000000000D8 +:108D10000000000000000000AAAAAAAA00000000AB :040000050800018965 :00000001FF diff --git a/MDK-ARM/zzzzh/zzzzh.htm b/MDK-ARM/zzzzh/zzzzh.htm index 20cad63..6fa22d3 100644 --- a/MDK-ARM/zzzzh/zzzzh.htm +++ b/MDK-ARM/zzzzh/zzzzh.htm @@ -3,11 +3,11 @@ Static Call Graph - [zzzzh\zzzzh.axf]

Static Call Graph for image zzzzh\zzzzh.axf

-

#<CALLGRAPH># ARM Linker, 6070001: Last Updated: Fri Oct 17 19:38:13 2025 +

#<CALLGRAPH># ARM Linker, 6070001: Last Updated: Sun Oct 19 16:27:42 2025

-

Maximum Stack Usage = 280 bytes + Unknown(Cycles, Untraceable Function Pointers)

+

Maximum Stack Usage = 288 bytes + Unknown(Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

-Task_test ⇒ Chassis_UpdateFeedback ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick +Task_test ⇒ Chassis_Init ⇒ MOTOR_RM_Register ⇒ BSP_CAN_RegisterId ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick

Mutually Recursive functions @@ -135,7 +135,7 @@ Global Symbols

__main (Thumb, 0 bytes, Stack size unknown bytes, entry.o(.ARM.Collect$$$$00000000))
[Address Reference Count : 1]

  • startup_stm32f407xx.o(.text)
-

_main_stk (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001)) +

_main_stk (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))

_main_scatterload (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))

[Calls]

  • >>   __scatterload @@ -145,15 +145,15 @@ Global Symbols

    [Called By]
    • >>   __scatterload
    -

    _main_clock (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008)) +

    _main_clock (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008)) -

    _main_cpp_init (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A)) +

    _main_cpp_init (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A)) -

    _main_init (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B)) +

    _main_init (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B)) -

    __rt_final_cpp (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D)) +

    __rt_final_cpp (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D)) -

    __rt_final_exit (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F)) +

    __rt_final_exit (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F))

    Reset_Handler (Thumb, 8 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
    [Address Reference Count : 1]

    • startup_stm32f407xx.o(RESET) @@ -360,8 +360,8 @@ Global Symbols
      [Calls]
      • >>   __aeabi_llsr
      • >>   __aeabi_llsl
      -
      [Called By]
      • >>   HAL_RCC_GetSysClockFreq -
      • >>   UART_SetConfig +
        [Called By]
        • >>   HAL_RCC_GetSysClockFreq +
        • >>   UART_SetConfig

        rand (Thumb, 20 bytes, Stack size 0 bytes, rand.o(.text)) @@ -373,41 +373,41 @@ Global Symbols

      __aeabi_memcpy (Thumb, 36 bytes, Stack size 0 bytes, memcpya.o(.text)) -

      [Called By]

      • >>   xQueueReceiveFromISR -
      • >>   xQueueReceive -
      • >>   xQueueGenericSendFromISR -
      • >>   xQueueGenericSend +

        [Called By]
        • >>   xQueueReceiveFromISR +
        • >>   xQueueReceive +
        • >>   xQueueGenericSendFromISR +
        • >>   xQueueGenericSend
        • >>   BSP_CAN_Transmit
        -

        __aeabi_memcpy4 (Thumb, 0 bytes, Stack size 0 bytes, memcpya.o(.text), UNUSED) +

        __aeabi_memcpy4 (Thumb, 0 bytes, Stack size 0 bytes, memcpya.o(.text), UNUSED) -

        __aeabi_memcpy8 (Thumb, 0 bytes, Stack size 0 bytes, memcpya.o(.text), UNUSED) +

        __aeabi_memcpy8 (Thumb, 0 bytes, Stack size 0 bytes, memcpya.o(.text), UNUSED)

        __aeabi_memset (Thumb, 14 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)

        [Called By]

        • >>   _memset$wrapper
        • >>   __aeabi_memclr
        -

        __aeabi_memset4 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text)) -

        [Called By]

        • >>   xTaskCreateStatic -
        • >>   xTaskCreate +

          __aeabi_memset4 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text)) +

          [Called By]

          • >>   xTaskCreateStatic +
          • >>   xTaskCreate
          -

          __aeabi_memset8 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED) +

          __aeabi_memset8 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)

          __aeabi_memclr (Thumb, 4 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)

          [Calls]

          • >>   __aeabi_memset
          -

          __aeabi_memclr4 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text)) -

          [Called By]

          • >>   DR16_ParseData -
          • >>   DR16_Offline -
          • >>   MOTOR_RM_Register +

            __aeabi_memclr4 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text)) +

            [Called By]

            • >>   DR16_ParseData +
            • >>   DR16_Offline +
            • >>   MOTOR_RM_Register
            -

            __aeabi_memclr8 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text)) -

            [Called By]

            • >>   MOTOR_RM_Register +

              __aeabi_memclr8 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text)) +

              [Called By]

              • >>   MOTOR_RM_Register

              _memset$wrapper (Thumb, 18 bytes, Stack size 8 bytes, memseta.o(.text), UNUSED) @@ -423,22 +423,22 @@ Global Symbols

            • >>   Task_test
            -

            __aeabi_dcmple (Thumb, 54 bytes, Stack size 12 bytes, dcmple.o(.text)) +

            __aeabi_dcmple (Thumb, 54 bytes, Stack size 12 bytes, dcmple.o(.text))

            [Stack]

            • Max Depth = 12
            • Call Chain = __aeabi_dcmple
            -
            [Called By]
            • >>   sbus_to_rc +
              [Called By]
              • >>   sbus_to_rc
              -

              __aeabi_dcmpge (Thumb, 54 bytes, Stack size 12 bytes, dcmpge.o(.text)) +

              __aeabi_dcmpge (Thumb, 54 bytes, Stack size 12 bytes, dcmpge.o(.text))

              [Stack]

              • Max Depth = 12
              • Call Chain = __aeabi_dcmpge
              -
              [Called By]
              • >>   sbus_to_rc +
                [Called By]
                • >>   sbus_to_rc
                -

                __aeabi_dcmpgt (Thumb, 54 bytes, Stack size 12 bytes, dcmpgt.o(.text)) +

                __aeabi_dcmpgt (Thumb, 54 bytes, Stack size 12 bytes, dcmpgt.o(.text))

                [Stack]

                • Max Depth = 12
                • Call Chain = __aeabi_dcmpgt
                -
                [Called By]
                • >>   sbus_to_rc +
                  [Called By]
                  • >>   sbus_to_rc

                  __aeabi_ul2f (Thumb, 28 bytes, Stack size 8 bytes, ffltul.o(.text)) @@ -467,8 +467,8 @@ Global Symbols

                • >>   Task_test
                -

                __aeabi_f2d (Thumb, 38 bytes, Stack size 0 bytes, f2d.o(.text)) -

                [Called By]

                • >>   sbus_to_rc +

                  __aeabi_f2d (Thumb, 38 bytes, Stack size 0 bytes, f2d.o(.text)) +

                  [Called By]

                  • >>   sbus_to_rc

                  __aeabi_llsl (Thumb, 30 bytes, Stack size 0 bytes, llshl.o(.text)) @@ -476,7 +476,7 @@ Global Symbols

                • >>   __aeabi_uldivmod
                -

                _ll_shift_l (Thumb, 0 bytes, Stack size 0 bytes, llshl.o(.text), UNUSED) +

                _ll_shift_l (Thumb, 0 bytes, Stack size 0 bytes, llshl.o(.text), UNUSED)

                __aeabi_llsr (Thumb, 32 bytes, Stack size 0 bytes, llushr.o(.text))

                [Called By]

                • >>   __aeabi_d2uiz @@ -484,11 +484,11 @@ Global Symbols
                • >>   __aeabi_uldivmod
                -

                _ll_ushift_r (Thumb, 0 bytes, Stack size 0 bytes, llushr.o(.text), UNUSED) +

                _ll_ushift_r (Thumb, 0 bytes, Stack size 0 bytes, llushr.o(.text), UNUSED) -

                __I$use$fp (Thumb, 0 bytes, Stack size 0 bytes, iusefp.o(.text), UNUSED) +

                __I$use$fp (Thumb, 0 bytes, Stack size 0 bytes, iusefp.o(.text), UNUSED) -

                _float_round (Thumb, 18 bytes, Stack size 0 bytes, fepilogue.o(.text), UNUSED) +

                _float_round (Thumb, 18 bytes, Stack size 0 bytes, fepilogue.o(.text), UNUSED)

                _float_epilogue (Thumb, 92 bytes, Stack size 4 bytes, fepilogue.o(.text))

                [Stack]

                • Max Depth = 4
                • Call Chain = _float_epilogue @@ -513,11 +513,11 @@ Global Symbols
                  [Called By]
                  • >>   __aeabi_ui2d
                  -

                  __ARM_fcmp4 (Thumb, 54 bytes, Stack size 0 bytes, fcmp4.o(.text)) -

                  [Called By]

                  • >>   __hardfp_fmaxf +

                    __ARM_fcmp4 (Thumb, 54 bytes, Stack size 0 bytes, fcmp4.o(.text)) +

                    [Called By]

                    • >>   __hardfp_fmaxf
                    -

                    _fcmp4 (Thumb, 0 bytes, Stack size 0 bytes, fcmp4.o(.text), UNUSED) +

                    _fcmp4 (Thumb, 0 bytes, Stack size 0 bytes, fcmp4.o(.text), UNUSED)

                    __scatterload (Thumb, 28 bytes, Stack size 0 bytes, init.o(.text))

                    [Calls]

                    • >>   __main_after_scatterload @@ -525,10 +525,10 @@ Global Symbols
                      [Called By]
                      • >>   _main_scatterload
                      -

                      __scatterload_rt2 (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED) +

                      __scatterload_rt2 (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED) -

                      AbsClip (Thumb, 42 bytes, Stack size 0 bytes, user_math.o(.text.AbsClip)) -

                      [Called By]

                      • >>   PID_Calc +

                        AbsClip (Thumb, 42 bytes, Stack size 0 bytes, user_math.o(.text.AbsClip)) +

                        [Called By]

                        • >>   PID_Calc

                        BSP_CAN_GetMessage (Thumb, 138 bytes, Stack size 24 bytes, can_1.o(.text.BSP_CAN_GetMessage)) @@ -550,7 +550,7 @@ Global Symbols

                      • >>   osMutexAcquire
                      • >>   osMessageQueueNew
                      -
                      [Called By]
                      • >>   MOTOR_RM_Register +
                        [Called By]
                        • >>   MOTOR_RM_Register

                        BSP_CAN_Transmit (Thumb, 336 bytes, Stack size 64 bytes, can_1.o(.text.BSP_CAN_Transmit)) @@ -577,7 +577,7 @@ Global Symbols
                        [Calls]

                        • >>   vPortFree

                        [Called By]
                        • >>   BSP_CAN_RegisterId -
                        • >>   MOTOR_RM_Register +
                        • >>   MOTOR_RM_Register

                        BSP_Malloc (Thumb, 4 bytes, Stack size 0 bytes, mm.o(.text.BSP_Malloc)) @@ -586,7 +586,7 @@ Global Symbols
                        [Calls]

                        • >>   pvPortMalloc

                        [Called By]
                        • >>   BSP_CAN_RegisterId -
                        • >>   MOTOR_RM_Register +
                        • >>   MOTOR_RM_Register

                        BSP_TIME_Get (Thumb, 78 bytes, Stack size 24 bytes, time.o(.text.BSP_TIME_Get_us)) @@ -598,17 +598,17 @@ Global Symbols
                        [Called By]

                        • >>   MOTOR_RM_Update
                        -

                        BSP_TIME_Get_us (Thumb, 78 bytes, Stack size 24 bytes, time.o(.text.BSP_TIME_Get_us)) +

                        BSP_TIME_Get_us (Thumb, 78 bytes, Stack size 24 bytes, time.o(.text.BSP_TIME_Get_us))

                        [Stack]

                        • Max Depth = 24
                        • Call Chain = BSP_TIME_Get_us
                        -
                        [Called By]
                        • >>   DR16_ParseData +
                          [Called By]
                          • >>   DR16_ParseData
                          -

                          BSP_UART_GetHandle (Thumb, 32 bytes, Stack size 0 bytes, uart.o(.text.BSP_UART_GetHandle)) -

                          [Called By]

                          • >>   DR16_StartDmaRecv +

                            BSP_UART_GetHandle (Thumb, 32 bytes, Stack size 0 bytes, uart.o(.text.BSP_UART_GetHandle)) +

                            [Called By]

                            • >>   DR16_StartDmaRecv
                            -

                            BSP_UART_IRQHandler (Thumb, 82 bytes, Stack size 4 bytes, uart.o(.text.BSP_UART_IRQHandler)) +

                            BSP_UART_IRQHandler (Thumb, 82 bytes, Stack size 4 bytes, uart.o(.text.BSP_UART_IRQHandler))

                            [Stack]

                            • Max Depth = 4
                            • Call Chain = BSP_UART_IRQHandler

                            [Called By]
                            • >>   USART6_IRQHandler @@ -649,33 +649,33 @@ Global Symbols

                            [Address Reference Count : 1]
                            • startup_stm32f407xx.o(RESET)
                            -

                            Chassis_Control (Thumb, 736 bytes, Stack size 48 bytes, chassis.o(.text.Chassis_Control)) -

                            [Stack]

                            • Max Depth = 120
                            • Call Chain = Chassis_Control ⇒ PID_Calc ⇒ __hardfp_fmaxf +

                              Chassis_Control (Thumb, 832 bytes, Stack size 64 bytes, chassis.o(.text.Chassis_Control)) +

                              [Stack]

                              • Max Depth = 136
                              • Call Chain = Chassis_Control ⇒ PID_Calc ⇒ __hardfp_fmaxf

                              [Calls]
                              • >>   LowPassFilter2p_Reset -
                              • >>   LowPassFilter2p_Apply +
                              • >>   LowPassFilter2p_Apply
                              • >>   __aeabi_ul2f +
                              • >>   Clip
                              • >>   PID_Reset -
                              • >>   PID_Calc -
                              • >>   Mixer_Apply +
                              • >>   PID_Calc +
                              • >>   Mixer_Apply
                              • >>   srand
                              • >>   rand -
                              • >>   __hardfp_sinf +
                              • >>   __hardfp_sinf
                              • >>   __hardfp__fabsf -
                              • >>   __hardfp_cosf +
                              • >>   __hardfp_cosf

                              [Called By]
                              • >>   Task_test
                              -

                              Chassis_Init (Thumb, 388 bytes, Stack size 40 bytes, chassis.o(.text.Chassis_Init)) -

                              [Stack]

                              • Max Depth = 232
                              • Call Chain = Chassis_Init ⇒ MOTOR_RM_Register ⇒ BSP_CAN_RegisterId ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick +

                                Chassis_Init (Thumb, 408 bytes, Stack size 48 bytes, chassis.o(.text.Chassis_Init)) +

                                [Stack]

                                • Max Depth = 240
                                • Call Chain = Chassis_Init ⇒ MOTOR_RM_Register ⇒ BSP_CAN_RegisterId ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                -
                                [Calls]
                                • >>   LowPassFilter2p_Init -
                                • >>   MOTOR_RM_Register -
                                • >>   MOTOR_RM_GetMotor -
                                • >>   CircleReverse -
                                • >>   PID_Init -
                                • >>   Mixer_Init +
                                  [Calls]
                                  • >>   LowPassFilter2p_Init +
                                  • >>   MOTOR_RM_Register +
                                  • >>   CircleReverse +
                                  • >>   PID_Init +
                                  • >>   Mixer_Init

                                  [Called By]
                                  • >>   Task_test
                                  @@ -689,98 +689,103 @@ Global Symbols
                                  [Called By]
                                  • >>   Task_test
                                  -

                                  Chassis_UpdateFeedback (Thumb, 136 bytes, Stack size 16 bytes, chassis.o(.text.Chassis_UpdateFeedback)) +

                                  Chassis_UpdateFeedback (Thumb, 208 bytes, Stack size 16 bytes, chassis.o(.text.Chassis_UpdateFeedback))

                                  [Stack]

                                  • Max Depth = 232
                                  • Call Chain = Chassis_UpdateFeedback ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick

                                  [Calls]
                                  • >>   MOTOR_RM_Update +
                                  • >>   MOTOR_RM_GetMotor

                                  [Called By]
                                  • >>   Task_test
                                  -

                                  CircleError (Thumb, 60 bytes, Stack size 0 bytes, user_math.o(.text.CircleError)) -

                                  [Called By]

                                  • >>   PID_Calc +

                                    CircleError (Thumb, 60 bytes, Stack size 0 bytes, user_math.o(.text.CircleError)) +

                                    [Called By]

                                    • >>   PID_Calc
                                    -

                                    CircleReverse (Thumb, 24 bytes, Stack size 0 bytes, user_math.o(.text.CircleReverse)) -

                                    [Called By]

                                    • >>   Chassis_Init +

                                      CircleReverse (Thumb, 24 bytes, Stack size 0 bytes, user_math.o(.text.CircleReverse)) +

                                      [Called By]

                                      • >>   Chassis_Init
                                      -

                                      Config_GetRobotParam (Thumb, 10 bytes, Stack size 0 bytes, config.o(.text.Config_GetRobotParam)) +

                                      Clip (Thumb, 38 bytes, Stack size 0 bytes, user_math.o(.text.Clip)) +

                                      [Called By]

                                      • >>   Chassis_Control +
                                      + +

                                      Config_GetRobotParam (Thumb, 10 bytes, Stack size 0 bytes, config.o(.text.Config_GetRobotParam))

                                      [Called By]

                                      • >>   Task_test

                                      DMA1_Stream1_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler))

                                      [Stack]

                                      • Max Depth = 24
                                      • Call Chain = DMA1_Stream1_IRQHandler ⇒ HAL_DMA_IRQHandler
                                      -
                                      [Calls]
                                      • >>   HAL_DMA_IRQHandler +
                                        [Calls]
                                        • >>   HAL_DMA_IRQHandler

                                        [Address Reference Count : 1]
                                        • startup_stm32f407xx.o(RESET)

                                        DMA2_Stream1_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler))

                                        [Stack]

                                        • Max Depth = 24
                                        • Call Chain = DMA2_Stream1_IRQHandler ⇒ HAL_DMA_IRQHandler
                                        -
                                        [Calls]
                                        • >>   HAL_DMA_IRQHandler +
                                          [Calls]
                                          • >>   HAL_DMA_IRQHandler

                                          [Address Reference Count : 1]
                                          • startup_stm32f407xx.o(RESET)

                                          DMA2_Stream2_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler))

                                          [Stack]

                                          • Max Depth = 24
                                          • Call Chain = DMA2_Stream2_IRQHandler ⇒ HAL_DMA_IRQHandler
                                          -
                                          [Calls]
                                          • >>   HAL_DMA_IRQHandler +
                                            [Calls]
                                            • >>   HAL_DMA_IRQHandler

                                            [Address Reference Count : 1]
                                            • startup_stm32f407xx.o(RESET)

                                            DMA2_Stream3_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler))

                                            [Stack]

                                            • Max Depth = 24
                                            • Call Chain = DMA2_Stream3_IRQHandler ⇒ HAL_DMA_IRQHandler
                                            -
                                            [Calls]
                                            • >>   HAL_DMA_IRQHandler +
                                              [Calls]
                                              • >>   HAL_DMA_IRQHandler

                                              [Address Reference Count : 1]
                                              • startup_stm32f407xx.o(RESET)

                                              DMA2_Stream5_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DMA2_Stream5_IRQHandler))

                                              [Stack]

                                              • Max Depth = 24
                                              • Call Chain = DMA2_Stream5_IRQHandler ⇒ HAL_DMA_IRQHandler
                                              -
                                              [Calls]
                                              • >>   HAL_DMA_IRQHandler +
                                                [Calls]
                                                • >>   HAL_DMA_IRQHandler

                                                [Address Reference Count : 1]
                                                • startup_stm32f407xx.o(RESET)

                                                DMA2_Stream6_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler))

                                                [Stack]

                                                • Max Depth = 24
                                                • Call Chain = DMA2_Stream6_IRQHandler ⇒ HAL_DMA_IRQHandler
                                                -
                                                [Calls]
                                                • >>   HAL_DMA_IRQHandler +
                                                  [Calls]
                                                  • >>   HAL_DMA_IRQHandler

                                                  [Address Reference Count : 1]
                                                  • startup_stm32f407xx.o(RESET)
                                                  -

                                                  DR16_Offline (Thumb, 28 bytes, Stack size 8 bytes, dr16.o(.text.DR16_Offline)) +

                                                  DR16_Offline (Thumb, 28 bytes, Stack size 8 bytes, dr16.o(.text.DR16_Offline))

                                                  [Stack]

                                                  • Max Depth = 8
                                                  • Call Chain = DR16_Offline
                                                  -
                                                  [Calls]
                                                  • >>   __aeabi_memclr4 +
                                                    [Calls]
                                                    • >>   __aeabi_memclr4

                                                    [Called By]
                                                    • >>   Task_yaokongqi
                                                    -

                                                    DR16_ParseData (Thumb, 492 bytes, Stack size 16 bytes, dr16.o(.text.DR16_ParseData)) +

                                                    DR16_ParseData (Thumb, 492 bytes, Stack size 16 bytes, dr16.o(.text.DR16_ParseData))

                                                    [Stack]

                                                    • Max Depth = 40
                                                    • Call Chain = DR16_ParseData ⇒ BSP_TIME_Get_us
                                                    -
                                                    [Calls]
                                                    • >>   BSP_TIME_Get_us -
                                                    • >>   __aeabi_memclr4 +
                                                      [Calls]
                                                      • >>   BSP_TIME_Get_us +
                                                      • >>   __aeabi_memclr4

                                                      [Called By]
                                                      • >>   Task_yaokongqi
                                                      -

                                                      DR16_StartDmaRecv (Thumb, 30 bytes, Stack size 8 bytes, dr16.o(.text.DR16_StartDmaRecv)) +

                                                      DR16_StartDmaRecv (Thumb, 30 bytes, Stack size 8 bytes, dr16.o(.text.DR16_StartDmaRecv))

                                                      [Stack]

                                                      • Max Depth = 40
                                                      • Call Chain = DR16_StartDmaRecv ⇒ HAL_UART_Receive_DMA ⇒ HAL_DMA_Start_IT
                                                      -
                                                      [Calls]
                                                      • >>   HAL_UART_Receive_DMA -
                                                      • >>   BSP_UART_GetHandle +
                                                        [Calls]
                                                        • >>   HAL_UART_Receive_DMA +
                                                        • >>   BSP_UART_GetHandle

                                                        [Called By]
                                                        • >>   Task_yaokongqi
                                                        -

                                                        DR16_WaitDmaCplt (Thumb, 22 bytes, Stack size 8 bytes, dr16.o(.text.DR16_WaitDmaCplt)) +

                                                        DR16_WaitDmaCplt (Thumb, 22 bytes, Stack size 8 bytes, dr16.o(.text.DR16_WaitDmaCplt))

                                                        [Stack]

                                                        • Max Depth = 88
                                                        • Call Chain = DR16_WaitDmaCplt ⇒ osThreadFlagsWait ⇒ xTaskNotifyWait ⇒ vListInsert
                                                        -
                                                        [Calls]
                                                        • >>   osThreadFlagsWait +
                                                          [Calls]
                                                          • >>   osThreadFlagsWait

                                                          [Called By]
                                                          • >>   Task_yaokongqi
                                                          @@ -791,36 +796,36 @@ Global Symbols

                                                          EXTI0_IRQHandler (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.EXTI0_IRQHandler))

                                                          [Stack]

                                                          • Max Depth = 8
                                                          • Call Chain = EXTI0_IRQHandler ⇒ HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback
                                                          -
                                                          [Calls]
                                                          • >>   HAL_GPIO_EXTI_IRQHandler +
                                                            [Calls]
                                                            • >>   HAL_GPIO_EXTI_IRQHandler

                                                            [Address Reference Count : 1]
                                                            • startup_stm32f407xx.o(RESET)

                                                            EXTI4_IRQHandler (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.EXTI4_IRQHandler))

                                                            [Stack]

                                                            • Max Depth = 8
                                                            • Call Chain = EXTI4_IRQHandler ⇒ HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback
                                                            -
                                                            [Calls]
                                                            • >>   HAL_GPIO_EXTI_IRQHandler +
                                                              [Calls]
                                                              • >>   HAL_GPIO_EXTI_IRQHandler

                                                              [Address Reference Count : 1]
                                                              • startup_stm32f407xx.o(RESET)

                                                              EXTI9_5_IRQHandler (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.EXTI9_5_IRQHandler))

                                                              [Stack]

                                                              • Max Depth = 8
                                                              • Call Chain = EXTI9_5_IRQHandler ⇒ HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback
                                                              -
                                                              [Calls]
                                                              • >>   HAL_GPIO_EXTI_IRQHandler +
                                                                [Calls]
                                                                • >>   HAL_GPIO_EXTI_IRQHandler

                                                                [Address Reference Count : 1]
                                                                • startup_stm32f407xx.o(RESET)
                                                                -

                                                                Error_Handler (Thumb, 6 bytes, Stack size 0 bytes, main.o(.text.Error_Handler)) -

                                                                [Called By]

                                                                • >>   MX_USART6_UART_Init -
                                                                • >>   MX_USART3_UART_Init -
                                                                • >>   MX_USART1_UART_Init -
                                                                • >>   MX_TIM7_Init -
                                                                • >>   MX_TIM4_Init -
                                                                • >>   MX_TIM10_Init -
                                                                • >>   MX_SPI1_Init -
                                                                • >>   MX_CAN2_Init -
                                                                • >>   MX_CAN1_Init -
                                                                • >>   HAL_UART_MspInit -
                                                                • >>   HAL_SPI_MspInit +

                                                                  Error_Handler (Thumb, 6 bytes, Stack size 0 bytes, main.o(.text.Error_Handler)) +

                                                                  [Called By]

                                                                  • >>   MX_USART6_UART_Init +
                                                                  • >>   MX_USART3_UART_Init +
                                                                  • >>   MX_USART1_UART_Init +
                                                                  • >>   MX_TIM7_Init +
                                                                  • >>   MX_TIM4_Init +
                                                                  • >>   MX_TIM10_Init +
                                                                  • >>   MX_SPI1_Init +
                                                                  • >>   MX_CAN2_Init +
                                                                  • >>   MX_CAN1_Init +
                                                                  • >>   HAL_UART_MspInit +
                                                                  • >>   HAL_SPI_MspInit

                                                                  HAL_CAN_AddTxMessage (Thumb, 144 bytes, Stack size 8 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)) @@ -829,7 +834,7 @@ Global Symbols
                                                                  [Called By]

                                                                  • >>   BSP_CAN_Transmit
                                                                  -

                                                                  HAL_CAN_ErrorCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_ErrorCallback)) +

                                                                  HAL_CAN_ErrorCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_ErrorCallback))

                                                                  [Called By]

                                                                  • >>   HAL_CAN_IRQHandler
                                                                  @@ -840,19 +845,19 @@ Global Symbols

                                                                  HAL_CAN_IRQHandler (Thumb, 602 bytes, Stack size 40 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler))

                                                                  [Stack]

                                                                  • Max Depth = 40
                                                                  • Call Chain = HAL_CAN_IRQHandler
                                                                  -
                                                                  [Calls]
                                                                  • >>   HAL_CAN_WakeUpFromRxMsgCallback -
                                                                  • >>   HAL_CAN_TxMailbox2CompleteCallback -
                                                                  • >>   HAL_CAN_TxMailbox2AbortCallback -
                                                                  • >>   HAL_CAN_TxMailbox1CompleteCallback -
                                                                  • >>   HAL_CAN_TxMailbox1AbortCallback -
                                                                  • >>   HAL_CAN_TxMailbox0CompleteCallback -
                                                                  • >>   HAL_CAN_TxMailbox0AbortCallback -
                                                                  • >>   HAL_CAN_SleepCallback -
                                                                  • >>   HAL_CAN_RxFifo1MsgPendingCallback -
                                                                  • >>   HAL_CAN_RxFifo1FullCallback -
                                                                  • >>   HAL_CAN_RxFifo0MsgPendingCallback -
                                                                  • >>   HAL_CAN_RxFifo0FullCallback -
                                                                  • >>   HAL_CAN_ErrorCallback +
                                                                    [Calls]
                                                                    • >>   HAL_CAN_WakeUpFromRxMsgCallback +
                                                                    • >>   HAL_CAN_TxMailbox2CompleteCallback +
                                                                    • >>   HAL_CAN_TxMailbox2AbortCallback +
                                                                    • >>   HAL_CAN_TxMailbox1CompleteCallback +
                                                                    • >>   HAL_CAN_TxMailbox1AbortCallback +
                                                                    • >>   HAL_CAN_TxMailbox0CompleteCallback +
                                                                    • >>   HAL_CAN_TxMailbox0AbortCallback +
                                                                    • >>   HAL_CAN_SleepCallback +
                                                                    • >>   HAL_CAN_RxFifo1MsgPendingCallback +
                                                                    • >>   HAL_CAN_RxFifo1FullCallback +
                                                                    • >>   HAL_CAN_RxFifo0MsgPendingCallback +
                                                                    • >>   HAL_CAN_RxFifo0FullCallback +
                                                                    • >>   HAL_CAN_ErrorCallback

                                                                    [Called By]
                                                                    • >>   CAN2_RX1_IRQHandler
                                                                    • >>   CAN2_RX0_IRQHandler @@ -860,87 +865,87 @@ Global Symbols
                                                                    • >>   CAN1_RX0_IRQHandler
                                                                    -

                                                                    HAL_CAN_Init (Thumb, 258 bytes, Stack size 16 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_Init)) +

                                                                    HAL_CAN_Init (Thumb, 258 bytes, Stack size 16 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_Init))

                                                                    [Stack]

                                                                    • Max Depth = 92
                                                                    • Call Chain = HAL_CAN_Init ⇒ HAL_CAN_MspInit ⇒ HAL_GPIO_Init
                                                                    -
                                                                    [Calls]
                                                                    • >>   HAL_CAN_MspInit -
                                                                    • >>   HAL_GetTick +
                                                                      [Calls]
                                                                      • >>   HAL_CAN_MspInit +
                                                                      • >>   HAL_GetTick
                                                                      -
                                                                      [Called By]
                                                                      • >>   MX_CAN2_Init -
                                                                      • >>   MX_CAN1_Init +
                                                                        [Called By]
                                                                        • >>   MX_CAN2_Init +
                                                                        • >>   MX_CAN1_Init
                                                                        -

                                                                        HAL_CAN_MspInit (Thumb, 356 bytes, Stack size 32 bytes, can.o(.text.HAL_CAN_MspInit)) +

                                                                        HAL_CAN_MspInit (Thumb, 356 bytes, Stack size 32 bytes, can.o(.text.HAL_CAN_MspInit))

                                                                        [Stack]

                                                                        • Max Depth = 76
                                                                        • Call Chain = HAL_CAN_MspInit ⇒ HAL_GPIO_Init
                                                                        -
                                                                        [Calls]
                                                                        • >>   HAL_NVIC_SetPriority -
                                                                        • >>   HAL_NVIC_EnableIRQ -
                                                                        • >>   HAL_GPIO_Init +
                                                                          [Calls]
                                                                          • >>   HAL_NVIC_SetPriority +
                                                                          • >>   HAL_NVIC_EnableIRQ +
                                                                          • >>   HAL_GPIO_Init
                                                                          -
                                                                          [Called By]
                                                                          • >>   HAL_CAN_Init +
                                                                            [Called By]
                                                                            • >>   HAL_CAN_Init
                                                                            -

                                                                            HAL_CAN_RxFifo0FullCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_RxFifo0FullCallback)) +

                                                                            HAL_CAN_RxFifo0FullCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_RxFifo0FullCallback))

                                                                            [Called By]

                                                                            • >>   HAL_CAN_IRQHandler
                                                                            -

                                                                            HAL_CAN_RxFifo0MsgPendingCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)) +

                                                                            HAL_CAN_RxFifo0MsgPendingCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback))

                                                                            [Called By]

                                                                            • >>   HAL_CAN_IRQHandler
                                                                            -

                                                                            HAL_CAN_RxFifo1FullCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_RxFifo1FullCallback)) +

                                                                            HAL_CAN_RxFifo1FullCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_RxFifo1FullCallback))

                                                                            [Called By]

                                                                            • >>   HAL_CAN_IRQHandler
                                                                            -

                                                                            HAL_CAN_RxFifo1MsgPendingCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)) +

                                                                            HAL_CAN_RxFifo1MsgPendingCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback))

                                                                            [Called By]

                                                                            • >>   HAL_CAN_IRQHandler
                                                                            -

                                                                            HAL_CAN_SleepCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_SleepCallback)) +

                                                                            HAL_CAN_SleepCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_SleepCallback))

                                                                            [Called By]

                                                                            • >>   HAL_CAN_IRQHandler
                                                                            -

                                                                            HAL_CAN_TxMailbox0AbortCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)) +

                                                                            HAL_CAN_TxMailbox0AbortCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback))

                                                                            [Called By]

                                                                            • >>   HAL_CAN_IRQHandler
                                                                            -

                                                                            HAL_CAN_TxMailbox0CompleteCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)) +

                                                                            HAL_CAN_TxMailbox0CompleteCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback))

                                                                            [Called By]

                                                                            • >>   HAL_CAN_IRQHandler
                                                                            -

                                                                            HAL_CAN_TxMailbox1AbortCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback)) +

                                                                            HAL_CAN_TxMailbox1AbortCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback))

                                                                            [Called By]

                                                                            • >>   HAL_CAN_IRQHandler
                                                                            -

                                                                            HAL_CAN_TxMailbox1CompleteCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)) +

                                                                            HAL_CAN_TxMailbox1CompleteCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback))

                                                                            [Called By]

                                                                            • >>   HAL_CAN_IRQHandler
                                                                            -

                                                                            HAL_CAN_TxMailbox2AbortCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback)) +

                                                                            HAL_CAN_TxMailbox2AbortCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback))

                                                                            [Called By]

                                                                            • >>   HAL_CAN_IRQHandler
                                                                            -

                                                                            HAL_CAN_TxMailbox2CompleteCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)) +

                                                                            HAL_CAN_TxMailbox2CompleteCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback))

                                                                            [Called By]

                                                                            • >>   HAL_CAN_IRQHandler
                                                                            -

                                                                            HAL_CAN_WakeUpFromRxMsgCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)) +

                                                                            HAL_CAN_WakeUpFromRxMsgCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback))

                                                                            [Called By]

                                                                            • >>   HAL_CAN_IRQHandler
                                                                            -

                                                                            HAL_DMA_Abort (Thumb, 132 bytes, Stack size 16 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort)) +

                                                                            HAL_DMA_Abort (Thumb, 132 bytes, Stack size 16 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort))

                                                                            [Stack]

                                                                            • Max Depth = 16
                                                                            • Call Chain = HAL_DMA_Abort
                                                                            -
                                                                            [Calls]
                                                                            • >>   HAL_GetTick +
                                                                              [Calls]
                                                                              • >>   HAL_GetTick
                                                                              -
                                                                              [Called By]
                                                                              • >>   HAL_UART_IRQHandler +
                                                                                [Called By]
                                                                                • >>   HAL_UART_IRQHandler
                                                                                -

                                                                                HAL_DMA_Abort_IT (Thumb, 36 bytes, Stack size 0 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT)) -

                                                                                [Called By]

                                                                                • >>   HAL_UART_IRQHandler +

                                                                                  HAL_DMA_Abort_IT (Thumb, 36 bytes, Stack size 0 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT)) +

                                                                                  [Called By]

                                                                                  • >>   HAL_UART_IRQHandler
                                                                                  -

                                                                                  HAL_DMA_IRQHandler (Thumb, 412 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)) +

                                                                                  HAL_DMA_IRQHandler (Thumb, 412 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler))

                                                                                  [Stack]

                                                                                  • Max Depth = 24
                                                                                  • Call Chain = HAL_DMA_IRQHandler

                                                                                  [Called By]
                                                                                  • >>   DMA2_Stream6_IRQHandler @@ -951,335 +956,335 @@ Global Symbols
                                                                                  • >>   DMA1_Stream1_IRQHandler
                                                                                  -

                                                                                  HAL_DMA_Init (Thumb, 356 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Init)) +

                                                                                  HAL_DMA_Init (Thumb, 356 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Init))

                                                                                  [Stack]

                                                                                  • Max Depth = 24
                                                                                  • Call Chain = HAL_DMA_Init
                                                                                  -
                                                                                  [Calls]
                                                                                  • >>   HAL_GetTick +
                                                                                    [Calls]
                                                                                    • >>   HAL_GetTick
                                                                                    -
                                                                                    [Called By]
                                                                                    • >>   HAL_UART_MspInit -
                                                                                    • >>   HAL_SPI_MspInit +
                                                                                      [Called By]
                                                                                      • >>   HAL_UART_MspInit +
                                                                                      • >>   HAL_SPI_MspInit
                                                                                      -

                                                                                      HAL_DMA_Start_IT (Thumb, 164 bytes, Stack size 8 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT)) +

                                                                                      HAL_DMA_Start_IT (Thumb, 164 bytes, Stack size 8 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT))

                                                                                      [Stack]

                                                                                      • Max Depth = 8
                                                                                      • Call Chain = HAL_DMA_Start_IT
                                                                                      -
                                                                                      [Called By]
                                                                                      • >>   HAL_UART_Receive_DMA +
                                                                                        [Called By]
                                                                                        • >>   HAL_UART_Receive_DMA
                                                                                        -

                                                                                        HAL_GPIO_EXTI_Callback (Thumb, 418 bytes, Stack size 8 bytes, gpio_1.o(.text.HAL_GPIO_EXTI_Callback)) +

                                                                                        HAL_GPIO_EXTI_Callback (Thumb, 418 bytes, Stack size 8 bytes, gpio_1.o(.text.HAL_GPIO_EXTI_Callback))

                                                                                        [Stack]

                                                                                        • Max Depth = 8
                                                                                        • Call Chain = HAL_GPIO_EXTI_Callback
                                                                                        -
                                                                                        [Called By]
                                                                                        • >>   HAL_GPIO_EXTI_IRQHandler +
                                                                                          [Called By]
                                                                                          • >>   HAL_GPIO_EXTI_IRQHandler
                                                                                          -

                                                                                          HAL_GPIO_EXTI_IRQHandler (Thumb, 22 bytes, Stack size 0 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)) +

                                                                                          HAL_GPIO_EXTI_IRQHandler (Thumb, 22 bytes, Stack size 0 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler))

                                                                                          [Stack]

                                                                                          • Max Depth = 8
                                                                                          • Call Chain = HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback
                                                                                          -
                                                                                          [Calls]
                                                                                          • >>   HAL_GPIO_EXTI_Callback +
                                                                                            [Calls]
                                                                                            • >>   HAL_GPIO_EXTI_Callback

                                                                                            [Called By]
                                                                                            • >>   EXTI9_5_IRQHandler
                                                                                            • >>   EXTI4_IRQHandler
                                                                                            • >>   EXTI0_IRQHandler
                                                                                            -

                                                                                            HAL_GPIO_Init (Thumb, 446 bytes, Stack size 44 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init)) +

                                                                                            HAL_GPIO_Init (Thumb, 446 bytes, Stack size 44 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init))

                                                                                            [Stack]

                                                                                            • Max Depth = 44
                                                                                            • Call Chain = HAL_GPIO_Init
                                                                                            -
                                                                                            [Called By]
                                                                                            • >>   HAL_CAN_MspInit -
                                                                                            • >>   MX_TIM4_Init -
                                                                                            • >>   MX_TIM10_Init -
                                                                                            • >>   MX_GPIO_Init -
                                                                                            • >>   HAL_UART_MspInit -
                                                                                            • >>   HAL_SPI_MspInit +
                                                                                              [Called By]
                                                                                              • >>   HAL_CAN_MspInit +
                                                                                              • >>   MX_TIM4_Init +
                                                                                              • >>   MX_TIM10_Init +
                                                                                              • >>   MX_GPIO_Init +
                                                                                              • >>   HAL_UART_MspInit +
                                                                                              • >>   HAL_SPI_MspInit
                                                                                              -

                                                                                              HAL_GPIO_WritePin (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)) -

                                                                                              [Called By]

                                                                                              • >>   MX_GPIO_Init +

                                                                                                HAL_GPIO_WritePin (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)) +

                                                                                                [Called By]

                                                                                                • >>   MX_GPIO_Init
                                                                                                -

                                                                                                HAL_GetTick (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_hal.o(.text.HAL_GetTick)) -

                                                                                                [Called By]

                                                                                                • >>   HAL_CAN_Init -
                                                                                                • >>   HAL_RCC_OscConfig -
                                                                                                • >>   HAL_RCC_ClockConfig -
                                                                                                • >>   HAL_DMA_Init -
                                                                                                • >>   HAL_DMA_Abort +

                                                                                                  HAL_GetTick (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_hal.o(.text.HAL_GetTick)) +

                                                                                                  [Called By]

                                                                                                  • >>   HAL_CAN_Init +
                                                                                                  • >>   HAL_RCC_OscConfig +
                                                                                                  • >>   HAL_RCC_ClockConfig +
                                                                                                  • >>   HAL_DMA_Init +
                                                                                                  • >>   HAL_DMA_Abort
                                                                                                  -

                                                                                                  HAL_IncTick (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_hal.o(.text.HAL_IncTick)) +

                                                                                                  HAL_IncTick (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_hal.o(.text.HAL_IncTick))

                                                                                                  [Called By]

                                                                                                  • >>   SysTick_Handler
                                                                                                  -

                                                                                                  HAL_Init (Thumb, 54 bytes, Stack size 8 bytes, stm32f4xx_hal.o(.text.HAL_Init)) +

                                                                                                  HAL_Init (Thumb, 54 bytes, Stack size 8 bytes, stm32f4xx_hal.o(.text.HAL_Init))

                                                                                                  [Stack]

                                                                                                  • Max Depth = 32
                                                                                                  • Call Chain = HAL_Init ⇒ HAL_InitTick ⇒ HAL_NVIC_SetPriority
                                                                                                  -
                                                                                                  [Calls]
                                                                                                  • >>   HAL_MspInit -
                                                                                                  • >>   HAL_InitTick -
                                                                                                  • >>   HAL_NVIC_SetPriorityGrouping +
                                                                                                    [Calls]
                                                                                                    • >>   HAL_MspInit +
                                                                                                    • >>   HAL_InitTick +
                                                                                                    • >>   HAL_NVIC_SetPriorityGrouping

                                                                                                    [Called By]
                                                                                                    • >>   main
                                                                                                    -

                                                                                                    HAL_InitTick (Thumb, 68 bytes, Stack size 16 bytes, stm32f4xx_hal.o(.text.HAL_InitTick)) +

                                                                                                    HAL_InitTick (Thumb, 68 bytes, Stack size 16 bytes, stm32f4xx_hal.o(.text.HAL_InitTick))

                                                                                                    [Stack]

                                                                                                    • Max Depth = 24
                                                                                                    • Call Chain = HAL_InitTick ⇒ HAL_NVIC_SetPriority
                                                                                                    -
                                                                                                    [Calls]
                                                                                                    • >>   HAL_NVIC_SetPriority -
                                                                                                    • >>   HAL_SYSTICK_Config +
                                                                                                      [Calls]
                                                                                                      • >>   HAL_NVIC_SetPriority +
                                                                                                      • >>   HAL_SYSTICK_Config
                                                                                                      -
                                                                                                      [Called By]
                                                                                                      • >>   HAL_RCC_ClockConfig -
                                                                                                      • >>   HAL_Init +
                                                                                                        [Called By]
                                                                                                        • >>   HAL_RCC_ClockConfig +
                                                                                                        • >>   HAL_Init
                                                                                                        -

                                                                                                        HAL_MspInit (Thumb, 66 bytes, Stack size 8 bytes, stm32f4xx_hal_msp.o(.text.HAL_MspInit)) +

                                                                                                        HAL_MspInit (Thumb, 66 bytes, Stack size 8 bytes, stm32f4xx_hal_msp.o(.text.HAL_MspInit))

                                                                                                        [Stack]

                                                                                                        • Max Depth = 16
                                                                                                        • Call Chain = HAL_MspInit ⇒ HAL_NVIC_SetPriority
                                                                                                        -
                                                                                                        [Calls]
                                                                                                        • >>   HAL_NVIC_SetPriority +
                                                                                                          [Calls]
                                                                                                          • >>   HAL_NVIC_SetPriority
                                                                                                          -
                                                                                                          [Called By]
                                                                                                          • >>   HAL_Init +
                                                                                                            [Called By]
                                                                                                            • >>   HAL_Init
                                                                                                            -

                                                                                                            HAL_NVIC_EnableIRQ (Thumb, 32 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)) -

                                                                                                            [Called By]

                                                                                                            • >>   HAL_CAN_MspInit -
                                                                                                            • >>   MX_GPIO_Init -
                                                                                                            • >>   MX_DMA_Init -
                                                                                                            • >>   HAL_UART_MspInit -
                                                                                                            • >>   HAL_TIM_Base_MspInit +

                                                                                                              HAL_NVIC_EnableIRQ (Thumb, 32 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)) +

                                                                                                              [Called By]

                                                                                                              • >>   HAL_CAN_MspInit +
                                                                                                              • >>   MX_GPIO_Init +
                                                                                                              • >>   MX_DMA_Init +
                                                                                                              • >>   HAL_UART_MspInit +
                                                                                                              • >>   HAL_TIM_Base_MspInit
                                                                                                              -

                                                                                                              HAL_NVIC_SetPriority (Thumb, 100 bytes, Stack size 8 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)) +

                                                                                                              HAL_NVIC_SetPriority (Thumb, 100 bytes, Stack size 8 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority))

                                                                                                              [Stack]

                                                                                                              • Max Depth = 8
                                                                                                              • Call Chain = HAL_NVIC_SetPriority
                                                                                                              -
                                                                                                              [Called By]
                                                                                                              • >>   HAL_CAN_MspInit -
                                                                                                              • >>   MX_GPIO_Init -
                                                                                                              • >>   MX_DMA_Init -
                                                                                                              • >>   HAL_MspInit -
                                                                                                              • >>   HAL_UART_MspInit -
                                                                                                              • >>   HAL_TIM_Base_MspInit -
                                                                                                              • >>   HAL_InitTick +
                                                                                                                [Called By]
                                                                                                                • >>   HAL_CAN_MspInit +
                                                                                                                • >>   MX_GPIO_Init +
                                                                                                                • >>   MX_DMA_Init +
                                                                                                                • >>   HAL_MspInit +
                                                                                                                • >>   HAL_UART_MspInit +
                                                                                                                • >>   HAL_TIM_Base_MspInit +
                                                                                                                • >>   HAL_InitTick
                                                                                                                -

                                                                                                                HAL_NVIC_SetPriorityGrouping (Thumb, 32 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)) -

                                                                                                                [Called By]

                                                                                                                • >>   HAL_Init +

                                                                                                                  HAL_NVIC_SetPriorityGrouping (Thumb, 32 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)) +

                                                                                                                  [Called By]

                                                                                                                  • >>   HAL_Init
                                                                                                                  -

                                                                                                                  HAL_RCC_ClockConfig (Thumb, 356 bytes, Stack size 24 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)) +

                                                                                                                  HAL_RCC_ClockConfig (Thumb, 356 bytes, Stack size 24 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig))

                                                                                                                  [Stack]

                                                                                                                  • Max Depth = 72
                                                                                                                  • Call Chain = HAL_RCC_ClockConfig ⇒ HAL_RCC_GetSysClockFreq ⇒ __aeabi_uldivmod
                                                                                                                  -
                                                                                                                  [Calls]
                                                                                                                  • >>   HAL_RCC_GetSysClockFreq -
                                                                                                                  • >>   HAL_InitTick -
                                                                                                                  • >>   HAL_GetTick +
                                                                                                                    [Calls]
                                                                                                                    • >>   HAL_RCC_GetSysClockFreq +
                                                                                                                    • >>   HAL_InitTick +
                                                                                                                    • >>   HAL_GetTick
                                                                                                                    -
                                                                                                                    [Called By]
                                                                                                                    • >>   SystemClock_Config +
                                                                                                                      [Called By]
                                                                                                                      • >>   SystemClock_Config
                                                                                                                      -

                                                                                                                      HAL_RCC_GetPCLK1Freq (Thumb, 38 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)) -

                                                                                                                      [Called By]

                                                                                                                      • >>   UART_SetConfig +

                                                                                                                        HAL_RCC_GetPCLK1Freq (Thumb, 38 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)) +

                                                                                                                        [Called By]

                                                                                                                        • >>   UART_SetConfig
                                                                                                                        -

                                                                                                                        HAL_RCC_GetPCLK2Freq (Thumb, 38 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)) -

                                                                                                                        [Called By]

                                                                                                                        • >>   UART_SetConfig +

                                                                                                                          HAL_RCC_GetPCLK2Freq (Thumb, 38 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)) +

                                                                                                                          [Called By]

                                                                                                                          • >>   UART_SetConfig
                                                                                                                          -

                                                                                                                          HAL_RCC_GetSysClockFreq (Thumb, 108 bytes, Stack size 8 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)) +

                                                                                                                          HAL_RCC_GetSysClockFreq (Thumb, 108 bytes, Stack size 8 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq))

                                                                                                                          [Stack]

                                                                                                                          • Max Depth = 48
                                                                                                                          • Call Chain = HAL_RCC_GetSysClockFreq ⇒ __aeabi_uldivmod

                                                                                                                          [Calls]
                                                                                                                          • >>   __aeabi_uldivmod
                                                                                                                          -
                                                                                                                          [Called By]
                                                                                                                          • >>   HAL_RCC_ClockConfig +
                                                                                                                            [Called By]
                                                                                                                            • >>   HAL_RCC_ClockConfig
                                                                                                                            -

                                                                                                                            HAL_RCC_OscConfig (Thumb, 982 bytes, Stack size 40 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)) +

                                                                                                                            HAL_RCC_OscConfig (Thumb, 982 bytes, Stack size 40 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig))

                                                                                                                            [Stack]

                                                                                                                            • Max Depth = 40
                                                                                                                            • Call Chain = HAL_RCC_OscConfig
                                                                                                                            -
                                                                                                                            [Calls]
                                                                                                                            • >>   HAL_GetTick +
                                                                                                                              [Calls]
                                                                                                                              • >>   HAL_GetTick
                                                                                                                              -
                                                                                                                              [Called By]
                                                                                                                              • >>   SystemClock_Config +
                                                                                                                                [Called By]
                                                                                                                                • >>   SystemClock_Config
                                                                                                                                -

                                                                                                                                HAL_SPI_Init (Thumb, 200 bytes, Stack size 16 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Init)) +

                                                                                                                                HAL_SPI_Init (Thumb, 200 bytes, Stack size 16 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Init))

                                                                                                                                [Stack]

                                                                                                                                • Max Depth = 116
                                                                                                                                • Call Chain = HAL_SPI_Init ⇒ HAL_SPI_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                -
                                                                                                                                [Calls]
                                                                                                                                • >>   HAL_SPI_MspInit +
                                                                                                                                  [Calls]
                                                                                                                                  • >>   HAL_SPI_MspInit
                                                                                                                                  -
                                                                                                                                  [Called By]
                                                                                                                                  • >>   MX_SPI1_Init +
                                                                                                                                    [Called By]
                                                                                                                                    • >>   MX_SPI1_Init
                                                                                                                                    -

                                                                                                                                    HAL_SPI_MspInit (Thumb, 302 bytes, Stack size 56 bytes, spi.o(.text.HAL_SPI_MspInit)) +

                                                                                                                                    HAL_SPI_MspInit (Thumb, 302 bytes, Stack size 56 bytes, spi.o(.text.HAL_SPI_MspInit))

                                                                                                                                    [Stack]

                                                                                                                                    • Max Depth = 100
                                                                                                                                    • Call Chain = HAL_SPI_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                    -
                                                                                                                                    [Calls]
                                                                                                                                    • >>   HAL_GPIO_Init -
                                                                                                                                    • >>   Error_Handler -
                                                                                                                                    • >>   HAL_DMA_Init +
                                                                                                                                      [Calls]
                                                                                                                                      • >>   HAL_GPIO_Init +
                                                                                                                                      • >>   Error_Handler +
                                                                                                                                      • >>   HAL_DMA_Init
                                                                                                                                      -
                                                                                                                                      [Called By]
                                                                                                                                      • >>   HAL_SPI_Init +
                                                                                                                                        [Called By]
                                                                                                                                        • >>   HAL_SPI_Init
                                                                                                                                        -

                                                                                                                                        HAL_SYSTICK_Config (Thumb, 44 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)) -

                                                                                                                                        [Called By]

                                                                                                                                        • >>   HAL_InitTick +

                                                                                                                                          HAL_SYSTICK_Config (Thumb, 44 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)) +

                                                                                                                                          [Called By]

                                                                                                                                          • >>   HAL_InitTick
                                                                                                                                          -

                                                                                                                                          HAL_TIMEx_BreakCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback)) -

                                                                                                                                          [Called By]

                                                                                                                                          • >>   HAL_TIM_IRQHandler +

                                                                                                                                            HAL_TIMEx_BreakCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback)) +

                                                                                                                                            [Called By]

                                                                                                                                            • >>   HAL_TIM_IRQHandler
                                                                                                                                            -

                                                                                                                                            HAL_TIMEx_CommutCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback)) -

                                                                                                                                            [Called By]

                                                                                                                                            • >>   HAL_TIM_IRQHandler +

                                                                                                                                              HAL_TIMEx_CommutCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback)) +

                                                                                                                                              [Called By]

                                                                                                                                              • >>   HAL_TIM_IRQHandler
                                                                                                                                              -

                                                                                                                                              HAL_TIMEx_MasterConfigSynchronization (Thumb, 186 bytes, Stack size 8 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization)) +

                                                                                                                                              HAL_TIMEx_MasterConfigSynchronization (Thumb, 186 bytes, Stack size 8 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization))

                                                                                                                                              [Stack]

                                                                                                                                              • Max Depth = 8
                                                                                                                                              • Call Chain = HAL_TIMEx_MasterConfigSynchronization
                                                                                                                                              -
                                                                                                                                              [Called By]
                                                                                                                                              • >>   MX_TIM7_Init -
                                                                                                                                              • >>   MX_TIM4_Init +
                                                                                                                                                [Called By]
                                                                                                                                                • >>   MX_TIM7_Init +
                                                                                                                                                • >>   MX_TIM4_Init
                                                                                                                                                -

                                                                                                                                                HAL_TIM_Base_Init (Thumb, 382 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init)) +

                                                                                                                                                HAL_TIM_Base_Init (Thumb, 382 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init))

                                                                                                                                                [Stack]

                                                                                                                                                • Max Depth = 40
                                                                                                                                                • Call Chain = HAL_TIM_Base_Init ⇒ HAL_TIM_Base_MspInit ⇒ HAL_NVIC_SetPriority
                                                                                                                                                -
                                                                                                                                                [Calls]
                                                                                                                                                • >>   HAL_TIM_Base_MspInit +
                                                                                                                                                  [Calls]
                                                                                                                                                  • >>   HAL_TIM_Base_MspInit
                                                                                                                                                  -
                                                                                                                                                  [Called By]
                                                                                                                                                  • >>   MX_TIM7_Init -
                                                                                                                                                  • >>   MX_TIM4_Init -
                                                                                                                                                  • >>   MX_TIM10_Init +
                                                                                                                                                    [Called By]
                                                                                                                                                    • >>   MX_TIM7_Init +
                                                                                                                                                    • >>   MX_TIM4_Init +
                                                                                                                                                    • >>   MX_TIM10_Init
                                                                                                                                                    -

                                                                                                                                                    HAL_TIM_Base_MspInit (Thumb, 146 bytes, Stack size 24 bytes, tim.o(.text.HAL_TIM_Base_MspInit)) +

                                                                                                                                                    HAL_TIM_Base_MspInit (Thumb, 146 bytes, Stack size 24 bytes, tim.o(.text.HAL_TIM_Base_MspInit))

                                                                                                                                                    [Stack]

                                                                                                                                                    • Max Depth = 32
                                                                                                                                                    • Call Chain = HAL_TIM_Base_MspInit ⇒ HAL_NVIC_SetPriority
                                                                                                                                                    -
                                                                                                                                                    [Calls]
                                                                                                                                                    • >>   HAL_NVIC_SetPriority -
                                                                                                                                                    • >>   HAL_NVIC_EnableIRQ +
                                                                                                                                                      [Calls]
                                                                                                                                                      • >>   HAL_NVIC_SetPriority +
                                                                                                                                                      • >>   HAL_NVIC_EnableIRQ
                                                                                                                                                      -
                                                                                                                                                      [Called By]
                                                                                                                                                      • >>   HAL_TIM_Base_Init +
                                                                                                                                                        [Called By]
                                                                                                                                                        • >>   HAL_TIM_Base_Init
                                                                                                                                                        -

                                                                                                                                                        HAL_TIM_ConfigClockSource (Thumb, 414 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource)) +

                                                                                                                                                        HAL_TIM_ConfigClockSource (Thumb, 414 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource))

                                                                                                                                                        [Stack]

                                                                                                                                                        • Max Depth = 8
                                                                                                                                                        • Call Chain = HAL_TIM_ConfigClockSource
                                                                                                                                                        -
                                                                                                                                                        [Called By]
                                                                                                                                                        • >>   MX_TIM4_Init +
                                                                                                                                                          [Called By]
                                                                                                                                                          • >>   MX_TIM4_Init
                                                                                                                                                          -

                                                                                                                                                          HAL_TIM_IC_CaptureCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback)) -

                                                                                                                                                          [Called By]

                                                                                                                                                          • >>   HAL_TIM_IRQHandler +

                                                                                                                                                            HAL_TIM_IC_CaptureCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback)) +

                                                                                                                                                            [Called By]

                                                                                                                                                            • >>   HAL_TIM_IRQHandler
                                                                                                                                                            -

                                                                                                                                                            HAL_TIM_IRQHandler (Thumb, 282 bytes, Stack size 16 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler)) +

                                                                                                                                                            HAL_TIM_IRQHandler (Thumb, 282 bytes, Stack size 16 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler))

                                                                                                                                                            [Stack]

                                                                                                                                                            • Max Depth = 16
                                                                                                                                                            • Call Chain = HAL_TIM_IRQHandler
                                                                                                                                                            -
                                                                                                                                                            [Calls]
                                                                                                                                                            • >>   HAL_TIM_TriggerCallback -
                                                                                                                                                            • >>   HAL_TIM_PeriodElapsedCallback -
                                                                                                                                                            • >>   HAL_TIM_PWM_PulseFinishedCallback -
                                                                                                                                                            • >>   HAL_TIM_OC_DelayElapsedCallback -
                                                                                                                                                            • >>   HAL_TIM_IC_CaptureCallback -
                                                                                                                                                            • >>   HAL_TIMEx_CommutCallback -
                                                                                                                                                            • >>   HAL_TIMEx_BreakCallback +
                                                                                                                                                              [Calls]
                                                                                                                                                              • >>   HAL_TIM_TriggerCallback +
                                                                                                                                                              • >>   HAL_TIM_PeriodElapsedCallback +
                                                                                                                                                              • >>   HAL_TIM_PWM_PulseFinishedCallback +
                                                                                                                                                              • >>   HAL_TIM_OC_DelayElapsedCallback +
                                                                                                                                                              • >>   HAL_TIM_IC_CaptureCallback +
                                                                                                                                                              • >>   HAL_TIMEx_CommutCallback +
                                                                                                                                                              • >>   HAL_TIMEx_BreakCallback

                                                                                                                                                              [Called By]
                                                                                                                                                              • >>   TIM7_IRQHandler
                                                                                                                                                              -

                                                                                                                                                              HAL_TIM_OC_DelayElapsedCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback)) -

                                                                                                                                                              [Called By]

                                                                                                                                                              • >>   HAL_TIM_IRQHandler +

                                                                                                                                                                HAL_TIM_OC_DelayElapsedCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback)) +

                                                                                                                                                                [Called By]

                                                                                                                                                                • >>   HAL_TIM_IRQHandler
                                                                                                                                                                -

                                                                                                                                                                HAL_TIM_PWM_ConfigChannel (Thumb, 554 bytes, Stack size 24 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel)) +

                                                                                                                                                                HAL_TIM_PWM_ConfigChannel (Thumb, 554 bytes, Stack size 24 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel))

                                                                                                                                                                [Stack]

                                                                                                                                                                • Max Depth = 24
                                                                                                                                                                • Call Chain = HAL_TIM_PWM_ConfigChannel
                                                                                                                                                                -
                                                                                                                                                                [Called By]
                                                                                                                                                                • >>   MX_TIM4_Init -
                                                                                                                                                                • >>   MX_TIM10_Init +
                                                                                                                                                                  [Called By]
                                                                                                                                                                  • >>   MX_TIM4_Init +
                                                                                                                                                                  • >>   MX_TIM10_Init
                                                                                                                                                                  -

                                                                                                                                                                  HAL_TIM_PWM_Init (Thumb, 382 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init)) +

                                                                                                                                                                  HAL_TIM_PWM_Init (Thumb, 382 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init))

                                                                                                                                                                  [Stack]

                                                                                                                                                                  • Max Depth = 8
                                                                                                                                                                  • Call Chain = HAL_TIM_PWM_Init
                                                                                                                                                                  -
                                                                                                                                                                  [Calls]
                                                                                                                                                                  • >>   HAL_TIM_PWM_MspInit +
                                                                                                                                                                    [Calls]
                                                                                                                                                                    • >>   HAL_TIM_PWM_MspInit
                                                                                                                                                                    -
                                                                                                                                                                    [Called By]
                                                                                                                                                                    • >>   MX_TIM4_Init -
                                                                                                                                                                    • >>   MX_TIM10_Init +
                                                                                                                                                                      [Called By]
                                                                                                                                                                      • >>   MX_TIM4_Init +
                                                                                                                                                                      • >>   MX_TIM10_Init
                                                                                                                                                                      -

                                                                                                                                                                      HAL_TIM_PWM_MspInit (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit)) -

                                                                                                                                                                      [Called By]

                                                                                                                                                                      • >>   HAL_TIM_PWM_Init +

                                                                                                                                                                        HAL_TIM_PWM_MspInit (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit)) +

                                                                                                                                                                        [Called By]

                                                                                                                                                                        • >>   HAL_TIM_PWM_Init
                                                                                                                                                                        -

                                                                                                                                                                        HAL_TIM_PWM_PulseFinishedCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback)) -

                                                                                                                                                                        [Called By]

                                                                                                                                                                        • >>   HAL_TIM_IRQHandler +

                                                                                                                                                                          HAL_TIM_PWM_PulseFinishedCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback)) +

                                                                                                                                                                          [Called By]

                                                                                                                                                                          • >>   HAL_TIM_IRQHandler
                                                                                                                                                                          -

                                                                                                                                                                          HAL_TIM_PeriodElapsedCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback)) -

                                                                                                                                                                          [Called By]

                                                                                                                                                                          • >>   HAL_TIM_IRQHandler +

                                                                                                                                                                            HAL_TIM_PeriodElapsedCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback)) +

                                                                                                                                                                            [Called By]

                                                                                                                                                                            • >>   HAL_TIM_IRQHandler
                                                                                                                                                                            -

                                                                                                                                                                            HAL_TIM_TriggerCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback)) -

                                                                                                                                                                            [Called By]

                                                                                                                                                                            • >>   HAL_TIM_IRQHandler +

                                                                                                                                                                              HAL_TIM_TriggerCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback)) +

                                                                                                                                                                              [Called By]

                                                                                                                                                                              • >>   HAL_TIM_IRQHandler
                                                                                                                                                                              -

                                                                                                                                                                              HAL_UARTEx_RxEventCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback)) -

                                                                                                                                                                              [Called By]

                                                                                                                                                                              • >>   HAL_UART_IRQHandler -
                                                                                                                                                                              • >>   UART_Receive_IT +

                                                                                                                                                                                HAL_UARTEx_RxEventCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback)) +

                                                                                                                                                                                [Called By]

                                                                                                                                                                                • >>   HAL_UART_IRQHandler +
                                                                                                                                                                                • >>   UART_Receive_IT
                                                                                                                                                                                • >>   UART_DMARxHalfCplt
                                                                                                                                                                                • >>   UART_DMAReceiveCplt
                                                                                                                                                                                -

                                                                                                                                                                                HAL_UART_ErrorCallback (Thumb, 62 bytes, Stack size 0 bytes, uart.o(.text.HAL_UART_ErrorCallback)) -

                                                                                                                                                                                [Called By]

                                                                                                                                                                                • >>   HAL_UART_IRQHandler +

                                                                                                                                                                                  HAL_UART_ErrorCallback (Thumb, 62 bytes, Stack size 0 bytes, uart.o(.text.HAL_UART_ErrorCallback)) +

                                                                                                                                                                                  [Called By]

                                                                                                                                                                                  • >>   HAL_UART_IRQHandler
                                                                                                                                                                                  • >>   UART_DMAError
                                                                                                                                                                                  • >>   UART_DMAAbortOnError
                                                                                                                                                                                  -

                                                                                                                                                                                  HAL_UART_IRQHandler (Thumb, 790 bytes, Stack size 24 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler)) +

                                                                                                                                                                                  HAL_UART_IRQHandler (Thumb, 790 bytes, Stack size 24 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler))

                                                                                                                                                                                  [Stack]

                                                                                                                                                                                  • Max Depth = 40
                                                                                                                                                                                  • Call Chain = HAL_UART_IRQHandler ⇒ HAL_DMA_Abort
                                                                                                                                                                                  -
                                                                                                                                                                                  [Calls]
                                                                                                                                                                                  • >>   HAL_DMA_Abort_IT -
                                                                                                                                                                                  • >>   HAL_DMA_Abort -
                                                                                                                                                                                  • >>   HAL_UARTEx_RxEventCallback -
                                                                                                                                                                                  • >>   UART_Receive_IT -
                                                                                                                                                                                  • >>   HAL_UART_TxCpltCallback -
                                                                                                                                                                                  • >>   HAL_UART_ErrorCallback +
                                                                                                                                                                                    [Calls]
                                                                                                                                                                                    • >>   HAL_DMA_Abort_IT +
                                                                                                                                                                                    • >>   HAL_DMA_Abort +
                                                                                                                                                                                    • >>   HAL_UARTEx_RxEventCallback +
                                                                                                                                                                                    • >>   UART_Receive_IT +
                                                                                                                                                                                    • >>   HAL_UART_TxCpltCallback +
                                                                                                                                                                                    • >>   HAL_UART_ErrorCallback

                                                                                                                                                                                    [Called By]
                                                                                                                                                                                    • >>   USART6_IRQHandler
                                                                                                                                                                                    • >>   USART1_IRQHandler
                                                                                                                                                                                    -

                                                                                                                                                                                    HAL_UART_Init (Thumb, 96 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Init)) +

                                                                                                                                                                                    HAL_UART_Init (Thumb, 96 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Init))

                                                                                                                                                                                    [Stack]

                                                                                                                                                                                    • Max Depth = 116
                                                                                                                                                                                    • Call Chain = HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                    -
                                                                                                                                                                                    [Calls]
                                                                                                                                                                                    • >>   HAL_UART_MspInit -
                                                                                                                                                                                    • >>   UART_SetConfig +
                                                                                                                                                                                      [Calls]
                                                                                                                                                                                      • >>   HAL_UART_MspInit +
                                                                                                                                                                                      • >>   UART_SetConfig
                                                                                                                                                                                      -
                                                                                                                                                                                      [Called By]
                                                                                                                                                                                      • >>   MX_USART6_UART_Init -
                                                                                                                                                                                      • >>   MX_USART3_UART_Init -
                                                                                                                                                                                      • >>   MX_USART1_UART_Init +
                                                                                                                                                                                        [Called By]
                                                                                                                                                                                        • >>   MX_USART6_UART_Init +
                                                                                                                                                                                        • >>   MX_USART3_UART_Init +
                                                                                                                                                                                        • >>   MX_USART1_UART_Init
                                                                                                                                                                                        -

                                                                                                                                                                                        HAL_UART_MspInit (Thumb, 640 bytes, Stack size 64 bytes, usart.o(.text.HAL_UART_MspInit)) +

                                                                                                                                                                                        HAL_UART_MspInit (Thumb, 640 bytes, Stack size 64 bytes, usart.o(.text.HAL_UART_MspInit))

                                                                                                                                                                                        [Stack]

                                                                                                                                                                                        • Max Depth = 108
                                                                                                                                                                                        • Call Chain = HAL_UART_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                        -
                                                                                                                                                                                        [Calls]
                                                                                                                                                                                        • >>   HAL_NVIC_SetPriority -
                                                                                                                                                                                        • >>   HAL_NVIC_EnableIRQ -
                                                                                                                                                                                        • >>   HAL_GPIO_Init -
                                                                                                                                                                                        • >>   Error_Handler -
                                                                                                                                                                                        • >>   HAL_DMA_Init +
                                                                                                                                                                                          [Calls]
                                                                                                                                                                                          • >>   HAL_NVIC_SetPriority +
                                                                                                                                                                                          • >>   HAL_NVIC_EnableIRQ +
                                                                                                                                                                                          • >>   HAL_GPIO_Init +
                                                                                                                                                                                          • >>   Error_Handler +
                                                                                                                                                                                          • >>   HAL_DMA_Init
                                                                                                                                                                                          -
                                                                                                                                                                                          [Called By]
                                                                                                                                                                                          • >>   HAL_UART_Init +
                                                                                                                                                                                            [Called By]
                                                                                                                                                                                            • >>   HAL_UART_Init
                                                                                                                                                                                            -

                                                                                                                                                                                            HAL_UART_Receive_DMA (Thumb, 200 bytes, Stack size 24 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)) +

                                                                                                                                                                                            HAL_UART_Receive_DMA (Thumb, 200 bytes, Stack size 24 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA))

                                                                                                                                                                                            [Stack]

                                                                                                                                                                                            • Max Depth = 32
                                                                                                                                                                                            • Call Chain = HAL_UART_Receive_DMA ⇒ HAL_DMA_Start_IT
                                                                                                                                                                                            -
                                                                                                                                                                                            [Calls]
                                                                                                                                                                                            • >>   HAL_DMA_Start_IT +
                                                                                                                                                                                              [Calls]
                                                                                                                                                                                              • >>   HAL_DMA_Start_IT
                                                                                                                                                                                              -
                                                                                                                                                                                              [Called By]
                                                                                                                                                                                              • >>   DR16_StartDmaRecv +
                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                • >>   DR16_StartDmaRecv
                                                                                                                                                                                                -

                                                                                                                                                                                                HAL_UART_RxCpltCallback (Thumb, 62 bytes, Stack size 0 bytes, uart.o(.text.HAL_UART_RxCpltCallback)) -

                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                • >>   UART_Receive_IT +

                                                                                                                                                                                                  HAL_UART_RxCpltCallback (Thumb, 62 bytes, Stack size 0 bytes, uart.o(.text.HAL_UART_RxCpltCallback)) +

                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                  • >>   UART_Receive_IT
                                                                                                                                                                                                  • >>   UART_DMAReceiveCplt
                                                                                                                                                                                                  -

                                                                                                                                                                                                  HAL_UART_RxHalfCpltCallback (Thumb, 62 bytes, Stack size 0 bytes, uart.o(.text.HAL_UART_RxHalfCpltCallback)) +

                                                                                                                                                                                                  HAL_UART_RxHalfCpltCallback (Thumb, 62 bytes, Stack size 0 bytes, uart.o(.text.HAL_UART_RxHalfCpltCallback))

                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                  • >>   UART_DMARxHalfCplt
                                                                                                                                                                                                  -

                                                                                                                                                                                                  HAL_UART_TxCpltCallback (Thumb, 62 bytes, Stack size 0 bytes, uart.o(.text.HAL_UART_TxCpltCallback)) -

                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                  • >>   HAL_UART_IRQHandler +

                                                                                                                                                                                                    HAL_UART_TxCpltCallback (Thumb, 62 bytes, Stack size 0 bytes, uart.o(.text.HAL_UART_TxCpltCallback)) +

                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                    • >>   HAL_UART_IRQHandler

                                                                                                                                                                                                    HardFault_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.HardFault_Handler)) @@ -1289,24 +1294,24 @@ Global Symbols


                                                                                                                                                                                                  [Address Reference Count : 1]
                                                                                                                                                                                                  • startup_stm32f407xx.o(RESET)
                                                                                                                                                                                                  -

                                                                                                                                                                                                  LowPassFilter2p_Apply (Thumb, 96 bytes, Stack size 0 bytes, filter.o(.text.LowPassFilter2p_Apply)) +

                                                                                                                                                                                                  LowPassFilter2p_Apply (Thumb, 96 bytes, Stack size 0 bytes, filter.o(.text.LowPassFilter2p_Apply))

                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                  • >>   Chassis_Control -
                                                                                                                                                                                                  • >>   PID_Calc +
                                                                                                                                                                                                  • >>   PID_Calc
                                                                                                                                                                                                  -

                                                                                                                                                                                                  LowPassFilter2p_Init (Thumb, 168 bytes, Stack size 8 bytes, filter.o(.text.LowPassFilter2p_Init)) +

                                                                                                                                                                                                  LowPassFilter2p_Init (Thumb, 168 bytes, Stack size 8 bytes, filter.o(.text.LowPassFilter2p_Init))

                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                  • Max Depth = 44
                                                                                                                                                                                                  • Call Chain = LowPassFilter2p_Init ⇒ __hardfp_tanf ⇒ __mathlib_rredf2
                                                                                                                                                                                                  -
                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                  • >>   __hardfp_tanf +
                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                    • >>   __hardfp_tanf
                                                                                                                                                                                                    -
                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                    • >>   Chassis_Init -
                                                                                                                                                                                                    • >>   PID_Init +
                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                      • >>   Chassis_Init +
                                                                                                                                                                                                      • >>   PID_Init

                                                                                                                                                                                                      LowPassFilter2p_Reset (Thumb, 120 bytes, Stack size 0 bytes, filter.o(.text.LowPassFilter2p_Reset))

                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                      • >>   Chassis_Control
                                                                                                                                                                                                      • >>   PID_Reset -
                                                                                                                                                                                                      • >>   PID_Init +
                                                                                                                                                                                                      • >>   PID_Init

                                                                                                                                                                                                      MOTOR_RM_Ctrl (Thumb, 272 bytes, Stack size 24 bytes, motor_rm.o(.text.MOTOR_RM_Ctrl)) @@ -1317,22 +1322,22 @@ Global Symbols
                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                      • >>   Chassis_Output
                                                                                                                                                                                                      -

                                                                                                                                                                                                      MOTOR_RM_GetMotor (Thumb, 76 bytes, Stack size 8 bytes, motor_rm.o(.text.MOTOR_RM_GetMotor)) +

                                                                                                                                                                                                      MOTOR_RM_GetMotor (Thumb, 76 bytes, Stack size 8 bytes, motor_rm.o(.text.MOTOR_RM_GetMotor))

                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                      • Max Depth = 8
                                                                                                                                                                                                      • Call Chain = MOTOR_RM_GetMotor
                                                                                                                                                                                                      -
                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                      • >>   Chassis_Init +
                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                        • >>   Chassis_UpdateFeedback
                                                                                                                                                                                                        -

                                                                                                                                                                                                        MOTOR_RM_Register (Thumb, 220 bytes, Stack size 24 bytes, motor_rm.o(.text.MOTOR_RM_Register)) +

                                                                                                                                                                                                        MOTOR_RM_Register (Thumb, 220 bytes, Stack size 24 bytes, motor_rm.o(.text.MOTOR_RM_Register))

                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                        • Max Depth = 192
                                                                                                                                                                                                        • Call Chain = MOTOR_RM_Register ⇒ BSP_CAN_RegisterId ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick

                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                        • >>   BSP_Malloc
                                                                                                                                                                                                        • >>   BSP_Free
                                                                                                                                                                                                        • >>   BSP_CAN_RegisterId -
                                                                                                                                                                                                        • >>   __aeabi_memclr8 -
                                                                                                                                                                                                        • >>   __aeabi_memclr4 +
                                                                                                                                                                                                        • >>   __aeabi_memclr8 +
                                                                                                                                                                                                        • >>   __aeabi_memclr4
                                                                                                                                                                                                        -
                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                        • >>   Chassis_Init +
                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                          • >>   Chassis_Init

                                                                                                                                                                                                          MOTOR_RM_SetOutput (Thumb, 216 bytes, Stack size 8 bytes, motor_rm.o(.text.MOTOR_RM_SetOutput)) @@ -1350,120 +1355,120 @@ Global Symbols
                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                          • >>   Chassis_UpdateFeedback
                                                                                                                                                                                                          -

                                                                                                                                                                                                          MX_CAN1_Init (Thumb, 64 bytes, Stack size 8 bytes, can.o(.text.MX_CAN1_Init)) +

                                                                                                                                                                                                          MX_CAN1_Init (Thumb, 64 bytes, Stack size 8 bytes, can.o(.text.MX_CAN1_Init))

                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                          • Max Depth = 100
                                                                                                                                                                                                          • Call Chain = MX_CAN1_Init ⇒ HAL_CAN_Init ⇒ HAL_CAN_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                                          -
                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                          • >>   HAL_CAN_Init -
                                                                                                                                                                                                          • >>   Error_Handler +
                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                            • >>   HAL_CAN_Init +
                                                                                                                                                                                                            • >>   Error_Handler

                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                            • >>   main
                                                                                                                                                                                                            -

                                                                                                                                                                                                            MX_CAN2_Init (Thumb, 64 bytes, Stack size 8 bytes, can.o(.text.MX_CAN2_Init)) +

                                                                                                                                                                                                            MX_CAN2_Init (Thumb, 64 bytes, Stack size 8 bytes, can.o(.text.MX_CAN2_Init))

                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                            • Max Depth = 100
                                                                                                                                                                                                            • Call Chain = MX_CAN2_Init ⇒ HAL_CAN_Init ⇒ HAL_CAN_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                                            -
                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                            • >>   HAL_CAN_Init -
                                                                                                                                                                                                            • >>   Error_Handler +
                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                              • >>   HAL_CAN_Init +
                                                                                                                                                                                                              • >>   Error_Handler

                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                              • >>   main
                                                                                                                                                                                                              -

                                                                                                                                                                                                              MX_DMA_Init (Thumb, 156 bytes, Stack size 16 bytes, dma.o(.text.MX_DMA_Init)) +

                                                                                                                                                                                                              MX_DMA_Init (Thumb, 156 bytes, Stack size 16 bytes, dma.o(.text.MX_DMA_Init))

                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                              • Max Depth = 24
                                                                                                                                                                                                              • Call Chain = MX_DMA_Init ⇒ HAL_NVIC_SetPriority
                                                                                                                                                                                                              -
                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                              • >>   HAL_NVIC_SetPriority -
                                                                                                                                                                                                              • >>   HAL_NVIC_EnableIRQ +
                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                • >>   HAL_NVIC_SetPriority +
                                                                                                                                                                                                                • >>   HAL_NVIC_EnableIRQ

                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                • >>   main
                                                                                                                                                                                                                -

                                                                                                                                                                                                                MX_FREERTOS_Init (Thumb, 60 bytes, Stack size 8 bytes, freertos.o(.text.MX_FREERTOS_Init)) +

                                                                                                                                                                                                                MX_FREERTOS_Init (Thumb, 60 bytes, Stack size 8 bytes, freertos.o(.text.MX_FREERTOS_Init))

                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                • Max Depth = 168
                                                                                                                                                                                                                • Call Chain = MX_FREERTOS_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                -
                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                • >>   osThreadNew +
                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                  • >>   osThreadNew

                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                  • >>   main
                                                                                                                                                                                                                  -

                                                                                                                                                                                                                  MX_GPIO_Init (Thumb, 356 bytes, Stack size 56 bytes, gpio.o(.text.MX_GPIO_Init)) +

                                                                                                                                                                                                                  MX_GPIO_Init (Thumb, 356 bytes, Stack size 56 bytes, gpio.o(.text.MX_GPIO_Init))

                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                  • Max Depth = 100
                                                                                                                                                                                                                  • Call Chain = MX_GPIO_Init ⇒ HAL_GPIO_Init
                                                                                                                                                                                                                  -
                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                  • >>   HAL_NVIC_SetPriority -
                                                                                                                                                                                                                  • >>   HAL_NVIC_EnableIRQ -
                                                                                                                                                                                                                  • >>   HAL_GPIO_WritePin -
                                                                                                                                                                                                                  • >>   HAL_GPIO_Init +
                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                    • >>   HAL_NVIC_SetPriority +
                                                                                                                                                                                                                    • >>   HAL_NVIC_EnableIRQ +
                                                                                                                                                                                                                    • >>   HAL_GPIO_WritePin +
                                                                                                                                                                                                                    • >>   HAL_GPIO_Init

                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                    • >>   main
                                                                                                                                                                                                                    -

                                                                                                                                                                                                                    MX_SPI1_Init (Thumb, 76 bytes, Stack size 8 bytes, spi.o(.text.MX_SPI1_Init)) +

                                                                                                                                                                                                                    MX_SPI1_Init (Thumb, 76 bytes, Stack size 8 bytes, spi.o(.text.MX_SPI1_Init))

                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                    • Max Depth = 124
                                                                                                                                                                                                                    • Call Chain = MX_SPI1_Init ⇒ HAL_SPI_Init ⇒ HAL_SPI_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                                                    -
                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                    • >>   Error_Handler -
                                                                                                                                                                                                                    • >>   HAL_SPI_Init +
                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                      • >>   Error_Handler +
                                                                                                                                                                                                                      • >>   HAL_SPI_Init

                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                      • >>   main
                                                                                                                                                                                                                      -

                                                                                                                                                                                                                      MX_TIM10_Init (Thumb, 262 bytes, Stack size 72 bytes, tim.o(.text.MX_TIM10_Init)) +

                                                                                                                                                                                                                      MX_TIM10_Init (Thumb, 262 bytes, Stack size 72 bytes, tim.o(.text.MX_TIM10_Init))

                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                      • Max Depth = 116
                                                                                                                                                                                                                      • Call Chain = MX_TIM10_Init ⇒ HAL_GPIO_Init
                                                                                                                                                                                                                      -
                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                      • >>   HAL_GPIO_Init -
                                                                                                                                                                                                                      • >>   Error_Handler -
                                                                                                                                                                                                                      • >>   HAL_TIM_PWM_Init -
                                                                                                                                                                                                                      • >>   HAL_TIM_PWM_ConfigChannel -
                                                                                                                                                                                                                      • >>   HAL_TIM_Base_Init +
                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                        • >>   HAL_GPIO_Init +
                                                                                                                                                                                                                        • >>   Error_Handler +
                                                                                                                                                                                                                        • >>   HAL_TIM_PWM_Init +
                                                                                                                                                                                                                        • >>   HAL_TIM_PWM_ConfigChannel +
                                                                                                                                                                                                                        • >>   HAL_TIM_Base_Init

                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                        • >>   main
                                                                                                                                                                                                                        -

                                                                                                                                                                                                                        MX_TIM4_Init (Thumb, 328 bytes, Stack size 96 bytes, tim.o(.text.MX_TIM4_Init)) +

                                                                                                                                                                                                                        MX_TIM4_Init (Thumb, 328 bytes, Stack size 96 bytes, tim.o(.text.MX_TIM4_Init))

                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                        • Max Depth = 140
                                                                                                                                                                                                                        • Call Chain = MX_TIM4_Init ⇒ HAL_GPIO_Init
                                                                                                                                                                                                                        -
                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                        • >>   HAL_GPIO_Init -
                                                                                                                                                                                                                        • >>   Error_Handler -
                                                                                                                                                                                                                        • >>   HAL_TIM_PWM_Init -
                                                                                                                                                                                                                        • >>   HAL_TIM_PWM_ConfigChannel -
                                                                                                                                                                                                                        • >>   HAL_TIM_ConfigClockSource -
                                                                                                                                                                                                                        • >>   HAL_TIM_Base_Init -
                                                                                                                                                                                                                        • >>   HAL_TIMEx_MasterConfigSynchronization +
                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                          • >>   HAL_GPIO_Init +
                                                                                                                                                                                                                          • >>   Error_Handler +
                                                                                                                                                                                                                          • >>   HAL_TIM_PWM_Init +
                                                                                                                                                                                                                          • >>   HAL_TIM_PWM_ConfigChannel +
                                                                                                                                                                                                                          • >>   HAL_TIM_ConfigClockSource +
                                                                                                                                                                                                                          • >>   HAL_TIM_Base_Init +
                                                                                                                                                                                                                          • >>   HAL_TIMEx_MasterConfigSynchronization

                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                          • >>   main
                                                                                                                                                                                                                          -

                                                                                                                                                                                                                          MX_TIM7_Init (Thumb, 84 bytes, Stack size 16 bytes, tim.o(.text.MX_TIM7_Init)) +

                                                                                                                                                                                                                          MX_TIM7_Init (Thumb, 84 bytes, Stack size 16 bytes, tim.o(.text.MX_TIM7_Init))

                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                          • Max Depth = 56
                                                                                                                                                                                                                          • Call Chain = MX_TIM7_Init ⇒ HAL_TIM_Base_Init ⇒ HAL_TIM_Base_MspInit ⇒ HAL_NVIC_SetPriority
                                                                                                                                                                                                                          -
                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                          • >>   Error_Handler -
                                                                                                                                                                                                                          • >>   HAL_TIM_Base_Init -
                                                                                                                                                                                                                          • >>   HAL_TIMEx_MasterConfigSynchronization +
                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                            • >>   Error_Handler +
                                                                                                                                                                                                                            • >>   HAL_TIM_Base_Init +
                                                                                                                                                                                                                            • >>   HAL_TIMEx_MasterConfigSynchronization

                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                            • >>   main
                                                                                                                                                                                                                            -

                                                                                                                                                                                                                            MX_USART1_UART_Init (Thumb, 60 bytes, Stack size 8 bytes, usart.o(.text.MX_USART1_UART_Init)) +

                                                                                                                                                                                                                            MX_USART1_UART_Init (Thumb, 60 bytes, Stack size 8 bytes, usart.o(.text.MX_USART1_UART_Init))

                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                            • Max Depth = 124
                                                                                                                                                                                                                            • Call Chain = MX_USART1_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                                                            -
                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                            • >>   Error_Handler -
                                                                                                                                                                                                                            • >>   HAL_UART_Init +
                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                              • >>   Error_Handler +
                                                                                                                                                                                                                              • >>   HAL_UART_Init

                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                              • >>   main
                                                                                                                                                                                                                              -

                                                                                                                                                                                                                              MX_USART3_UART_Init (Thumb, 70 bytes, Stack size 8 bytes, usart.o(.text.MX_USART3_UART_Init)) +

                                                                                                                                                                                                                              MX_USART3_UART_Init (Thumb, 70 bytes, Stack size 8 bytes, usart.o(.text.MX_USART3_UART_Init))

                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                              • Max Depth = 124
                                                                                                                                                                                                                              • Call Chain = MX_USART3_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                                                              -
                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                              • >>   Error_Handler -
                                                                                                                                                                                                                              • >>   HAL_UART_Init +
                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                • >>   Error_Handler +
                                                                                                                                                                                                                                • >>   HAL_UART_Init

                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                • >>   main
                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                MX_USART6_UART_Init (Thumb, 60 bytes, Stack size 8 bytes, usart.o(.text.MX_USART6_UART_Init)) +

                                                                                                                                                                                                                                MX_USART6_UART_Init (Thumb, 60 bytes, Stack size 8 bytes, usart.o(.text.MX_USART6_UART_Init))

                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                • Max Depth = 124
                                                                                                                                                                                                                                • Call Chain = MX_USART6_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_GPIO_Init
                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                • >>   Error_Handler -
                                                                                                                                                                                                                                • >>   HAL_UART_Init +
                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                  • >>   Error_Handler +
                                                                                                                                                                                                                                  • >>   HAL_UART_Init

                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                  • >>   main
                                                                                                                                                                                                                                  @@ -1475,7 +1480,7 @@ Global Symbols

                                                                                                                                                                                                                                [Address Reference Count : 1]
                                                                                                                                                                                                                                • startup_stm32f407xx.o(RESET)
                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                Mixer_Apply (Thumb, 372 bytes, Stack size 40 bytes, mixer.o(.text.Mixer_Apply)) +

                                                                                                                                                                                                                                Mixer_Apply (Thumb, 372 bytes, Stack size 40 bytes, mixer.o(.text.Mixer_Apply))

                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                • Max Depth = 40
                                                                                                                                                                                                                                • Call Chain = Mixer_Apply

                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                • >>   __hardfp__fabsf @@ -1483,8 +1488,8 @@ Global Symbols
                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                  • >>   Chassis_Control
                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                  Mixer_Init (Thumb, 14 bytes, Stack size 0 bytes, mixer.o(.text.Mixer_Init)) -

                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                  • >>   Chassis_Init +

                                                                                                                                                                                                                                    Mixer_Init (Thumb, 14 bytes, Stack size 0 bytes, mixer.o(.text.Mixer_Init)) +

                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                    • >>   Chassis_Init

                                                                                                                                                                                                                                    NMI_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.NMI_Handler)) @@ -1494,25 +1499,25 @@ Global Symbols


                                                                                                                                                                                                                                  [Address Reference Count : 1]
                                                                                                                                                                                                                                  • startup_stm32f407xx.o(RESET)
                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                  PID_Calc (Thumb, 364 bytes, Stack size 56 bytes, pid.o(.text.PID_Calc)) +

                                                                                                                                                                                                                                  PID_Calc (Thumb, 364 bytes, Stack size 56 bytes, pid.o(.text.PID_Calc))

                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                  • Max Depth = 72
                                                                                                                                                                                                                                  • Call Chain = PID_Calc ⇒ __hardfp_fmaxf
                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                  • >>   LowPassFilter2p_Apply -
                                                                                                                                                                                                                                  • >>   CircleError -
                                                                                                                                                                                                                                  • >>   AbsClip -
                                                                                                                                                                                                                                  • >>   __hardfp_fmaxf +
                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                    • >>   LowPassFilter2p_Apply +
                                                                                                                                                                                                                                    • >>   CircleError +
                                                                                                                                                                                                                                    • >>   AbsClip +
                                                                                                                                                                                                                                    • >>   __hardfp_fmaxf
                                                                                                                                                                                                                                    • >>   __hardfp__fabsf

                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                    • >>   Chassis_Control
                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                    PID_Init (Thumb, 148 bytes, Stack size 16 bytes, pid.o(.text.PID_Init)) +

                                                                                                                                                                                                                                    PID_Init (Thumb, 148 bytes, Stack size 16 bytes, pid.o(.text.PID_Init))

                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                    • Max Depth = 60
                                                                                                                                                                                                                                    • Call Chain = PID_Init ⇒ LowPassFilter2p_Init ⇒ __hardfp_tanf ⇒ __mathlib_rredf2

                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                    • >>   LowPassFilter2p_Reset -
                                                                                                                                                                                                                                    • >>   LowPassFilter2p_Init +
                                                                                                                                                                                                                                    • >>   LowPassFilter2p_Init
                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                    • >>   Chassis_Init +
                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                      • >>   Chassis_Init

                                                                                                                                                                                                                                      PID_Reset (Thumb, 40 bytes, Stack size 8 bytes, pid.o(.text.PID_Reset)) @@ -1526,7 +1531,7 @@ Global Symbols

                                                                                                                                                                                                                                      PendSV_Handler (Thumb, 100 bytes, Stack size 0 bytes, port.o(.text.PendSV_Handler))

                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                      • Max Depth = 8
                                                                                                                                                                                                                                      • Call Chain = PendSV_Handler ⇒ vTaskSwitchContext
                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                      • >>   vTaskSwitchContext +
                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                        • >>   vTaskSwitchContext

                                                                                                                                                                                                                                        [Address Reference Count : 1]
                                                                                                                                                                                                                                        • startup_stm32f407xx.o(RESET)
                                                                                                                                                                                                                                        @@ -1536,25 +1541,25 @@ Global Symbols

                                                                                                                                                                                                                                        StartDefaultTask (Thumb, 14 bytes, Stack size 8 bytes, freertos.o(.text.StartDefaultTask))

                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                        • Max Depth = 120
                                                                                                                                                                                                                                        • Call Chain = StartDefaultTask ⇒ osThreadTerminate ⇒ vTaskDelete ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                        • >>   osThreadTerminate -
                                                                                                                                                                                                                                        • >>   osThreadGetId +
                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                          • >>   osThreadTerminate +
                                                                                                                                                                                                                                          • >>   osThreadGetId

                                                                                                                                                                                                                                          [Address Reference Count : 1]
                                                                                                                                                                                                                                          • freertos.o(.text.MX_FREERTOS_Init)

                                                                                                                                                                                                                                          SysTick_Handler (Thumb, 24 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.SysTick_Handler))

                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                          • Max Depth = 48
                                                                                                                                                                                                                                          • Call Chain = SysTick_Handler ⇒ xPortSysTickHandler ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                          • >>   xTaskGetSchedulerState -
                                                                                                                                                                                                                                          • >>   xPortSysTickHandler -
                                                                                                                                                                                                                                          • >>   HAL_IncTick +
                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                            • >>   xTaskGetSchedulerState +
                                                                                                                                                                                                                                            • >>   xPortSysTickHandler +
                                                                                                                                                                                                                                            • >>   HAL_IncTick

                                                                                                                                                                                                                                            [Address Reference Count : 1]
                                                                                                                                                                                                                                            • startup_stm32f407xx.o(RESET)
                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                            SystemClock_Config (Thumb, 162 bytes, Stack size 88 bytes, main.o(.text.SystemClock_Config)) +

                                                                                                                                                                                                                                            SystemClock_Config (Thumb, 162 bytes, Stack size 88 bytes, main.o(.text.SystemClock_Config))

                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                            • Max Depth = 160
                                                                                                                                                                                                                                            • Call Chain = SystemClock_Config ⇒ HAL_RCC_ClockConfig ⇒ HAL_RCC_GetSysClockFreq ⇒ __aeabi_uldivmod
                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                            • >>   HAL_RCC_OscConfig -
                                                                                                                                                                                                                                            • >>   HAL_RCC_ClockConfig +
                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                              • >>   HAL_RCC_OscConfig +
                                                                                                                                                                                                                                              • >>   HAL_RCC_ClockConfig

                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                              • >>   main
                                                                                                                                                                                                                                              @@ -1565,55 +1570,55 @@ Global Symbols

                                                                                                                                                                                                                                              TIM7_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.TIM7_IRQHandler))

                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                              • Max Depth = 16
                                                                                                                                                                                                                                              • Call Chain = TIM7_IRQHandler ⇒ HAL_TIM_IRQHandler
                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                              • >>   HAL_TIM_IRQHandler +
                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                • >>   HAL_TIM_IRQHandler

                                                                                                                                                                                                                                                [Address Reference Count : 1]
                                                                                                                                                                                                                                                • startup_stm32f407xx.o(RESET)

                                                                                                                                                                                                                                                Task_Init (Thumb, 126 bytes, Stack size 8 bytes, init.o(.text.Task_Init))

                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                • Max Depth = 168
                                                                                                                                                                                                                                                • Call Chain = Task_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                • >>   osThreadTerminate -
                                                                                                                                                                                                                                                • >>   osThreadNew -
                                                                                                                                                                                                                                                • >>   osThreadGetId +
                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                  • >>   osThreadTerminate +
                                                                                                                                                                                                                                                  • >>   osThreadNew +
                                                                                                                                                                                                                                                  • >>   osThreadGetId
                                                                                                                                                                                                                                                  • >>   osMessageQueueNew -
                                                                                                                                                                                                                                                  • >>   osKernelUnlock -
                                                                                                                                                                                                                                                  • >>   osKernelLock +
                                                                                                                                                                                                                                                  • >>   osKernelUnlock +
                                                                                                                                                                                                                                                  • >>   osKernelLock

                                                                                                                                                                                                                                                  [Address Reference Count : 1]
                                                                                                                                                                                                                                                  • freertos.o(.text.MX_FREERTOS_Init)

                                                                                                                                                                                                                                                  Task_test (Thumb, 292 bytes, Stack size 48 bytes, test.o(.text.Task_test)) -

                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                  • Max Depth = 280
                                                                                                                                                                                                                                                  • Call Chain = Task_test ⇒ Chassis_UpdateFeedback ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick +

                                                                                                                                                                                                                                                    [Stack]
                                                                                                                                                                                                                                                    • Max Depth = 288
                                                                                                                                                                                                                                                    • Call Chain = Task_test ⇒ Chassis_Init ⇒ MOTOR_RM_Register ⇒ BSP_CAN_RegisterId ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick

                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                    • >>   __aeabi_ui2d
                                                                                                                                                                                                                                                    • >>   __aeabi_ddiv
                                                                                                                                                                                                                                                    • >>   osMessageQueueGet
                                                                                                                                                                                                                                                    • >>   osKernelGetTickFreq -
                                                                                                                                                                                                                                                    • >>   osKernelGetTickCount -
                                                                                                                                                                                                                                                    • >>   osDelayUntil -
                                                                                                                                                                                                                                                    • >>   osDelay +
                                                                                                                                                                                                                                                    • >>   osKernelGetTickCount +
                                                                                                                                                                                                                                                    • >>   osDelayUntil +
                                                                                                                                                                                                                                                    • >>   osDelay
                                                                                                                                                                                                                                                    • >>   __aeabi_d2uiz
                                                                                                                                                                                                                                                    • >>   Chassis_UpdateFeedback
                                                                                                                                                                                                                                                    • >>   Chassis_Output -
                                                                                                                                                                                                                                                    • >>   Chassis_Init +
                                                                                                                                                                                                                                                    • >>   Chassis_Init
                                                                                                                                                                                                                                                    • >>   Chassis_Control -
                                                                                                                                                                                                                                                    • >>   Config_GetRobotParam +
                                                                                                                                                                                                                                                    • >>   Config_GetRobotParam

                                                                                                                                                                                                                                                    [Address Reference Count : 1]
                                                                                                                                                                                                                                                    • init.o(.text.Task_Init)

                                                                                                                                                                                                                                                    Task_yaokongqi (Thumb, 176 bytes, Stack size 32 bytes, yaokongqi.o(.text.Task_yaokongqi))

                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                    • Max Depth = 168
                                                                                                                                                                                                                                                    • Call Chain = Task_yaokongqi ⇒ osMessageQueuePut ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                    • >>   DR16_WaitDmaCplt -
                                                                                                                                                                                                                                                    • >>   DR16_StartDmaRecv -
                                                                                                                                                                                                                                                    • >>   DR16_ParseData -
                                                                                                                                                                                                                                                    • >>   DR16_Offline +
                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                      • >>   DR16_WaitDmaCplt +
                                                                                                                                                                                                                                                      • >>   DR16_StartDmaRecv +
                                                                                                                                                                                                                                                      • >>   DR16_ParseData +
                                                                                                                                                                                                                                                      • >>   DR16_Offline
                                                                                                                                                                                                                                                      • >>   __aeabi_ui2d
                                                                                                                                                                                                                                                      • >>   __aeabi_ddiv -
                                                                                                                                                                                                                                                      • >>   osMessageQueuePut +
                                                                                                                                                                                                                                                      • >>   osMessageQueuePut
                                                                                                                                                                                                                                                      • >>   osKernelGetTickFreq -
                                                                                                                                                                                                                                                      • >>   osKernelGetTickCount -
                                                                                                                                                                                                                                                      • >>   osDelayUntil -
                                                                                                                                                                                                                                                      • >>   osDelay +
                                                                                                                                                                                                                                                      • >>   osKernelGetTickCount +
                                                                                                                                                                                                                                                      • >>   osDelayUntil +
                                                                                                                                                                                                                                                      • >>   osDelay
                                                                                                                                                                                                                                                      • >>   __aeabi_d2uiz

                                                                                                                                                                                                                                                      [Address Reference Count : 1]
                                                                                                                                                                                                                                                      • init.o(.text.Task_Init) @@ -1621,22 +1626,22 @@ Global Symbols

                                                                                                                                                                                                                                                        USART1_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.USART1_IRQHandler))

                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                        • Max Depth = 40
                                                                                                                                                                                                                                                        • Call Chain = USART1_IRQHandler ⇒ HAL_UART_IRQHandler ⇒ HAL_DMA_Abort
                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                        • >>   HAL_UART_IRQHandler +
                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                          • >>   HAL_UART_IRQHandler

                                                                                                                                                                                                                                                          [Address Reference Count : 1]
                                                                                                                                                                                                                                                          • startup_stm32f407xx.o(RESET)

                                                                                                                                                                                                                                                          USART3_IRQHandler (Thumb, 214 bytes, Stack size 16 bytes, ledi.o(.text.USART3_IRQHandler))

                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                          • Max Depth = 68
                                                                                                                                                                                                                                                          • Call Chain = USART3_IRQHandler ⇒ sbus_to_rc ⇒ __aeabi_dcmple
                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                          • >>   sbus_to_rc +
                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                            • >>   sbus_to_rc

                                                                                                                                                                                                                                                            [Address Reference Count : 1]
                                                                                                                                                                                                                                                            • startup_stm32f407xx.o(RESET)

                                                                                                                                                                                                                                                            USART6_IRQHandler (Thumb, 26 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.USART6_IRQHandler))

                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                            • Max Depth = 48
                                                                                                                                                                                                                                                            • Call Chain = USART6_IRQHandler ⇒ HAL_UART_IRQHandler ⇒ HAL_DMA_Abort
                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                            • >>   HAL_UART_IRQHandler -
                                                                                                                                                                                                                                                            • >>   BSP_UART_IRQHandler +
                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                              • >>   HAL_UART_IRQHandler +
                                                                                                                                                                                                                                                              • >>   BSP_UART_IRQHandler

                                                                                                                                                                                                                                                              [Address Reference Count : 1]
                                                                                                                                                                                                                                                              • startup_stm32f407xx.o(RESET)
                                                                                                                                                                                                                                                              @@ -1647,64 +1652,64 @@ Global Symbols

                                                                                                                                                                                                                                                            [Address Reference Count : 1]
                                                                                                                                                                                                                                                            • startup_stm32f407xx.o(RESET)
                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                            eTaskGetState (Thumb, 150 bytes, Stack size 24 bytes, tasks.o(.text.eTaskGetState)) +

                                                                                                                                                                                                                                                            eTaskGetState (Thumb, 150 bytes, Stack size 24 bytes, tasks.o(.text.eTaskGetState))

                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                            • Max Depth = 24
                                                                                                                                                                                                                                                            • Call Chain = eTaskGetState
                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                            • >>   vPortExitCritical -
                                                                                                                                                                                                                                                            • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                              • >>   vPortExitCritical +
                                                                                                                                                                                                                                                              • >>   vPortEnterCritical
                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                              • >>   osThreadTerminate +
                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                • >>   osThreadTerminate

                                                                                                                                                                                                                                                                main (Thumb, 70 bytes, Stack size 8 bytes, main.o(.text.main))

                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                • Max Depth = 176
                                                                                                                                                                                                                                                                • Call Chain = main ⇒ MX_FREERTOS_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                • >>   osKernelStart -
                                                                                                                                                                                                                                                                • >>   osKernelInitialize -
                                                                                                                                                                                                                                                                • >>   SystemClock_Config -
                                                                                                                                                                                                                                                                • >>   MX_USART6_UART_Init -
                                                                                                                                                                                                                                                                • >>   MX_USART3_UART_Init -
                                                                                                                                                                                                                                                                • >>   MX_USART1_UART_Init -
                                                                                                                                                                                                                                                                • >>   MX_TIM7_Init -
                                                                                                                                                                                                                                                                • >>   MX_TIM4_Init -
                                                                                                                                                                                                                                                                • >>   MX_TIM10_Init -
                                                                                                                                                                                                                                                                • >>   MX_SPI1_Init -
                                                                                                                                                                                                                                                                • >>   MX_GPIO_Init -
                                                                                                                                                                                                                                                                • >>   MX_FREERTOS_Init -
                                                                                                                                                                                                                                                                • >>   MX_DMA_Init -
                                                                                                                                                                                                                                                                • >>   MX_CAN2_Init -
                                                                                                                                                                                                                                                                • >>   MX_CAN1_Init -
                                                                                                                                                                                                                                                                • >>   HAL_Init +
                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                  • >>   osKernelStart +
                                                                                                                                                                                                                                                                  • >>   osKernelInitialize +
                                                                                                                                                                                                                                                                  • >>   SystemClock_Config +
                                                                                                                                                                                                                                                                  • >>   MX_USART6_UART_Init +
                                                                                                                                                                                                                                                                  • >>   MX_USART3_UART_Init +
                                                                                                                                                                                                                                                                  • >>   MX_USART1_UART_Init +
                                                                                                                                                                                                                                                                  • >>   MX_TIM7_Init +
                                                                                                                                                                                                                                                                  • >>   MX_TIM4_Init +
                                                                                                                                                                                                                                                                  • >>   MX_TIM10_Init +
                                                                                                                                                                                                                                                                  • >>   MX_SPI1_Init +
                                                                                                                                                                                                                                                                  • >>   MX_GPIO_Init +
                                                                                                                                                                                                                                                                  • >>   MX_FREERTOS_Init +
                                                                                                                                                                                                                                                                  • >>   MX_DMA_Init +
                                                                                                                                                                                                                                                                  • >>   MX_CAN2_Init +
                                                                                                                                                                                                                                                                  • >>   MX_CAN1_Init +
                                                                                                                                                                                                                                                                  • >>   HAL_Init

                                                                                                                                                                                                                                                                  [Address Reference Count : 1]
                                                                                                                                                                                                                                                                  • entry9a.o(.ARM.Collect$$$$0000000B)
                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                  map_fp32 (Thumb, 26 bytes, Stack size 0 bytes, calc_lib.o(.text.map_fp32)) -

                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                  • >>   sbus_to_rc +

                                                                                                                                                                                                                                                                    map_fp32 (Thumb, 26 bytes, Stack size 0 bytes, calc_lib.o(.text.map_fp32)) +

                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                    • >>   sbus_to_rc
                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                    osDelay (Thumb, 32 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osDelay)) +

                                                                                                                                                                                                                                                                    osDelay (Thumb, 32 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osDelay))

                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                    • Max Depth = 96
                                                                                                                                                                                                                                                                    • Call Chain = osDelay ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                    • >>   vTaskDelay +
                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                      • >>   vTaskDelay

                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                      • >>   Task_yaokongqi
                                                                                                                                                                                                                                                                      • >>   Task_test
                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                      osDelayUntil (Thumb, 54 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osDelayUntil)) +

                                                                                                                                                                                                                                                                      osDelayUntil (Thumb, 54 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osDelayUntil))

                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                      • Max Depth = 104
                                                                                                                                                                                                                                                                      • Call Chain = osDelayUntil ⇒ vTaskDelayUntil ⇒ xTaskResumeAll ⇒ xTaskIncrementTick

                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                      • >>   xTaskGetTickCount -
                                                                                                                                                                                                                                                                      • >>   vTaskDelayUntil +
                                                                                                                                                                                                                                                                      • >>   vTaskDelayUntil

                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                      • >>   Task_yaokongqi
                                                                                                                                                                                                                                                                      • >>   Task_test
                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                      osKernelGetTickCount (Thumb, 16 bytes, Stack size 0 bytes, cmsis_os2.o(.text.osKernelGetTickCount)) +

                                                                                                                                                                                                                                                                      osKernelGetTickCount (Thumb, 16 bytes, Stack size 0 bytes, cmsis_os2.o(.text.osKernelGetTickCount))

                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                      • Max Depth = 8
                                                                                                                                                                                                                                                                      • Call Chain = osKernelGetTickCount ⇒ xTaskGetTickCountFromISR
                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                      • >>   xTaskGetTickCountFromISR +
                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                        • >>   xTaskGetTickCountFromISR
                                                                                                                                                                                                                                                                        • >>   xTaskGetTickCount

                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                        • >>   Task_yaokongqi @@ -1717,32 +1722,32 @@ Global Symbols
                                                                                                                                                                                                                                                                        • >>   Task_test
                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                        osKernelInitialize (Thumb, 42 bytes, Stack size 0 bytes, cmsis_os2.o(.text.osKernelInitialize)) +

                                                                                                                                                                                                                                                                        osKernelInitialize (Thumb, 42 bytes, Stack size 0 bytes, cmsis_os2.o(.text.osKernelInitialize))

                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                        • >>   main
                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                        osKernelLock (Thumb, 44 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osKernelLock)) +

                                                                                                                                                                                                                                                                        osKernelLock (Thumb, 44 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osKernelLock))

                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                        • Max Depth = 8
                                                                                                                                                                                                                                                                        • Call Chain = osKernelLock
                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                        • >>   xTaskGetSchedulerState -
                                                                                                                                                                                                                                                                        • >>   vTaskSuspendAll +
                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                          • >>   xTaskGetSchedulerState +
                                                                                                                                                                                                                                                                          • >>   vTaskSuspendAll

                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                          • >>   Task_Init
                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                          osKernelStart (Thumb, 64 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osKernelStart)) +

                                                                                                                                                                                                                                                                          osKernelStart (Thumb, 64 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osKernelStart))

                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                          • Max Depth = 144
                                                                                                                                                                                                                                                                          • Call Chain = osKernelStart ⇒ vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ xTaskCreateStatic ⇒ prvAddNewTaskToReadyList
                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                          • >>   vTaskStartScheduler +
                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                            • >>   vTaskStartScheduler

                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                            • >>   main
                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                            osKernelUnlock (Thumb, 68 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osKernelUnlock)) +

                                                                                                                                                                                                                                                                            osKernelUnlock (Thumb, 68 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osKernelUnlock))

                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                            • Max Depth = 72
                                                                                                                                                                                                                                                                            • Call Chain = osKernelUnlock ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                            • >>   xTaskGetSchedulerState -
                                                                                                                                                                                                                                                                            • >>   xTaskResumeAll +
                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                              • >>   xTaskGetSchedulerState +
                                                                                                                                                                                                                                                                              • >>   xTaskResumeAll

                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                              • >>   Task_Init
                                                                                                                                                                                                                                                                              @@ -1750,8 +1755,8 @@ Global Symbols

                                                                                                                                                                                                                                                                              osMessageQueueGet (Thumb, 128 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osMessageQueueGet))

                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                              • Max Depth = 136
                                                                                                                                                                                                                                                                              • Call Chain = osMessageQueueGet ⇒ xQueueReceive ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                              • >>   xQueueReceiveFromISR -
                                                                                                                                                                                                                                                                              • >>   xQueueReceive +
                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                • >>   xQueueReceiveFromISR +
                                                                                                                                                                                                                                                                                • >>   xQueueReceive

                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                • >>   BSP_CAN_GetMessage
                                                                                                                                                                                                                                                                                • >>   Task_test @@ -1760,19 +1765,19 @@ Global Symbols

                                                                                                                                                                                                                                                                                  osMessageQueueNew (Thumb, 126 bytes, Stack size 24 bytes, cmsis_os2.o(.text.osMessageQueueNew))

                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                  • Max Depth = 128
                                                                                                                                                                                                                                                                                  • Call Chain = osMessageQueueNew ⇒ xQueueGenericCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                  • >>   xQueueGenericCreateStatic -
                                                                                                                                                                                                                                                                                  • >>   xQueueGenericCreate -
                                                                                                                                                                                                                                                                                  • >>   vQueueAddToRegistry +
                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                    • >>   xQueueGenericCreateStatic +
                                                                                                                                                                                                                                                                                    • >>   xQueueGenericCreate +
                                                                                                                                                                                                                                                                                    • >>   vQueueAddToRegistry

                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                    • >>   Task_Init
                                                                                                                                                                                                                                                                                    • >>   BSP_CAN_RegisterId
                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                    osMessageQueuePut (Thumb, 138 bytes, Stack size 24 bytes, cmsis_os2.o(.text.osMessageQueuePut)) +

                                                                                                                                                                                                                                                                                    osMessageQueuePut (Thumb, 138 bytes, Stack size 24 bytes, cmsis_os2.o(.text.osMessageQueuePut))

                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                    • Max Depth = 136
                                                                                                                                                                                                                                                                                    • Call Chain = osMessageQueuePut ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                    • >>   xQueueGenericSendFromISR -
                                                                                                                                                                                                                                                                                    • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                      • >>   xQueueGenericSendFromISR +
                                                                                                                                                                                                                                                                                      • >>   xQueueGenericSend

                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                      • >>   Task_yaokongqi
                                                                                                                                                                                                                                                                                      @@ -1780,8 +1785,8 @@ Global Symbols

                                                                                                                                                                                                                                                                                      osMutexAcquire (Thumb, 82 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osMutexAcquire))

                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                      • Max Depth = 144
                                                                                                                                                                                                                                                                                      • Call Chain = osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                      • >>   xQueueTakeMutexRecursive -
                                                                                                                                                                                                                                                                                      • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                        • >>   xQueueTakeMutexRecursive +
                                                                                                                                                                                                                                                                                        • >>   xQueueSemaphoreTake

                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                        • >>   BSP_CAN_RegisterId
                                                                                                                                                                                                                                                                                        • >>   BSP_CAN_GetMessage @@ -1790,44 +1795,44 @@ Global Symbols

                                                                                                                                                                                                                                                                                          osMutexRelease (Thumb, 80 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osMutexRelease))

                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                          • Max Depth = 136
                                                                                                                                                                                                                                                                                          • Call Chain = osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                          • >>   xQueueGiveMutexRecursive -
                                                                                                                                                                                                                                                                                          • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                            • >>   xQueueGiveMutexRecursive +
                                                                                                                                                                                                                                                                                            • >>   xQueueGenericSend

                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                            • >>   BSP_CAN_RegisterId
                                                                                                                                                                                                                                                                                            • >>   BSP_CAN_GetMessage
                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                            osThreadFlagsWait (Thumb, 330 bytes, Stack size 40 bytes, cmsis_os2.o(.text.osThreadFlagsWait)) +

                                                                                                                                                                                                                                                                                            osThreadFlagsWait (Thumb, 330 bytes, Stack size 40 bytes, cmsis_os2.o(.text.osThreadFlagsWait))

                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                            • Max Depth = 80
                                                                                                                                                                                                                                                                                            • Call Chain = osThreadFlagsWait ⇒ xTaskNotifyWait ⇒ vListInsert
                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                            • >>   xTaskNotifyWait +
                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                              • >>   xTaskNotifyWait
                                                                                                                                                                                                                                                                                              • >>   xTaskGetTickCount
                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                              • >>   DR16_WaitDmaCplt +
                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                • >>   DR16_WaitDmaCplt
                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                osThreadGetId (Thumb, 4 bytes, Stack size 0 bytes, cmsis_os2.o(.text.osThreadGetId)) -

                                                                                                                                                                                                                                                                                                [Calls]

                                                                                                                                                                                                                                                                                                • >>   xTaskGetCurrentTaskHandle +

                                                                                                                                                                                                                                                                                                  osThreadGetId (Thumb, 4 bytes, Stack size 0 bytes, cmsis_os2.o(.text.osThreadGetId)) +

                                                                                                                                                                                                                                                                                                  [Calls]

                                                                                                                                                                                                                                                                                                  • >>   xTaskGetCurrentTaskHandle

                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                  • >>   Task_Init
                                                                                                                                                                                                                                                                                                  • >>   StartDefaultTask
                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                  osThreadNew (Thumb, 160 bytes, Stack size 40 bytes, cmsis_os2.o(.text.osThreadNew)) +

                                                                                                                                                                                                                                                                                                  osThreadNew (Thumb, 160 bytes, Stack size 40 bytes, cmsis_os2.o(.text.osThreadNew))

                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                  • Max Depth = 160
                                                                                                                                                                                                                                                                                                  • Call Chain = osThreadNew ⇒ xTaskCreate ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                  • >>   xTaskCreateStatic -
                                                                                                                                                                                                                                                                                                  • >>   xTaskCreate +
                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                    • >>   xTaskCreateStatic +
                                                                                                                                                                                                                                                                                                    • >>   xTaskCreate

                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                    • >>   Task_Init -
                                                                                                                                                                                                                                                                                                    • >>   MX_FREERTOS_Init +
                                                                                                                                                                                                                                                                                                    • >>   MX_FREERTOS_Init
                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                    osThreadTerminate (Thumb, 52 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osThreadTerminate)) +

                                                                                                                                                                                                                                                                                                    osThreadTerminate (Thumb, 52 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osThreadTerminate))

                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                    • Max Depth = 112
                                                                                                                                                                                                                                                                                                    • Call Chain = osThreadTerminate ⇒ vTaskDelete ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                    • >>   vTaskDelete -
                                                                                                                                                                                                                                                                                                    • >>   eTaskGetState +
                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                      • >>   vTaskDelete +
                                                                                                                                                                                                                                                                                                      • >>   eTaskGetState

                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                      • >>   Task_Init
                                                                                                                                                                                                                                                                                                      • >>   StartDefaultTask @@ -1836,745 +1841,745 @@ Global Symbols

                                                                                                                                                                                                                                                                                                        pvPortMalloc (Thumb, 414 bytes, Stack size 16 bytes, heap_4.o(.text.pvPortMalloc))

                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                        • Max Depth = 80
                                                                                                                                                                                                                                                                                                        • Call Chain = pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                        • >>   xTaskResumeAll -
                                                                                                                                                                                                                                                                                                        • >>   vTaskSuspendAll +
                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                          • >>   xTaskResumeAll +
                                                                                                                                                                                                                                                                                                          • >>   vTaskSuspendAll
                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                          • >>   xQueueGenericCreate -
                                                                                                                                                                                                                                                                                                          • >>   xTaskCreate +
                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                            • >>   xQueueGenericCreate +
                                                                                                                                                                                                                                                                                                            • >>   xTaskCreate
                                                                                                                                                                                                                                                                                                            • >>   BSP_Malloc
                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                            pvTaskIncrementMutexHeldCount (Thumb, 26 bytes, Stack size 0 bytes, tasks.o(.text.pvTaskIncrementMutexHeldCount)) -

                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                            • >>   xQueueSemaphoreTake +

                                                                                                                                                                                                                                                                                                              pvTaskIncrementMutexHeldCount (Thumb, 26 bytes, Stack size 0 bytes, tasks.o(.text.pvTaskIncrementMutexHeldCount)) +

                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                              • >>   xQueueSemaphoreTake
                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                              pxPortInitialiseStack (Thumb, 36 bytes, Stack size 0 bytes, port.o(.text.pxPortInitialiseStack)) -

                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                              • >>   xTaskCreateStatic -
                                                                                                                                                                                                                                                                                                              • >>   xTaskCreate +

                                                                                                                                                                                                                                                                                                                pxPortInitialiseStack (Thumb, 36 bytes, Stack size 0 bytes, port.o(.text.pxPortInitialiseStack)) +

                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                • >>   xTaskCreateStatic +
                                                                                                                                                                                                                                                                                                                • >>   xTaskCreate
                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                uxListRemove (Thumb, 34 bytes, Stack size 0 bytes, list.o(.text.uxListRemove)) -

                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                • >>   xTaskNotifyWait -
                                                                                                                                                                                                                                                                                                                • >>   xTaskRemoveFromEventList -
                                                                                                                                                                                                                                                                                                                • >>   xTaskPriorityInherit -
                                                                                                                                                                                                                                                                                                                • >>   xTaskPriorityDisinherit -
                                                                                                                                                                                                                                                                                                                • >>   vTaskPriorityDisinheritAfterTimeout -
                                                                                                                                                                                                                                                                                                                • >>   vTaskPlaceOnEventListRestricted -
                                                                                                                                                                                                                                                                                                                • >>   vTaskPlaceOnEventList -
                                                                                                                                                                                                                                                                                                                • >>   xTaskResumeAll +

                                                                                                                                                                                                                                                                                                                  uxListRemove (Thumb, 34 bytes, Stack size 0 bytes, list.o(.text.uxListRemove)) +

                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                  • >>   xTaskNotifyWait +
                                                                                                                                                                                                                                                                                                                  • >>   xTaskRemoveFromEventList +
                                                                                                                                                                                                                                                                                                                  • >>   xTaskPriorityInherit +
                                                                                                                                                                                                                                                                                                                  • >>   xTaskPriorityDisinherit +
                                                                                                                                                                                                                                                                                                                  • >>   vTaskPriorityDisinheritAfterTimeout +
                                                                                                                                                                                                                                                                                                                  • >>   vTaskPlaceOnEventListRestricted +
                                                                                                                                                                                                                                                                                                                  • >>   vTaskPlaceOnEventList +
                                                                                                                                                                                                                                                                                                                  • >>   xTaskResumeAll
                                                                                                                                                                                                                                                                                                                  • >>   prvTimerTask -
                                                                                                                                                                                                                                                                                                                  • >>   prvSampleTimeNow -
                                                                                                                                                                                                                                                                                                                  • >>   xTaskIncrementTick -
                                                                                                                                                                                                                                                                                                                  • >>   vTaskDelete -
                                                                                                                                                                                                                                                                                                                  • >>   vTaskDelayUntil -
                                                                                                                                                                                                                                                                                                                  • >>   vTaskDelay +
                                                                                                                                                                                                                                                                                                                  • >>   prvSampleTimeNow +
                                                                                                                                                                                                                                                                                                                  • >>   xTaskIncrementTick +
                                                                                                                                                                                                                                                                                                                  • >>   vTaskDelete +
                                                                                                                                                                                                                                                                                                                  • >>   vTaskDelayUntil +
                                                                                                                                                                                                                                                                                                                  • >>   vTaskDelay
                                                                                                                                                                                                                                                                                                                  • >>   prvIdleTask
                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                  vApplicationGetIdleTaskMemory (Thumb, 26 bytes, Stack size 0 bytes, cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)) -

                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                  • >>   vTaskStartScheduler +

                                                                                                                                                                                                                                                                                                                    vApplicationGetIdleTaskMemory (Thumb, 26 bytes, Stack size 0 bytes, cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)) +

                                                                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                                                                    • >>   vTaskStartScheduler
                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                    vApplicationGetTimerTaskMemory (Thumb, 28 bytes, Stack size 0 bytes, cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)) -

                                                                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                                                                    • >>   xTimerCreateTimerTask +

                                                                                                                                                                                                                                                                                                                      vApplicationGetTimerTaskMemory (Thumb, 28 bytes, Stack size 0 bytes, cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)) +

                                                                                                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                                                                                                      • >>   xTimerCreateTimerTask
                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                      vListInitialise (Thumb, 22 bytes, Stack size 0 bytes, list.o(.text.vListInitialise)) -

                                                                                                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                                                                                                      • >>   xQueueGenericCreateStatic -
                                                                                                                                                                                                                                                                                                                      • >>   xQueueGenericCreate -
                                                                                                                                                                                                                                                                                                                      • >>   xTimerCreateTimerTask -
                                                                                                                                                                                                                                                                                                                      • >>   prvAddNewTaskToReadyList +

                                                                                                                                                                                                                                                                                                                        vListInitialise (Thumb, 22 bytes, Stack size 0 bytes, list.o(.text.vListInitialise)) +

                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                        • >>   xQueueGenericCreateStatic +
                                                                                                                                                                                                                                                                                                                        • >>   xQueueGenericCreate +
                                                                                                                                                                                                                                                                                                                        • >>   xTimerCreateTimerTask +
                                                                                                                                                                                                                                                                                                                        • >>   prvAddNewTaskToReadyList
                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                        vListInitialiseItem (Thumb, 6 bytes, Stack size 0 bytes, list.o(.text.vListInitialiseItem)) -

                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                        • >>   xTaskCreateStatic -
                                                                                                                                                                                                                                                                                                                        • >>   xTaskCreate +

                                                                                                                                                                                                                                                                                                                          vListInitialiseItem (Thumb, 6 bytes, Stack size 0 bytes, list.o(.text.vListInitialiseItem)) +

                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                          • >>   xTaskCreateStatic +
                                                                                                                                                                                                                                                                                                                          • >>   xTaskCreate
                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                          vListInsert (Thumb, 60 bytes, Stack size 8 bytes, list.o(.text.vListInsert)) +

                                                                                                                                                                                                                                                                                                                          vListInsert (Thumb, 60 bytes, Stack size 8 bytes, list.o(.text.vListInsert))

                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                          • Max Depth = 8
                                                                                                                                                                                                                                                                                                                          • Call Chain = vListInsert
                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                          • >>   xTaskNotifyWait -
                                                                                                                                                                                                                                                                                                                          • >>   vTaskPlaceOnEventListRestricted -
                                                                                                                                                                                                                                                                                                                          • >>   vTaskPlaceOnEventList +
                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                            • >>   xTaskNotifyWait +
                                                                                                                                                                                                                                                                                                                            • >>   vTaskPlaceOnEventListRestricted +
                                                                                                                                                                                                                                                                                                                            • >>   vTaskPlaceOnEventList
                                                                                                                                                                                                                                                                                                                            • >>   prvTimerTask -
                                                                                                                                                                                                                                                                                                                            • >>   prvSampleTimeNow -
                                                                                                                                                                                                                                                                                                                            • >>   vTaskDelayUntil -
                                                                                                                                                                                                                                                                                                                            • >>   vTaskDelay +
                                                                                                                                                                                                                                                                                                                            • >>   prvSampleTimeNow +
                                                                                                                                                                                                                                                                                                                            • >>   vTaskDelayUntil +
                                                                                                                                                                                                                                                                                                                            • >>   vTaskDelay
                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                            vListInsertEnd (Thumb, 24 bytes, Stack size 0 bytes, list.o(.text.vListInsertEnd)) -

                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                            • >>   xTaskNotifyWait -
                                                                                                                                                                                                                                                                                                                            • >>   xTaskRemoveFromEventList -
                                                                                                                                                                                                                                                                                                                            • >>   xTaskPriorityInherit -
                                                                                                                                                                                                                                                                                                                            • >>   xTaskPriorityDisinherit -
                                                                                                                                                                                                                                                                                                                            • >>   vTaskPriorityDisinheritAfterTimeout -
                                                                                                                                                                                                                                                                                                                            • >>   vTaskPlaceOnEventListRestricted -
                                                                                                                                                                                                                                                                                                                            • >>   vTaskPlaceOnEventList -
                                                                                                                                                                                                                                                                                                                            • >>   xTaskResumeAll -
                                                                                                                                                                                                                                                                                                                            • >>   xTaskIncrementTick -
                                                                                                                                                                                                                                                                                                                            • >>   vTaskDelete -
                                                                                                                                                                                                                                                                                                                            • >>   prvAddNewTaskToReadyList +

                                                                                                                                                                                                                                                                                                                              vListInsertEnd (Thumb, 24 bytes, Stack size 0 bytes, list.o(.text.vListInsertEnd)) +

                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                              • >>   xTaskNotifyWait +
                                                                                                                                                                                                                                                                                                                              • >>   xTaskRemoveFromEventList +
                                                                                                                                                                                                                                                                                                                              • >>   xTaskPriorityInherit +
                                                                                                                                                                                                                                                                                                                              • >>   xTaskPriorityDisinherit +
                                                                                                                                                                                                                                                                                                                              • >>   vTaskPriorityDisinheritAfterTimeout +
                                                                                                                                                                                                                                                                                                                              • >>   vTaskPlaceOnEventListRestricted +
                                                                                                                                                                                                                                                                                                                              • >>   vTaskPlaceOnEventList +
                                                                                                                                                                                                                                                                                                                              • >>   xTaskResumeAll +
                                                                                                                                                                                                                                                                                                                              • >>   xTaskIncrementTick +
                                                                                                                                                                                                                                                                                                                              • >>   vTaskDelete +
                                                                                                                                                                                                                                                                                                                              • >>   prvAddNewTaskToReadyList
                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                              vPortEnterCritical (Thumb, 74 bytes, Stack size 0 bytes, port.o(.text.vPortEnterCritical)) -

                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                              • >>   xTaskNotifyWait -
                                                                                                                                                                                                                                                                                                                              • >>   xTaskCheckForTimeOut -
                                                                                                                                                                                                                                                                                                                              • >>   xQueueSemaphoreTake -
                                                                                                                                                                                                                                                                                                                              • >>   xQueueReceive -
                                                                                                                                                                                                                                                                                                                              • >>   xQueueGenericSend -
                                                                                                                                                                                                                                                                                                                              • >>   xQueueGenericCreateStatic -
                                                                                                                                                                                                                                                                                                                              • >>   xQueueGenericCreate -
                                                                                                                                                                                                                                                                                                                              • >>   vQueueWaitForMessageRestricted -
                                                                                                                                                                                                                                                                                                                              • >>   prvUnlockQueue -
                                                                                                                                                                                                                                                                                                                              • >>   xTaskResumeAll -
                                                                                                                                                                                                                                                                                                                              • >>   xTimerCreateTimerTask -
                                                                                                                                                                                                                                                                                                                              • >>   vTaskDelete -
                                                                                                                                                                                                                                                                                                                              • >>   eTaskGetState +

                                                                                                                                                                                                                                                                                                                                vPortEnterCritical (Thumb, 74 bytes, Stack size 0 bytes, port.o(.text.vPortEnterCritical)) +

                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                • >>   xTaskNotifyWait +
                                                                                                                                                                                                                                                                                                                                • >>   xTaskCheckForTimeOut +
                                                                                                                                                                                                                                                                                                                                • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                                                                                                                                                • >>   xQueueReceive +
                                                                                                                                                                                                                                                                                                                                • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                                                                • >>   xQueueGenericCreateStatic +
                                                                                                                                                                                                                                                                                                                                • >>   xQueueGenericCreate +
                                                                                                                                                                                                                                                                                                                                • >>   vQueueWaitForMessageRestricted +
                                                                                                                                                                                                                                                                                                                                • >>   prvUnlockQueue +
                                                                                                                                                                                                                                                                                                                                • >>   xTaskResumeAll +
                                                                                                                                                                                                                                                                                                                                • >>   xTimerCreateTimerTask +
                                                                                                                                                                                                                                                                                                                                • >>   vTaskDelete +
                                                                                                                                                                                                                                                                                                                                • >>   eTaskGetState
                                                                                                                                                                                                                                                                                                                                • >>   prvIdleTask -
                                                                                                                                                                                                                                                                                                                                • >>   prvAddNewTaskToReadyList +
                                                                                                                                                                                                                                                                                                                                • >>   prvAddNewTaskToReadyList
                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                vPortExitCritical (Thumb, 46 bytes, Stack size 0 bytes, port.o(.text.vPortExitCritical)) -

                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                • >>   xTaskNotifyWait -
                                                                                                                                                                                                                                                                                                                                • >>   xTaskCheckForTimeOut -
                                                                                                                                                                                                                                                                                                                                • >>   xQueueSemaphoreTake -
                                                                                                                                                                                                                                                                                                                                • >>   xQueueReceive -
                                                                                                                                                                                                                                                                                                                                • >>   xQueueGenericSend -
                                                                                                                                                                                                                                                                                                                                • >>   xQueueGenericCreateStatic -
                                                                                                                                                                                                                                                                                                                                • >>   xQueueGenericCreate -
                                                                                                                                                                                                                                                                                                                                • >>   vQueueWaitForMessageRestricted -
                                                                                                                                                                                                                                                                                                                                • >>   prvUnlockQueue -
                                                                                                                                                                                                                                                                                                                                • >>   xTaskResumeAll -
                                                                                                                                                                                                                                                                                                                                • >>   xTimerCreateTimerTask -
                                                                                                                                                                                                                                                                                                                                • >>   vTaskDelete -
                                                                                                                                                                                                                                                                                                                                • >>   eTaskGetState +

                                                                                                                                                                                                                                                                                                                                  vPortExitCritical (Thumb, 46 bytes, Stack size 0 bytes, port.o(.text.vPortExitCritical)) +

                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                  • >>   xTaskNotifyWait +
                                                                                                                                                                                                                                                                                                                                  • >>   xTaskCheckForTimeOut +
                                                                                                                                                                                                                                                                                                                                  • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                                                                                                                                                  • >>   xQueueReceive +
                                                                                                                                                                                                                                                                                                                                  • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                                                                  • >>   xQueueGenericCreateStatic +
                                                                                                                                                                                                                                                                                                                                  • >>   xQueueGenericCreate +
                                                                                                                                                                                                                                                                                                                                  • >>   vQueueWaitForMessageRestricted +
                                                                                                                                                                                                                                                                                                                                  • >>   prvUnlockQueue +
                                                                                                                                                                                                                                                                                                                                  • >>   xTaskResumeAll +
                                                                                                                                                                                                                                                                                                                                  • >>   xTimerCreateTimerTask +
                                                                                                                                                                                                                                                                                                                                  • >>   vTaskDelete +
                                                                                                                                                                                                                                                                                                                                  • >>   eTaskGetState
                                                                                                                                                                                                                                                                                                                                  • >>   prvIdleTask -
                                                                                                                                                                                                                                                                                                                                  • >>   prvAddNewTaskToReadyList +
                                                                                                                                                                                                                                                                                                                                  • >>   prvAddNewTaskToReadyList

                                                                                                                                                                                                                                                                                                                                  vPortFree (Thumb, 190 bytes, Stack size 16 bytes, heap_4.o(.text.vPortFree))

                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                  • Max Depth = 80
                                                                                                                                                                                                                                                                                                                                  • Call Chain = vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                  • >>   xTaskResumeAll -
                                                                                                                                                                                                                                                                                                                                  • >>   vTaskSuspendAll +
                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                    • >>   xTaskResumeAll +
                                                                                                                                                                                                                                                                                                                                    • >>   vTaskSuspendAll

                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                    • >>   prvTimerTask -
                                                                                                                                                                                                                                                                                                                                    • >>   xTaskCreate -
                                                                                                                                                                                                                                                                                                                                    • >>   vTaskDelete +
                                                                                                                                                                                                                                                                                                                                    • >>   xTaskCreate +
                                                                                                                                                                                                                                                                                                                                    • >>   vTaskDelete
                                                                                                                                                                                                                                                                                                                                    • >>   prvIdleTask
                                                                                                                                                                                                                                                                                                                                    • >>   BSP_Free
                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                    vPortSetupTimerInterrupt (Thumb, 30 bytes, Stack size 0 bytes, port.o(.text.vPortSetupTimerInterrupt)) -

                                                                                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                                                                                    • >>   xPortStartScheduler +

                                                                                                                                                                                                                                                                                                                                      vPortSetupTimerInterrupt (Thumb, 30 bytes, Stack size 0 bytes, port.o(.text.vPortSetupTimerInterrupt)) +

                                                                                                                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                                                                                                                      • >>   xPortStartScheduler
                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                      vPortValidateInterruptPriority (Thumb, 98 bytes, Stack size 0 bytes, port.o(.text.vPortValidateInterruptPriority)) -

                                                                                                                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                                                                                                                      • >>   xQueueReceiveFromISR -
                                                                                                                                                                                                                                                                                                                                      • >>   xQueueGenericSendFromISR -
                                                                                                                                                                                                                                                                                                                                      • >>   xTaskGetTickCountFromISR +

                                                                                                                                                                                                                                                                                                                                        vPortValidateInterruptPriority (Thumb, 98 bytes, Stack size 0 bytes, port.o(.text.vPortValidateInterruptPriority)) +

                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                        • >>   xQueueReceiveFromISR +
                                                                                                                                                                                                                                                                                                                                        • >>   xQueueGenericSendFromISR +
                                                                                                                                                                                                                                                                                                                                        • >>   xTaskGetTickCountFromISR
                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                        vQueueAddToRegistry (Thumb, 116 bytes, Stack size 0 bytes, queue.o(.text.vQueueAddToRegistry)) -

                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                        • >>   xTimerCreateTimerTask +

                                                                                                                                                                                                                                                                                                                                          vQueueAddToRegistry (Thumb, 116 bytes, Stack size 0 bytes, queue.o(.text.vQueueAddToRegistry)) +

                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                          • >>   xTimerCreateTimerTask
                                                                                                                                                                                                                                                                                                                                          • >>   osMessageQueueNew
                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                          vQueueWaitForMessageRestricted (Thumb, 70 bytes, Stack size 16 bytes, queue.o(.text.vQueueWaitForMessageRestricted)) +

                                                                                                                                                                                                                                                                                                                                          vQueueWaitForMessageRestricted (Thumb, 70 bytes, Stack size 16 bytes, queue.o(.text.vQueueWaitForMessageRestricted))

                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                          • Max Depth = 56
                                                                                                                                                                                                                                                                                                                                          • Call Chain = vQueueWaitForMessageRestricted ⇒ prvUnlockQueue ⇒ xTaskRemoveFromEventList
                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                          • >>   vTaskPlaceOnEventListRestricted -
                                                                                                                                                                                                                                                                                                                                          • >>   prvUnlockQueue -
                                                                                                                                                                                                                                                                                                                                          • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                          • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                            • >>   vTaskPlaceOnEventListRestricted +
                                                                                                                                                                                                                                                                                                                                            • >>   prvUnlockQueue +
                                                                                                                                                                                                                                                                                                                                            • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                            • >>   vPortEnterCritical

                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                            • >>   prvTimerTask
                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                            vTaskDelay (Thumb, 148 bytes, Stack size 24 bytes, tasks.o(.text.vTaskDelay)) +

                                                                                                                                                                                                                                                                                                                                            vTaskDelay (Thumb, 148 bytes, Stack size 24 bytes, tasks.o(.text.vTaskDelay))

                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                            • Max Depth = 88
                                                                                                                                                                                                                                                                                                                                            • Call Chain = vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                            • >>   vListInsert -
                                                                                                                                                                                                                                                                                                                                            • >>   uxListRemove -
                                                                                                                                                                                                                                                                                                                                            • >>   xTaskResumeAll +
                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                              • >>   vListInsert +
                                                                                                                                                                                                                                                                                                                                              • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                              • >>   xTaskResumeAll
                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                              • >>   osDelay +
                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                • >>   osDelay
                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                vTaskDelayUntil (Thumb, 228 bytes, Stack size 24 bytes, tasks.o(.text.vTaskDelayUntil)) +

                                                                                                                                                                                                                                                                                                                                                vTaskDelayUntil (Thumb, 228 bytes, Stack size 24 bytes, tasks.o(.text.vTaskDelayUntil))

                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                • Max Depth = 88
                                                                                                                                                                                                                                                                                                                                                • Call Chain = vTaskDelayUntil ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                • >>   vListInsert -
                                                                                                                                                                                                                                                                                                                                                • >>   uxListRemove -
                                                                                                                                                                                                                                                                                                                                                • >>   xTaskResumeAll +
                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                  • >>   vListInsert +
                                                                                                                                                                                                                                                                                                                                                  • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                  • >>   xTaskResumeAll
                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                  • >>   osDelayUntil +
                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                    • >>   osDelayUntil
                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                    vTaskDelete (Thumb, 232 bytes, Stack size 24 bytes, tasks.o(.text.vTaskDelete)) +

                                                                                                                                                                                                                                                                                                                                                    vTaskDelete (Thumb, 232 bytes, Stack size 24 bytes, tasks.o(.text.vTaskDelete))

                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 104
                                                                                                                                                                                                                                                                                                                                                    • Call Chain = vTaskDelete ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                    • >>   vListInsertEnd -
                                                                                                                                                                                                                                                                                                                                                    • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                      • >>   vListInsertEnd +
                                                                                                                                                                                                                                                                                                                                                      • >>   uxListRemove
                                                                                                                                                                                                                                                                                                                                                      • >>   vPortFree -
                                                                                                                                                                                                                                                                                                                                                      • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                      • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                      • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                      • >>   vPortEnterCritical
                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                      • >>   osThreadTerminate +
                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                        • >>   osThreadTerminate
                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                        vTaskInternalSetTimeOutState (Thumb, 18 bytes, Stack size 0 bytes, tasks.o(.text.vTaskInternalSetTimeOutState)) -

                                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                                        • >>   xQueueSemaphoreTake -
                                                                                                                                                                                                                                                                                                                                                        • >>   xQueueReceive -
                                                                                                                                                                                                                                                                                                                                                        • >>   xQueueGenericSend +

                                                                                                                                                                                                                                                                                                                                                          vTaskInternalSetTimeOutState (Thumb, 18 bytes, Stack size 0 bytes, tasks.o(.text.vTaskInternalSetTimeOutState)) +

                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                          • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                                                                                                                                                                          • >>   xQueueReceive +
                                                                                                                                                                                                                                                                                                                                                          • >>   xQueueGenericSend
                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                          vTaskMissedYield (Thumb, 14 bytes, Stack size 0 bytes, tasks.o(.text.vTaskMissedYield)) -

                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                          • >>   prvUnlockQueue +

                                                                                                                                                                                                                                                                                                                                                            vTaskMissedYield (Thumb, 14 bytes, Stack size 0 bytes, tasks.o(.text.vTaskMissedYield)) +

                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                            • >>   prvUnlockQueue
                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                            vTaskPlaceOnEventList (Thumb, 138 bytes, Stack size 24 bytes, tasks.o(.text.vTaskPlaceOnEventList)) +

                                                                                                                                                                                                                                                                                                                                                            vTaskPlaceOnEventList (Thumb, 138 bytes, Stack size 24 bytes, tasks.o(.text.vTaskPlaceOnEventList))

                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                            • Call Chain = vTaskPlaceOnEventList ⇒ vListInsert
                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                            • >>   vListInsertEnd -
                                                                                                                                                                                                                                                                                                                                                            • >>   vListInsert -
                                                                                                                                                                                                                                                                                                                                                            • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                              • >>   vListInsertEnd +
                                                                                                                                                                                                                                                                                                                                                              • >>   vListInsert +
                                                                                                                                                                                                                                                                                                                                                              • >>   uxListRemove
                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueSemaphoreTake -
                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueReceive -
                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                                                                                                                                                                                • >>   xQueueReceive +
                                                                                                                                                                                                                                                                                                                                                                • >>   xQueueGenericSend
                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                vTaskPlaceOnEventListRestricted (Thumb, 156 bytes, Stack size 24 bytes, tasks.o(.text.vTaskPlaceOnEventListRestricted)) +

                                                                                                                                                                                                                                                                                                                                                                vTaskPlaceOnEventListRestricted (Thumb, 156 bytes, Stack size 24 bytes, tasks.o(.text.vTaskPlaceOnEventListRestricted))

                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                                • Call Chain = vTaskPlaceOnEventListRestricted ⇒ vListInsert
                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                • >>   vListInsertEnd -
                                                                                                                                                                                                                                                                                                                                                                • >>   vListInsert -
                                                                                                                                                                                                                                                                                                                                                                • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                  • >>   vListInsertEnd +
                                                                                                                                                                                                                                                                                                                                                                  • >>   vListInsert +
                                                                                                                                                                                                                                                                                                                                                                  • >>   uxListRemove
                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                  • >>   vQueueWaitForMessageRestricted +
                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                    • >>   vQueueWaitForMessageRestricted
                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                    vTaskPriorityDisinheritAfterTimeout (Thumb, 166 bytes, Stack size 16 bytes, tasks.o(.text.vTaskPriorityDisinheritAfterTimeout)) +

                                                                                                                                                                                                                                                                                                                                                                    vTaskPriorityDisinheritAfterTimeout (Thumb, 166 bytes, Stack size 16 bytes, tasks.o(.text.vTaskPriorityDisinheritAfterTimeout))

                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = vTaskPriorityDisinheritAfterTimeout
                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                    • >>   vListInsertEnd -
                                                                                                                                                                                                                                                                                                                                                                    • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                      • >>   vListInsertEnd +
                                                                                                                                                                                                                                                                                                                                                                      • >>   uxListRemove
                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                      • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                        • >>   xQueueSemaphoreTake
                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                        vTaskStartScheduler (Thumb, 140 bytes, Stack size 32 bytes, tasks.o(.text.vTaskStartScheduler)) +

                                                                                                                                                                                                                                                                                                                                                                        vTaskStartScheduler (Thumb, 140 bytes, Stack size 32 bytes, tasks.o(.text.vTaskStartScheduler))

                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 136
                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ xTaskCreateStatic ⇒ prvAddNewTaskToReadyList
                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                        • >>   xTimerCreateTimerTask -
                                                                                                                                                                                                                                                                                                                                                                        • >>   xTaskCreateStatic -
                                                                                                                                                                                                                                                                                                                                                                        • >>   xPortStartScheduler -
                                                                                                                                                                                                                                                                                                                                                                        • >>   vApplicationGetIdleTaskMemory +
                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                          • >>   xTimerCreateTimerTask +
                                                                                                                                                                                                                                                                                                                                                                          • >>   xTaskCreateStatic +
                                                                                                                                                                                                                                                                                                                                                                          • >>   xPortStartScheduler +
                                                                                                                                                                                                                                                                                                                                                                          • >>   vApplicationGetIdleTaskMemory
                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                          • >>   osKernelStart +
                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                            • >>   osKernelStart
                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                            vTaskSuspendAll (Thumb, 16 bytes, Stack size 0 bytes, tasks.o(.text.vTaskSuspendAll)) -

                                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                                            • >>   xQueueSemaphoreTake -
                                                                                                                                                                                                                                                                                                                                                                            • >>   xQueueReceive -
                                                                                                                                                                                                                                                                                                                                                                            • >>   xQueueGenericSend +

                                                                                                                                                                                                                                                                                                                                                                              vTaskSuspendAll (Thumb, 16 bytes, Stack size 0 bytes, tasks.o(.text.vTaskSuspendAll)) +

                                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueReceive +
                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueGenericSend
                                                                                                                                                                                                                                                                                                                                                                              • >>   vPortFree
                                                                                                                                                                                                                                                                                                                                                                              • >>   pvPortMalloc
                                                                                                                                                                                                                                                                                                                                                                              • >>   prvTimerTask -
                                                                                                                                                                                                                                                                                                                                                                              • >>   osKernelLock +
                                                                                                                                                                                                                                                                                                                                                                              • >>   osKernelLock
                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                              vTaskSwitchContext (Thumb, 138 bytes, Stack size 8 bytes, tasks.o(.text.vTaskSwitchContext)) +

                                                                                                                                                                                                                                                                                                                                                                              vTaskSwitchContext (Thumb, 138 bytes, Stack size 8 bytes, tasks.o(.text.vTaskSwitchContext))

                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = vTaskSwitchContext
                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                              • >>   xPortStartScheduler +
                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                • >>   xPortStartScheduler
                                                                                                                                                                                                                                                                                                                                                                                • >>   PendSV_Handler
                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                xPortStartScheduler (Thumb, 290 bytes, Stack size 32 bytes, port.o(.text.xPortStartScheduler)) +

                                                                                                                                                                                                                                                                                                                                                                                xPortStartScheduler (Thumb, 290 bytes, Stack size 32 bytes, port.o(.text.xPortStartScheduler))

                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = xPortStartScheduler ⇒ vTaskSwitchContext
                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                • >>   vTaskSwitchContext -
                                                                                                                                                                                                                                                                                                                                                                                • >>   vPortSetupTimerInterrupt -
                                                                                                                                                                                                                                                                                                                                                                                • >>   vPortEnableVFP -
                                                                                                                                                                                                                                                                                                                                                                                • >>   prvPortStartFirstTask +
                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                  • >>   vTaskSwitchContext +
                                                                                                                                                                                                                                                                                                                                                                                  • >>   vPortSetupTimerInterrupt +
                                                                                                                                                                                                                                                                                                                                                                                  • >>   vPortEnableVFP +
                                                                                                                                                                                                                                                                                                                                                                                  • >>   prvPortStartFirstTask
                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                  • >>   vTaskStartScheduler +
                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                    • >>   vTaskStartScheduler
                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                    xPortSysTickHandler (Thumb, 48 bytes, Stack size 8 bytes, port.o(.text.xPortSysTickHandler)) +

                                                                                                                                                                                                                                                                                                                                                                                    xPortSysTickHandler (Thumb, 48 bytes, Stack size 8 bytes, port.o(.text.xPortSysTickHandler))

                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = xPortSysTickHandler ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                    • >>   xTaskIncrementTick +
                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                      • >>   xTaskIncrementTick

                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                      • >>   SysTick_Handler
                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                      xQueueGenericCreate (Thumb, 138 bytes, Stack size 24 bytes, queue.o(.text.xQueueGenericCreate)) +

                                                                                                                                                                                                                                                                                                                                                                                      xQueueGenericCreate (Thumb, 138 bytes, Stack size 24 bytes, queue.o(.text.xQueueGenericCreate))

                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 104
                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = xQueueGenericCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                      • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                                                      • >>   vPortEnterCritical -
                                                                                                                                                                                                                                                                                                                                                                                      • >>   vListInitialise +
                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                                                        • >>   vListInitialise
                                                                                                                                                                                                                                                                                                                                                                                        • >>   pvPortMalloc

                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                        • >>   osMessageQueueNew
                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                        xQueueGenericCreateStatic (Thumb, 222 bytes, Stack size 24 bytes, queue.o(.text.xQueueGenericCreateStatic)) +

                                                                                                                                                                                                                                                                                                                                                                                        xQueueGenericCreateStatic (Thumb, 222 bytes, Stack size 24 bytes, queue.o(.text.xQueueGenericCreateStatic))

                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 24
                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = xQueueGenericCreateStatic
                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortEnterCritical -
                                                                                                                                                                                                                                                                                                                                                                                        • >>   vListInitialise +
                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                          • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                                                          • >>   vListInitialise
                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                          • >>   xTimerCreateTimerTask +
                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                            • >>   xTimerCreateTimerTask
                                                                                                                                                                                                                                                                                                                                                                                            • >>   osMessageQueueNew
                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                            xQueueGenericSend (Thumb, 524 bytes, Stack size 48 bytes, queue.o(.text.xQueueGenericSend)) +

                                                                                                                                                                                                                                                                                                                                                                                            xQueueGenericSend (Thumb, 524 bytes, Stack size 48 bytes, queue.o(.text.xQueueGenericSend))

                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 112
                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                            • >>   xTaskGetSchedulerState -
                                                                                                                                                                                                                                                                                                                                                                                            • >>   xTaskRemoveFromEventList -
                                                                                                                                                                                                                                                                                                                                                                                            • >>   xTaskPriorityDisinherit -
                                                                                                                                                                                                                                                                                                                                                                                            • >>   xTaskCheckForTimeOut -
                                                                                                                                                                                                                                                                                                                                                                                            • >>   vTaskPlaceOnEventList -
                                                                                                                                                                                                                                                                                                                                                                                            • >>   vTaskInternalSetTimeOutState -
                                                                                                                                                                                                                                                                                                                                                                                            • >>   prvUnlockQueue -
                                                                                                                                                                                                                                                                                                                                                                                            • >>   xTaskResumeAll -
                                                                                                                                                                                                                                                                                                                                                                                            • >>   vTaskSuspendAll -
                                                                                                                                                                                                                                                                                                                                                                                            • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                                                            • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                              • >>   xTaskGetSchedulerState +
                                                                                                                                                                                                                                                                                                                                                                                              • >>   xTaskRemoveFromEventList +
                                                                                                                                                                                                                                                                                                                                                                                              • >>   xTaskPriorityDisinherit +
                                                                                                                                                                                                                                                                                                                                                                                              • >>   xTaskCheckForTimeOut +
                                                                                                                                                                                                                                                                                                                                                                                              • >>   vTaskPlaceOnEventList +
                                                                                                                                                                                                                                                                                                                                                                                              • >>   vTaskInternalSetTimeOutState +
                                                                                                                                                                                                                                                                                                                                                                                              • >>   prvUnlockQueue +
                                                                                                                                                                                                                                                                                                                                                                                              • >>   xTaskResumeAll +
                                                                                                                                                                                                                                                                                                                                                                                              • >>   vTaskSuspendAll +
                                                                                                                                                                                                                                                                                                                                                                                              • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                                                              • >>   vPortEnterCritical
                                                                                                                                                                                                                                                                                                                                                                                              • >>   __aeabi_memcpy
                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueGiveMutexRecursive +
                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                • >>   xQueueGiveMutexRecursive
                                                                                                                                                                                                                                                                                                                                                                                                • >>   prvTimerTask -
                                                                                                                                                                                                                                                                                                                                                                                                • >>   prvSampleTimeNow +
                                                                                                                                                                                                                                                                                                                                                                                                • >>   prvSampleTimeNow
                                                                                                                                                                                                                                                                                                                                                                                                • >>   osMutexRelease -
                                                                                                                                                                                                                                                                                                                                                                                                • >>   osMessageQueuePut +
                                                                                                                                                                                                                                                                                                                                                                                                • >>   osMessageQueuePut
                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                xQueueGenericSendFromISR (Thumb, 330 bytes, Stack size 32 bytes, queue.o(.text.xQueueGenericSendFromISR)) +

                                                                                                                                                                                                                                                                                                                                                                                                xQueueGenericSendFromISR (Thumb, 330 bytes, Stack size 32 bytes, queue.o(.text.xQueueGenericSendFromISR))

                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 48
                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = xQueueGenericSendFromISR ⇒ xTaskRemoveFromEventList
                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                • >>   xTaskRemoveFromEventList -
                                                                                                                                                                                                                                                                                                                                                                                                • >>   xTaskPriorityDisinherit -
                                                                                                                                                                                                                                                                                                                                                                                                • >>   vPortValidateInterruptPriority +
                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   xTaskRemoveFromEventList +
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   xTaskPriorityDisinherit +
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vPortValidateInterruptPriority
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __aeabi_memcpy
                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                  • >>   osMessageQueuePut +
                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   osMessageQueuePut
                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                    xQueueGiveMutexRecursive (Thumb, 66 bytes, Stack size 16 bytes, queue.o(.text.xQueueGiveMutexRecursive)) +

                                                                                                                                                                                                                                                                                                                                                                                                    xQueueGiveMutexRecursive (Thumb, 66 bytes, Stack size 16 bytes, queue.o(.text.xQueueGiveMutexRecursive))

                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 128
                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   xTaskGetCurrentTaskHandle -
                                                                                                                                                                                                                                                                                                                                                                                                    • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xTaskGetCurrentTaskHandle +
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xQueueGenericSend

                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   osMutexRelease
                                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                                      xQueueReceive (Thumb, 410 bytes, Stack size 56 bytes, queue.o(.text.xQueueReceive)) +

                                                                                                                                                                                                                                                                                                                                                                                                      xQueueReceive (Thumb, 410 bytes, Stack size 56 bytes, queue.o(.text.xQueueReceive))

                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 120
                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = xQueueReceive ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xTaskGetSchedulerState -
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xTaskRemoveFromEventList -
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xTaskCheckForTimeOut -
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vTaskPlaceOnEventList -
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vTaskInternalSetTimeOutState -
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   prvUnlockQueue -
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xTaskResumeAll -
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vTaskSuspendAll -
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xTaskGetSchedulerState +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xTaskRemoveFromEventList +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xTaskCheckForTimeOut +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vTaskPlaceOnEventList +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vTaskInternalSetTimeOutState +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   prvUnlockQueue +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xTaskResumeAll +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vTaskSuspendAll +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortEnterCritical
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __aeabi_memcpy

                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   prvTimerTask
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   osMessageQueueGet
                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                        xQueueReceiveFromISR (Thumb, 184 bytes, Stack size 32 bytes, queue.o(.text.xQueueReceiveFromISR)) +

                                                                                                                                                                                                                                                                                                                                                                                                        xQueueReceiveFromISR (Thumb, 184 bytes, Stack size 32 bytes, queue.o(.text.xQueueReceiveFromISR))

                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 48
                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = xQueueReceiveFromISR ⇒ xTaskRemoveFromEventList
                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xTaskRemoveFromEventList -
                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortValidateInterruptPriority +
                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xTaskRemoveFromEventList +
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vPortValidateInterruptPriority
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __aeabi_memcpy

                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   osMessageQueueGet
                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                          xQueueSemaphoreTake (Thumb, 450 bytes, Stack size 56 bytes, queue.o(.text.xQueueSemaphoreTake)) +

                                                                                                                                                                                                                                                                                                                                                                                                          xQueueSemaphoreTake (Thumb, 450 bytes, Stack size 56 bytes, queue.o(.text.xQueueSemaphoreTake))

                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 120
                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xTaskGetSchedulerState -
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xTaskRemoveFromEventList -
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xTaskPriorityInherit -
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xTaskCheckForTimeOut -
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vTaskPriorityDisinheritAfterTimeout -
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vTaskPlaceOnEventList -
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vTaskInternalSetTimeOutState -
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   pvTaskIncrementMutexHeldCount -
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   prvUnlockQueue -
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xTaskResumeAll -
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vTaskSuspendAll -
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xTaskGetSchedulerState +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xTaskRemoveFromEventList +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xTaskPriorityInherit +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xTaskCheckForTimeOut +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vTaskPriorityDisinheritAfterTimeout +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vTaskPlaceOnEventList +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vTaskInternalSetTimeOutState +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   pvTaskIncrementMutexHeldCount +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   prvUnlockQueue +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xTaskResumeAll +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vTaskSuspendAll +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vPortEnterCritical
                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xQueueTakeMutexRecursive +
                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueTakeMutexRecursive
                                                                                                                                                                                                                                                                                                                                                                                                              • >>   osMutexAcquire
                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                              xQueueTakeMutexRecursive (Thumb, 64 bytes, Stack size 16 bytes, queue.o(.text.xQueueTakeMutexRecursive)) +

                                                                                                                                                                                                                                                                                                                                                                                                              xQueueTakeMutexRecursive (Thumb, 64 bytes, Stack size 16 bytes, queue.o(.text.xQueueTakeMutexRecursive))

                                                                                                                                                                                                                                                                                                                                                                                                              [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                              • Max Depth = 136
                                                                                                                                                                                                                                                                                                                                                                                                              • Call Chain = xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xTaskGetCurrentTaskHandle -
                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   xTaskGetCurrentTaskHandle +
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   xQueueSemaphoreTake

                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   osMutexAcquire
                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                xTaskCheckForTimeOut (Thumb, 136 bytes, Stack size 16 bytes, tasks.o(.text.xTaskCheckForTimeOut)) +

                                                                                                                                                                                                                                                                                                                                                                                                                xTaskCheckForTimeOut (Thumb, 136 bytes, Stack size 16 bytes, tasks.o(.text.xTaskCheckForTimeOut))

                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = xTaskCheckForTimeOut
                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                                                                                • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vPortEnterCritical
                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   xQueueSemaphoreTake -
                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   xQueueReceive -
                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   xQueueReceive +
                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   xQueueGenericSend
                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                    xTaskCreate (Thumb, 220 bytes, Stack size 40 bytes, tasks.o(.text.xTaskCreate)) +

                                                                                                                                                                                                                                                                                                                                                                                                                    xTaskCreate (Thumb, 220 bytes, Stack size 40 bytes, tasks.o(.text.xTaskCreate))

                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 120
                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = xTaskCreate ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   vListInitialiseItem +
                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vListInitialiseItem
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vPortFree
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   pvPortMalloc -
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   pxPortInitialiseStack -
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   prvAddNewTaskToReadyList -
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_memset4 +
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   pxPortInitialiseStack +
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   prvAddNewTaskToReadyList +
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_memset4
                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   osThreadNew +
                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   osThreadNew
                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                        xTaskCreateStatic (Thumb, 242 bytes, Stack size 40 bytes, tasks.o(.text.xTaskCreateStatic)) +

                                                                                                                                                                                                                                                                                                                                                                                                                        xTaskCreateStatic (Thumb, 242 bytes, Stack size 40 bytes, tasks.o(.text.xTaskCreateStatic))

                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 64
                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = xTaskCreateStatic ⇒ prvAddNewTaskToReadyList
                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vListInitialiseItem -
                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   pxPortInitialiseStack -
                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   prvAddNewTaskToReadyList -
                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __aeabi_memset4 +
                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vListInitialiseItem +
                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   pxPortInitialiseStack +
                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   prvAddNewTaskToReadyList +
                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __aeabi_memset4
                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   osThreadNew -
                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xTimerCreateTimerTask -
                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vTaskStartScheduler +
                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   osThreadNew +
                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xTimerCreateTimerTask +
                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vTaskStartScheduler
                                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                                            xTaskGetCurrentTaskHandle (Thumb, 12 bytes, Stack size 0 bytes, tasks.o(.text.xTaskGetCurrentTaskHandle)) -

                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   osThreadGetId -
                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xQueueTakeMutexRecursive -
                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xQueueGiveMutexRecursive +

                                                                                                                                                                                                                                                                                                                                                                                                                              xTaskGetCurrentTaskHandle (Thumb, 12 bytes, Stack size 0 bytes, tasks.o(.text.xTaskGetCurrentTaskHandle)) +

                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   osThreadGetId +
                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueTakeMutexRecursive +
                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueGiveMutexRecursive
                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                              xTaskGetSchedulerState (Thumb, 30 bytes, Stack size 0 bytes, tasks.o(.text.xTaskGetSchedulerState)) +

                                                                                                                                                                                                                                                                                                                                                                                                                              xTaskGetSchedulerState (Thumb, 30 bytes, Stack size 0 bytes, tasks.o(.text.xTaskGetSchedulerState))

                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   SysTick_Handler -
                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueSemaphoreTake -
                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueReceive -
                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueReceive +
                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueGenericSend
                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   prvTimerTask -
                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   prvSampleTimeNow -
                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   osKernelUnlock -
                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   osKernelLock +
                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   prvSampleTimeNow +
                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   osKernelUnlock +
                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   osKernelLock

                                                                                                                                                                                                                                                                                                                                                                                                                              xTaskGetTickCount (Thumb, 12 bytes, Stack size 0 bytes, tasks.o(.text.xTaskGetTickCount)) -

                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   prvSampleTimeNow +

                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   prvSampleTimeNow
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   BSP_TIME_Get -
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   osThreadFlagsWait -
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   osKernelGetTickCount -
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   osDelayUntil +
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   osThreadFlagsWait +
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   osKernelGetTickCount +
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   osDelayUntil
                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                xTaskGetTickCountFromISR (Thumb, 18 bytes, Stack size 8 bytes, tasks.o(.text.xTaskGetTickCountFromISR)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                xTaskGetTickCountFromISR (Thumb, 18 bytes, Stack size 8 bytes, tasks.o(.text.xTaskGetTickCountFromISR))

                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 8
                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = xTaskGetTickCountFromISR
                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   vPortValidateInterruptPriority +
                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vPortValidateInterruptPriority
                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   osKernelGetTickCount +
                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   osKernelGetTickCount
                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                    xTaskIncrementTick (Thumb, 288 bytes, Stack size 32 bytes, tasks.o(.text.xTaskIncrementTick)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                    xTaskIncrementTick (Thumb, 288 bytes, Stack size 32 bytes, tasks.o(.text.xTaskIncrementTick))

                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 32
                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   vListInsertEnd -
                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vListInsertEnd +
                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   uxListRemove
                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xPortSysTickHandler -
                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xTaskResumeAll +
                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xPortSysTickHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xTaskResumeAll
                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                        xTaskNotifyWait (Thumb, 238 bytes, Stack size 32 bytes, tasks.o(.text.xTaskNotifyWait)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                        xTaskNotifyWait (Thumb, 238 bytes, Stack size 32 bytes, tasks.o(.text.xTaskNotifyWait))

                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = xTaskNotifyWait ⇒ vListInsert
                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vListInsertEnd -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vListInsert -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   uxListRemove -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vListInsertEnd +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vListInsert +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vPortEnterCritical
                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   osThreadFlagsWait +
                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   osThreadFlagsWait
                                                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                                                            xTaskPriorityDisinherit (Thumb, 150 bytes, Stack size 16 bytes, tasks.o(.text.xTaskPriorityDisinherit)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                            xTaskPriorityDisinherit (Thumb, 150 bytes, Stack size 16 bytes, tasks.o(.text.xTaskPriorityDisinherit))

                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = xTaskPriorityDisinherit
                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vListInsertEnd -
                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   vListInsertEnd +
                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   uxListRemove
                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueGenericSendFromISR -
                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   xQueueGenericSendFromISR +
                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   xQueueGenericSend
                                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                                xTaskPriorityInherit (Thumb, 148 bytes, Stack size 24 bytes, tasks.o(.text.xTaskPriorityInherit)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                xTaskPriorityInherit (Thumb, 148 bytes, Stack size 24 bytes, tasks.o(.text.xTaskPriorityInherit))

                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 24
                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = xTaskPriorityInherit
                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   vListInsertEnd -
                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vListInsertEnd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   uxListRemove
                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   xQueueSemaphoreTake
                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                    xTaskRemoveFromEventList (Thumb, 130 bytes, Stack size 16 bytes, tasks.o(.text.xTaskRemoveFromEventList)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    xTaskRemoveFromEventList (Thumb, 130 bytes, Stack size 16 bytes, tasks.o(.text.xTaskRemoveFromEventList))

                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = xTaskRemoveFromEventList
                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   vListInsertEnd -
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vListInsertEnd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   uxListRemove
                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xQueueSemaphoreTake -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xQueueReceiveFromISR -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xQueueReceive -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xQueueGenericSendFromISR -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xQueueGenericSend -
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   prvUnlockQueue +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xQueueReceiveFromISR +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xQueueReceive +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xQueueGenericSendFromISR +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   prvUnlockQueue
                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                        xTaskResumeAll (Thumb, 244 bytes, Stack size 32 bytes, tasks.o(.text.xTaskResumeAll)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                        xTaskResumeAll (Thumb, 244 bytes, Stack size 32 bytes, tasks.o(.text.xTaskResumeAll))

                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 64
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vListInsertEnd -
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   uxListRemove -
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortEnterCritical -
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xTaskIncrementTick +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vListInsertEnd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xQueueSemaphoreTake -
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xQueueReceive -
                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xQueueReceive +
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xQueueGenericSend
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vPortFree
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   pvPortMalloc
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   prvTimerTask -
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vTaskDelayUntil -
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vTaskDelay -
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   osKernelUnlock +
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vTaskDelayUntil +
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vTaskDelay +
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   osKernelUnlock
                                                                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                                                                            xTimerCreateTimerTask (Thumb, 184 bytes, Stack size 40 bytes, timers.o(.text.xTimerCreateTimerTask)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                            xTimerCreateTimerTask (Thumb, 184 bytes, Stack size 40 bytes, timers.o(.text.xTimerCreateTimerTask))

                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 104
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = xTimerCreateTimerTask ⇒ xTaskCreateStatic ⇒ prvAddNewTaskToReadyList
                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xQueueGenericCreateStatic -
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vQueueAddToRegistry -
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vPortEnterCritical -
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vListInitialise -
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vApplicationGetTimerTaskMemory -
                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xTaskCreateStatic +
                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xQueueGenericCreateStatic +
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   vQueueAddToRegistry +
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   vListInitialise +
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   vApplicationGetTimerTaskMemory +
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xTaskCreateStatic
                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   vTaskStartScheduler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   vTaskStartScheduler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                __ARM_fpclassifyf (Thumb, 38 bytes, Stack size 0 bytes, fpclassifyf.o(i.__ARM_fpclassifyf)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_tanf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_sinf +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  __ARM_fpclassifyf (Thumb, 38 bytes, Stack size 0 bytes, fpclassifyf.o(i.__ARM_fpclassifyf)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_tanf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_sinf

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  __hardfp__fabsf (Thumb, 14 bytes, Stack size 0 bytes, fabsf.o(i.__hardfp__fabsf))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   Chassis_Control -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   PID_Calc -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   Mixer_Apply +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   PID_Calc +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   Mixer_Apply
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  __hardfp_cosf (Thumb, 280 bytes, Stack size 8 bytes, cosf.o(i.__hardfp_cosf)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  __hardfp_cosf (Thumb, 280 bytes, Stack size 8 bytes, cosf.o(i.__hardfp_cosf))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 28
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = __hardfp_cosf ⇒ __mathlib_rredf2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __mathlib_rredf2 -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __mathlib_flt_invalid -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __mathlib_flt_infnan -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __set_errno +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __mathlib_rredf2 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __mathlib_flt_invalid +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __mathlib_flt_infnan +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __set_errno

                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   Chassis_Control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                    __hardfp_fmaxf (Thumb, 72 bytes, Stack size 16 bytes, fmaxf.o(i.__hardfp_fmaxf)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                    __hardfp_fmaxf (Thumb, 72 bytes, Stack size 16 bytes, fmaxf.o(i.__hardfp_fmaxf))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = __hardfp_fmaxf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __ARM_fcmp4 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __ARM_fcmp4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   PID_Calc +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   PID_Calc
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                        __hardfp_sinf (Thumb, 344 bytes, Stack size 16 bytes, sinf.o(i.__hardfp_sinf)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                        __hardfp_sinf (Thumb, 344 bytes, Stack size 16 bytes, sinf.o(i.__hardfp_sinf))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 36
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = __hardfp_sinf ⇒ __mathlib_rredf2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __mathlib_rredf2 -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __mathlib_flt_underflow -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __mathlib_flt_invalid -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __mathlib_flt_infnan -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __ARM_fpclassifyf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __set_errno +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __mathlib_rredf2 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __mathlib_flt_underflow +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __mathlib_flt_invalid +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __mathlib_flt_infnan +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __ARM_fpclassifyf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __set_errno

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   Chassis_Control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          __hardfp_tanf (Thumb, 322 bytes, Stack size 16 bytes, tanf.o(i.__hardfp_tanf)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          __hardfp_tanf (Thumb, 322 bytes, Stack size 16 bytes, tanf.o(i.__hardfp_tanf))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 36
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = __hardfp_tanf ⇒ __mathlib_rredf2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __mathlib_rredf2 -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __mathlib_flt_underflow -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __mathlib_flt_invalid -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __mathlib_flt_infnan -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __ARM_fpclassifyf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __set_errno +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __mathlib_rredf2 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __mathlib_flt_underflow +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __mathlib_flt_invalid +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __mathlib_flt_infnan +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __ARM_fpclassifyf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __set_errno
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   LowPassFilter2p_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   LowPassFilter2p_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                              __mathlib_flt_infnan (Thumb, 6 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_infnan)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   __hardfp_tanf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   __hardfp_sinf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   __hardfp_cosf +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                __mathlib_flt_infnan (Thumb, 6 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_infnan)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_tanf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_sinf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_cosf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                __mathlib_flt_invalid (Thumb, 10 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_invalid)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_tanf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_sinf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   __hardfp_cosf +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  __mathlib_flt_invalid (Thumb, 10 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_invalid)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_tanf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_sinf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_cosf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  __mathlib_flt_underflow (Thumb, 10 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_underflow)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_tanf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   __hardfp_sinf +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    __mathlib_flt_underflow (Thumb, 10 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_underflow)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_tanf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_sinf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    __mathlib_rredf2 (Thumb, 316 bytes, Stack size 20 bytes, rredf.o(i.__mathlib_rredf2)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    __mathlib_rredf2 (Thumb, 316 bytes, Stack size 20 bytes, rredf.o(i.__mathlib_rredf2))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = __mathlib_rredf2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_tanf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_sinf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   __hardfp_cosf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __hardfp_tanf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __hardfp_sinf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __hardfp_cosf
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      __scatterload_copy (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      __scatterload_copy (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      __scatterload_null (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      __scatterload_null (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      __scatterload_zeroinit (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      __scatterload_zeroinit (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      __set_errno (Thumb, 6 bytes, Stack size 0 bytes, errno.o(i.__set_errno)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __hardfp_tanf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __hardfp_sinf -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __hardfp_cosf +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        __set_errno (Thumb, 6 bytes, Stack size 0 bytes, errno.o(i.__set_errno)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __hardfp_tanf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __hardfp_sinf +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   __hardfp_cosf

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Local Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UART_DMAAbortOnError (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAAbortOnError)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_UART_ErrorCallback +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_UART_ErrorCallback

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UART_DMAError (Thumb, 170 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAError)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   HAL_UART_ErrorCallback +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_ErrorCallback

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UART_DMAReceiveCplt (Thumb, 140 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UARTEx_RxEventCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   HAL_UART_RxCpltCallback +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_UARTEx_RxEventCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_UART_RxCpltCallback

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UART_DMARxHalfCplt (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_UARTEx_RxEventCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   HAL_UART_RxHalfCpltCallback +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_UARTEx_RxEventCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_UART_RxHalfCpltCallback

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UART_Receive_IT (Thumb, 204 bytes, Stack size 4 bytes, stm32f4xx_hal_uart.o(.text.UART_Receive_IT)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UART_Receive_IT (Thumb, 204 bytes, Stack size 4 bytes, stm32f4xx_hal_uart.o(.text.UART_Receive_IT))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = UART_Receive_IT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_UARTEx_RxEventCallback -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   HAL_UART_RxCpltCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_UARTEx_RxEventCallback +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_UART_RxCpltCallback
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   HAL_UART_IRQHandler +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_UART_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UART_SetConfig (Thumb, 226 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.UART_SetConfig)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UART_SetConfig (Thumb, 226 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.UART_SetConfig))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Max Depth = 56
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Call Chain = UART_SetConfig ⇒ __aeabi_uldivmod
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_RCC_GetPCLK2Freq -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   HAL_RCC_GetPCLK1Freq +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_RCC_GetPCLK2Freq +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_RCC_GetPCLK1Freq
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   __aeabi_uldivmod
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   HAL_UART_Init +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   HAL_UART_Init
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        prvUnlockQueue (Thumb, 122 bytes, Stack size 24 bytes, queue.o(.text.prvUnlockQueue)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        prvUnlockQueue (Thumb, 122 bytes, Stack size 24 bytes, queue.o(.text.prvUnlockQueue))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Max Depth = 40
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Call Chain = prvUnlockQueue ⇒ xTaskRemoveFromEventList
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xTaskRemoveFromEventList -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vTaskMissedYield -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xTaskRemoveFromEventList +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vTaskMissedYield +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vPortEnterCritical
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xQueueSemaphoreTake -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xQueueReceive -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xQueueGenericSend -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   vQueueWaitForMessageRestricted +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xQueueSemaphoreTake +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xQueueReceive +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vQueueWaitForMessageRestricted
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            prvAddNewTaskToReadyList (Thumb, 672 bytes, Stack size 24 bytes, tasks.o(.text.prvAddNewTaskToReadyList)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            prvAddNewTaskToReadyList (Thumb, 672 bytes, Stack size 24 bytes, tasks.o(.text.prvAddNewTaskToReadyList))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Max Depth = 24
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Call Chain = prvAddNewTaskToReadyList
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vListInsertEnd -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vPortEnterCritical -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   vListInitialise +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   vListInsertEnd +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   vListInitialise
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xTaskCreateStatic -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • >>   xTaskCreate +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   xTaskCreateStatic +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   xTaskCreate

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                prvIdleTask (Thumb, 138 bytes, Stack size 24 bytes, tasks.o(.text.prvIdleTask))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Max Depth = 104
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Call Chain = prvIdleTask ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   uxListRemove
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vPortFree -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vPortExitCritical -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vPortEnterCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vPortExitCritical +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vPortEnterCritical

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • tasks.o(.text.vTaskStartScheduler)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  prvSampleTimeNow (Thumb, 178 bytes, Stack size 56 bytes, timers.o(.text.prvSampleTimeNow)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  prvSampleTimeNow (Thumb, 178 bytes, Stack size 56 bytes, timers.o(.text.prvSampleTimeNow))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Max Depth = 168
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Call Chain = prvSampleTimeNow ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   xTaskGetSchedulerState -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   xQueueGenericSend -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   vListInsert -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   xTaskGetSchedulerState +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   vListInsert +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   uxListRemove
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   xTaskGetTickCount

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • >>   prvTimerTask @@ -2583,21 +2588,21 @@ Local Symbols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      prvTimerTask (Thumb, 570 bytes, Stack size 72 bytes, timers.o(.text.prvTimerTask))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Max Depth = 240
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Call Chain = prvTimerTask ⇒ prvSampleTimeNow ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xTaskGetSchedulerState -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xQueueReceive -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xQueueGenericSend -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vQueueWaitForMessageRestricted -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vListInsert -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   uxListRemove -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   xTaskResumeAll -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • >>   vTaskSuspendAll +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xTaskGetSchedulerState +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xQueueReceive +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xQueueGenericSend +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vQueueWaitForMessageRestricted +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vListInsert +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   uxListRemove +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xTaskResumeAll +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vTaskSuspendAll
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   vPortFree -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   prvSampleTimeNow +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   prvSampleTimeNow

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • timers.o(.text.xTimerCreateTimerTask)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        prvPortStartFirstTask (Thumb, 34 bytes, Stack size 0 bytes, port.o(.text.prvPortStartFirstTask)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xPortStartScheduler +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          prvPortStartFirstTask (Thumb, 34 bytes, Stack size 0 bytes, port.o(.text.prvPortStartFirstTask)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xPortStartScheduler

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          prvTaskExitError (Thumb, 50 bytes, Stack size 4 bytes, port.o(.text.prvTaskExitError)) @@ -2605,18 +2610,18 @@ Local Symbols


                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Address Reference Count : 1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • port.o(.text.pxPortInitialiseStack)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        vPortEnableVFP (Thumb, 14 bytes, Stack size 0 bytes, port.o(.text.vPortEnableVFP)) -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • >>   xPortStartScheduler +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vPortEnableVFP (Thumb, 14 bytes, Stack size 0 bytes, port.o(.text.vPortEnableVFP)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Called By]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   xPortStartScheduler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sbus_to_rc (Thumb, 640 bytes, Stack size 40 bytes, ledi.o(.text.sbus_to_rc)) +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sbus_to_rc (Thumb, 640 bytes, Stack size 40 bytes, ledi.o(.text.sbus_to_rc))

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Stack]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Max Depth = 52
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Call Chain = sbus_to_rc ⇒ __aeabi_dcmple
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __aeabi_f2d -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __aeabi_dcmple -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __aeabi_dcmpgt -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   __aeabi_dcmpge -
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • >>   map_fp32 +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Calls]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __aeabi_f2d +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __aeabi_dcmple +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __aeabi_dcmpgt +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   __aeabi_dcmpge +
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   map_fp32

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Called By]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • >>   USART3_IRQHandler
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            diff --git a/MDK-ARM/zzzzh/zzzzh.map b/MDK-ARM/zzzzh/zzzzh.map index e5a8286..120c70b 100644 --- a/MDK-ARM/zzzzh/zzzzh.map +++ b/MDK-ARM/zzzzh/zzzzh.map @@ -2490,18 +2490,19 @@ Section Cross References chassis.o(.text.Chassis_Init) refers to filter.o(.text.LowPassFilter2p_Init) for LowPassFilter2p_Init chassis.o(.text.Chassis_Init) refers to mixer.o(.text.Mixer_Init) for Mixer_Init chassis.o(.text.Chassis_Init) refers to motor_rm.o(.text.MOTOR_RM_Register) for MOTOR_RM_Register - chassis.o(.text.Chassis_Init) refers to motor_rm.o(.text.MOTOR_RM_GetMotor) for MOTOR_RM_GetMotor chassis.o(.ARM.exidx.text.Chassis_Init) refers to chassis.o(.text.Chassis_Init) for [Anonymous Symbol] chassis.o(.text.Chassis_UpdateFeedback) refers to motor_rm.o(.text.MOTOR_RM_Update) for MOTOR_RM_Update + chassis.o(.text.Chassis_UpdateFeedback) refers to motor_rm.o(.text.MOTOR_RM_GetMotor) for MOTOR_RM_GetMotor chassis.o(.ARM.exidx.text.Chassis_UpdateFeedback) refers to chassis.o(.text.Chassis_UpdateFeedback) for [Anonymous Symbol] chassis.o(.text.Chassis_Control) refers to ffltul.o(.text) for __aeabi_ul2f chassis.o(.text.Chassis_Control) refers to rand.o(.text) for srand chassis.o(.text.Chassis_Control) refers to pid.o(.text.PID_Reset) for PID_Reset chassis.o(.text.Chassis_Control) refers to filter.o(.text.LowPassFilter2p_Reset) for LowPassFilter2p_Reset + chassis.o(.text.Chassis_Control) refers to user_math.o(.text.Clip) for Clip chassis.o(.text.Chassis_Control) refers to cosf.o(i.__hardfp_cosf) for __hardfp_cosf chassis.o(.text.Chassis_Control) refers to sinf.o(i.__hardfp_sinf) for __hardfp_sinf - chassis.o(.text.Chassis_Control) refers to pid.o(.text.PID_Calc) for PID_Calc chassis.o(.text.Chassis_Control) refers to fabsf.o(i.__hardfp__fabsf) for __hardfp__fabsf + chassis.o(.text.Chassis_Control) refers to pid.o(.text.PID_Calc) for PID_Calc chassis.o(.text.Chassis_Control) refers to mixer.o(.text.Mixer_Apply) for Mixer_Apply chassis.o(.text.Chassis_Control) refers to filter.o(.text.LowPassFilter2p_Apply) for LowPassFilter2p_Apply chassis.o(.ARM.exidx.text.Chassis_Control) refers to chassis.o(.text.Chassis_Control) for [Anonymous Symbol] @@ -4778,7 +4779,6 @@ Removing Unused input sections from the image. Removing user_math.o(.ARM.exidx.text.AbsClip), (8 bytes). Removing user_math.o(.text.fAbs), (6 bytes). Removing user_math.o(.ARM.exidx.text.fAbs), (8 bytes). - Removing user_math.o(.text.Clip), (38 bytes). Removing user_math.o(.ARM.exidx.text.Clip), (8 bytes). Removing user_math.o(.text.Sign), (32 bytes). Removing user_math.o(.ARM.exidx.text.Sign), (8 bytes). @@ -4813,7 +4813,7 @@ Removing Unused input sections from the image. Removing dfixul.o(.text), (48 bytes). Removing cdrcmple.o(.text), (48 bytes). -1778 unused section(s) (total 87575 bytes) removed from the image. +1777 unused section(s) (total 87537 bytes) removed from the image. ============================================================================== @@ -4902,33 +4902,33 @@ Image Symbol Table ../clib/microlib/division.c 0x00000000 Number 0 uidiv.o ABSOLUTE ../clib/microlib/division.c 0x00000000 Number 0 uldiv.o ABSOLUTE ../clib/microlib/errno.c 0x00000000 Number 0 errno.o ABSOLUTE - ../clib/microlib/init/entry.s 0x00000000 Number 0 entry7b.o ABSOLUTE - ../clib/microlib/init/entry.s 0x00000000 Number 0 entry2.o ABSOLUTE - ../clib/microlib/init/entry.s 0x00000000 Number 0 entry5.o ABSOLUTE - ../clib/microlib/init/entry.s 0x00000000 Number 0 entry7a.o ABSOLUTE ../clib/microlib/init/entry.s 0x00000000 Number 0 entry11b.o ABSOLUTE - ../clib/microlib/init/entry.s 0x00000000 Number 0 entry11a.o ABSOLUTE - ../clib/microlib/init/entry.s 0x00000000 Number 0 entry10b.o ABSOLUTE - ../clib/microlib/init/entry.s 0x00000000 Number 0 entry10a.o ABSOLUTE - ../clib/microlib/init/entry.s 0x00000000 Number 0 entry9b.o ABSOLUTE - ../clib/microlib/init/entry.s 0x00000000 Number 0 entry.o ABSOLUTE - ../clib/microlib/init/entry.s 0x00000000 Number 0 entry9a.o ABSOLUTE ../clib/microlib/init/entry.s 0x00000000 Number 0 entry8b.o ABSOLUTE ../clib/microlib/init/entry.s 0x00000000 Number 0 entry8a.o ABSOLUTE - ../clib/microlib/longlong.c 0x00000000 Number 0 llshl.o ABSOLUTE + ../clib/microlib/init/entry.s 0x00000000 Number 0 entry7b.o ABSOLUTE + ../clib/microlib/init/entry.s 0x00000000 Number 0 entry7a.o ABSOLUTE + ../clib/microlib/init/entry.s 0x00000000 Number 0 entry5.o ABSOLUTE + ../clib/microlib/init/entry.s 0x00000000 Number 0 entry2.o ABSOLUTE + ../clib/microlib/init/entry.s 0x00000000 Number 0 entry9a.o ABSOLUTE + ../clib/microlib/init/entry.s 0x00000000 Number 0 entry9b.o ABSOLUTE + ../clib/microlib/init/entry.s 0x00000000 Number 0 entry10a.o ABSOLUTE + ../clib/microlib/init/entry.s 0x00000000 Number 0 entry.o ABSOLUTE + ../clib/microlib/init/entry.s 0x00000000 Number 0 entry10b.o ABSOLUTE + ../clib/microlib/init/entry.s 0x00000000 Number 0 entry11a.o ABSOLUTE ../clib/microlib/longlong.c 0x00000000 Number 0 llsshr.o ABSOLUTE ../clib/microlib/longlong.c 0x00000000 Number 0 llushr.o ABSOLUTE - ../clib/microlib/printf/printf.c 0x00000000 Number 0 printf7.o ABSOLUTE - ../clib/microlib/printf/printf.c 0x00000000 Number 0 printf8.o ABSOLUTE - ../clib/microlib/printf/printf.c 0x00000000 Number 0 printfa.o ABSOLUTE - ../clib/microlib/printf/printf.c 0x00000000 Number 0 printf4.o ABSOLUTE - ../clib/microlib/printf/printf.c 0x00000000 Number 0 printf5.o ABSOLUTE - ../clib/microlib/printf/printf.c 0x00000000 Number 0 printfb.o ABSOLUTE - ../clib/microlib/printf/printf.c 0x00000000 Number 0 printf0.o ABSOLUTE + ../clib/microlib/longlong.c 0x00000000 Number 0 llshl.o ABSOLUTE ../clib/microlib/printf/printf.c 0x00000000 Number 0 printf1.o ABSOLUTE - ../clib/microlib/printf/printf.c 0x00000000 Number 0 printf2.o ABSOLUTE - ../clib/microlib/printf/printf.c 0x00000000 Number 0 printf3.o ABSOLUTE + ../clib/microlib/printf/printf.c 0x00000000 Number 0 printf0.o ABSOLUTE + ../clib/microlib/printf/printf.c 0x00000000 Number 0 printfb.o ABSOLUTE + ../clib/microlib/printf/printf.c 0x00000000 Number 0 printfa.o ABSOLUTE + ../clib/microlib/printf/printf.c 0x00000000 Number 0 printf8.o ABSOLUTE + ../clib/microlib/printf/printf.c 0x00000000 Number 0 printf7.o ABSOLUTE ../clib/microlib/printf/printf.c 0x00000000 Number 0 printf6.o ABSOLUTE + ../clib/microlib/printf/printf.c 0x00000000 Number 0 printf5.o ABSOLUTE + ../clib/microlib/printf/printf.c 0x00000000 Number 0 printf3.o ABSOLUTE + ../clib/microlib/printf/printf.c 0x00000000 Number 0 printf2.o ABSOLUTE + ../clib/microlib/printf/printf.c 0x00000000 Number 0 printf4.o ABSOLUTE ../clib/microlib/printf/stubs.s 0x00000000 Number 0 stubs.o ABSOLUTE ../clib/microlib/stdio/fputc.c 0x00000000 Number 0 fputc_h.o ABSOLUTE ../clib/microlib/stdio/fputc.c 0x00000000 Number 0 fputc.o ABSOLUTE @@ -4941,14 +4941,14 @@ Image Symbol Table ../clib/microlib/string/strlen.c 0x00000000 Number 0 strlen.o ABSOLUTE ../clib/microlib/string/strncmp.c 0x00000000 Number 0 strncmp.o ABSOLUTE ../clib/microlib/string/strncpy.c 0x00000000 Number 0 strncpy.o ABSOLUTE - ../clib/microlib/stubs.s 0x00000000 Number 0 iusesemip.o ABSOLUTE ../clib/microlib/stubs.s 0x00000000 Number 0 iusefp.o ABSOLUTE + ../clib/microlib/stubs.s 0x00000000 Number 0 iusesemip.o ABSOLUTE ../fplib/microlib/d2f.c 0x00000000 Number 0 d2f.o ABSOLUTE ../fplib/microlib/f2d.c 0x00000000 Number 0 f2d.o ABSOLUTE ../fplib/microlib/fpadd.c 0x00000000 Number 0 dadd.o ABSOLUTE - ../fplib/microlib/fpcmp.c 0x00000000 Number 0 dcmpgt.o ABSOLUTE - ../fplib/microlib/fpcmp.c 0x00000000 Number 0 dcmpge.o ABSOLUTE ../fplib/microlib/fpcmp.c 0x00000000 Number 0 dcmple.o ABSOLUTE + ../fplib/microlib/fpcmp.c 0x00000000 Number 0 dcmpge.o ABSOLUTE + ../fplib/microlib/fpcmp.c 0x00000000 Number 0 dcmpgt.o ABSOLUTE ../fplib/microlib/fpcmp4.c 0x00000000 Number 0 fcmp4.o ABSOLUTE ../fplib/microlib/fpdiv.c 0x00000000 Number 0 ddiv.o ABSOLUTE ../fplib/microlib/fpepilogue.c 0x00000000 Number 0 fepilogue.o ABSOLUTE @@ -4961,10 +4961,10 @@ Image Symbol Table ../fplib/microlib/fpneg.c 0x00000000 Number 0 dneg.o ABSOLUTE ../mathlib/asinf.c 0x00000000 Number 0 asinf.o ABSOLUTE ../mathlib/asinf.c 0x00000000 Number 0 asinf_x.o ABSOLUTE - ../mathlib/atan.c 0x00000000 Number 0 atan.o ABSOLUTE ../mathlib/atan.c 0x00000000 Number 0 atan_x.o ABSOLUTE - ../mathlib/atan2.c 0x00000000 Number 0 atan2.o ABSOLUTE + ../mathlib/atan.c 0x00000000 Number 0 atan.o ABSOLUTE ../mathlib/atan2.c 0x00000000 Number 0 atan2_x.o ABSOLUTE + ../mathlib/atan2.c 0x00000000 Number 0 atan2.o ABSOLUTE ../mathlib/atan2f.c 0x00000000 Number 0 atan2f.o ABSOLUTE ../mathlib/atan2f.c 0x00000000 Number 0 atan2f_x.o ABSOLUTE ../mathlib/cosf.c 0x00000000 Number 0 cosf.o ABSOLUTE @@ -4983,8 +4983,8 @@ Image Symbol Table ../mathlib/sinf.c 0x00000000 Number 0 sinf.o ABSOLUTE ../mathlib/sqrtf.c 0x00000000 Number 0 sqrtf_x.o ABSOLUTE ../mathlib/sqrtf.c 0x00000000 Number 0 sqrtf.o ABSOLUTE - ../mathlib/tanf.c 0x00000000 Number 0 tanf.o ABSOLUTE ../mathlib/tanf.c 0x00000000 Number 0 tanf_x.o ABSOLUTE + ../mathlib/tanf.c 0x00000000 Number 0 tanf.o ABSOLUTE cdrcmple.s 0x00000000 Number 0 cdrcmple.o ABSOLUTE dc.s 0x00000000 Number 0 dc.o ABSOLUTE handlers.s 0x00000000 Number 0 handlers.o ABSOLUTE @@ -5038,381 +5038,382 @@ Image Symbol Table [Anonymous Symbol] 0x08000a28 Section 0 stm32f4xx_it.o(.text.CAN2_RX0_IRQHandler) [Anonymous Symbol] 0x08000a34 Section 0 stm32f4xx_it.o(.text.CAN2_RX1_IRQHandler) [Anonymous Symbol] 0x08000a40 Section 0 chassis.o(.text.Chassis_Control) - [Anonymous Symbol] 0x08000d20 Section 0 chassis.o(.text.Chassis_Init) - [Anonymous Symbol] 0x08000ea4 Section 0 chassis.o(.text.Chassis_Output) - [Anonymous Symbol] 0x08000efc Section 0 chassis.o(.text.Chassis_UpdateFeedback) - [Anonymous Symbol] 0x08000f84 Section 0 user_math.o(.text.CircleError) - [Anonymous Symbol] 0x08000fc0 Section 0 user_math.o(.text.CircleReverse) - [Anonymous Symbol] 0x08000fd8 Section 0 config.o(.text.Config_GetRobotParam) - [Anonymous Symbol] 0x08000fe4 Section 0 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) - [Anonymous Symbol] 0x08000ff0 Section 0 stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) - [Anonymous Symbol] 0x08000ffc Section 0 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) - [Anonymous Symbol] 0x08001008 Section 0 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) - [Anonymous Symbol] 0x08001014 Section 0 stm32f4xx_it.o(.text.DMA2_Stream5_IRQHandler) - [Anonymous Symbol] 0x08001020 Section 0 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) - [Anonymous Symbol] 0x0800102c Section 0 dr16.o(.text.DR16_Offline) - [Anonymous Symbol] 0x08001048 Section 0 dr16.o(.text.DR16_ParseData) - [Anonymous Symbol] 0x08001234 Section 0 dr16.o(.text.DR16_StartDmaRecv) - [Anonymous Symbol] 0x08001254 Section 0 dr16.o(.text.DR16_WaitDmaCplt) - [Anonymous Symbol] 0x0800126c Section 0 stm32f4xx_it.o(.text.DebugMon_Handler) - [Anonymous Symbol] 0x08001270 Section 0 stm32f4xx_it.o(.text.EXTI0_IRQHandler) - [Anonymous Symbol] 0x08001278 Section 0 stm32f4xx_it.o(.text.EXTI4_IRQHandler) - [Anonymous Symbol] 0x08001280 Section 0 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) - [Anonymous Symbol] 0x08001288 Section 0 main.o(.text.Error_Handler) - [Anonymous Symbol] 0x08001290 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) - [Anonymous Symbol] 0x08001320 Section 0 can_1.o(.text.HAL_CAN_ErrorCallback) - [Anonymous Symbol] 0x0800135c Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) - [Anonymous Symbol] 0x08001388 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) - [Anonymous Symbol] 0x080015e4 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) - [Anonymous Symbol] 0x080016e8 Section 0 can.o(.text.HAL_CAN_MspInit) - [Anonymous Symbol] 0x0800184c Section 0 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) - [Anonymous Symbol] 0x08001888 Section 0 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) - [Anonymous Symbol] 0x080018c4 Section 0 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) - [Anonymous Symbol] 0x08001900 Section 0 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) - [Anonymous Symbol] 0x0800193c Section 0 can_1.o(.text.HAL_CAN_SleepCallback) - [Anonymous Symbol] 0x08001978 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) - [Anonymous Symbol] 0x080019b4 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) - [Anonymous Symbol] 0x080019f0 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) - [Anonymous Symbol] 0x08001a2c Section 0 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) - [Anonymous Symbol] 0x08001a68 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) - [Anonymous Symbol] 0x08001aa4 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - [Anonymous Symbol] 0x08001ae0 Section 0 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) - [Anonymous Symbol] 0x08001b1c Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) - [Anonymous Symbol] 0x08001ba0 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) - [Anonymous Symbol] 0x08001bc4 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - [Anonymous Symbol] 0x08001d60 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - [Anonymous Symbol] 0x08001ec4 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - [Anonymous Symbol] 0x08001f68 Section 0 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) - [Anonymous Symbol] 0x0800210c Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) - [Anonymous Symbol] 0x08002124 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - [Anonymous Symbol] 0x080022e4 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) - [Anonymous Symbol] 0x080022f0 Section 0 stm32f4xx_hal.o(.text.HAL_GetTick) - [Anonymous Symbol] 0x080022fc Section 0 stm32f4xx_hal.o(.text.HAL_IncTick) - [Anonymous Symbol] 0x08002310 Section 0 stm32f4xx_hal.o(.text.HAL_Init) - [Anonymous Symbol] 0x08002348 Section 0 stm32f4xx_hal.o(.text.HAL_InitTick) - [Anonymous Symbol] 0x0800238c Section 0 stm32f4xx_hal_msp.o(.text.HAL_MspInit) - [Anonymous Symbol] 0x080023d0 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) - [Anonymous Symbol] 0x080023f0 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) - [Anonymous Symbol] 0x08002454 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) - [Anonymous Symbol] 0x08002474 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) - [Anonymous Symbol] 0x080025d8 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) - [Anonymous Symbol] 0x08002600 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) - [Anonymous Symbol] 0x08002628 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) - [Anonymous Symbol] 0x08002694 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) - [Anonymous Symbol] 0x08002a6c Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) - [Anonymous Symbol] 0x08002b34 Section 0 spi.o(.text.HAL_SPI_MspInit) - [Anonymous Symbol] 0x08002c64 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) - [Anonymous Symbol] 0x08002c90 Section 0 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) - [Anonymous Symbol] 0x08002c94 Section 0 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) - [Anonymous Symbol] 0x08002c98 Section 0 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) - [Anonymous Symbol] 0x08002d54 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) - [Anonymous Symbol] 0x08002ed4 Section 0 tim.o(.text.HAL_TIM_Base_MspInit) - [Anonymous Symbol] 0x08002f68 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource) - [Anonymous Symbol] 0x08003108 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) - [Anonymous Symbol] 0x0800310c Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) - [Anonymous Symbol] 0x08003228 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) - [Anonymous Symbol] 0x0800322c Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) - [Anonymous Symbol] 0x08003458 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) - [Anonymous Symbol] 0x080035d8 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) - [Anonymous Symbol] 0x080035dc Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) - [Anonymous Symbol] 0x080035e0 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback) - [Anonymous Symbol] 0x080035e4 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) - [Anonymous Symbol] 0x080035e8 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) - [Anonymous Symbol] 0x080035ec Section 0 uart.o(.text.HAL_UART_ErrorCallback) - [Anonymous Symbol] 0x0800362c Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) - [Anonymous Symbol] 0x08003944 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) - [Anonymous Symbol] 0x080039a4 Section 0 usart.o(.text.HAL_UART_MspInit) - [Anonymous Symbol] 0x08003c24 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) - [Anonymous Symbol] 0x08003cec Section 0 uart.o(.text.HAL_UART_RxCpltCallback) - [Anonymous Symbol] 0x08003d2c Section 0 uart.o(.text.HAL_UART_RxHalfCpltCallback) - [Anonymous Symbol] 0x08003d6c Section 0 uart.o(.text.HAL_UART_TxCpltCallback) - [Anonymous Symbol] 0x08003dac Section 0 stm32f4xx_it.o(.text.HardFault_Handler) - [Anonymous Symbol] 0x08003db0 Section 0 filter.o(.text.LowPassFilter2p_Apply) - [Anonymous Symbol] 0x08003e10 Section 0 filter.o(.text.LowPassFilter2p_Init) - [Anonymous Symbol] 0x08003eb8 Section 0 filter.o(.text.LowPassFilter2p_Reset) - [Anonymous Symbol] 0x08003f30 Section 0 motor_rm.o(.text.MOTOR_RM_Ctrl) - [Anonymous Symbol] 0x08004040 Section 0 motor_rm.o(.text.MOTOR_RM_GetMotor) - [Anonymous Symbol] 0x0800408c Section 0 motor_rm.o(.text.MOTOR_RM_Register) - [Anonymous Symbol] 0x08004168 Section 0 motor_rm.o(.text.MOTOR_RM_SetOutput) - [Anonymous Symbol] 0x08004240 Section 0 motor_rm.o(.text.MOTOR_RM_Update) - [Anonymous Symbol] 0x08004450 Section 0 can.o(.text.MX_CAN1_Init) - [Anonymous Symbol] 0x08004490 Section 0 can.o(.text.MX_CAN2_Init) - [Anonymous Symbol] 0x080044d0 Section 0 dma.o(.text.MX_DMA_Init) - [Anonymous Symbol] 0x0800456c Section 0 freertos.o(.text.MX_FREERTOS_Init) - [Anonymous Symbol] 0x080045a8 Section 0 gpio.o(.text.MX_GPIO_Init) - [Anonymous Symbol] 0x0800470c Section 0 spi.o(.text.MX_SPI1_Init) - [Anonymous Symbol] 0x08004758 Section 0 tim.o(.text.MX_TIM10_Init) - [Anonymous Symbol] 0x08004860 Section 0 tim.o(.text.MX_TIM4_Init) - [Anonymous Symbol] 0x080049a8 Section 0 tim.o(.text.MX_TIM7_Init) - [Anonymous Symbol] 0x080049fc Section 0 usart.o(.text.MX_USART1_UART_Init) - [Anonymous Symbol] 0x08004a38 Section 0 usart.o(.text.MX_USART3_UART_Init) - [Anonymous Symbol] 0x08004a80 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startup_stm32f407xx.o(STACK) Global Symbols @@ -5592,266 +5593,267 @@ Image Symbol Table CAN1_RX1_IRQHandler 0x08000a1d Thumb Code 12 stm32f4xx_it.o(.text.CAN1_RX1_IRQHandler) CAN2_RX0_IRQHandler 0x08000a29 Thumb Code 12 stm32f4xx_it.o(.text.CAN2_RX0_IRQHandler) CAN2_RX1_IRQHandler 0x08000a35 Thumb Code 12 stm32f4xx_it.o(.text.CAN2_RX1_IRQHandler) - Chassis_Control 0x08000a41 Thumb Code 736 chassis.o(.text.Chassis_Control) - Chassis_Init 0x08000d21 Thumb Code 388 chassis.o(.text.Chassis_Init) - Chassis_Output 0x08000ea5 Thumb Code 86 chassis.o(.text.Chassis_Output) - Chassis_UpdateFeedback 0x08000efd Thumb Code 136 chassis.o(.text.Chassis_UpdateFeedback) - CircleError 0x08000f85 Thumb Code 60 user_math.o(.text.CircleError) - CircleReverse 0x08000fc1 Thumb Code 24 user_math.o(.text.CircleReverse) - Config_GetRobotParam 0x08000fd9 Thumb Code 10 config.o(.text.Config_GetRobotParam) - DMA1_Stream1_IRQHandler 0x08000fe5 Thumb Code 12 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) - DMA2_Stream1_IRQHandler 0x08000ff1 Thumb Code 12 stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) - DMA2_Stream2_IRQHandler 0x08000ffd Thumb Code 12 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) - DMA2_Stream3_IRQHandler 0x08001009 Thumb Code 12 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) - DMA2_Stream5_IRQHandler 0x08001015 Thumb Code 12 stm32f4xx_it.o(.text.DMA2_Stream5_IRQHandler) - DMA2_Stream6_IRQHandler 0x08001021 Thumb Code 12 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) - DR16_Offline 0x0800102d Thumb Code 28 dr16.o(.text.DR16_Offline) - DR16_ParseData 0x08001049 Thumb Code 492 dr16.o(.text.DR16_ParseData) - DR16_StartDmaRecv 0x08001235 Thumb Code 30 dr16.o(.text.DR16_StartDmaRecv) - DR16_WaitDmaCplt 0x08001255 Thumb Code 22 dr16.o(.text.DR16_WaitDmaCplt) - DebugMon_Handler 0x0800126d Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler) - EXTI0_IRQHandler 0x08001271 Thumb Code 6 stm32f4xx_it.o(.text.EXTI0_IRQHandler) - EXTI4_IRQHandler 0x08001279 Thumb Code 6 stm32f4xx_it.o(.text.EXTI4_IRQHandler) - EXTI9_5_IRQHandler 0x08001281 Thumb Code 6 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) - Error_Handler 0x08001289 Thumb Code 6 main.o(.text.Error_Handler) - HAL_CAN_AddTxMessage 0x08001291 Thumb Code 144 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) - HAL_CAN_ErrorCallback 0x08001321 Thumb Code 58 can_1.o(.text.HAL_CAN_ErrorCallback) - HAL_CAN_GetTxMailboxesFreeLevel 0x0800135d Thumb Code 42 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) - HAL_CAN_IRQHandler 0x08001389 Thumb Code 602 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) - HAL_CAN_Init 0x080015e5 Thumb Code 258 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) - HAL_CAN_MspInit 0x080016e9 Thumb Code 356 can.o(.text.HAL_CAN_MspInit) - HAL_CAN_RxFifo0FullCallback 0x0800184d Thumb Code 58 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) - HAL_CAN_RxFifo0MsgPendingCallback 0x08001889 Thumb Code 58 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) - HAL_CAN_RxFifo1FullCallback 0x080018c5 Thumb Code 58 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) - HAL_CAN_RxFifo1MsgPendingCallback 0x08001901 Thumb Code 58 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) - HAL_CAN_SleepCallback 0x0800193d Thumb Code 58 can_1.o(.text.HAL_CAN_SleepCallback) - HAL_CAN_TxMailbox0AbortCallback 0x08001979 Thumb Code 58 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) - HAL_CAN_TxMailbox0CompleteCallback 0x080019b5 Thumb Code 58 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) - HAL_CAN_TxMailbox1AbortCallback 0x080019f1 Thumb Code 58 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) - HAL_CAN_TxMailbox1CompleteCallback 0x08001a2d Thumb Code 58 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) - HAL_CAN_TxMailbox2AbortCallback 0x08001a69 Thumb Code 58 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) - HAL_CAN_TxMailbox2CompleteCallback 0x08001aa5 Thumb Code 58 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - HAL_CAN_WakeUpFromRxMsgCallback 0x08001ae1 Thumb Code 58 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) - HAL_DMA_Abort 0x08001b1d Thumb Code 132 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) - HAL_DMA_Abort_IT 0x08001ba1 Thumb Code 36 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) - HAL_DMA_IRQHandler 0x08001bc5 Thumb Code 412 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - HAL_DMA_Init 0x08001d61 Thumb Code 356 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - HAL_DMA_Start_IT 0x08001ec5 Thumb Code 164 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - HAL_GPIO_EXTI_Callback 0x08001f69 Thumb Code 418 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) - HAL_GPIO_EXTI_IRQHandler 0x0800210d Thumb Code 22 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) - HAL_GPIO_Init 0x08002125 Thumb Code 446 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - HAL_GPIO_WritePin 0x080022e5 Thumb Code 10 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) - HAL_GetTick 0x080022f1 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) - HAL_IncTick 0x080022fd Thumb Code 18 stm32f4xx_hal.o(.text.HAL_IncTick) - HAL_Init 0x08002311 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) - HAL_InitTick 0x08002349 Thumb Code 68 stm32f4xx_hal.o(.text.HAL_InitTick) - HAL_MspInit 0x0800238d Thumb Code 66 stm32f4xx_hal_msp.o(.text.HAL_MspInit) - HAL_NVIC_EnableIRQ 0x080023d1 Thumb Code 32 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) - HAL_NVIC_SetPriority 0x080023f1 Thumb Code 100 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) - HAL_NVIC_SetPriorityGrouping 0x08002455 Thumb Code 32 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) - HAL_RCC_ClockConfig 0x08002475 Thumb Code 356 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) - HAL_RCC_GetPCLK1Freq 0x080025d9 Thumb Code 38 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) - HAL_RCC_GetPCLK2Freq 0x08002601 Thumb Code 38 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) - HAL_RCC_GetSysClockFreq 0x08002629 Thumb Code 108 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) - HAL_RCC_OscConfig 0x08002695 Thumb Code 982 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) - HAL_SPI_Init 0x08002a6d Thumb Code 200 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) - HAL_SPI_MspInit 0x08002b35 Thumb Code 302 spi.o(.text.HAL_SPI_MspInit) - HAL_SYSTICK_Config 0x08002c65 Thumb Code 44 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) - HAL_TIMEx_BreakCallback 0x08002c91 Thumb Code 2 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) - HAL_TIMEx_CommutCallback 0x08002c95 Thumb Code 2 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) - HAL_TIMEx_MasterConfigSynchronization 0x08002c99 Thumb Code 186 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) - HAL_TIM_Base_Init 0x08002d55 Thumb Code 382 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) - HAL_TIM_Base_MspInit 0x08002ed5 Thumb Code 146 tim.o(.text.HAL_TIM_Base_MspInit) - HAL_TIM_ConfigClockSource 0x08002f69 Thumb Code 414 stm32f4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource) - HAL_TIM_IC_CaptureCallback 0x08003109 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) - HAL_TIM_IRQHandler 0x0800310d Thumb Code 282 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) - HAL_TIM_OC_DelayElapsedCallback 0x08003229 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) - HAL_TIM_PWM_ConfigChannel 0x0800322d Thumb Code 554 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) - HAL_TIM_PWM_Init 0x08003459 Thumb Code 382 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) - HAL_TIM_PWM_MspInit 0x080035d9 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) - HAL_TIM_PWM_PulseFinishedCallback 0x080035dd Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) - HAL_TIM_PeriodElapsedCallback 0x080035e1 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback) - HAL_TIM_TriggerCallback 0x080035e5 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) - HAL_UARTEx_RxEventCallback 0x080035e9 Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) - HAL_UART_ErrorCallback 0x080035ed Thumb Code 62 uart.o(.text.HAL_UART_ErrorCallback) - HAL_UART_IRQHandler 0x0800362d Thumb Code 790 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) - HAL_UART_Init 0x08003945 Thumb Code 96 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) - HAL_UART_MspInit 0x080039a5 Thumb Code 640 usart.o(.text.HAL_UART_MspInit) - HAL_UART_Receive_DMA 0x08003c25 Thumb Code 200 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) - HAL_UART_RxCpltCallback 0x08003ced Thumb Code 62 uart.o(.text.HAL_UART_RxCpltCallback) - HAL_UART_RxHalfCpltCallback 0x08003d2d Thumb Code 62 uart.o(.text.HAL_UART_RxHalfCpltCallback) - HAL_UART_TxCpltCallback 0x08003d6d Thumb Code 62 uart.o(.text.HAL_UART_TxCpltCallback) - HardFault_Handler 0x08003dad Thumb Code 2 stm32f4xx_it.o(.text.HardFault_Handler) - LowPassFilter2p_Apply 0x08003db1 Thumb Code 96 filter.o(.text.LowPassFilter2p_Apply) - LowPassFilter2p_Init 0x08003e11 Thumb Code 168 filter.o(.text.LowPassFilter2p_Init) - LowPassFilter2p_Reset 0x08003eb9 Thumb Code 120 filter.o(.text.LowPassFilter2p_Reset) - MOTOR_RM_Ctrl 0x08003f31 Thumb Code 272 motor_rm.o(.text.MOTOR_RM_Ctrl) - MOTOR_RM_GetMotor 0x08004041 Thumb Code 76 motor_rm.o(.text.MOTOR_RM_GetMotor) - MOTOR_RM_Register 0x0800408d Thumb Code 220 motor_rm.o(.text.MOTOR_RM_Register) - MOTOR_RM_SetOutput 0x08004169 Thumb Code 216 motor_rm.o(.text.MOTOR_RM_SetOutput) - MOTOR_RM_Update 0x08004241 Thumb Code 528 motor_rm.o(.text.MOTOR_RM_Update) - MX_CAN1_Init 0x08004451 Thumb Code 64 can.o(.text.MX_CAN1_Init) - MX_CAN2_Init 0x08004491 Thumb Code 64 can.o(.text.MX_CAN2_Init) - MX_DMA_Init 0x080044d1 Thumb Code 156 dma.o(.text.MX_DMA_Init) - MX_FREERTOS_Init 0x0800456d Thumb Code 60 freertos.o(.text.MX_FREERTOS_Init) - MX_GPIO_Init 0x080045a9 Thumb Code 356 gpio.o(.text.MX_GPIO_Init) - MX_SPI1_Init 0x0800470d Thumb Code 76 spi.o(.text.MX_SPI1_Init) - MX_TIM10_Init 0x08004759 Thumb Code 262 tim.o(.text.MX_TIM10_Init) - MX_TIM4_Init 0x08004861 Thumb Code 328 tim.o(.text.MX_TIM4_Init) - MX_TIM7_Init 0x080049a9 Thumb Code 84 tim.o(.text.MX_TIM7_Init) - MX_USART1_UART_Init 0x080049fd Thumb Code 60 usart.o(.text.MX_USART1_UART_Init) - MX_USART3_UART_Init 0x08004a39 Thumb Code 70 usart.o(.text.MX_USART3_UART_Init) - MX_USART6_UART_Init 0x08004a81 Thumb Code 60 usart.o(.text.MX_USART6_UART_Init) - MemManage_Handler 0x08004abd Thumb Code 2 stm32f4xx_it.o(.text.MemManage_Handler) - Mixer_Apply 0x08004ac1 Thumb Code 372 mixer.o(.text.Mixer_Apply) - Mixer_Init 0x08004c35 Thumb Code 14 mixer.o(.text.Mixer_Init) - NMI_Handler 0x08004c45 Thumb Code 2 stm32f4xx_it.o(.text.NMI_Handler) - PID_Calc 0x08004c49 Thumb Code 364 pid.o(.text.PID_Calc) - PID_Init 0x08004db5 Thumb Code 148 pid.o(.text.PID_Init) - PID_Reset 0x08004e49 Thumb Code 40 pid.o(.text.PID_Reset) - PendSV_Handler 0x08004e71 Thumb Code 100 port.o(.text.PendSV_Handler) - SVC_Handler 0x08004ee1 Thumb Code 36 port.o(.text.SVC_Handler) - StartDefaultTask 0x08004f05 Thumb Code 14 freertos.o(.text.StartDefaultTask) - SysTick_Handler 0x08004f15 Thumb Code 24 stm32f4xx_it.o(.text.SysTick_Handler) - SystemClock_Config 0x08004f2d Thumb Code 162 main.o(.text.SystemClock_Config) - SystemInit 0x08004fd1 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) - TIM7_IRQHandler 0x08004fe5 Thumb Code 12 stm32f4xx_it.o(.text.TIM7_IRQHandler) - Task_Init 0x08004ff1 Thumb Code 126 init.o(.text.Task_Init) - Task_test 0x08005071 Thumb Code 292 test.o(.text.Task_test) - Task_yaokongqi 0x08005199 Thumb Code 176 yaokongqi.o(.text.Task_yaokongqi) - USART1_IRQHandler 0x08005555 Thumb Code 12 stm32f4xx_it.o(.text.USART1_IRQHandler) - USART3_IRQHandler 0x08005561 Thumb Code 214 ledi.o(.text.USART3_IRQHandler) - USART6_IRQHandler 0x08005639 Thumb Code 26 stm32f4xx_it.o(.text.USART6_IRQHandler) - UsageFault_Handler 0x08005655 Thumb Code 2 stm32f4xx_it.o(.text.UsageFault_Handler) - eTaskGetState 0x08005659 Thumb Code 150 tasks.o(.text.eTaskGetState) - main 0x080056f1 Thumb Code 70 main.o(.text.main) - map_fp32 0x08005739 Thumb Code 26 calc_lib.o(.text.map_fp32) - osDelay 0x08005755 Thumb Code 32 cmsis_os2.o(.text.osDelay) - osDelayUntil 0x08005775 Thumb Code 54 cmsis_os2.o(.text.osDelayUntil) - osKernelGetTickCount 0x080057ad Thumb Code 16 cmsis_os2.o(.text.osKernelGetTickCount) - osKernelGetTickFreq 0x080057bd Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) - osKernelInitialize 0x080057c5 Thumb Code 42 cmsis_os2.o(.text.osKernelInitialize) - osKernelLock 0x080057f1 Thumb Code 44 cmsis_os2.o(.text.osKernelLock) - osKernelStart 0x0800581d Thumb Code 64 cmsis_os2.o(.text.osKernelStart) - osKernelUnlock 0x0800585d Thumb Code 68 cmsis_os2.o(.text.osKernelUnlock) - osMessageQueueGet 0x080058a1 Thumb Code 128 cmsis_os2.o(.text.osMessageQueueGet) - osMessageQueueNew 0x08005921 Thumb Code 126 cmsis_os2.o(.text.osMessageQueueNew) - osMessageQueuePut 0x080059a1 Thumb Code 138 cmsis_os2.o(.text.osMessageQueuePut) - osMutexAcquire 0x08005a2d Thumb Code 82 cmsis_os2.o(.text.osMutexAcquire) - osMutexRelease 0x08005a81 Thumb Code 80 cmsis_os2.o(.text.osMutexRelease) - osThreadFlagsWait 0x08005ad1 Thumb Code 330 cmsis_os2.o(.text.osThreadFlagsWait) - osThreadGetId 0x08005c1d Thumb Code 4 cmsis_os2.o(.text.osThreadGetId) - osThreadNew 0x08005c21 Thumb Code 160 cmsis_os2.o(.text.osThreadNew) - osThreadTerminate 0x08005cc1 Thumb Code 52 cmsis_os2.o(.text.osThreadTerminate) - pvPortMalloc 0x080063e9 Thumb Code 414 heap_4.o(.text.pvPortMalloc) - pvTaskIncrementMutexHeldCount 0x08006589 Thumb Code 26 tasks.o(.text.pvTaskIncrementMutexHeldCount) - pxPortInitialiseStack 0x080065a5 Thumb Code 36 port.o(.text.pxPortInitialiseStack) - uxListRemove 0x08006849 Thumb Code 34 list.o(.text.uxListRemove) - vApplicationGetIdleTaskMemory 0x0800686d Thumb Code 26 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory) - vApplicationGetTimerTaskMemory 0x08006889 Thumb Code 28 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory) - vListInitialise 0x080068a5 Thumb Code 22 list.o(.text.vListInitialise) - vListInitialiseItem 0x080068bd Thumb Code 6 list.o(.text.vListInitialiseItem) - vListInsert 0x080068c5 Thumb Code 60 list.o(.text.vListInsert) - vListInsertEnd 0x08006901 Thumb Code 24 list.o(.text.vListInsertEnd) - vPortEnterCritical 0x0800692d Thumb Code 74 port.o(.text.vPortEnterCritical) - vPortExitCritical 0x08006979 Thumb Code 46 port.o(.text.vPortExitCritical) - vPortFree 0x080069a9 Thumb Code 190 heap_4.o(.text.vPortFree) - vPortSetupTimerInterrupt 0x08006a69 Thumb Code 30 port.o(.text.vPortSetupTimerInterrupt) - vPortValidateInterruptPriority 0x08006a89 Thumb Code 98 port.o(.text.vPortValidateInterruptPriority) - vQueueAddToRegistry 0x08006aed Thumb Code 116 queue.o(.text.vQueueAddToRegistry) - vQueueWaitForMessageRestricted 0x08006b61 Thumb Code 70 queue.o(.text.vQueueWaitForMessageRestricted) - vTaskDelay 0x08006ba9 Thumb Code 148 tasks.o(.text.vTaskDelay) - vTaskDelayUntil 0x08006c3d Thumb Code 228 tasks.o(.text.vTaskDelayUntil) - vTaskDelete 0x08006d21 Thumb Code 232 tasks.o(.text.vTaskDelete) - vTaskInternalSetTimeOutState 0x08006e09 Thumb Code 18 tasks.o(.text.vTaskInternalSetTimeOutState) - vTaskMissedYield 0x08006e1d Thumb Code 14 tasks.o(.text.vTaskMissedYield) - vTaskPlaceOnEventList 0x08006e2d Thumb Code 138 tasks.o(.text.vTaskPlaceOnEventList) - vTaskPlaceOnEventListRestricted 0x08006eb9 Thumb Code 156 tasks.o(.text.vTaskPlaceOnEventListRestricted) - vTaskPriorityDisinheritAfterTimeout 0x08006f55 Thumb Code 166 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) - vTaskStartScheduler 0x08006ffd Thumb Code 140 tasks.o(.text.vTaskStartScheduler) - vTaskSuspendAll 0x08007089 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) - vTaskSwitchContext 0x08007099 Thumb Code 138 tasks.o(.text.vTaskSwitchContext) - xPortStartScheduler 0x08007125 Thumb Code 290 port.o(.text.xPortStartScheduler) - xPortSysTickHandler 0x08007249 Thumb Code 48 port.o(.text.xPortSysTickHandler) - xQueueGenericCreate 0x08007279 Thumb Code 138 queue.o(.text.xQueueGenericCreate) - xQueueGenericCreateStatic 0x08007305 Thumb Code 222 queue.o(.text.xQueueGenericCreateStatic) - xQueueGenericSend 0x080073e5 Thumb Code 524 queue.o(.text.xQueueGenericSend) - xQueueGenericSendFromISR 0x080075f1 Thumb Code 330 queue.o(.text.xQueueGenericSendFromISR) - xQueueGiveMutexRecursive 0x0800773d Thumb Code 66 queue.o(.text.xQueueGiveMutexRecursive) - xQueueReceive 0x08007781 Thumb Code 410 queue.o(.text.xQueueReceive) - xQueueReceiveFromISR 0x0800791d Thumb Code 184 queue.o(.text.xQueueReceiveFromISR) - xQueueSemaphoreTake 0x080079d5 Thumb Code 450 queue.o(.text.xQueueSemaphoreTake) - xQueueTakeMutexRecursive 0x08007b99 Thumb Code 64 queue.o(.text.xQueueTakeMutexRecursive) - xTaskCheckForTimeOut 0x08007bd9 Thumb Code 136 tasks.o(.text.xTaskCheckForTimeOut) - xTaskCreate 0x08007c61 Thumb Code 220 tasks.o(.text.xTaskCreate) - xTaskCreateStatic 0x08007d3d Thumb Code 242 tasks.o(.text.xTaskCreateStatic) - xTaskGetCurrentTaskHandle 0x08007e31 Thumb Code 12 tasks.o(.text.xTaskGetCurrentTaskHandle) - xTaskGetSchedulerState 0x08007e3d Thumb Code 30 tasks.o(.text.xTaskGetSchedulerState) - xTaskGetTickCount 0x08007e5d Thumb Code 12 tasks.o(.text.xTaskGetTickCount) - xTaskGetTickCountFromISR 0x08007e69 Thumb Code 18 tasks.o(.text.xTaskGetTickCountFromISR) - xTaskIncrementTick 0x08007e7d Thumb Code 288 tasks.o(.text.xTaskIncrementTick) - xTaskNotifyWait 0x08007f9d Thumb Code 238 tasks.o(.text.xTaskNotifyWait) - xTaskPriorityDisinherit 0x0800808d Thumb Code 150 tasks.o(.text.xTaskPriorityDisinherit) - xTaskPriorityInherit 0x08008125 Thumb Code 148 tasks.o(.text.xTaskPriorityInherit) - xTaskRemoveFromEventList 0x080081b9 Thumb Code 130 tasks.o(.text.xTaskRemoveFromEventList) - xTaskResumeAll 0x0800823d Thumb Code 244 tasks.o(.text.xTaskResumeAll) - xTimerCreateTimerTask 0x08008331 Thumb Code 184 timers.o(.text.xTimerCreateTimerTask) - __ARM_fpclassifyf 0x080083e9 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) - __hardfp__fabsf 0x0800840f Thumb Code 14 fabsf.o(i.__hardfp__fabsf) - __hardfp_cosf 0x0800841d Thumb Code 280 cosf.o(i.__hardfp_cosf) - __hardfp_fmaxf 0x0800856d Thumb Code 72 fmaxf.o(i.__hardfp_fmaxf) - __hardfp_sinf 0x080085b5 Thumb Code 344 sinf.o(i.__hardfp_sinf) - __hardfp_tanf 0x08008745 Thumb Code 322 tanf.o(i.__hardfp_tanf) - __mathlib_flt_infnan 0x080088c1 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) - __mathlib_flt_invalid 0x080088c9 Thumb Code 10 funder.o(i.__mathlib_flt_invalid) - __mathlib_flt_underflow 0x080088d9 Thumb Code 10 funder.o(i.__mathlib_flt_underflow) - __mathlib_rredf2 0x080088e9 Thumb Code 316 rredf.o(i.__mathlib_rredf2) - __scatterload_copy 0x08008a3d Thumb Code 14 handlers.o(i.__scatterload_copy) - __scatterload_null 0x08008a4b Thumb Code 2 handlers.o(i.__scatterload_null) - __scatterload_zeroinit 0x08008a4d Thumb Code 14 handlers.o(i.__scatterload_zeroinit) - __set_errno 0x08008a5d Thumb Code 6 errno.o(i.__set_errno) - AHBPrescTable 0x08008a94 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) - APBPrescTable 0x08008aa4 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) - attr_init 0x08008aac Data 36 user_task.o(.rodata.attr_init) - attr_test 0x08008ad0 Data 36 user_task.o(.rodata.attr_test) - attr_yaokongqi 0x08008af4 Data 36 user_task.o(.rodata.attr_yaokongqi) - defaultTask_attributes 0x08008b20 Data 36 freertos.o(.rodata.defaultTask_attributes) - Region$$Table$$Base 0x08008b70 Number 0 anon$$obj.o(Region$$Table) - Region$$Table$$Limit 0x08008b90 Number 0 anon$$obj.o(Region$$Table) + Chassis_Control 0x08000a41 Thumb Code 832 chassis.o(.text.Chassis_Control) + Chassis_Init 0x08000d81 Thumb Code 408 chassis.o(.text.Chassis_Init) + Chassis_Output 0x08000f19 Thumb Code 86 chassis.o(.text.Chassis_Output) + Chassis_UpdateFeedback 0x08000f71 Thumb Code 208 chassis.o(.text.Chassis_UpdateFeedback) + CircleError 0x08001041 Thumb Code 60 user_math.o(.text.CircleError) + CircleReverse 0x0800107d Thumb Code 24 user_math.o(.text.CircleReverse) + Clip 0x08001095 Thumb Code 38 user_math.o(.text.Clip) + Config_GetRobotParam 0x080010bd Thumb Code 10 config.o(.text.Config_GetRobotParam) + DMA1_Stream1_IRQHandler 0x080010c9 Thumb Code 12 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) + DMA2_Stream1_IRQHandler 0x080010d5 Thumb Code 12 stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) + DMA2_Stream2_IRQHandler 0x080010e1 Thumb Code 12 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) + DMA2_Stream3_IRQHandler 0x080010ed Thumb Code 12 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) + DMA2_Stream5_IRQHandler 0x080010f9 Thumb Code 12 stm32f4xx_it.o(.text.DMA2_Stream5_IRQHandler) + DMA2_Stream6_IRQHandler 0x08001105 Thumb Code 12 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) + DR16_Offline 0x08001111 Thumb Code 28 dr16.o(.text.DR16_Offline) + DR16_ParseData 0x0800112d Thumb Code 492 dr16.o(.text.DR16_ParseData) + DR16_StartDmaRecv 0x08001319 Thumb Code 30 dr16.o(.text.DR16_StartDmaRecv) + DR16_WaitDmaCplt 0x08001339 Thumb Code 22 dr16.o(.text.DR16_WaitDmaCplt) + DebugMon_Handler 0x08001351 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler) + EXTI0_IRQHandler 0x08001355 Thumb Code 6 stm32f4xx_it.o(.text.EXTI0_IRQHandler) + EXTI4_IRQHandler 0x0800135d Thumb Code 6 stm32f4xx_it.o(.text.EXTI4_IRQHandler) + EXTI9_5_IRQHandler 0x08001365 Thumb Code 6 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) + Error_Handler 0x0800136d Thumb Code 6 main.o(.text.Error_Handler) + HAL_CAN_AddTxMessage 0x08001375 Thumb Code 144 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) + HAL_CAN_ErrorCallback 0x08001405 Thumb Code 58 can_1.o(.text.HAL_CAN_ErrorCallback) + HAL_CAN_GetTxMailboxesFreeLevel 0x08001441 Thumb Code 42 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) + HAL_CAN_IRQHandler 0x0800146d Thumb Code 602 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) + HAL_CAN_Init 0x080016c9 Thumb Code 258 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) + HAL_CAN_MspInit 0x080017cd Thumb Code 356 can.o(.text.HAL_CAN_MspInit) + HAL_CAN_RxFifo0FullCallback 0x08001931 Thumb Code 58 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) + HAL_CAN_RxFifo0MsgPendingCallback 0x0800196d Thumb Code 58 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) + HAL_CAN_RxFifo1FullCallback 0x080019a9 Thumb Code 58 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) + HAL_CAN_RxFifo1MsgPendingCallback 0x080019e5 Thumb Code 58 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) + HAL_CAN_SleepCallback 0x08001a21 Thumb Code 58 can_1.o(.text.HAL_CAN_SleepCallback) + HAL_CAN_TxMailbox0AbortCallback 0x08001a5d Thumb Code 58 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) + HAL_CAN_TxMailbox0CompleteCallback 0x08001a99 Thumb Code 58 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) + HAL_CAN_TxMailbox1AbortCallback 0x08001ad5 Thumb Code 58 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) + HAL_CAN_TxMailbox1CompleteCallback 0x08001b11 Thumb Code 58 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) + HAL_CAN_TxMailbox2AbortCallback 0x08001b4d Thumb Code 58 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) + HAL_CAN_TxMailbox2CompleteCallback 0x08001b89 Thumb Code 58 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) + HAL_CAN_WakeUpFromRxMsgCallback 0x08001bc5 Thumb Code 58 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) + HAL_DMA_Abort 0x08001c01 Thumb Code 132 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) + HAL_DMA_Abort_IT 0x08001c85 Thumb Code 36 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) + HAL_DMA_IRQHandler 0x08001ca9 Thumb Code 412 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) + HAL_DMA_Init 0x08001e45 Thumb Code 356 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) + HAL_DMA_Start_IT 0x08001fa9 Thumb Code 164 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) + HAL_GPIO_EXTI_Callback 0x0800204d Thumb Code 418 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) + HAL_GPIO_EXTI_IRQHandler 0x080021f1 Thumb Code 22 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) + HAL_GPIO_Init 0x08002209 Thumb Code 446 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) + HAL_GPIO_WritePin 0x080023c9 Thumb Code 10 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) + HAL_GetTick 0x080023d5 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) + HAL_IncTick 0x080023e1 Thumb Code 18 stm32f4xx_hal.o(.text.HAL_IncTick) + HAL_Init 0x080023f5 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) + HAL_InitTick 0x0800242d Thumb Code 68 stm32f4xx_hal.o(.text.HAL_InitTick) + HAL_MspInit 0x08002471 Thumb Code 66 stm32f4xx_hal_msp.o(.text.HAL_MspInit) + HAL_NVIC_EnableIRQ 0x080024b5 Thumb Code 32 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) + HAL_NVIC_SetPriority 0x080024d5 Thumb Code 100 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) + HAL_NVIC_SetPriorityGrouping 0x08002539 Thumb Code 32 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) + HAL_RCC_ClockConfig 0x08002559 Thumb Code 356 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) + HAL_RCC_GetPCLK1Freq 0x080026bd Thumb Code 38 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) + HAL_RCC_GetPCLK2Freq 0x080026e5 Thumb Code 38 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) + HAL_RCC_GetSysClockFreq 0x0800270d Thumb Code 108 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) + HAL_RCC_OscConfig 0x08002779 Thumb Code 982 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) + HAL_SPI_Init 0x08002b51 Thumb Code 200 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) + HAL_SPI_MspInit 0x08002c19 Thumb Code 302 spi.o(.text.HAL_SPI_MspInit) + HAL_SYSTICK_Config 0x08002d49 Thumb Code 44 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) + HAL_TIMEx_BreakCallback 0x08002d75 Thumb Code 2 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) + HAL_TIMEx_CommutCallback 0x08002d79 Thumb Code 2 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) + HAL_TIMEx_MasterConfigSynchronization 0x08002d7d Thumb Code 186 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) + HAL_TIM_Base_Init 0x08002e39 Thumb Code 382 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) + HAL_TIM_Base_MspInit 0x08002fb9 Thumb Code 146 tim.o(.text.HAL_TIM_Base_MspInit) + HAL_TIM_ConfigClockSource 0x0800304d Thumb Code 414 stm32f4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource) + HAL_TIM_IC_CaptureCallback 0x080031ed Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) + HAL_TIM_IRQHandler 0x080031f1 Thumb Code 282 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) + HAL_TIM_OC_DelayElapsedCallback 0x0800330d Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) + HAL_TIM_PWM_ConfigChannel 0x08003311 Thumb Code 554 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) + HAL_TIM_PWM_Init 0x0800353d Thumb Code 382 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) + HAL_TIM_PWM_MspInit 0x080036bd Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) + HAL_TIM_PWM_PulseFinishedCallback 0x080036c1 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) + HAL_TIM_PeriodElapsedCallback 0x080036c5 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback) + HAL_TIM_TriggerCallback 0x080036c9 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) + HAL_UARTEx_RxEventCallback 0x080036cd Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) + HAL_UART_ErrorCallback 0x080036d1 Thumb Code 62 uart.o(.text.HAL_UART_ErrorCallback) + HAL_UART_IRQHandler 0x08003711 Thumb Code 790 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) + HAL_UART_Init 0x08003a29 Thumb Code 96 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) + HAL_UART_MspInit 0x08003a89 Thumb Code 640 usart.o(.text.HAL_UART_MspInit) + HAL_UART_Receive_DMA 0x08003d09 Thumb Code 200 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) + HAL_UART_RxCpltCallback 0x08003dd1 Thumb Code 62 uart.o(.text.HAL_UART_RxCpltCallback) + HAL_UART_RxHalfCpltCallback 0x08003e11 Thumb Code 62 uart.o(.text.HAL_UART_RxHalfCpltCallback) + HAL_UART_TxCpltCallback 0x08003e51 Thumb Code 62 uart.o(.text.HAL_UART_TxCpltCallback) + HardFault_Handler 0x08003e91 Thumb Code 2 stm32f4xx_it.o(.text.HardFault_Handler) + LowPassFilter2p_Apply 0x08003e95 Thumb Code 96 filter.o(.text.LowPassFilter2p_Apply) + LowPassFilter2p_Init 0x08003ef5 Thumb Code 168 filter.o(.text.LowPassFilter2p_Init) + LowPassFilter2p_Reset 0x08003f9d Thumb Code 120 filter.o(.text.LowPassFilter2p_Reset) + MOTOR_RM_Ctrl 0x08004015 Thumb Code 272 motor_rm.o(.text.MOTOR_RM_Ctrl) + MOTOR_RM_GetMotor 0x08004125 Thumb Code 76 motor_rm.o(.text.MOTOR_RM_GetMotor) + MOTOR_RM_Register 0x08004171 Thumb Code 220 motor_rm.o(.text.MOTOR_RM_Register) + MOTOR_RM_SetOutput 0x0800424d Thumb Code 216 motor_rm.o(.text.MOTOR_RM_SetOutput) + MOTOR_RM_Update 0x08004325 Thumb Code 528 motor_rm.o(.text.MOTOR_RM_Update) + MX_CAN1_Init 0x08004535 Thumb Code 64 can.o(.text.MX_CAN1_Init) + MX_CAN2_Init 0x08004575 Thumb Code 64 can.o(.text.MX_CAN2_Init) + MX_DMA_Init 0x080045b5 Thumb Code 156 dma.o(.text.MX_DMA_Init) + MX_FREERTOS_Init 0x08004651 Thumb Code 60 freertos.o(.text.MX_FREERTOS_Init) + MX_GPIO_Init 0x0800468d Thumb Code 356 gpio.o(.text.MX_GPIO_Init) + MX_SPI1_Init 0x080047f1 Thumb Code 76 spi.o(.text.MX_SPI1_Init) + MX_TIM10_Init 0x0800483d Thumb Code 262 tim.o(.text.MX_TIM10_Init) + MX_TIM4_Init 0x08004945 Thumb Code 328 tim.o(.text.MX_TIM4_Init) + MX_TIM7_Init 0x08004a8d Thumb Code 84 tim.o(.text.MX_TIM7_Init) + MX_USART1_UART_Init 0x08004ae1 Thumb Code 60 usart.o(.text.MX_USART1_UART_Init) + MX_USART3_UART_Init 0x08004b1d Thumb Code 70 usart.o(.text.MX_USART3_UART_Init) + MX_USART6_UART_Init 0x08004b65 Thumb Code 60 usart.o(.text.MX_USART6_UART_Init) + MemManage_Handler 0x08004ba1 Thumb Code 2 stm32f4xx_it.o(.text.MemManage_Handler) + Mixer_Apply 0x08004ba5 Thumb Code 372 mixer.o(.text.Mixer_Apply) + Mixer_Init 0x08004d19 Thumb Code 14 mixer.o(.text.Mixer_Init) + NMI_Handler 0x08004d29 Thumb Code 2 stm32f4xx_it.o(.text.NMI_Handler) + PID_Calc 0x08004d2d Thumb Code 364 pid.o(.text.PID_Calc) + PID_Init 0x08004e99 Thumb Code 148 pid.o(.text.PID_Init) + PID_Reset 0x08004f2d Thumb Code 40 pid.o(.text.PID_Reset) + PendSV_Handler 0x08004f61 Thumb Code 100 port.o(.text.PendSV_Handler) + SVC_Handler 0x08004fd1 Thumb Code 36 port.o(.text.SVC_Handler) + StartDefaultTask 0x08004ff5 Thumb Code 14 freertos.o(.text.StartDefaultTask) + SysTick_Handler 0x08005005 Thumb Code 24 stm32f4xx_it.o(.text.SysTick_Handler) + SystemClock_Config 0x0800501d Thumb Code 162 main.o(.text.SystemClock_Config) + SystemInit 0x080050c1 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) + TIM7_IRQHandler 0x080050d5 Thumb Code 12 stm32f4xx_it.o(.text.TIM7_IRQHandler) + Task_Init 0x080050e1 Thumb Code 126 init.o(.text.Task_Init) + Task_test 0x08005161 Thumb Code 292 test.o(.text.Task_test) + Task_yaokongqi 0x08005289 Thumb Code 176 yaokongqi.o(.text.Task_yaokongqi) + USART1_IRQHandler 0x08005645 Thumb Code 12 stm32f4xx_it.o(.text.USART1_IRQHandler) + USART3_IRQHandler 0x08005651 Thumb Code 214 ledi.o(.text.USART3_IRQHandler) + USART6_IRQHandler 0x08005729 Thumb Code 26 stm32f4xx_it.o(.text.USART6_IRQHandler) + UsageFault_Handler 0x08005745 Thumb Code 2 stm32f4xx_it.o(.text.UsageFault_Handler) + eTaskGetState 0x08005749 Thumb Code 150 tasks.o(.text.eTaskGetState) + main 0x080057e1 Thumb Code 70 main.o(.text.main) + map_fp32 0x08005829 Thumb Code 26 calc_lib.o(.text.map_fp32) + osDelay 0x08005845 Thumb Code 32 cmsis_os2.o(.text.osDelay) + osDelayUntil 0x08005865 Thumb Code 54 cmsis_os2.o(.text.osDelayUntil) + osKernelGetTickCount 0x0800589d Thumb Code 16 cmsis_os2.o(.text.osKernelGetTickCount) + osKernelGetTickFreq 0x080058ad Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) + osKernelInitialize 0x080058b5 Thumb Code 42 cmsis_os2.o(.text.osKernelInitialize) + osKernelLock 0x080058e1 Thumb Code 44 cmsis_os2.o(.text.osKernelLock) + osKernelStart 0x0800590d Thumb Code 64 cmsis_os2.o(.text.osKernelStart) + osKernelUnlock 0x0800594d Thumb Code 68 cmsis_os2.o(.text.osKernelUnlock) + osMessageQueueGet 0x08005991 Thumb Code 128 cmsis_os2.o(.text.osMessageQueueGet) + osMessageQueueNew 0x08005a11 Thumb Code 126 cmsis_os2.o(.text.osMessageQueueNew) + osMessageQueuePut 0x08005a91 Thumb Code 138 cmsis_os2.o(.text.osMessageQueuePut) + osMutexAcquire 0x08005b1d Thumb Code 82 cmsis_os2.o(.text.osMutexAcquire) + osMutexRelease 0x08005b71 Thumb Code 80 cmsis_os2.o(.text.osMutexRelease) + osThreadFlagsWait 0x08005bc1 Thumb Code 330 cmsis_os2.o(.text.osThreadFlagsWait) + osThreadGetId 0x08005d0d Thumb Code 4 cmsis_os2.o(.text.osThreadGetId) + osThreadNew 0x08005d11 Thumb Code 160 cmsis_os2.o(.text.osThreadNew) + osThreadTerminate 0x08005db1 Thumb Code 52 cmsis_os2.o(.text.osThreadTerminate) + pvPortMalloc 0x080064d9 Thumb Code 414 heap_4.o(.text.pvPortMalloc) + pvTaskIncrementMutexHeldCount 0x08006679 Thumb Code 26 tasks.o(.text.pvTaskIncrementMutexHeldCount) + pxPortInitialiseStack 0x08006695 Thumb Code 36 port.o(.text.pxPortInitialiseStack) + uxListRemove 0x08006939 Thumb Code 34 list.o(.text.uxListRemove) + vApplicationGetIdleTaskMemory 0x0800695d Thumb Code 26 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory) + vApplicationGetTimerTaskMemory 0x08006979 Thumb Code 28 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory) + vListInitialise 0x08006995 Thumb Code 22 list.o(.text.vListInitialise) + vListInitialiseItem 0x080069ad Thumb Code 6 list.o(.text.vListInitialiseItem) + vListInsert 0x080069b5 Thumb Code 60 list.o(.text.vListInsert) + vListInsertEnd 0x080069f1 Thumb Code 24 list.o(.text.vListInsertEnd) + vPortEnterCritical 0x08006a1d Thumb Code 74 port.o(.text.vPortEnterCritical) + vPortExitCritical 0x08006a69 Thumb Code 46 port.o(.text.vPortExitCritical) + vPortFree 0x08006a99 Thumb Code 190 heap_4.o(.text.vPortFree) + vPortSetupTimerInterrupt 0x08006b59 Thumb Code 30 port.o(.text.vPortSetupTimerInterrupt) + vPortValidateInterruptPriority 0x08006b79 Thumb Code 98 port.o(.text.vPortValidateInterruptPriority) + vQueueAddToRegistry 0x08006bdd Thumb Code 116 queue.o(.text.vQueueAddToRegistry) + vQueueWaitForMessageRestricted 0x08006c51 Thumb Code 70 queue.o(.text.vQueueWaitForMessageRestricted) + vTaskDelay 0x08006c99 Thumb Code 148 tasks.o(.text.vTaskDelay) + vTaskDelayUntil 0x08006d2d Thumb Code 228 tasks.o(.text.vTaskDelayUntil) + vTaskDelete 0x08006e11 Thumb Code 232 tasks.o(.text.vTaskDelete) + vTaskInternalSetTimeOutState 0x08006ef9 Thumb Code 18 tasks.o(.text.vTaskInternalSetTimeOutState) + vTaskMissedYield 0x08006f0d Thumb Code 14 tasks.o(.text.vTaskMissedYield) + vTaskPlaceOnEventList 0x08006f1d Thumb Code 138 tasks.o(.text.vTaskPlaceOnEventList) + vTaskPlaceOnEventListRestricted 0x08006fa9 Thumb Code 156 tasks.o(.text.vTaskPlaceOnEventListRestricted) + vTaskPriorityDisinheritAfterTimeout 0x08007045 Thumb Code 166 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) + vTaskStartScheduler 0x080070ed Thumb Code 140 tasks.o(.text.vTaskStartScheduler) + vTaskSuspendAll 0x08007179 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) + vTaskSwitchContext 0x08007189 Thumb Code 138 tasks.o(.text.vTaskSwitchContext) + xPortStartScheduler 0x08007215 Thumb Code 290 port.o(.text.xPortStartScheduler) + xPortSysTickHandler 0x08007339 Thumb Code 48 port.o(.text.xPortSysTickHandler) + xQueueGenericCreate 0x08007369 Thumb Code 138 queue.o(.text.xQueueGenericCreate) + xQueueGenericCreateStatic 0x080073f5 Thumb Code 222 queue.o(.text.xQueueGenericCreateStatic) + xQueueGenericSend 0x080074d5 Thumb Code 524 queue.o(.text.xQueueGenericSend) + xQueueGenericSendFromISR 0x080076e1 Thumb Code 330 queue.o(.text.xQueueGenericSendFromISR) + xQueueGiveMutexRecursive 0x0800782d Thumb Code 66 queue.o(.text.xQueueGiveMutexRecursive) + xQueueReceive 0x08007871 Thumb Code 410 queue.o(.text.xQueueReceive) + xQueueReceiveFromISR 0x08007a0d Thumb Code 184 queue.o(.text.xQueueReceiveFromISR) + xQueueSemaphoreTake 0x08007ac5 Thumb Code 450 queue.o(.text.xQueueSemaphoreTake) + xQueueTakeMutexRecursive 0x08007c89 Thumb Code 64 queue.o(.text.xQueueTakeMutexRecursive) + xTaskCheckForTimeOut 0x08007cc9 Thumb Code 136 tasks.o(.text.xTaskCheckForTimeOut) + xTaskCreate 0x08007d51 Thumb Code 220 tasks.o(.text.xTaskCreate) + xTaskCreateStatic 0x08007e2d Thumb Code 242 tasks.o(.text.xTaskCreateStatic) + xTaskGetCurrentTaskHandle 0x08007f21 Thumb Code 12 tasks.o(.text.xTaskGetCurrentTaskHandle) + xTaskGetSchedulerState 0x08007f2d Thumb Code 30 tasks.o(.text.xTaskGetSchedulerState) + xTaskGetTickCount 0x08007f4d Thumb Code 12 tasks.o(.text.xTaskGetTickCount) + xTaskGetTickCountFromISR 0x08007f59 Thumb Code 18 tasks.o(.text.xTaskGetTickCountFromISR) + xTaskIncrementTick 0x08007f6d Thumb Code 288 tasks.o(.text.xTaskIncrementTick) + xTaskNotifyWait 0x0800808d Thumb Code 238 tasks.o(.text.xTaskNotifyWait) + xTaskPriorityDisinherit 0x0800817d Thumb Code 150 tasks.o(.text.xTaskPriorityDisinherit) + xTaskPriorityInherit 0x08008215 Thumb Code 148 tasks.o(.text.xTaskPriorityInherit) + xTaskRemoveFromEventList 0x080082a9 Thumb Code 130 tasks.o(.text.xTaskRemoveFromEventList) + xTaskResumeAll 0x0800832d Thumb Code 244 tasks.o(.text.xTaskResumeAll) + xTimerCreateTimerTask 0x08008421 Thumb Code 184 timers.o(.text.xTimerCreateTimerTask) + __ARM_fpclassifyf 0x080084d9 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) + __hardfp__fabsf 0x080084ff Thumb Code 14 fabsf.o(i.__hardfp__fabsf) + __hardfp_cosf 0x0800850d Thumb Code 280 cosf.o(i.__hardfp_cosf) + __hardfp_fmaxf 0x0800865d Thumb Code 72 fmaxf.o(i.__hardfp_fmaxf) + __hardfp_sinf 0x080086a5 Thumb Code 344 sinf.o(i.__hardfp_sinf) + __hardfp_tanf 0x08008835 Thumb Code 322 tanf.o(i.__hardfp_tanf) + __mathlib_flt_infnan 0x080089b1 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) + __mathlib_flt_invalid 0x080089b9 Thumb Code 10 funder.o(i.__mathlib_flt_invalid) + __mathlib_flt_underflow 0x080089c9 Thumb Code 10 funder.o(i.__mathlib_flt_underflow) + __mathlib_rredf2 0x080089d9 Thumb Code 316 rredf.o(i.__mathlib_rredf2) + __scatterload_copy 0x08008b2d Thumb Code 14 handlers.o(i.__scatterload_copy) + __scatterload_null 0x08008b3b Thumb Code 2 handlers.o(i.__scatterload_null) + __scatterload_zeroinit 0x08008b3d Thumb Code 14 handlers.o(i.__scatterload_zeroinit) + __set_errno 0x08008b4d Thumb Code 6 errno.o(i.__set_errno) + AHBPrescTable 0x08008b84 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) + APBPrescTable 0x08008b94 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) + attr_init 0x08008b9c Data 36 user_task.o(.rodata.attr_init) + attr_test 0x08008bc0 Data 36 user_task.o(.rodata.attr_test) + attr_yaokongqi 0x08008be4 Data 36 user_task.o(.rodata.attr_yaokongqi) + defaultTask_attributes 0x08008c10 Data 36 freertos.o(.rodata.defaultTask_attributes) + Region$$Table$$Base 0x08008c60 Number 0 anon$$obj.o(Region$$Table) + Region$$Table$$Limit 0x08008c80 Number 0 anon$$obj.o(Region$$Table) uwTickFreq 0x20000008 Data 1 stm32f4xx_hal.o(.data..L_MergedGlobals) uwTickPrio 0x2000000c Data 4 stm32f4xx_hal.o(.data..L_MergedGlobals) uwTick 0x20000010 Data 4 stm32f4xx_hal.o(.data..L_MergedGlobals) SystemCoreClock 0x20000014 Data 4 system_stm32f4xx.o(.data.SystemCoreClock) - robot_config 0x20000018 Data 112 config.o(.data.robot_config) - hdma_spi1_rx 0x20000090 Data 96 spi.o(.bss..L_MergedGlobals) - hdma_usart1_rx 0x200000f0 Data 96 usart.o(.bss..L_MergedGlobals) - remote_ready 0x200002c0 Data 1 ledi.o(.bss..L_MergedGlobals) - rc_ctrl 0x200002c4 Data 36 ledi.o(.bss..L_MergedGlobals) - sbus_rx_buf 0x200002e8 Data 50 ledi.o(.bss..L_MergedGlobals) - chassis_cmd 0x20000320 Data 16 test.o(.bss..L_MergedGlobals) - chassis_imu 0x20000330 Data 24 test.o(.bss..L_MergedGlobals) - cmd_to_chassis 0x20000350 Data 16 yaokongqi.o(.bss..L_MergedGlobals) - dr16 0x20000360 Data 88 yaokongqi.o(.bss..L_MergedGlobals) - hdma_spi1_tx 0x200003c0 Data 96 spi.o(.bss..L_MergedGlobals.1) - hdma_usart3_rx 0x20000420 Data 96 usart.o(.bss..L_MergedGlobals.1) - chassis_fb 0x200004b0 Data 88 test.o(.bss..L_MergedGlobals.1) - hdma_usart6_rx 0x20000510 Data 96 usart.o(.bss..L_MergedGlobals.2) - hdma_usart6_tx 0x200005c0 Data 96 usart.o(.bss..L_MergedGlobals.3) - chassis 0x200006b8 Data 744 test.o(.bss.chassis) - defaultTaskHandle 0x200009a0 Data 4 freertos.o(.bss.defaultTaskHandle) - hcan1 0x200009a4 Data 40 can.o(.bss.hcan1) - hcan2 0x200009cc Data 40 can.o(.bss.hcan2) - hspi1 0x200009f4 Data 88 spi.o(.bss.hspi1) - htim10 0x20000a4c Data 72 tim.o(.bss.htim10) - htim4 0x20000a94 Data 72 tim.o(.bss.htim4) - htim7 0x20000adc Data 72 tim.o(.bss.htim7) - huart1 0x20000b24 Data 72 usart.o(.bss.huart1) - huart3 0x20000b6c Data 72 usart.o(.bss.huart3) - huart6 0x20000bb4 Data 72 usart.o(.bss.huart6) - pxCurrentTCB 0x20000ca8 Data 4 tasks.o(.bss.pxCurrentTCB) - task_runtime 0x2000110c Data 60 user_task.o(.bss.task_runtime) - xQueueRegistry 0x20005c18 Data 64 queue.o(.bss.xQueueRegistry) - __initial_sp 0x20006058 Data 0 startup_stm32f407xx.o(STACK) + robot_config 0x20000018 Data 128 config.o(.data.robot_config) + hdma_spi1_rx 0x200000a0 Data 96 spi.o(.bss..L_MergedGlobals) + hdma_usart1_rx 0x20000100 Data 96 usart.o(.bss..L_MergedGlobals) + remote_ready 0x200002d0 Data 1 ledi.o(.bss..L_MergedGlobals) + rc_ctrl 0x200002d4 Data 36 ledi.o(.bss..L_MergedGlobals) + sbus_rx_buf 0x200002f8 Data 50 ledi.o(.bss..L_MergedGlobals) + chassis_cmd 0x20000330 Data 16 test.o(.bss..L_MergedGlobals) + chassis_imu 0x20000340 Data 24 test.o(.bss..L_MergedGlobals) + cmd_to_chassis 0x20000360 Data 16 yaokongqi.o(.bss..L_MergedGlobals) + dr16 0x20000370 Data 88 yaokongqi.o(.bss..L_MergedGlobals) + hdma_spi1_tx 0x200003d0 Data 96 spi.o(.bss..L_MergedGlobals.1) + hdma_usart3_rx 0x20000430 Data 96 usart.o(.bss..L_MergedGlobals.1) + chassis_fb 0x200004c0 Data 88 test.o(.bss..L_MergedGlobals.1) + hdma_usart6_rx 0x20000520 Data 96 usart.o(.bss..L_MergedGlobals.2) + hdma_usart6_tx 0x200005d0 Data 96 usart.o(.bss..L_MergedGlobals.3) + chassis 0x200006c8 Data 768 test.o(.bss.chassis) + defaultTaskHandle 0x200009c8 Data 4 freertos.o(.bss.defaultTaskHandle) + hcan1 0x200009cc Data 40 can.o(.bss.hcan1) + hcan2 0x200009f4 Data 40 can.o(.bss.hcan2) + hspi1 0x20000a1c Data 88 spi.o(.bss.hspi1) + htim10 0x20000a74 Data 72 tim.o(.bss.htim10) + htim4 0x20000abc Data 72 tim.o(.bss.htim4) + htim7 0x20000b04 Data 72 tim.o(.bss.htim7) + huart1 0x20000b4c Data 72 usart.o(.bss.huart1) + huart3 0x20000b94 Data 72 usart.o(.bss.huart3) + huart6 0x20000bdc Data 72 usart.o(.bss.huart6) + pxCurrentTCB 0x20000cd0 Data 4 tasks.o(.bss.pxCurrentTCB) + task_runtime 0x20001134 Data 60 user_task.o(.bss.task_runtime) + xQueueRegistry 0x20005c40 Data 64 queue.o(.bss.xQueueRegistry) + __initial_sp 0x20006080 Data 0 startup_stm32f407xx.o(STACK) @@ -5861,9 +5863,9 @@ Memory Map of the image Image Entry point : 0x08000189 - Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00008c20, Max: 0x00100000, ABSOLUTE) + Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00008d20, Max: 0x00100000, ABSOLUTE) - Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00008b90, Max: 0x00100000, ABSOLUTE) + Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00008c80, Max: 0x00100000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object @@ -5919,450 +5921,453 @@ Memory Map of the image 0x08000a1c 0x08000a1c 0x0000000c Code RO 191 .text.CAN1_RX1_IRQHandler stm32f4xx_it.o 0x08000a28 0x08000a28 0x0000000c Code RO 205 .text.CAN2_RX0_IRQHandler stm32f4xx_it.o 0x08000a34 0x08000a34 0x0000000c Code RO 207 .text.CAN2_RX1_IRQHandler stm32f4xx_it.o - 0x08000a40 0x08000a40 0x000002e0 Code RO 2752 .text.Chassis_Control chassis.o - 0x08000d20 0x08000d20 0x00000184 Code RO 2748 .text.Chassis_Init chassis.o - 0x08000ea4 0x08000ea4 0x00000056 Code RO 2754 .text.Chassis_Output chassis.o - 0x08000efa 0x08000efa 0x00000002 PAD - 0x08000efc 0x08000efc 0x00000088 Code RO 2750 .text.Chassis_UpdateFeedback chassis.o - 0x08000f84 0x08000f84 0x0000003c Code RO 2715 .text.CircleError user_math.o - 0x08000fc0 0x08000fc0 0x00000018 Code RO 2719 .text.CircleReverse user_math.o - 0x08000fd8 0x08000fd8 0x0000000a Code RO 2734 .text.Config_GetRobotParam config.o - 0x08000fe2 0x08000fe2 0x00000002 PAD - 0x08000fe4 0x08000fe4 0x0000000c Code RO 187 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o - 0x08000ff0 0x08000ff0 0x0000000c Code RO 199 .text.DMA2_Stream1_IRQHandler stm32f4xx_it.o - 0x08000ffc 0x08000ffc 0x0000000c Code RO 201 .text.DMA2_Stream2_IRQHandler stm32f4xx_it.o - 0x08001008 0x08001008 0x0000000c Code RO 203 .text.DMA2_Stream3_IRQHandler stm32f4xx_it.o - 0x08001014 0x08001014 0x0000000c Code RO 209 .text.DMA2_Stream5_IRQHandler stm32f4xx_it.o - 0x08001020 0x08001020 0x0000000c Code RO 211 .text.DMA2_Stream6_IRQHandler stm32f4xx_it.o - 0x0800102c 0x0800102c 0x0000001c Code RO 2307 .text.DR16_Offline dr16.o - 0x08001048 0x08001048 0x000001ec Code RO 2305 .text.DR16_ParseData dr16.o - 0x08001234 0x08001234 0x0000001e Code RO 2301 .text.DR16_StartDmaRecv dr16.o - 0x08001252 0x08001252 0x00000002 PAD - 0x08001254 0x08001254 0x00000016 Code RO 2303 .text.DR16_WaitDmaCplt dr16.o - 0x0800126a 0x0800126a 0x00000002 PAD - 0x0800126c 0x0800126c 0x00000002 Code RO 179 .text.DebugMon_Handler stm32f4xx_it.o - 0x0800126e 0x0800126e 0x00000002 PAD - 0x08001270 0x08001270 0x00000006 Code RO 183 .text.EXTI0_IRQHandler stm32f4xx_it.o - 0x08001276 0x08001276 0x00000002 PAD - 0x08001278 0x08001278 0x00000006 Code RO 185 .text.EXTI4_IRQHandler stm32f4xx_it.o - 0x0800127e 0x0800127e 0x00000002 PAD - 0x08001280 0x08001280 0x00000006 Code RO 193 .text.EXTI9_5_IRQHandler stm32f4xx_it.o - 0x08001286 0x08001286 0x00000002 PAD - 0x08001288 0x08001288 0x00000006 Code RO 15 .text.Error_Handler main.o - 0x0800128e 0x0800128e 0x00000002 PAD - 0x08001290 0x08001290 0x00000090 Code RO 259 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o - 0x08001320 0x08001320 0x0000003a Code RO 1958 .text.HAL_CAN_ErrorCallback can_1.o + 0x08000a40 0x08000a40 0x00000340 Code RO 2752 .text.Chassis_Control chassis.o + 0x08000d80 0x08000d80 0x00000198 Code RO 2748 .text.Chassis_Init chassis.o + 0x08000f18 0x08000f18 0x00000056 Code RO 2754 .text.Chassis_Output chassis.o + 0x08000f6e 0x08000f6e 0x00000002 PAD + 0x08000f70 0x08000f70 0x000000d0 Code RO 2750 .text.Chassis_UpdateFeedback chassis.o + 0x08001040 0x08001040 0x0000003c Code RO 2715 .text.CircleError user_math.o + 0x0800107c 0x0800107c 0x00000018 Code RO 2719 .text.CircleReverse user_math.o + 0x08001094 0x08001094 0x00000026 Code RO 2709 .text.Clip user_math.o + 0x080010ba 0x080010ba 0x00000002 PAD + 0x080010bc 0x080010bc 0x0000000a Code RO 2734 .text.Config_GetRobotParam config.o + 0x080010c6 0x080010c6 0x00000002 PAD + 0x080010c8 0x080010c8 0x0000000c Code RO 187 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o + 0x080010d4 0x080010d4 0x0000000c Code RO 199 .text.DMA2_Stream1_IRQHandler stm32f4xx_it.o + 0x080010e0 0x080010e0 0x0000000c Code RO 201 .text.DMA2_Stream2_IRQHandler stm32f4xx_it.o + 0x080010ec 0x080010ec 0x0000000c Code RO 203 .text.DMA2_Stream3_IRQHandler stm32f4xx_it.o + 0x080010f8 0x080010f8 0x0000000c Code RO 209 .text.DMA2_Stream5_IRQHandler stm32f4xx_it.o + 0x08001104 0x08001104 0x0000000c Code RO 211 .text.DMA2_Stream6_IRQHandler stm32f4xx_it.o + 0x08001110 0x08001110 0x0000001c Code RO 2307 .text.DR16_Offline dr16.o + 0x0800112c 0x0800112c 0x000001ec Code RO 2305 .text.DR16_ParseData dr16.o + 0x08001318 0x08001318 0x0000001e Code RO 2301 .text.DR16_StartDmaRecv dr16.o + 0x08001336 0x08001336 0x00000002 PAD + 0x08001338 0x08001338 0x00000016 Code RO 2303 .text.DR16_WaitDmaCplt dr16.o + 0x0800134e 0x0800134e 0x00000002 PAD + 0x08001350 0x08001350 0x00000002 Code RO 179 .text.DebugMon_Handler stm32f4xx_it.o + 0x08001352 0x08001352 0x00000002 PAD + 0x08001354 0x08001354 0x00000006 Code RO 183 .text.EXTI0_IRQHandler stm32f4xx_it.o 0x0800135a 0x0800135a 0x00000002 PAD - 0x0800135c 0x0800135c 0x0000002a Code RO 263 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o - 0x08001386 0x08001386 0x00000002 PAD - 0x08001388 0x08001388 0x0000025a Code RO 277 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o - 0x080015e2 0x080015e2 0x00000002 PAD - 0x080015e4 0x080015e4 0x00000102 Code RO 239 .text.HAL_CAN_Init stm32f4xx_hal_can.o - 0x080016e6 0x080016e6 0x00000002 PAD - 0x080016e8 0x080016e8 0x00000164 Code RO 64 .text.HAL_CAN_MspInit can.o - 0x0800184c 0x0800184c 0x0000003a Code RO 1948 .text.HAL_CAN_RxFifo0FullCallback can_1.o - 0x08001886 0x08001886 0x00000002 PAD - 0x08001888 0x08001888 0x0000003a Code RO 1946 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o - 0x080018c2 0x080018c2 0x00000002 PAD - 0x080018c4 0x080018c4 0x0000003a Code RO 1952 .text.HAL_CAN_RxFifo1FullCallback can_1.o - 0x080018fe 0x080018fe 0x00000002 PAD - 0x08001900 0x08001900 0x0000003a Code RO 1950 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o - 0x0800193a 0x0800193a 0x00000002 PAD - 0x0800193c 0x0800193c 0x0000003a Code RO 1954 .text.HAL_CAN_SleepCallback can_1.o - 0x08001976 0x08001976 0x00000002 PAD - 0x08001978 0x08001978 0x0000003a Code RO 1940 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o - 0x080019b2 0x080019b2 0x00000002 PAD - 0x080019b4 0x080019b4 0x0000003a Code RO 1934 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o - 0x080019ee 0x080019ee 0x00000002 PAD - 0x080019f0 0x080019f0 0x0000003a Code RO 1942 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o - 0x08001a2a 0x08001a2a 0x00000002 PAD - 0x08001a2c 0x08001a2c 0x0000003a Code RO 1936 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o - 0x08001a66 0x08001a66 0x00000002 PAD - 0x08001a68 0x08001a68 0x0000003a Code RO 1944 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o - 0x08001aa2 0x08001aa2 0x00000002 PAD - 0x08001aa4 0x08001aa4 0x0000003a Code RO 1938 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o - 0x08001ade 0x08001ade 0x00000002 PAD - 0x08001ae0 0x08001ae0 0x0000003a Code RO 1956 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o - 0x08001b1a 0x08001b1a 0x00000002 PAD - 0x08001b1c 0x08001b1c 0x00000084 Code RO 503 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o - 0x08001ba0 0x08001ba0 0x00000024 Code RO 505 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o - 0x08001bc4 0x08001bc4 0x0000019c Code RO 509 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o - 0x08001d60 0x08001d60 0x00000164 Code RO 495 .text.HAL_DMA_Init stm32f4xx_hal_dma.o - 0x08001ec4 0x08001ec4 0x000000a4 Code RO 501 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o - 0x08001f68 0x08001f68 0x000001a2 Code RO 2036 .text.HAL_GPIO_EXTI_Callback gpio_1.o - 0x0800210a 0x0800210a 0x00000002 PAD - 0x0800210c 0x0800210c 0x00000016 Code RO 463 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o - 0x08002122 0x08002122 0x00000002 PAD - 0x08002124 0x08002124 0x000001be Code RO 451 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o - 0x080022e2 0x080022e2 0x00000002 PAD - 0x080022e4 0x080022e4 0x0000000a Code RO 457 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o - 0x080022ee 0x080022ee 0x00000002 PAD - 0x080022f0 0x080022f0 0x0000000c Code RO 664 .text.HAL_GetTick stm32f4xx_hal.o - 0x080022fc 0x080022fc 0x00000012 Code RO 662 .text.HAL_IncTick stm32f4xx_hal.o - 0x0800230e 0x0800230e 0x00000002 PAD - 0x08002310 0x08002310 0x00000036 Code RO 652 .text.HAL_Init stm32f4xx_hal.o - 0x08002346 0x08002346 0x00000002 PAD - 0x08002348 0x08002348 0x00000044 Code RO 654 .text.HAL_InitTick stm32f4xx_hal.o - 0x0800238c 0x0800238c 0x00000042 Code RO 226 .text.HAL_MspInit stm32f4xx_hal_msp.o - 0x080023ce 0x080023ce 0x00000002 PAD - 0x080023d0 0x080023d0 0x00000020 Code RO 603 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x080023f0 0x080023f0 0x00000064 Code RO 601 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x08002454 0x08002454 0x00000020 Code RO 599 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x08002474 0x08002474 0x00000164 Code RO 326 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o - 0x080025d8 0x080025d8 0x00000026 Code RO 338 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o - 0x080025fe 0x080025fe 0x00000002 PAD - 0x08002600 0x08002600 0x00000026 Code RO 340 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o - 0x08002626 0x08002626 0x00000002 PAD - 0x08002628 0x08002628 0x0000006c Code RO 328 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o - 0x08002694 0x08002694 0x000003d6 Code RO 324 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o - 0x08002a6a 0x08002a6a 0x00000002 PAD - 0x08002a6c 0x08002a6c 0x000000c8 Code RO 747 .text.HAL_SPI_Init stm32f4xx_hal_spi.o - 0x08002b34 0x08002b34 0x0000012e Code RO 97 .text.HAL_SPI_MspInit spi.o - 0x08002c62 0x08002c62 0x00000002 PAD - 0x08002c64 0x08002c64 0x0000002c Code RO 609 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o - 0x08002c90 0x08002c90 0x00000002 Code RO 1172 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o - 0x08002c92 0x08002c92 0x00000002 PAD - 0x08002c94 0x08002c94 0x00000002 Code RO 1168 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o - 0x08002c96 0x08002c96 0x00000002 PAD - 0x08002c98 0x08002c98 0x000000ba Code RO 1162 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o - 0x08002d52 0x08002d52 0x00000002 PAD - 0x08002d54 0x08002d54 0x0000017e Code RO 864 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o - 0x08002ed2 0x08002ed2 0x00000002 PAD - 0x08002ed4 0x08002ed4 0x00000092 Code RO 123 .text.HAL_TIM_Base_MspInit tim.o - 0x08002f66 0x08002f66 0x00000002 PAD - 0x08002f68 0x08002f68 0x0000019e Code RO 1044 .text.HAL_TIM_ConfigClockSource stm32f4xx_hal_tim.o - 0x08003106 0x08003106 0x00000002 PAD - 0x08003108 0x08003108 0x00000002 Code RO 1000 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o - 0x0800310a 0x0800310a 0x00000002 PAD - 0x0800310c 0x0800310c 0x0000011a Code RO 998 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o - 0x08003226 0x08003226 0x00000002 PAD - 0x08003228 0x08003228 0x00000002 Code RO 1002 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o - 0x0800322a 0x0800322a 0x00000002 PAD - 0x0800322c 0x0800322c 0x0000022a Code RO 1018 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o - 0x08003456 0x08003456 0x00000002 PAD - 0x08003458 0x08003458 0x0000017e Code RO 918 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o - 0x080035d6 0x080035d6 0x00000002 PAD - 0x080035d8 0x080035d8 0x00000002 Code RO 920 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o - 0x080035da 0x080035da 0x00000002 PAD - 0x080035dc 0x080035dc 0x00000002 Code RO 1004 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o - 0x080035de 0x080035de 0x00000002 PAD - 0x080035e0 0x080035e0 0x00000002 Code RO 1006 .text.HAL_TIM_PeriodElapsedCallback stm32f4xx_hal_tim.o - 0x080035e2 0x080035e2 0x00000002 PAD - 0x080035e4 0x080035e4 0x00000002 Code RO 1008 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o - 0x080035e6 0x080035e6 0x00000002 PAD - 0x080035e8 0x080035e8 0x00000002 Code RO 1275 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o - 0x080035ea 0x080035ea 0x00000002 PAD - 0x080035ec 0x080035ec 0x0000003e Code RO 2181 .text.HAL_UART_ErrorCallback uart.o - 0x0800362a 0x0800362a 0x00000002 PAD - 0x0800362c 0x0800362c 0x00000316 Code RO 1267 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o - 0x08003942 0x08003942 0x00000002 PAD - 0x08003944 0x08003944 0x00000060 Code RO 1189 .text.HAL_UART_Init stm32f4xx_hal_uart.o - 0x080039a4 0x080039a4 0x00000280 Code RO 147 .text.HAL_UART_MspInit usart.o - 0x08003c24 0x08003c24 0x000000c8 Code RO 1223 .text.HAL_UART_Receive_DMA stm32f4xx_hal_uart.o - 0x08003cec 0x08003cec 0x0000003e Code RO 2177 .text.HAL_UART_RxCpltCallback uart.o - 0x08003d2a 0x08003d2a 0x00000002 PAD - 0x08003d2c 0x08003d2c 0x0000003e Code RO 2179 .text.HAL_UART_RxHalfCpltCallback uart.o - 0x08003d6a 0x08003d6a 0x00000002 PAD - 0x08003d6c 0x08003d6c 0x0000003e Code RO 2173 .text.HAL_UART_TxCpltCallback uart.o - 0x08003daa 0x08003daa 0x00000002 PAD - 0x08003dac 0x08003dac 0x00000002 Code RO 171 .text.HardFault_Handler stm32f4xx_it.o - 0x08003dae 0x08003dae 0x00000002 PAD - 0x08003db0 0x08003db0 0x00000060 Code RO 2572 .text.LowPassFilter2p_Apply filter.o - 0x08003e10 0x08003e10 0x000000a8 Code RO 2570 .text.LowPassFilter2p_Init filter.o - 0x08003eb8 0x08003eb8 0x00000078 Code RO 2574 .text.LowPassFilter2p_Reset filter.o - 0x08003f30 0x08003f30 0x00000110 Code RO 2379 .text.MOTOR_RM_Ctrl motor_rm.o - 0x08004040 0x08004040 0x0000004c Code RO 2377 .text.MOTOR_RM_GetMotor motor_rm.o - 0x0800408c 0x0800408c 0x000000dc Code RO 2369 .text.MOTOR_RM_Register motor_rm.o - 0x08004168 0x08004168 0x000000d8 Code RO 2375 .text.MOTOR_RM_SetOutput motor_rm.o - 0x08004240 0x08004240 0x00000210 Code RO 2371 .text.MOTOR_RM_Update motor_rm.o - 0x08004450 0x08004450 0x00000040 Code RO 60 .text.MX_CAN1_Init can.o - 0x08004490 0x08004490 0x00000040 Code RO 62 .text.MX_CAN2_Init can.o - 0x080044d0 0x080044d0 0x0000009c Code RO 82 .text.MX_DMA_Init dma.o - 0x0800456c 0x0800456c 0x0000003c Code RO 42 .text.MX_FREERTOS_Init freertos.o - 0x080045a8 0x080045a8 0x00000164 Code RO 29 .text.MX_GPIO_Init gpio.o - 0x0800470c 0x0800470c 0x0000004c Code RO 95 .text.MX_SPI1_Init spi.o - 0x08004758 0x08004758 0x00000106 Code RO 121 .text.MX_TIM10_Init tim.o - 0x0800485e 0x0800485e 0x00000002 PAD - 0x08004860 0x08004860 0x00000148 Code RO 115 .text.MX_TIM4_Init tim.o - 0x080049a8 0x080049a8 0x00000054 Code RO 119 .text.MX_TIM7_Init tim.o - 0x080049fc 0x080049fc 0x0000003c Code RO 141 .text.MX_USART1_UART_Init usart.o - 0x08004a38 0x08004a38 0x00000046 Code RO 143 .text.MX_USART3_UART_Init usart.o - 0x08004a7e 0x08004a7e 0x00000002 PAD - 0x08004a80 0x08004a80 0x0000003c Code RO 145 .text.MX_USART6_UART_Init usart.o - 0x08004abc 0x08004abc 0x00000002 Code RO 173 .text.MemManage_Handler stm32f4xx_it.o - 0x08004abe 0x08004abe 0x00000002 PAD - 0x08004ac0 0x08004ac0 0x00000174 Code RO 2642 .text.Mixer_Apply mixer.o - 0x08004c34 0x08004c34 0x0000000e Code RO 2640 .text.Mixer_Init mixer.o - 0x08004c42 0x08004c42 0x00000002 PAD - 0x08004c44 0x08004c44 0x00000002 Code RO 169 .text.NMI_Handler stm32f4xx_it.o - 0x08004c46 0x08004c46 0x00000002 PAD - 0x08004c48 0x08004c48 0x0000016c Code RO 2659 .text.PID_Calc pid.o - 0x08004db4 0x08004db4 0x00000094 Code RO 2655 .text.PID_Init pid.o - 0x08004e48 0x08004e48 0x00000028 Code RO 2657 .text.PID_Reset pid.o - 0x08004e70 0x08004e70 0x00000064 Code RO 1915 .text.PendSV_Handler port.o - 0x08004ed4 0x08004ed4 0x0000000c PAD - 0x08004ee0 0x08004ee0 0x00000024 Code RO 1899 .text.SVC_Handler port.o - 0x08004f04 0x08004f04 0x0000000e Code RO 44 .text.StartDefaultTask freertos.o - 0x08004f12 0x08004f12 0x00000002 PAD - 0x08004f14 0x08004f14 0x00000018 Code RO 181 .text.SysTick_Handler stm32f4xx_it.o - 0x08004f2c 0x08004f2c 0x000000a2 Code RO 13 .text.SystemClock_Config main.o - 0x08004fce 0x08004fce 0x00000002 PAD - 0x08004fd0 0x08004fd0 0x00000012 Code RO 1314 .text.SystemInit system_stm32f4xx.o - 0x08004fe2 0x08004fe2 0x00000002 PAD - 0x08004fe4 0x08004fe4 0x0000000c Code RO 197 .text.TIM7_IRQHandler stm32f4xx_it.o - 0x08004ff0 0x08004ff0 0x0000007e Code RO 2769 .text.Task_Init init.o - 0x0800506e 0x0800506e 0x00000002 PAD - 0x08005070 0x08005070 0x00000124 Code RO 2796 .text.Task_test test.o - 0x08005194 0x08005194 0x00000004 PAD - 0x08005198 0x08005198 0x000000b0 Code RO 2813 .text.Task_yaokongqi yaokongqi.o - 0x08005248 0x08005248 0x0000000a Code RO 1271 .text.UART_DMAAbortOnError stm32f4xx_hal_uart.o - 0x08005252 0x08005252 0x00000002 PAD - 0x08005254 0x08005254 0x000000aa Code RO 1221 .text.UART_DMAError stm32f4xx_hal_uart.o - 0x080052fe 0x080052fe 0x00000002 PAD - 0x08005300 0x08005300 0x0000008c Code RO 1299 .text.UART_DMAReceiveCplt stm32f4xx_hal_uart.o - 0x0800538c 0x0800538c 0x00000018 Code RO 1301 .text.UART_DMARxHalfCplt stm32f4xx_hal_uart.o - 0x080053a4 0x080053a4 0x000000cc Code RO 1269 .text.UART_Receive_IT stm32f4xx_hal_uart.o - 0x08005470 0x08005470 0x000000e2 Code RO 1193 .text.UART_SetConfig stm32f4xx_hal_uart.o - 0x08005552 0x08005552 0x00000002 PAD - 0x08005554 0x08005554 0x0000000c Code RO 195 .text.USART1_IRQHandler stm32f4xx_it.o - 0x08005560 0x08005560 0x000000d6 Code RO 2333 .text.USART3_IRQHandler ledi.o - 0x08005636 0x08005636 0x00000002 PAD - 0x08005638 0x08005638 0x0000001a Code RO 213 .text.USART6_IRQHandler stm32f4xx_it.o - 0x08005652 0x08005652 0x00000002 PAD - 0x08005654 0x08005654 0x00000002 Code RO 177 .text.UsageFault_Handler stm32f4xx_it.o - 0x08005656 0x08005656 0x00000002 PAD - 0x08005658 0x08005658 0x00000096 Code RO 1545 .text.eTaskGetState tasks.o - 0x080056ee 0x080056ee 0x00000002 PAD - 0x080056f0 0x080056f0 0x00000046 Code RO 11 .text.main main.o - 0x08005736 0x08005736 0x00000002 PAD - 0x08005738 0x08005738 0x0000001a Code RO 2225 .text.map_fp32 calc_lib.o - 0x08005752 0x08005752 0x00000002 PAD - 0x08005754 0x08005754 0x00000020 Code RO 1763 .text.osDelay cmsis_os2.o - 0x08005774 0x08005774 0x00000036 Code RO 1765 .text.osDelayUntil cmsis_os2.o - 0x080057aa 0x080057aa 0x00000002 PAD - 0x080057ac 0x080057ac 0x00000010 Code RO 1719 .text.osKernelGetTickCount cmsis_os2.o - 0x080057bc 0x080057bc 0x00000006 Code RO 1721 .text.osKernelGetTickFreq cmsis_os2.o - 0x080057c2 0x080057c2 0x00000002 PAD - 0x080057c4 0x080057c4 0x0000002a Code RO 1705 .text.osKernelInitialize cmsis_os2.o - 0x080057ee 0x080057ee 0x00000002 PAD - 0x080057f0 0x080057f0 0x0000002c Code RO 1713 .text.osKernelLock cmsis_os2.o - 0x0800581c 0x0800581c 0x00000040 Code RO 1711 .text.osKernelStart cmsis_os2.o - 0x0800585c 0x0800585c 0x00000044 Code RO 1715 .text.osKernelUnlock cmsis_os2.o - 0x080058a0 0x080058a0 0x00000080 Code RO 1817 .text.osMessageQueueGet cmsis_os2.o - 0x08005920 0x08005920 0x0000007e Code RO 1813 .text.osMessageQueueNew cmsis_os2.o - 0x0800599e 0x0800599e 0x00000002 PAD - 0x080059a0 0x080059a0 0x0000008a Code RO 1815 .text.osMessageQueuePut cmsis_os2.o - 0x08005a2a 0x08005a2a 0x00000002 PAD - 0x08005a2c 0x08005a2c 0x00000052 Code RO 1795 .text.osMutexAcquire cmsis_os2.o - 0x08005a7e 0x08005a7e 0x00000002 PAD - 0x08005a80 0x08005a80 0x00000050 Code RO 1797 .text.osMutexRelease cmsis_os2.o - 0x08005ad0 0x08005ad0 0x0000014a Code RO 1761 .text.osThreadFlagsWait cmsis_os2.o - 0x08005c1a 0x08005c1a 0x00000002 PAD - 0x08005c1c 0x08005c1c 0x00000004 Code RO 1731 .text.osThreadGetId cmsis_os2.o - 0x08005c20 0x08005c20 0x000000a0 Code RO 1727 .text.osThreadNew cmsis_os2.o - 0x08005cc0 0x08005cc0 0x00000034 Code RO 1749 .text.osThreadTerminate cmsis_os2.o - 0x08005cf4 0x08005cf4 0x000002a0 Code RO 1531 .text.prvAddNewTaskToReadyList tasks.o - 0x08005f94 0x08005f94 0x0000008a Code RO 1563 .text.prvIdleTask tasks.o - 0x0800601e 0x0800601e 0x00000002 PAD - 0x08006020 0x08006020 0x00000028 Code RO 1907 .text.prvPortStartFirstTask port.o - 0x08006048 0x08006048 0x000000b2 Code RO 1688 .text.prvSampleTimeNow timers.o - 0x080060fa 0x080060fa 0x00000002 PAD - 0x080060fc 0x080060fc 0x00000032 Code RO 1897 .text.prvTaskExitError port.o - 0x0800612e 0x0800612e 0x00000002 PAD - 0x08006130 0x08006130 0x0000023a Code RO 1652 .text.prvTimerTask timers.o - 0x0800636a 0x0800636a 0x00000002 PAD - 0x0800636c 0x0800636c 0x0000007a Code RO 1426 .text.prvUnlockQueue queue.o - 0x080063e6 0x080063e6 0x00000002 PAD - 0x080063e8 0x080063e8 0x0000019e Code RO 1869 .text.pvPortMalloc heap_4.o - 0x08006586 0x08006586 0x00000002 PAD - 0x08006588 0x08006588 0x0000001a Code RO 1619 .text.pvTaskIncrementMutexHeldCount tasks.o - 0x080065a2 0x080065a2 0x00000002 PAD - 0x080065a4 0x080065a4 0x00000024 Code RO 1895 .text.pxPortInitialiseStack port.o - 0x080065c8 0x080065c8 0x00000280 Code RO 2335 .text.sbus_to_rc ledi.o - 0x08006848 0x08006848 0x00000022 Code RO 1387 .text.uxListRemove list.o - 0x0800686a 0x0800686a 0x00000002 PAD - 0x0800686c 0x0800686c 0x0000001a Code RO 1849 .text.vApplicationGetIdleTaskMemory cmsis_os2.o - 0x08006886 0x08006886 0x00000002 PAD - 0x08006888 0x08006888 0x0000001c Code RO 1851 .text.vApplicationGetTimerTaskMemory cmsis_os2.o - 0x080068a4 0x080068a4 0x00000016 Code RO 1379 .text.vListInitialise list.o - 0x080068ba 0x080068ba 0x00000002 PAD - 0x080068bc 0x080068bc 0x00000006 Code RO 1381 .text.vListInitialiseItem list.o - 0x080068c2 0x080068c2 0x00000002 PAD - 0x080068c4 0x080068c4 0x0000003c Code RO 1385 .text.vListInsert list.o - 0x08006900 0x08006900 0x00000018 Code RO 1383 .text.vListInsertEnd list.o - 0x08006918 0x08006918 0x00000014 Code RO 1905 .text.vPortEnableVFP port.o - 0x0800692c 0x0800692c 0x0000004a Code RO 1911 .text.vPortEnterCritical port.o + 0x0800135c 0x0800135c 0x00000006 Code RO 185 .text.EXTI4_IRQHandler stm32f4xx_it.o + 0x08001362 0x08001362 0x00000002 PAD + 0x08001364 0x08001364 0x00000006 Code RO 193 .text.EXTI9_5_IRQHandler stm32f4xx_it.o + 0x0800136a 0x0800136a 0x00000002 PAD + 0x0800136c 0x0800136c 0x00000006 Code RO 15 .text.Error_Handler main.o + 0x08001372 0x08001372 0x00000002 PAD + 0x08001374 0x08001374 0x00000090 Code RO 259 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o + 0x08001404 0x08001404 0x0000003a Code RO 1958 .text.HAL_CAN_ErrorCallback can_1.o + 0x0800143e 0x0800143e 0x00000002 PAD + 0x08001440 0x08001440 0x0000002a Code RO 263 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o + 0x0800146a 0x0800146a 0x00000002 PAD + 0x0800146c 0x0800146c 0x0000025a Code RO 277 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o + 0x080016c6 0x080016c6 0x00000002 PAD + 0x080016c8 0x080016c8 0x00000102 Code RO 239 .text.HAL_CAN_Init stm32f4xx_hal_can.o + 0x080017ca 0x080017ca 0x00000002 PAD + 0x080017cc 0x080017cc 0x00000164 Code RO 64 .text.HAL_CAN_MspInit can.o + 0x08001930 0x08001930 0x0000003a Code RO 1948 .text.HAL_CAN_RxFifo0FullCallback can_1.o + 0x0800196a 0x0800196a 0x00000002 PAD + 0x0800196c 0x0800196c 0x0000003a Code RO 1946 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o + 0x080019a6 0x080019a6 0x00000002 PAD + 0x080019a8 0x080019a8 0x0000003a Code RO 1952 .text.HAL_CAN_RxFifo1FullCallback can_1.o + 0x080019e2 0x080019e2 0x00000002 PAD + 0x080019e4 0x080019e4 0x0000003a Code RO 1950 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o + 0x08001a1e 0x08001a1e 0x00000002 PAD + 0x08001a20 0x08001a20 0x0000003a Code RO 1954 .text.HAL_CAN_SleepCallback can_1.o + 0x08001a5a 0x08001a5a 0x00000002 PAD + 0x08001a5c 0x08001a5c 0x0000003a Code RO 1940 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o + 0x08001a96 0x08001a96 0x00000002 PAD + 0x08001a98 0x08001a98 0x0000003a Code RO 1934 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o + 0x08001ad2 0x08001ad2 0x00000002 PAD + 0x08001ad4 0x08001ad4 0x0000003a Code RO 1942 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o + 0x08001b0e 0x08001b0e 0x00000002 PAD + 0x08001b10 0x08001b10 0x0000003a Code RO 1936 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o + 0x08001b4a 0x08001b4a 0x00000002 PAD + 0x08001b4c 0x08001b4c 0x0000003a Code RO 1944 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o + 0x08001b86 0x08001b86 0x00000002 PAD + 0x08001b88 0x08001b88 0x0000003a Code RO 1938 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o + 0x08001bc2 0x08001bc2 0x00000002 PAD + 0x08001bc4 0x08001bc4 0x0000003a Code RO 1956 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o + 0x08001bfe 0x08001bfe 0x00000002 PAD + 0x08001c00 0x08001c00 0x00000084 Code RO 503 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o + 0x08001c84 0x08001c84 0x00000024 Code RO 505 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o + 0x08001ca8 0x08001ca8 0x0000019c Code RO 509 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o + 0x08001e44 0x08001e44 0x00000164 Code RO 495 .text.HAL_DMA_Init stm32f4xx_hal_dma.o + 0x08001fa8 0x08001fa8 0x000000a4 Code RO 501 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o + 0x0800204c 0x0800204c 0x000001a2 Code RO 2036 .text.HAL_GPIO_EXTI_Callback gpio_1.o + 0x080021ee 0x080021ee 0x00000002 PAD + 0x080021f0 0x080021f0 0x00000016 Code RO 463 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o + 0x08002206 0x08002206 0x00000002 PAD + 0x08002208 0x08002208 0x000001be Code RO 451 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o + 0x080023c6 0x080023c6 0x00000002 PAD + 0x080023c8 0x080023c8 0x0000000a Code RO 457 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o + 0x080023d2 0x080023d2 0x00000002 PAD + 0x080023d4 0x080023d4 0x0000000c Code RO 664 .text.HAL_GetTick stm32f4xx_hal.o + 0x080023e0 0x080023e0 0x00000012 Code RO 662 .text.HAL_IncTick stm32f4xx_hal.o + 0x080023f2 0x080023f2 0x00000002 PAD + 0x080023f4 0x080023f4 0x00000036 Code RO 652 .text.HAL_Init stm32f4xx_hal.o + 0x0800242a 0x0800242a 0x00000002 PAD + 0x0800242c 0x0800242c 0x00000044 Code RO 654 .text.HAL_InitTick stm32f4xx_hal.o + 0x08002470 0x08002470 0x00000042 Code RO 226 .text.HAL_MspInit stm32f4xx_hal_msp.o + 0x080024b2 0x080024b2 0x00000002 PAD + 0x080024b4 0x080024b4 0x00000020 Code RO 603 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x080024d4 0x080024d4 0x00000064 Code RO 601 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x08002538 0x08002538 0x00000020 Code RO 599 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x08002558 0x08002558 0x00000164 Code RO 326 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o + 0x080026bc 0x080026bc 0x00000026 Code RO 338 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o + 0x080026e2 0x080026e2 0x00000002 PAD + 0x080026e4 0x080026e4 0x00000026 Code RO 340 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o + 0x0800270a 0x0800270a 0x00000002 PAD + 0x0800270c 0x0800270c 0x0000006c Code RO 328 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o + 0x08002778 0x08002778 0x000003d6 Code RO 324 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o + 0x08002b4e 0x08002b4e 0x00000002 PAD + 0x08002b50 0x08002b50 0x000000c8 Code RO 747 .text.HAL_SPI_Init stm32f4xx_hal_spi.o + 0x08002c18 0x08002c18 0x0000012e Code RO 97 .text.HAL_SPI_MspInit spi.o + 0x08002d46 0x08002d46 0x00000002 PAD + 0x08002d48 0x08002d48 0x0000002c Code RO 609 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o + 0x08002d74 0x08002d74 0x00000002 Code RO 1172 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o + 0x08002d76 0x08002d76 0x00000002 PAD + 0x08002d78 0x08002d78 0x00000002 Code RO 1168 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o + 0x08002d7a 0x08002d7a 0x00000002 PAD + 0x08002d7c 0x08002d7c 0x000000ba Code RO 1162 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o + 0x08002e36 0x08002e36 0x00000002 PAD + 0x08002e38 0x08002e38 0x0000017e Code RO 864 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o + 0x08002fb6 0x08002fb6 0x00000002 PAD + 0x08002fb8 0x08002fb8 0x00000092 Code RO 123 .text.HAL_TIM_Base_MspInit tim.o + 0x0800304a 0x0800304a 0x00000002 PAD + 0x0800304c 0x0800304c 0x0000019e Code RO 1044 .text.HAL_TIM_ConfigClockSource stm32f4xx_hal_tim.o + 0x080031ea 0x080031ea 0x00000002 PAD + 0x080031ec 0x080031ec 0x00000002 Code RO 1000 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o + 0x080031ee 0x080031ee 0x00000002 PAD + 0x080031f0 0x080031f0 0x0000011a Code RO 998 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o + 0x0800330a 0x0800330a 0x00000002 PAD + 0x0800330c 0x0800330c 0x00000002 Code RO 1002 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o + 0x0800330e 0x0800330e 0x00000002 PAD + 0x08003310 0x08003310 0x0000022a Code RO 1018 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o + 0x0800353a 0x0800353a 0x00000002 PAD + 0x0800353c 0x0800353c 0x0000017e Code RO 918 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o + 0x080036ba 0x080036ba 0x00000002 PAD + 0x080036bc 0x080036bc 0x00000002 Code RO 920 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o + 0x080036be 0x080036be 0x00000002 PAD + 0x080036c0 0x080036c0 0x00000002 Code RO 1004 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o + 0x080036c2 0x080036c2 0x00000002 PAD + 0x080036c4 0x080036c4 0x00000002 Code RO 1006 .text.HAL_TIM_PeriodElapsedCallback stm32f4xx_hal_tim.o + 0x080036c6 0x080036c6 0x00000002 PAD + 0x080036c8 0x080036c8 0x00000002 Code RO 1008 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o + 0x080036ca 0x080036ca 0x00000002 PAD + 0x080036cc 0x080036cc 0x00000002 Code RO 1275 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o + 0x080036ce 0x080036ce 0x00000002 PAD + 0x080036d0 0x080036d0 0x0000003e Code RO 2181 .text.HAL_UART_ErrorCallback uart.o + 0x0800370e 0x0800370e 0x00000002 PAD + 0x08003710 0x08003710 0x00000316 Code RO 1267 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o + 0x08003a26 0x08003a26 0x00000002 PAD + 0x08003a28 0x08003a28 0x00000060 Code RO 1189 .text.HAL_UART_Init stm32f4xx_hal_uart.o + 0x08003a88 0x08003a88 0x00000280 Code RO 147 .text.HAL_UART_MspInit usart.o + 0x08003d08 0x08003d08 0x000000c8 Code RO 1223 .text.HAL_UART_Receive_DMA stm32f4xx_hal_uart.o + 0x08003dd0 0x08003dd0 0x0000003e Code RO 2177 .text.HAL_UART_RxCpltCallback uart.o + 0x08003e0e 0x08003e0e 0x00000002 PAD + 0x08003e10 0x08003e10 0x0000003e Code RO 2179 .text.HAL_UART_RxHalfCpltCallback uart.o + 0x08003e4e 0x08003e4e 0x00000002 PAD + 0x08003e50 0x08003e50 0x0000003e Code RO 2173 .text.HAL_UART_TxCpltCallback uart.o + 0x08003e8e 0x08003e8e 0x00000002 PAD + 0x08003e90 0x08003e90 0x00000002 Code RO 171 .text.HardFault_Handler stm32f4xx_it.o + 0x08003e92 0x08003e92 0x00000002 PAD + 0x08003e94 0x08003e94 0x00000060 Code RO 2572 .text.LowPassFilter2p_Apply filter.o + 0x08003ef4 0x08003ef4 0x000000a8 Code RO 2570 .text.LowPassFilter2p_Init filter.o + 0x08003f9c 0x08003f9c 0x00000078 Code RO 2574 .text.LowPassFilter2p_Reset filter.o + 0x08004014 0x08004014 0x00000110 Code RO 2379 .text.MOTOR_RM_Ctrl motor_rm.o + 0x08004124 0x08004124 0x0000004c Code RO 2377 .text.MOTOR_RM_GetMotor motor_rm.o + 0x08004170 0x08004170 0x000000dc Code RO 2369 .text.MOTOR_RM_Register motor_rm.o + 0x0800424c 0x0800424c 0x000000d8 Code RO 2375 .text.MOTOR_RM_SetOutput motor_rm.o + 0x08004324 0x08004324 0x00000210 Code RO 2371 .text.MOTOR_RM_Update motor_rm.o + 0x08004534 0x08004534 0x00000040 Code RO 60 .text.MX_CAN1_Init can.o + 0x08004574 0x08004574 0x00000040 Code RO 62 .text.MX_CAN2_Init can.o + 0x080045b4 0x080045b4 0x0000009c Code RO 82 .text.MX_DMA_Init dma.o + 0x08004650 0x08004650 0x0000003c Code RO 42 .text.MX_FREERTOS_Init freertos.o + 0x0800468c 0x0800468c 0x00000164 Code RO 29 .text.MX_GPIO_Init gpio.o + 0x080047f0 0x080047f0 0x0000004c Code RO 95 .text.MX_SPI1_Init spi.o + 0x0800483c 0x0800483c 0x00000106 Code RO 121 .text.MX_TIM10_Init tim.o + 0x08004942 0x08004942 0x00000002 PAD + 0x08004944 0x08004944 0x00000148 Code RO 115 .text.MX_TIM4_Init tim.o + 0x08004a8c 0x08004a8c 0x00000054 Code RO 119 .text.MX_TIM7_Init tim.o + 0x08004ae0 0x08004ae0 0x0000003c Code RO 141 .text.MX_USART1_UART_Init usart.o + 0x08004b1c 0x08004b1c 0x00000046 Code RO 143 .text.MX_USART3_UART_Init usart.o + 0x08004b62 0x08004b62 0x00000002 PAD + 0x08004b64 0x08004b64 0x0000003c Code RO 145 .text.MX_USART6_UART_Init usart.o + 0x08004ba0 0x08004ba0 0x00000002 Code RO 173 .text.MemManage_Handler stm32f4xx_it.o + 0x08004ba2 0x08004ba2 0x00000002 PAD + 0x08004ba4 0x08004ba4 0x00000174 Code RO 2642 .text.Mixer_Apply mixer.o + 0x08004d18 0x08004d18 0x0000000e Code RO 2640 .text.Mixer_Init mixer.o + 0x08004d26 0x08004d26 0x00000002 PAD + 0x08004d28 0x08004d28 0x00000002 Code RO 169 .text.NMI_Handler stm32f4xx_it.o + 0x08004d2a 0x08004d2a 0x00000002 PAD + 0x08004d2c 0x08004d2c 0x0000016c Code RO 2659 .text.PID_Calc 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.text.xQueueSemaphoreTake queue.o + 0x08007c86 0x08007c86 0x00000002 PAD + 0x08007c88 0x08007c88 0x00000040 Code RO 1418 .text.xQueueTakeMutexRecursive queue.o + 0x08007cc8 0x08007cc8 0x00000088 Code RO 1595 .text.xTaskCheckForTimeOut tasks.o + 0x08007d50 0x08007d50 0x000000dc Code RO 1533 .text.xTaskCreate tasks.o + 0x08007e2c 0x08007e2c 0x000000f2 Code RO 1529 .text.xTaskCreateStatic tasks.o + 0x08007f1e 0x08007f1e 0x00000002 PAD + 0x08007f20 0x08007f20 0x0000000c Code RO 1607 .text.xTaskGetCurrentTaskHandle tasks.o + 0x08007f2c 0x08007f2c 0x0000001e Code RO 1609 .text.xTaskGetSchedulerState tasks.o + 0x08007f4a 0x08007f4a 0x00000002 PAD + 0x08007f4c 0x08007f4c 0x0000000c Code RO 1569 .text.xTaskGetTickCount tasks.o + 0x08007f58 0x08007f58 0x00000012 Code RO 1571 .text.xTaskGetTickCountFromISR tasks.o + 0x08007f6a 0x08007f6a 0x00000002 PAD + 0x08007f6c 0x08007f6c 0x00000120 Code RO 1567 .text.xTaskIncrementTick tasks.o + 0x0800808c 0x0800808c 0x000000ee Code RO 1623 .text.xTaskNotifyWait tasks.o + 0x0800817a 0x0800817a 0x00000002 PAD + 0x0800817c 0x0800817c 0x00000096 Code RO 1613 .text.xTaskPriorityDisinherit tasks.o + 0x08008212 0x08008212 0x00000002 PAD + 0x08008214 0x08008214 0x00000094 Code RO 1611 .text.xTaskPriorityInherit tasks.o + 0x080082a8 0x080082a8 0x00000082 Code RO 1587 .text.xTaskRemoveFromEventList tasks.o + 0x0800832a 0x0800832a 0x00000002 PAD + 0x0800832c 0x0800832c 0x000000f4 Code RO 1541 .text.xTaskResumeAll tasks.o + 0x08008420 0x08008420 0x000000b8 Code RO 1650 .text.xTimerCreateTimerTask timers.o + 0x080084d8 0x080084d8 0x00000026 Code RO 3241 i.__ARM_fpclassifyf m_wm.l(fpclassifyf.o) + 0x080084fe 0x080084fe 0x0000000e Code RO 2874 i.__hardfp__fabsf m_wm.l(fabsf.o) + 0x0800850c 0x0800850c 0x00000150 Code RO 2862 i.__hardfp_cosf m_wm.l(cosf.o) + 0x0800865c 0x0800865c 0x00000048 Code RO 2904 i.__hardfp_fmaxf m_wm.l(fmaxf.o) + 0x080086a4 0x080086a4 0x00000190 Code RO 2880 i.__hardfp_sinf m_wm.l(sinf.o) + 0x08008834 0x08008834 0x0000017c Code RO 2892 i.__hardfp_tanf m_wm.l(tanf.o) + 0x080089b0 0x080089b0 0x00000006 Code RO 3244 i.__mathlib_flt_infnan m_wm.l(funder.o) + 0x080089b6 0x080089b6 0x00000002 PAD + 0x080089b8 0x080089b8 0x00000010 Code RO 3246 i.__mathlib_flt_invalid m_wm.l(funder.o) + 0x080089c8 0x080089c8 0x00000010 Code RO 3249 i.__mathlib_flt_underflow m_wm.l(funder.o) + 0x080089d8 0x080089d8 0x00000154 Code RO 3258 i.__mathlib_rredf2 m_wm.l(rredf.o) + 0x08008b2c 0x08008b2c 0x0000000e Code RO 3334 i.__scatterload_copy mc_w.l(handlers.o) + 0x08008b3a 0x08008b3a 0x00000002 Code RO 3335 i.__scatterload_null mc_w.l(handlers.o) + 0x08008b3c 0x08008b3c 0x0000000e Code RO 3336 i.__scatterload_zeroinit mc_w.l(handlers.o) + 0x08008b4a 0x08008b4a 0x00000002 PAD + 0x08008b4c 0x08008b4c 0x0000000c Code RO 3300 i.__set_errno mc_w.l(errno.o) + 0x08008b58 0x08008b58 0x00000020 Data RO 3259 .constdata m_wm.l(rredf.o) + 0x08008b78 0x08008b78 0x0000000c Data RO 2386 .rodata..Lswitch.table.2 motor_rm.o + 0x08008b84 0x08008b84 0x00000010 Data RO 1319 .rodata.AHBPrescTable system_stm32f4xx.o + 0x08008b94 0x08008b94 0x00000008 Data RO 1320 .rodata.APBPrescTable system_stm32f4xx.o + 0x08008b9c 0x08008b9c 0x00000024 Data RO 2782 .rodata.attr_init user_task.o + 0x08008bc0 0x08008bc0 0x00000024 Data RO 2783 .rodata.attr_test user_task.o + 0x08008be4 0x08008be4 0x00000024 Data RO 2784 .rodata.attr_yaokongqi user_task.o + 0x08008c08 0x08008c08 0x00000008 Data RO 519 .rodata.cst8 stm32f4xx_hal_dma.o + 0x08008c10 0x08008c10 0x00000024 Data RO 47 .rodata.defaultTask_attributes freertos.o + 0x08008c34 0x08008c34 0x0000000c Data RO 46 .rodata.str1.1 freertos.o + 0x08008c40 0x08008c40 0x00000005 Data RO 1691 .rodata.str1.1 timers.o + 0x08008c45 0x08008c45 0x00000019 Data RO 2781 .rodata.str1.1 user_task.o + 0x08008c5e 0x08008c5e 0x00000002 PAD + 0x08008c60 0x08008c60 0x00000020 Data RO 3332 Region$$Table anon$$obj.o - Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08008b90, Size: 0x00006058, Max: 0x0001c000, ABSOLUTE) + Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08008c80, Size: 0x00006080, Max: 0x0001c000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object - 0x20000000 0x08008b90 0x00000004 Data RW 2914 .data mc_w.l(rand.o) - 0x20000004 0x08008b94 0x00000004 Data RW 3301 .data mc_w.l(errno.o) - 0x20000008 0x08008b98 0x0000000c Data RW 706 .data..L_MergedGlobals stm32f4xx_hal.o - 0x20000014 0x08008ba4 0x00000004 Data RW 1318 .data.SystemCoreClock system_stm32f4xx.o - 0x20000018 0x08008ba8 0x00000070 Data RW 2736 .data.robot_config config.o - 0x20000088 0x08008c18 0x00000004 Data RW 1921 .data.uxCriticalNesting port.o - 0x2000008c 0x08008c1c 0x00000004 PAD - 0x20000090 - 0x00000060 Zero RW 102 .bss..L_MergedGlobals spi.o - 0x200000f0 - 0x00000060 Zero RW 154 .bss..L_MergedGlobals usart.o - 0x20000150 - 0x00000074 Zero RW 1637 .bss..L_MergedGlobals tasks.o - 0x200001c4 0x08008c1c 0x0000000c PAD - 0x200001d0 - 0x0000003c Zero RW 1692 .bss..L_MergedGlobals timers.o - 0x2000020c 0x08008c1c 0x00000004 PAD - 0x20000210 - 0x0000001c Zero RW 1883 .bss..L_MergedGlobals heap_4.o - 0x2000022c - 0x00000008 Zero RW 1922 .bss..L_MergedGlobals port.o - 0x20000234 0x08008c1c 0x0000000c PAD - 0x20000240 - 0x00000078 Zero RW 1995 .bss..L_MergedGlobals can_1.o - 0x200002b8 0x08008c1c 0x00000008 PAD - 0x200002c0 - 0x0000005c Zero RW 2338 .bss..L_MergedGlobals ledi.o - 0x2000031c 0x08008c1c 0x00000004 PAD - 0x20000320 - 0x00000028 Zero RW 2800 .bss..L_MergedGlobals test.o - 0x20000348 0x08008c1c 0x00000008 PAD - 0x20000350 - 0x00000068 Zero RW 2815 .bss..L_MergedGlobals yaokongqi.o - 0x200003b8 0x08008c1c 0x00000008 PAD - 0x200003c0 - 0x00000060 Zero RW 103 .bss..L_MergedGlobals.1 spi.o - 0x20000420 - 0x00000060 Zero RW 155 .bss..L_MergedGlobals.1 usart.o - 0x20000480 - 0x00000028 Zero RW 1638 .bss..L_MergedGlobals.1 tasks.o - 0x200004a8 0x08008c1c 0x00000008 PAD - 0x200004b0 - 0x00000058 Zero RW 2801 .bss..L_MergedGlobals.1 test.o - 0x20000508 0x08008c1c 0x00000008 PAD - 0x20000510 - 0x00000060 Zero RW 156 .bss..L_MergedGlobals.2 usart.o - 0x20000570 - 0x00000050 Zero RW 1693 .bss..L_MergedGlobals.2 timers.o - 0x200005c0 - 0x00000060 Zero RW 157 .bss..L_MergedGlobals.3 usart.o - 0x20000620 - 0x00000040 Zero RW 2050 .bss.GPIO_Callback gpio_1.o - 0x20000660 - 0x00000004 Zero RW 70 .bss.HAL_RCC_CAN1_CLK_ENABLED can.o - 0x20000664 - 0x00000004 Zero RW 1853 .bss.KernelState cmsis_os2.o - 0x20000668 - 0x00000048 Zero RW 2199 .bss.UART_Callback uart.o - 0x200006b0 - 0x00000008 Zero RW 2385 .bss.can_managers motor_rm.o - 0x200006b8 - 0x000002e8 Zero RW 2798 .bss.chassis test.o - 0x200009a0 - 0x00000004 Zero RW 48 .bss.defaultTaskHandle freertos.o - 0x200009a4 - 0x00000028 Zero RW 68 .bss.hcan1 can.o - 0x200009cc - 0x00000028 Zero RW 69 .bss.hcan2 can.o - 0x200009f4 - 0x00000058 Zero RW 101 .bss.hspi1 spi.o - 0x20000a4c - 0x00000048 Zero RW 129 .bss.htim10 tim.o - 0x20000a94 - 0x00000048 Zero RW 127 .bss.htim4 tim.o - 0x20000adc - 0x00000048 Zero RW 128 .bss.htim7 tim.o - 0x20000b24 - 0x00000048 Zero RW 151 .bss.huart1 usart.o - 0x20000b6c - 0x00000048 Zero RW 152 .bss.huart3 usart.o - 0x20000bb4 - 0x00000048 Zero RW 153 .bss.huart6 usart.o - 0x20000bfc - 0x0000000c Zero RW 2799 .bss.mech_zero test.o - 0x20000c08 - 0x000000a0 Zero RW 1690 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o - 0x20000ca8 - 0x00000004 Zero RW 1635 .bss.pxCurrentTCB tasks.o - 0x20000cac - 0x00000460 Zero RW 1636 .bss.pxReadyTasksLists tasks.o - 0x2000110c - 0x0000003c Zero RW 2785 .bss.task_runtime user_task.o - 0x20001148 - 0x00000002 Zero RW 2337 .bss.this_time_rx_len ledi.o - 0x2000114a 0x08008c1c 0x00000002 PAD - 0x2000114c - 0x00000810 Zero RW 1994 .bss.tx_queues can_1.o - 0x2000195c - 0x00003c00 Zero RW 1882 .bss.ucHeap heap_4.o - 0x2000555c - 0x00000200 Zero RW 1855 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o - 0x2000575c - 0x0000005c Zero RW 1854 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o - 0x200057b8 - 0x00000400 Zero RW 1857 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o - 0x20005bb8 - 0x0000005c Zero RW 1856 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o - 0x20005c14 - 0x00000001 Zero RW 1881 .bss.xBlockAllocatedBit heap_4.o - 0x20005c15 0x08008c1c 0x00000003 PAD - 0x20005c18 - 0x00000040 Zero RW 1466 .bss.xQueueRegistry queue.o - 0x20005c58 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o + 0x20000000 0x08008c80 0x00000004 Data RW 2914 .data mc_w.l(rand.o) + 0x20000004 0x08008c84 0x00000004 Data RW 3301 .data mc_w.l(errno.o) + 0x20000008 0x08008c88 0x0000000c Data RW 706 .data..L_MergedGlobals stm32f4xx_hal.o + 0x20000014 0x08008c94 0x00000004 Data RW 1318 .data.SystemCoreClock system_stm32f4xx.o + 0x20000018 0x08008c98 0x00000080 Data RW 2736 .data.robot_config config.o + 0x20000098 0x08008d18 0x00000004 Data RW 1921 .data.uxCriticalNesting port.o + 0x2000009c 0x08008d1c 0x00000004 PAD + 0x200000a0 - 0x00000060 Zero RW 102 .bss..L_MergedGlobals spi.o + 0x20000100 - 0x00000060 Zero RW 154 .bss..L_MergedGlobals usart.o + 0x20000160 - 0x00000074 Zero RW 1637 .bss..L_MergedGlobals tasks.o + 0x200001d4 0x08008d1c 0x0000000c PAD + 0x200001e0 - 0x0000003c Zero RW 1692 .bss..L_MergedGlobals timers.o + 0x2000021c 0x08008d1c 0x00000004 PAD + 0x20000220 - 0x0000001c Zero RW 1883 .bss..L_MergedGlobals heap_4.o + 0x2000023c - 0x00000008 Zero RW 1922 .bss..L_MergedGlobals port.o + 0x20000244 0x08008d1c 0x0000000c PAD + 0x20000250 - 0x00000078 Zero RW 1995 .bss..L_MergedGlobals can_1.o + 0x200002c8 0x08008d1c 0x00000008 PAD + 0x200002d0 - 0x0000005c Zero RW 2338 .bss..L_MergedGlobals ledi.o + 0x2000032c 0x08008d1c 0x00000004 PAD + 0x20000330 - 0x00000028 Zero RW 2800 .bss..L_MergedGlobals test.o + 0x20000358 0x08008d1c 0x00000008 PAD + 0x20000360 - 0x00000068 Zero RW 2815 .bss..L_MergedGlobals yaokongqi.o + 0x200003c8 0x08008d1c 0x00000008 PAD + 0x200003d0 - 0x00000060 Zero RW 103 .bss..L_MergedGlobals.1 spi.o + 0x20000430 - 0x00000060 Zero RW 155 .bss..L_MergedGlobals.1 usart.o + 0x20000490 - 0x00000028 Zero RW 1638 .bss..L_MergedGlobals.1 tasks.o + 0x200004b8 0x08008d1c 0x00000008 PAD + 0x200004c0 - 0x00000058 Zero RW 2801 .bss..L_MergedGlobals.1 test.o + 0x20000518 0x08008d1c 0x00000008 PAD + 0x20000520 - 0x00000060 Zero RW 156 .bss..L_MergedGlobals.2 usart.o + 0x20000580 - 0x00000050 Zero RW 1693 .bss..L_MergedGlobals.2 timers.o + 0x200005d0 - 0x00000060 Zero RW 157 .bss..L_MergedGlobals.3 usart.o + 0x20000630 - 0x00000040 Zero RW 2050 .bss.GPIO_Callback gpio_1.o + 0x20000670 - 0x00000004 Zero RW 70 .bss.HAL_RCC_CAN1_CLK_ENABLED can.o + 0x20000674 - 0x00000004 Zero RW 1853 .bss.KernelState cmsis_os2.o + 0x20000678 - 0x00000048 Zero RW 2199 .bss.UART_Callback uart.o + 0x200006c0 - 0x00000008 Zero RW 2385 .bss.can_managers motor_rm.o + 0x200006c8 - 0x00000300 Zero RW 2798 .bss.chassis test.o + 0x200009c8 - 0x00000004 Zero RW 48 .bss.defaultTaskHandle freertos.o + 0x200009cc - 0x00000028 Zero RW 68 .bss.hcan1 can.o + 0x200009f4 - 0x00000028 Zero RW 69 .bss.hcan2 can.o + 0x20000a1c - 0x00000058 Zero RW 101 .bss.hspi1 spi.o + 0x20000a74 - 0x00000048 Zero RW 129 .bss.htim10 tim.o + 0x20000abc - 0x00000048 Zero RW 127 .bss.htim4 tim.o + 0x20000b04 - 0x00000048 Zero RW 128 .bss.htim7 tim.o + 0x20000b4c - 0x00000048 Zero RW 151 .bss.huart1 usart.o + 0x20000b94 - 0x00000048 Zero RW 152 .bss.huart3 usart.o + 0x20000bdc - 0x00000048 Zero RW 153 .bss.huart6 usart.o + 0x20000c24 - 0x0000000c Zero RW 2799 .bss.mech_zero test.o + 0x20000c30 - 0x000000a0 Zero RW 1690 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o + 0x20000cd0 - 0x00000004 Zero RW 1635 .bss.pxCurrentTCB tasks.o + 0x20000cd4 - 0x00000460 Zero RW 1636 .bss.pxReadyTasksLists tasks.o + 0x20001134 - 0x0000003c Zero RW 2785 .bss.task_runtime user_task.o + 0x20001170 - 0x00000002 Zero RW 2337 .bss.this_time_rx_len ledi.o + 0x20001172 0x08008d1c 0x00000002 PAD + 0x20001174 - 0x00000810 Zero RW 1994 .bss.tx_queues can_1.o + 0x20001984 - 0x00003c00 Zero RW 1882 .bss.ucHeap heap_4.o + 0x20005584 - 0x00000200 Zero RW 1855 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o + 0x20005784 - 0x0000005c Zero RW 1854 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o + 0x200057e0 - 0x00000400 Zero RW 1857 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o + 0x20005be0 - 0x0000005c Zero RW 1856 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o + 0x20005c3c - 0x00000001 Zero RW 1881 .bss.xBlockAllocatedBit heap_4.o + 0x20005c3d 0x08008d1c 0x00000003 PAD + 0x20005c40 - 0x00000040 Zero RW 1466 .bss.xQueueRegistry queue.o + 0x20005c80 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o - Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08008c20, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) + Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08008d20, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) **** No section assigned to this execution region **** @@ -6377,9 +6382,9 @@ Image component sizes 26 0 0 0 0 2493 calc_lib.o 484 0 0 0 84 6960 can.o 1444 4 0 0 2184 18682 can_1.o - 1346 64 0 0 0 8943 chassis.o + 1534 76 0 0 0 9519 chassis.o 1480 0 0 0 1724 41678 cmsis_os2.o - 10 0 0 112 0 2059 config.o + 10 0 0 128 0 2163 config.o 156 0 0 0 0 3437 dma.o 572 8 0 0 0 4833 dr16.o 384 20 0 0 0 4377 filter.o @@ -6413,20 +6418,20 @@ Image component sizes 224 0 0 0 0 3157 stm32f4xx_it.o 18 0 24 4 0 2686 system_stm32f4xx.o 4248 8 0 0 1280 36801 tasks.o - 292 12 0 0 884 6023 test.o + 292 12 0 0 908 6265 test.o 820 0 0 0 216 10119 tim.o 78 0 0 0 0 2391 time.o 932 18 5 0 300 16056 timers.o 362 0 0 0 72 7424 uart.o 830 0 0 0 600 8648 usart.o - 126 4 0 0 0 2645 user_math.o + 164 4 0 0 0 2645 user_math.o 0 0 133 0 60 3198 user_task.o 176 8 0 0 104 3028 yaokongqi.o ---------------------------------------------------------------------- - 32172 330 656 132 24524 457368 Object Totals + 32412 354 656 148 24548 458290 Object Totals 0 0 32 0 0 0 (incl. Generated) - 262 16 2 0 81 0 (incl. Padding) + 276 28 2 0 81 0 (incl. Padding) ---------------------------------------------------------------------- @@ -6492,15 +6497,15 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 35040 568 688 140 24524 458236 Grand Totals - 35040 568 688 140 24524 458236 ELF Image Totals - 35040 568 688 140 0 0 ROM Totals + 35280 592 688 156 24548 459158 Grand Totals + 35280 592 688 156 24548 459158 ELF Image Totals + 35280 592 688 156 0 0 ROM Totals ============================================================================== - Total RO Size (Code + RO Data) 35728 ( 34.89kB) - Total RW Size (RW Data + ZI Data) 24664 ( 24.09kB) - Total ROM Size (Code + RO Data + RW Data) 35868 ( 35.03kB) + Total RO Size (Code + RO Data) 35968 ( 35.13kB) + Total RW Size (RW Data + ZI Data) 24704 ( 24.13kB) + Total ROM Size (Code + RO Data + RW Data) 36124 ( 35.28kB) ============================================================================== diff --git a/MDK-ARM/zzzzh/zzzzh_zzzzh.dep b/MDK-ARM/zzzzh/zzzzh_zzzzh.dep index f52a08a..0bac1d6 100644 --- a/MDK-ARM/zzzzh/zzzzh_zzzzh.dep +++ b/MDK-ARM/zzzzh/zzzzh_zzzzh.dep @@ -133,7 +133,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68C65D I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59) I (..\User\task\user_task.h)(0x68ECF321) I (..\User\module\config.h)(0x68DCDCE8) -I (..\User\module\chassis.h)(0x68ECF095) +I (..\User\module\chassis.h)(0x68F49369) I (..\User\bsp\can.h)(0x68EE5C62) I (..\Core\Inc\can.h)(0x68EE5A24) I (..\User\bsp\bsp.h)(0x68EE5C62) @@ -1966,7 +1966,7 @@ I (D:\keil\ARM\ARMCLANG\include\string.h)(0x588CAFD2) F (..\User\module\config.c)(0x68DDDFDF)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -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./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/config.o -MD) I (..\User\module\config.h)(0x68DCDCE8) I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2) -I (..\User\module\chassis.h)(0x68ECF095) +I (..\User\module\chassis.h)(0x68F49369) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59) I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2) I (..\User\bsp\can.h)(0x68EE5C62) @@ -2025,7 +2025,7 @@ I (..\User\component\ahrs.h)(0x68EE5C62) I (..\User\device\motor_rm.h)(0x68EE5C18) I (..\User\device\motor.h)(0x68EE5C18) I (..\User\device\device.h)(0x68EE5C63) -F (..\User\module\chassis.c)(0x68F22AA4)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -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./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/chassis.o -MD) +F (..\User\module\chassis.c)(0x68F4A0FB)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -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./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/chassis.o -MD) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59) I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2) I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2) @@ -2083,7 +2083,7 @@ I (D:\keil\ARM\ARMCLANG\include\math.h)(0x58A47FFE) I (..\User\device\motor_rm.h)(0x68EE5C18) I (..\User\device\motor.h)(0x68EE5C18) I (..\User\device\device.h)(0x68EE5C63) -I (..\User\module\chassis.h)(0x68ECF095) +I (..\User\module\chassis.h)(0x68F49369) I (..\User\component\filter.h)(0x68EE5C62) I (..\User\component\mixer.h)(0x68EE5C62) I (..\User\component\pid.h)(0x68EE5C62) @@ -2102,7 +2102,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59) I (..\User\module\config.h)(0x68DCDCE8) -I (..\User\module\chassis.h)(0x68ECF095) +I (..\User\module\chassis.h)(0x68F49369) I (..\User\bsp\can.h)(0x68EE5C62) I (..\Core\Inc\can.h)(0x68EE5A24) I (..\Core\Inc\main.h)(0x68EE5A28) @@ -2166,7 +2166,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59) I (..\User\module\config.h)(0x68DCDCE8) -I (..\User\module\chassis.h)(0x68ECF095) +I (..\User\module\chassis.h)(0x68F49369) I (..\User\bsp\can.h)(0x68EE5C62) I (..\Core\Inc\can.h)(0x68EE5A24) I (..\Core\Inc\main.h)(0x68EE5A28) @@ -2229,7 +2229,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59) I (..\User\module\config.h)(0x68DCDCE8) -I (..\User\module\chassis.h)(0x68ECF095) +I (..\User\module\chassis.h)(0x68F49369) I (..\User\bsp\can.h)(0x68EE5C62) I (..\Core\Inc\can.h)(0x68EE5A24) I (..\Core\Inc\main.h)(0x68EE5A28) @@ -2293,7 +2293,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59) I (..\User\module\config.h)(0x68DCDCE8) -I (..\User\module\chassis.h)(0x68ECF095) +I (..\User\module\chassis.h)(0x68F49369) I (..\User\bsp\can.h)(0x68EE5C62) I (..\Core\Inc\can.h)(0x68EE5A24) I (..\Core\Inc\main.h)(0x68EE5A28) diff --git a/User/module/chassis.c b/User/module/chassis.c index 4e4623d..8577bc2 100644 --- a/User/module/chassis.c +++ b/User/module/chassis.c @@ -19,8 +19,10 @@ static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode, uint32_t now) { - if (!c) return CHASSIS_ERR_NULL; - if (mode == c->mode) return CHASSIS_OK; + if (!c) + return CHASSIS_ERR_NULL; + if (mode == c->mode) + return CHASSIS_OK; if (mode == CHASSIS_MODE_ROTOR && c->mode != CHASSIS_MODE_ROTOR) { srand(now); @@ -47,18 +49,21 @@ static float Chassis_CalcWz(const float min, const float max, uint32_t now) { int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param, AHRS_Eulr_t *mech_zero, float target_freq) { if (!c) return CHASSIS_ERR_NULL; - c->param = param; c->mode = CHASSIS_MODE_RELAX; - - -c->mech_zero = *mech_zero; -c->feedback.imu.eulr = *mech_zero; + c->mech_zero = *mech_zero; + c->feedback.imu.eulr = *mech_zero; if (param->reverse.yaw) { CircleReverse(&(c->mech_zero.yaw)); c->feedback.imu.eulr.yaw = -c->feedback.imu.eulr.yaw + M_2PI; } + c->limit.vx.max = param->limit.max_vx; + c->limit.vx.min = -param->limit.max_vx; + c->limit.vy.max = param->limit.max_vy; + c->limit.vy.min = -param->limit.max_vy; + c->limit.wz.max = param->limit.max_wz; + c->limit.wz.min = -param->limit.max_wz; Mixer_Mode_t mixer_mode; switch (param->type) { @@ -95,24 +100,23 @@ if (param->reverse.yaw) { PID_Init(&c->pid.motor[i], KPID_MODE_NO_D, target_freq, ¶m->pid.motor_pid_param); LowPassFilter2p_Init(&c->filter.in[i], target_freq, param->low_pass_cutoff_freq.in); LowPassFilter2p_Init(&c->filter.out[i], target_freq, param->low_pass_cutoff_freq.out); + + c->feedback.motor[i].rotor_speed = 0; + c->feedback.motor[i].torque_current = 0; + c->feedback.motor[i].rotor_abs_angle = 0; + c->feedback.motor[i].temp = 0; } PID_Init(&c->pid.follow, KPID_MODE_NO_D, target_freq, ¶m->pid.follow_pid_param); Mixer_Init(&c->mixer, mixer_mode); c->move_vec.vx = c->move_vec.vy = c->move_vec.wz = 0.0f; - for (uint8_t i = 0; i < c->num_wheel; i++) { - c->feedback.motor[i].rotor_speed = 0; - c->feedback.motor[i].torque_current = 0; - c->feedback.motor[i].rotor_abs_angle = 0; - c->feedback.motor[i].temp = 0; - } for (uint8_t i = 0; i < c->num_wheel; i++) { c->out.motor[i] = 0.0f; } for (int i = 0; i < c->num_wheel; i++) { MOTOR_RM_Register(&(c->param->motor_param[i])); - c->motors[i] = MOTOR_RM_GetMotor(&(c->param->motor_param[i])); + } return CHASSIS_OK; } @@ -120,23 +124,27 @@ if (param->reverse.yaw) { int8_t Chassis_UpdateFeedback(Chassis_t *c, const Chassis_Feedback_t *feedback) { if (!c || !feedback) return CHASSIS_ERR_NULL; + + float yaw = c->param->reverse.yaw ? -feedback->imu.eulr.yaw : feedback->imu.eulr.yaw; + while (yaw > M_PI) yaw -= M_2PI; + while (yaw < -M_PI) yaw += M_2PI; + c->feedback.imu.eulr.yaw = yaw; - if (c->param->reverse.yaw) { - c->feedback.imu.eulr.yaw = -feedback->imu.eulr.yaw; - } else { - c->feedback.imu.eulr.yaw = feedback->imu.eulr.yaw; - } for (uint8_t i = 0; i < c->num_wheel; i++) { MOTOR_RM_Update(&(c->param->motor_param[i])); - MOTOR_RM_t *rm_motor = c->motors[i]; - if (rm_motor) { - c->feedback.motor[i] = rm_motor->feedback; - } - else - { - return CHASSIS_ERR_NULL; - } +// MOTOR_RM_t *rm_motor = c->motors[i]; +// if (rm_motor) { +// c->feedback.motor[i] = rm_motor->feedback; +// } +// else +// { +// return CHASSIS_ERR_NULL; +// } + MOTOR_RM_t *rm_motor = MOTOR_RM_GetMotor(&(c->param->motor_param[i])); + if (rm_motor != NULL) { + c->feedback.motor[i] = rm_motor->feedback; + } } return CHASSIS_OK; } @@ -148,14 +156,16 @@ int8_t Chassis_Control(Chassis_t *c, const ChassisCmd_t *c_cmd, uint32_t now) { c->dt = (float)(now - c->last_wakeup) / 1000.0f; c->last_wakeup = now; -if (!isfinite(c->dt) || c->dt <= 0.0f) { - c->dt = 0.001f; -} -if (c->dt < 0.0005f) c->dt = 0.0005f; -if (c->dt > 0.050f) c->dt = 0.050f; + if (!isfinite(c->dt) || c->dt <= 0.0f) { + c->dt = 0.001f; + } + if (c->dt < 0.0005f) c->dt = 0.0005f; + if (c->dt > 0.050f) c->dt = 0.050f; Chassis_SetMode(c, c_cmd->mode, now); - + Clip(&c->move_vec.vx, c->limit.vx.min, c->limit.vx.max); + Clip(&c->move_vec.vy, c->limit.vy.min, c->limit.vy.max); + Clip(&c->move_vec.wz, c->limit.wz.min, c->limit.wz.max); switch (c->mode) { case CHASSIS_MODE_BREAK: c->move_vec.vx = c->move_vec.vy = 0.0f; @@ -180,6 +190,7 @@ if (c->dt > 0.050f) c->dt = 0.050f; c->move_vec.wz = 0.0f; break; case CHASSIS_MODE_OPEN: + c->move_vec.wz = c_cmd->ctrl_vec.wz; case CHASSIS_MODE_FOLLOW_GIMBAL: c->move_vec.wz = PID_Calc(&c->pid.follow, c->mech_zero.yaw, c->feedback.imu.eulr.yaw, 0.0f, c->dt); break; @@ -196,9 +207,10 @@ if (c->dt > 0.050f) c->dt = 0.050f; for (uint8_t i = 0; i < c->num_wheel; i++) { + float rf = c->setpoint.motor_rpm[i]; float fb = LowPassFilter2p_Apply(&c->filter.in[i], (float)c->feedback.motor[i].rotor_speed); - float out_current = 0.0f; - + //float out_current = 0.0f; + float out_current = PID_Calc(&c->pid.motor[i], rf, fb, 0.0f, c->dt); switch (c->mode) { case CHASSIS_MODE_BREAK: case CHASSIS_MODE_FOLLOW_GIMBAL: @@ -208,7 +220,7 @@ if (c->dt > 0.050f) c->dt = 0.050f; out_current = PID_Calc(&c->pid.motor[i], c->setpoint.motor_rpm[i], fb, 0.0f, c->dt); break; case CHASSIS_MODE_OPEN: - out_current = c->setpoint.motor_rpm[i] / 9000.0f; + out_current = c->setpoint.motor_rpm[i] / 7000.0f; break; case CHASSIS_MODE_RELAX: out_current = 0.0f; @@ -216,17 +228,17 @@ if (c->dt > 0.050f) c->dt = 0.050f; } - out_current = LowPassFilter2p_Apply(&c->filter.out[i], out_current); - - c->out.motor[i] = out_current; + c->out.motor[i] = LowPassFilter2p_Apply(&c->filter.out[i], out_current); + Clip(&c->out.motor[i], -c->param->limit.max_current, c->param->limit.max_current); } - + return CHASSIS_OK; } void Chassis_Output(Chassis_t *c) { - if (!c) return; + if (!c) + return; //每个电机目标输出 for (uint8_t i = 0; i < c->num_wheel; i++) { @@ -240,7 +252,6 @@ void Chassis_Output(Chassis_t *c) { MOTOR_RM_t *rm = c->motors[i]; if (rm) { MOTOR_RM_Ctrl(&rm->param); - break; } } } diff --git a/User/module/chassis.h b/User/module/chassis.h index 46d1a6b..9e4982d 100644 --- a/User/module/chassis.h +++ b/User/module/chassis.h @@ -23,6 +23,7 @@ extern "C" { #define CHASSIS_ERR_MODE (-3) /* 运行时出配置了错误的ChassisMode_t */ #define CHASSIS_ERR_TYPE (-4) /* 运行时出配置了错误的Chassis_Type_t */ +#define MAX_MOTOR_CURRENT 20.0f /* 底盘控制模式 */ typedef enum { CHASSIS_MODE_RELAX, /* 放松模式,电机不输出。一般情况底盘初始化之后的模式 */ @@ -52,7 +53,7 @@ typedef struct { typedef struct { float max; float min; -} Chassis_Limit_t;//移植云台的代码 +} Chassis_Limit_t; /* 底盘类型（底盘的物理设计） */ typedef enum { @@ -85,7 +86,10 @@ typedef struct { struct { bool yaw; } reverse; - + struct { + float max_vx, max_vy, max_wz; + float max_current; + } limit; } Chassis_Params_t; typedef struct { @@ -136,11 +140,9 @@ typedef struct { KPID_t follow; /* 跟随云台用的PID */ } pid; -// struct { -// Chassis_Limit_t vx; // ?????? -// Chassis_Limit_t vy; // ?????? -// Chassis_Limit_t wz; // ?z??????? -//} limit; + struct { + Chassis_Limit_t vx, vy, wz; + } limit; /* 滤波器 */ struct { @@ -226,6 +228,7 @@ void Chassis_ResetOutput(Chassis_t *c); */ //void Chassis_DumpUI(const Chassis_t *c, Referee_ChassisUI_t *ui); + #ifdef __cplusplus } #endif

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